diff --git a/.gitignore b/.gitignore
index d623bdce..5b1d0418 100644
--- a/.gitignore
+++ b/.gitignore
@@ -21,3 +21,4 @@ Debug
 /tools/JavaConfigurator/dist/
 /nbproject/private/
 /Result.log
+experimental settings/*-*.ini
diff --git a/ACAcontrollerState.c b/ACAcontrollerState.c
index 68789168..abb6bc3e 100644
--- a/ACAcontrollerState.c
+++ b/ACAcontrollerState.c
@@ -86,18 +86,13 @@ uint16_t ui16_x4_value = 0;
 uint16_t ui16_throttle_cal_b = 0;
 uint16_t ui16_battery_current_max_value = 0;
 uint16_t ui16_regen_current_max_value = 0;
-uint8_t ui8_possible_motor_state = 0;
-uint8_t ui8_dynamic_motor_state = 0;
 uint8_t ui8_BatteryVoltage = 0; //Battery Voltage read from ADC
 uint8_t ui8_battery_voltage_nominal =0;
 uint16_t ui16_motor_speed_erps = 0;
 uint32_t ui32_erps_filtered = 0; //filtered value of erps
 uint16_t ui16_virtual_erps_speed = 0;
 uint16_t ui16_BatteryCurrent = 0; //Battery Current read from ADC8
-uint8_t ui8_position_correction_value = 127; // in 360/256 degrees
 uint8_t ui8_correction_at_angle = 127;
-uint16_t ui16_ADC_iq_current = 0;
-uint16_t ui16_ADC_iq_current_filtered = 0;
 uint16_t ui16_control_state = 0;
 uint8_t ui8_uptime = 0;
 
@@ -107,8 +102,6 @@ uint8_t ui8_variableDebugC = 0;
 
 int8_t i8_motor_temperature = 0;
 
-uint8_t uint8_t_60deg_pwm_cycles[6];
-uint8_t uint8_t_hall_case[7];
 uint8_t uint8_t_hall_order[6];
 int8_t int8_t_hall_counter = 0;
 uint8_t ui8_hall_order_counter = 5;
diff --git a/ACAcontrollerState.h b/ACAcontrollerState.h
index 9fc0b082..e2270331 100644
--- a/ACAcontrollerState.h
+++ b/ACAcontrollerState.h
@@ -54,18 +54,13 @@ extern uint16_t ui16_x4_value;
 extern uint16_t ui16_throttle_cal_b;
 extern uint16_t ui16_battery_current_max_value;
 extern uint16_t ui16_regen_current_max_value;
-extern uint8_t ui8_possible_motor_state;
-extern uint8_t ui8_dynamic_motor_state;
 extern uint8_t ui8_BatteryVoltage;
 extern uint8_t ui8_battery_voltage_nominal;
 extern uint16_t ui16_motor_speed_erps;
 extern uint16_t ui16_virtual_erps_speed;
 extern uint32_t ui32_erps_filtered; //filtered value of erps
 extern uint16_t ui16_BatteryCurrent;
-extern uint8_t ui8_position_correction_value;
 extern uint8_t ui8_correction_at_angle;
-extern uint16_t ui16_ADC_iq_current;
-extern uint16_t ui16_ADC_iq_current_filtered;
 extern uint8_t ui8_speedlimit_kph;
 extern uint8_t ui8_speedlimit_without_pas_kph;
 extern uint8_t ui8_speedlimit_actual_kph;
@@ -79,8 +74,6 @@ extern uint8_t ui8_variableDebugC;
 
 extern int8_t i8_motor_temperature;
 
-extern uint8_t uint8_t_60deg_pwm_cycles[6];
-extern uint8_t uint8_t_hall_case[7];
 extern uint8_t uint8_t_hall_order[6];
 extern int8_t int8_t_hall_counter;
 extern uint8_t ui8_hall_debug_counter;
diff --git a/Makefile_windows b/Makefile
similarity index 77%
rename from Makefile_windows
rename to Makefile
index b4979787..84df032e 100644
--- a/Makefile_windows
+++ b/Makefile
@@ -1,110 +1,101 @@
-#Makefile for STM8 Examples with SDCC compiler
-#Author:	Saeid Yazdani
-#Website:	WWW.EMBEDONIX.COM
-#Copyright 2016
-#LICENSE:	GNU-LGPL
-
-.PHONY: all clean
-
-#Compiler
-CC = sdcc
-OBJCOPY = stm8-objcopy
-SIZE = stm8-size
-
-#Platform
-PLATFORM = stm8
-
-#Product name
-PNAME = main
-
-#Directory for helpers
-IDIR = StdPeriphLib/inc
-SDIR = StdPeriphLib/src
-
-# In case you ever want a different name for the main source file
-MAINSRC = $(PNAME).c
-
-ELF_SECTIONS_TO_REMOVE = -R DATA -R INITIALIZED -R SSEG -R .debug_line -R .debug_loc -R .debug_abbrev -R .debug_info -R .debug_pubnames -R .debug_frame
-
-# These are the sources that must be compiled to .rel files:
-EXTRASRCS = \
-	$(SDIR)/stm8s_itc.c \
-	$(SDIR)/stm8s_clk.c \
-	$(SDIR)/stm8s_iwdg.c \
-	$(SDIR)/stm8s_gpio.c \
-	$(SDIR)/stm8s_exti.c \
-	$(SDIR)/stm8s_uart2.c \
-	$(SDIR)/stm8s_tim1.c \
-	$(SDIR)/stm8s_tim2.c \
-	$(SDIR)/stm8s_adc1.c \
-	$(SDIR)/stm8s_flash.c \
-	BOdisplay.c \
-	ACAcontrollerState.c \
-	ACAeeprom.c \
-	ACAsetPoint.c \
-	ACAcommons.c \
-	gpio.c \
-	cruise_control.c \
-	uart.c \
-	adc.c \
-	brake.c \
-	timers.c \
-	pwm.c \
-	motor.c \
-	PAS.c \
-	SPEED.c \
-	display.c \
-	display_kingmeter.c
-
-HEADERS = BOdisplay.h ACAcommons.h ACAsetPoint.h ACAcontrollerState.h ACAeeprom.h adc.h  brake.h  cruise_control.h  gpio.h  interrupts.h  main.h  motor.h  pwm.h  timers.h  uart.h  PAS.h  SPEED.h  
-
-# The list of .rel files can be derived from the list of their source files
-RELS = $(EXTRASRCS:.c=.rel)
-
-INCLUDES = -I$(IDIR) -I. 
-CFLAGS   = -m$(PLATFORM) --std-c99 --nolospre
-ELF_FLAGS = --out-fmt-ihx --debug
-LIBS     = 
-# This just provides the conventional target name "all"; it is optional
-# Note: I assume you set PNAME via some means not exhibited in your original file
-all: $(PNAME)
-
-# How to build the overall program
-
-$(PNAME): $(MAINSRC) $(RELS)
-	$(CC) $(INCLUDES) $(CFLAGS) $(ELF_FLAGS) $(LIBS) $(MAINSRC) $(RELS)
-# $(SIZE) $(PNAME).elf
-# $(OBJCOPY) -O binary $(ELF_SECTIONS_TO_REMOVE) 
-# $(PNAME).elf $(PNAME).bin
-
-# How to build any .rel file from its corresponding .c file
-# GNU would have you use a pattern rule for this, but that's GNU-specific
-%.rel: %.c $(HEADERS)
-	$(CC) -c $(INCLUDES) $(CFLAGS) $(ELF_FLAGS) $(LIBS) -o$< $<
-
-# Suffixes appearing in suffix rules we care about.
-# Necessary because .rel is not one of the standard suffixes.
-.SUFFIXES: .c .rel
-
-# hex:
-#	$(OBJCOPY) -O ihex $(ELF_SECTIONS_TO_REMOVE) $(PNAME).elf 
-# $(PNAME).ihx
-
-# flash:
-#	stm8flash -cstlinkv2 -pstm8s105?6 -w$(PNAME).ihx
-
-ENTF = cmd /C del
-
-clean:
-	echo "Cleaning files..."
-	$(ENTF) *.asm 
-	$(ENTF) *.rel
-	$(ENTF) *.lk
-	$(ENTF) *.lst
-	$(ENTF) *.rst
-	$(ENTF) *.sym
-	$(ENTF) *.cdb
-	$(ENTF) *.map
-	$(ENTF) *.adb 
-	echo "Done."
-
+#Original Makefile template from Saeid Yazdani (c) 2016
+#LICENSE:	GNU-LGPL
+
+.PHONY: all clean
+
+#Compiler
+CC = sdcc
+
+#Platform
+PLATFORM = stm8
+
+#Product name
+PNAME = main
+
+#Directory for helpers
+IDIR = StdPeriphLib/inc
+SDIR = StdPeriphLib/src
+
+# In case you ever want a different name for the main source file
+MAINSRC = $(PNAME).c
+
+# These are the sources that must be compiled to .rel files:
+EXTRASRCS = \
+	$(SDIR)/stm8s_itc.c \
+	$(SDIR)/stm8s_clk.c \
+	$(SDIR)/stm8s_iwdg.c \
+	$(SDIR)/stm8s_gpio.c \
+	$(SDIR)/stm8s_exti.c \
+	$(SDIR)/stm8s_uart2.c \
+	$(SDIR)/stm8s_tim1.c \
+	$(SDIR)/stm8s_tim2.c \
+	$(SDIR)/stm8s_adc1.c \
+	$(SDIR)/stm8s_flash.c \
+	BOdisplay.c \
+	ACAcontrollerState.c \
+	ACAeeprom.c \
+	ACAsetPoint.c \
+	ACAcommons.c \
+	gpio.c \
+	cruise_control.c \
+	uart.c \
+	adc.c \
+	brake.c \
+	timers.c \
+	pwm.c \
+	motor.c \
+	PAS.c \
+	SPEED.c \
+	display.c \
+	display_kingmeter.c
+
+HEADERS = BOdisplay.h ACAcommons.h ACAsetPoint.h ACAcontrollerState.h ACAeeprom.h adc.h  brake.h  cruise_control.h  gpio.h  interrupts.h  main.h  motor.h  pwm.h  timers.h  uart.h  PAS.h  SPEED.h  
+
+# The list of .rel files can be derived from the list of their source files
+RELS = $(EXTRASRCS:.c=.rel)
+
+INCLUDES = -I$(IDIR) -I.
+CFLAGS   = -m$(PLATFORM) --std-c99 --nolospre
+ELF_FLAGS = --out-fmt-ihx --debug
+LIBS     =
+# This just provides the conventional target name "all"; it is optional
+# Note: I assume you set PNAME via some means not exhibited in your original file
+all: $(PNAME)
+
+# How to build the overall program
+
+$(PNAME): $(MAINSRC) $(RELS)
+	$(CC) $(INCLUDES) $(CFLAGS) $(ELF_FLAGS) $(LIBS) $(MAINSRC) $(RELS)
+
+# How to build any .rel file from its corresponding .c file
+# GNU would have you use a pattern rule for this, but that's GNU-specific
+%.rel: %.c $(HEADERS)
+	$(CC) -c $(INCLUDES) $(CFLAGS) $(ELF_FLAGS) $(LIBS) -o$< $<
+
+# Suffixes appearing in suffix rules we care about.
+# Necessary because .rel is not one of the standard suffixes.
+.SUFFIXES: .c .rel
+
+
+flash:
+	stm8flash -cstlinkv2 -pstm8s105?6 -w$(PNAME).ihx
+
+
+ifeq ($(OS),Windows_NT)
+ENTF = cmd /C del
+else
+ENTF = rm -f
+endif
+
+clean:
+	echo "Cleaning files..."
+	$(ENTF) *.asm 
+	$(ENTF) *.rel
+	$(ENTF) *.lk
+	$(ENTF) *.lst
+	$(ENTF) *.rst
+	$(ENTF) *.sym
+	$(ENTF) *.cdb
+	$(ENTF) *.map
+	$(ENTF) *.adb 
+	echo "Done."
diff --git a/Makefile_linux b/Makefile_linux
deleted file mode 100644
index 8eaa2f01..00000000
--- a/Makefile_linux
+++ /dev/null
@@ -1,124 +0,0 @@
-#Makefile for STM8 Examples with SDCC compiler
-#Author:	Saeid Yazdani
-#Website:	WWW.EMBEDONIX.COM
-#Copyright 2016
-#LICENSE:	GNU-LGPL
-
-.PHONY: all clean
-
-#Compiler
-CC = sdcc
-OBJCOPY = stm8-objcopy
-SIZE = stm8-size
-
-#Platform
-PLATFORM = stm8
-
-#Product name
-PNAME = main
-
-#Directory for helpers
-IDIR = StdPeriphLib/inc
-SDIR = StdPeriphLib/src
-
-# In case you ever want a different name for the main source file
-MAINSRC = $(PNAME).c
-
-ELF_SECTIONS_TO_REMOVE = -R DATA -R INITIALIZED -R SSEG -R .debug_line -R .debug_loc -R .debug_abbrev -R .debug_info -R .debug_pubnames -R .debug_frame
-
-# These are the sources that must be compiled to .rel files:
-EXTRASRCS = \
-	$(SDIR)/stm8s_itc.c \
-	$(SDIR)/stm8s_clk.c \
-	$(SDIR)/stm8s_iwdg.c \
-	$(SDIR)/stm8s_gpio.c \
-	$(SDIR)/stm8s_exti.c \
-	$(SDIR)/stm8s_uart2.c \
-	$(SDIR)/stm8s_tim1.c \
-	$(SDIR)/stm8s_tim2.c \
-	$(SDIR)/stm8s_adc1.c \
-	$(SDIR)/stm8s_flash.c \
-	BOdisplay.c \
-	ACAcontrollerState.c \
-	ACAeeprom.c \
-	ACAsetPoint.c \
-	ACAcommons.c \
-	gpio.c \
-	cruise_control.c \
-	uart.c \
-	adc.c \
-	brake.c \
-	timers.c \
-	pwm.c \
-	motor.c \
-	PAS.c \
-	SPEED.c \
-	display.c \
-	display_kingmeter.c
-
-HEADERS = BOdisplay.h ACAcommons.h ACAsetPoint.h ACAcontrollerState.h ACAeeprom.h  adc.h  brake.h  cruise_control.h  gpio.h  interrupts.h  main.h  motor.h  pwm.h  timers.h  uart.h  PAS.h  SPEED.h  
-
-# The list of .rel files can be derived from the list of their source files
-RELS = $(EXTRASRCS:.c=.rel)
-
-INCLUDES = -I$(IDIR) -I. 
-CFLAGS   = -m$(PLATFORM) --std-c99 --nolospre
-#ELF_FLAGS = --out-fmt-elf --debug
-ELF_FLAGS = --out-fmt-elf
-LIBS     = 
-
-# This just provides the conventional target name "all"; it is optional
-# Note: I assume you set PNAME via some means not exhibited in your original file
-all: $(PNAME)
-
-# How to build the overall program
-$(PNAME): $(MAINSRC) $(RELS)
-	$(CC) $(INCLUDES) $(CFLAGS) $(ELF_FLAGS) $(LIBS) $(MAINSRC) $(RELS)
-	$(SIZE) $(PNAME).elf -A
-	$(OBJCOPY) -O binary $(ELF_SECTIONS_TO_REMOVE) $(PNAME).elf $(PNAME).bin
-	$(OBJCOPY) -O ihex $(ELF_SECTIONS_TO_REMOVE) $(PNAME).elf $(PNAME).hex
-
-# How to build any .rel file from its corresponding .c file
-# GNU would have you use a pattern rule for this, but that's GNU-specific
-%.rel: %.c $(HEADERS)
-	$(CC) -c $(INCLUDES) $(CFLAGS) $(ELF_FLAGS) $(LIBS) -o$< $<
-
-# Suffixes appearing in suffix rules we care about.
-# Necessary because .rel is not one of the standard suffixes.
-.SUFFIXES: .c .rel
-
-hex:
-	$(OBJCOPY) -O ihex $(ELF_SECTIONS_TO_REMOVE) $(PNAME).elf $(PNAME).ihx
-
-flash:
-	stm8flash -cstlinkv2 -pstm8s105?6 -w$(PNAME).bin
-
-clean:
-	@echo "Cleaning files..."
-	@rm -rf $(SDIR)/*.asm
-	@rm -rf $(SDIR)/*.rel
-	@rm -rf $(SDIR)/*.lk
-	@rm -rf $(SDIR)/*.lst
-	@rm -rf $(SDIR)/*.rst
-	@rm -rf $(SDIR)/*.sym
-	@rm -rf $(SDIR)/*.cdb
-	@rm -rf $(SDIR)/*.map
-	@rm -rf $(SDIR)/*.elf
-	@rm -rf $(SDIR)/*.bin
-	@rm -rf $(SDIR)/*.adb
-	@rm -rf *.asm
-	@rm -rf *.rel
-	@rm -rf *.lk
-	@rm -rf *.lst
-	@rm -rf *.rst
-	@rm -rf *.sym
-	@rm -rf *.cdb
-	@rm -rf *.map
-	@rm -rf *.adb
-	@rm -rf *.elf
-	@rm -rf main.bin
-	@rm -rf *.ihx
-	@rm -rf *.hex
-	
-	@echo "Done."
-
diff --git a/OSEC Parameter Configurator.jar b/OSEC Parameter Configurator.jar
index 133933da..46b930e5 100644
Binary files a/OSEC Parameter Configurator.jar and b/OSEC Parameter Configurator.jar differ
diff --git a/Start_Compiling.bat b/Start_Compiling.bat
index 043906c4..f640cca5 100644
--- a/Start_Compiling.bat
+++ b/Start_Compiling.bat
@@ -3,10 +3,10 @@ REM ;%~dp0tools\cygwin\bin
 cd %~dp0
 del main.hex
 sdcc --version
-make -f Makefile_windows clean
-make -f Makefile_windows
+make clean
+make 
 ren main.ihx main.hex
-make -f Makefile_windows clean
+make clean
 
 STVP_CmdLine -BoardName=ST-LINK -ProgMode=SWIM -Port=USB -Device=STM8S105x6 -FileProg=main.hex -verbose -no_loop
 
diff --git a/adc.c b/adc.c
index dfba86a8..d147fd76 100755
--- a/adc.c
+++ b/adc.c
@@ -96,6 +96,8 @@ inline void adc_trigger(void) //inline ?!
     ADC1_StartConversion();
 }
 
+#define READ_MMIO_U8(x) *(volatile uint8_t*)(x)
+
 uint8_t ui8_adc_read_phase_B_current(void) {
     //  /* Read LSB first */
     //  templ = *(uint8_t*)(uint16_t)((uint16_t)ADC1_BaseAddress + (uint8_t)(Buffer << 1) + 1);
@@ -104,15 +106,15 @@ uint8_t ui8_adc_read_phase_B_current(void) {
     //#define ADC1_BaseAddress        0x53E0
     //phase_B_current --> ADC_AIN5
     // 0x53E0 + 2*5 = 0x53EA
-    return *(uint8_t*) (0x53EA);
+    return READ_MMIO_U8(0x53EA);
 }
 
 uint16_t ui16_adc_read_phase_B_current(void) {
     uint16_t temph;
     uint8_t templ;
 
-    templ = *(uint8_t*) (0x53EB);
-    temph = *(uint8_t*) (0x53EA);
+    templ = READ_MMIO_U8(0x53EB);
+    temph = READ_MMIO_U8(0x53EA);
 
     return ((uint16_t) temph) << 2 | ((uint16_t) templ);
 }
@@ -120,15 +122,15 @@ uint16_t ui16_adc_read_phase_B_current(void) {
 uint8_t ui8_adc_read_throttle(void) {
     // 0x53E0 + 2*4 = 0x53E8
     //  return *(uint8_t*)(0x53E8);
-    return *(uint8_t*) (0x53E8);
+    return READ_MMIO_U8(0x53E8);
 }
 
 uint16_t ui16_adc_read_x4_value(void) {
     uint16_t temph;
     uint8_t templ;
 
-    templ = *(uint8_t*) (0x53EF);
-    temph = *(uint8_t*) (0x53EE);
+    templ = READ_MMIO_U8(0x53EF);
+    temph = READ_MMIO_U8(0x53EE);
 
     return ((uint16_t) temph) << 2 | ((uint16_t) templ);
 
@@ -136,30 +138,31 @@ uint16_t ui16_adc_read_x4_value(void) {
 
 uint8_t ui8_adc_read_motor_total_current(void) {
     // 0x53E0 + 2*8 = 0x53F0
-    return *(uint8_t*) (0x53F0);
+    return READ_MMIO_U8(0x53F0);
 }
 
 uint16_t ui16_adc_read_motor_total_current(void) {
     uint16_t temph;
     uint8_t templ;
 
-    templ = *(uint8_t*) (0x53F1);
-    temph = *(uint8_t*) (0x53F0);
+    templ = READ_MMIO_U8(0x53F1);
+    temph = READ_MMIO_U8(0x53F0);
 
     return ((uint16_t) temph) << 2 | ((uint16_t) templ);
 }
 
 uint8_t ui8_adc_read_battery_voltage(void) {
     // 0x53E0 + 2*9 = 0x53F2
-    return *(uint8_t*) (0x53F2);
+    return READ_MMIO_U8(0x53F2);
 }
 
 uint16_t ui16_adc_read_battery_voltage(void) {
     uint16_t temph;
     uint8_t templ;
 
-    templ = *(uint8_t*) (0x53F3);
-    temph = *(uint8_t*) (0x53F2);
+    templ = READ_MMIO_U8(0x53F3);
+    temph = READ_MMIO_U8(0x53F2);
+    temph = READ_MMIO_U8(0x53F2);
 
     return ((uint16_t) temph) << 2 | ((uint16_t) templ);
 }
diff --git a/apply_config.sh b/apply_config.sh
new file mode 100755
index 00000000..df8b3350
--- /dev/null
+++ b/apply_config.sh
@@ -0,0 +1,6 @@
+#!/bin/sh
+set -x
+make clean
+make && sudo make flash
+echo "Press enter to quit script..."
+read dummy
diff --git a/gpio.c b/gpio.c
index bcb76dd5..cdbc3246 100644
--- a/gpio.c
+++ b/gpio.c
@@ -12,7 +12,31 @@
 
 void gpio_init (void)
 {
-  ;
+	// General MCU principles: every pin should have a defined state;
+	// if not, the pin might float randomly and toggle spuriously and consume current in the input buffer.
+	// Thus, set every unused pin to input pullup.
+	//               LEARN        unk          unk          unk          unk
+	GPIO_Init(GPIOA, GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3 | GPIO_PIN_5 | GPIO_PIN_6,
+				GPIO_MODE_IN_PU_NO_IT);
+	//               unk (no connect)
+	GPIO_Init(GPIOB, GPIO_PIN_3,
+				GPIO_MODE_IN_PU_NO_IT);
+	//               unk          unk
+	GPIO_Init(GPIOC, GPIO_PIN_4 | GPIO_PIN_6,
+				GPIO_MODE_IN_PU_NO_IT);
+	//               SWIM         unk          unk
+	GPIO_Init(GPIOD, GPIO_PIN_1 | GPIO_PIN_3 | GPIO_PIN_4,
+				GPIO_MODE_IN_PU_NO_IT);
+	//               unk          unk
+	GPIO_Init(GPIOE, GPIO_PIN_3 | GPIO_PIN_5,
+				GPIO_MODE_IN_PU_NO_IT);
+	//               unk          unk
+	GPIO_Init(GPIOG, GPIO_PIN_0 | GPIO_PIN_1,
+				GPIO_MODE_IN_PU_NO_IT);
+	// Note: on an unknown board, you should also check that every pulled up pin
+	// reads back as 1 (which i did for mine). If something reads back as 0, assume
+	// it's either used for something that drives it, or is hard-wired to ground,
+	// and remove it from the pullup list.
 }
 
 void debug_pin_init (void)
diff --git a/main.c b/main.c
index 0dc1a12e..ecf122b6 100644
--- a/main.c
+++ b/main.c
@@ -19,7 +19,6 @@
 #include "uart.h"
 #include "adc.h"
 #include "brake.h"
-#include "cruise_control.h"
 #include "timers.h"
 #include "pwm.h"
 #include "PAS.h"
@@ -158,19 +157,15 @@ int main(void) {
 			ui8_slowloop_flag = 0; //reset flag for slow loop
 			ui8_veryslowloop_counter++; // increase counter for very slow loop
 
+			motor_slow_update_pre();
 			checkPasInActivity();
 			updateRequestedTorque(); //now calculates tq for sensor as well
 			updateSlowLoopStates();
 			updateX4();
 			updateLight();
 			ui16_setpoint = (uint16_t) aca_setpoint(ui16_time_ticks_between_pas_interrupt, ui16_setpoint); //update setpoint
-
-			//#define DO_CRUISE_CONTROL 1
-#if DO_CRUISE_CONTROL == 1
-			ui16_setpoint = cruise_control(ui16_setpoint);
-#endif
-
 			pwm_set_duty_cycle((uint8_t) ui16_setpoint);
+			motor_slow_update_post();
 
 			//pwm_set_duty_cycle ((uint8_t)ui16_sum_throttle);
 
diff --git a/motor.c b/motor.c
index b69df4aa..dabc0c5c 100755
--- a/motor.c
+++ b/motor.c
@@ -16,34 +16,44 @@
 #include "pwm.h"
 #include "config.h"
 #include "adc.h"
+
 #include "ACAcontrollerState.h"
 #include "ACAcommons.h"
 
-uint8_t ui8_counter = 0;
-uint8_t ui8_half_rotation_flag = 0;
-uint8_t ui8_foc_enable_flag = 0;
 
+/* Local only */
+static uint8_t ui8_half_rotation_flag = 0;
+static uint8_t ui8_foc_enable_flag = 0;
+static uint8_t ui8_assumed_motor_position = 0;
+static uint8_t ui8_motor_rotor_hall_position = 0; // in 360/256 degrees
+static uint8_t ui8_sinetable_precalc = 0;
+static uint8_t ui8_interpolation_start_position = 0;
+static uint8_t ui8_interpolation_angle = 0;
+static int8_t hall_sensors_last = 0;
+static uint16_t ui16_ADC_iq_current_accumulated = 4096;
+
+// Local except for diagnostics (main)
 uint16_t ui16_PWM_cycles_counter = 0;
 uint16_t ui16_PWM_cycles_counter_6 = 0;
 uint16_t ui16_PWM_cycles_counter_total = 0;
+uint16_t ui16_ADC_iq_current = 0; // main plus BO
+int8_t hall_sensors; // main only; plus it's an int8, should be fine.
+uint8_t ui8_possible_motor_state = 0;
+uint8_t ui8_dynamic_motor_state = 0;
+uint8_t ui8_position_correction_value = 127; // in 360/256 degrees
+// Only for diagnostics
+uint8_t uint8_t_60deg_pwm_cycles[6];
+uint8_t uint8_t_hall_case[7];
 
-uint8_t ui8_assumed_motor_position = 0;
-uint8_t ui8_sinetable_position = 0; // in 360/256 degrees
-uint8_t ui8_motor_rotor_hall_position = 0; // in 360/256 degrees
-uint8_t ui8_sinetable_precalc = 0;
-uint8_t ui8_interpolation_start_position = 0;
-
-uint8_t ui8_interpolation_angle = 0;
 
-uint16_t ui16_adc_current_phase_B = 0;
-uint16_t ui16_adc_current_phase_B_accumulated = 0;
-uint16_t ui16_adc_current_phase_B_filtered = 0;
+// Motor->PWM (we call pwm; same context.)
+uint8_t ui8_sinetable_position = 0; // in 360/256 degrees
 
-int8_t hall_sensors;
-int8_t hall_sensors_last = 0;
+// Slow loop -> motor (by the motor_slow_update_post)
+static uint16_t BatteryCurrent;
 
-uint16_t ui16_ADC_iq_current_accumulated = 4096;
-uint16_t ui16_iq_current_ma = 0;
+// Motor-> slow loop (_pre)
+static uint16_t motor_speed_erps;
 
 void TIM1_UPD_OVF_TRG_BRK_IRQHandler(void) __interrupt(TIM1_UPD_OVF_TRG_BRK_IRQHANDLER) {
 	adc_trigger();
@@ -70,9 +80,8 @@ void hall_sensors_read_and_action(void) {
 		if (hall_sensors_last >0 && hall_sensors_last < 7) {
 			uint8_t_60deg_pwm_cycles[hall_sensors_last-1] = ui16_PWM_cycles_counter_6;
 		}
-		updateHallOrder(hall_sensors);
+		updateHallOrder(hall_sensors); // this stores the hall order elsewhere, only for debug
 
-		//printf("hall change! %d, %d \n", hall_sensors, hall_sensors_last );
 		hall_sensors_last = hall_sensors;
 
 		if (ui8_possible_motor_state == MOTOR_STATE_COAST) {
@@ -91,17 +100,17 @@ void hall_sensors_read_and_action(void) {
 					if (ui16_PWM_cycles_counter > 20) ui16_PWM_cycles_counter_total = ui16_PWM_cycles_counter;
 
 					ui16_PWM_cycles_counter = 0;
-					ui16_motor_speed_erps = ((uint16_t) ui16_pwm_cycles_second) / ui16_PWM_cycles_counter_total; // this division takes ~4.2us
+					motor_speed_erps = ((uint16_t) ui16_pwm_cycles_second) / ui16_PWM_cycles_counter_total; // this division takes ~4.2us
 
 				}
 
-				if (ui16_motor_speed_erps == -1) {
-					ui16_motor_speed_erps = 0;
+				if (motor_speed_erps == -1) {
+					motor_speed_erps = 0;
 				}
 				// update motor state based on motor speed
-				if (ui16_motor_speed_erps > 75) {
+				if (motor_speed_erps > 75) {
 					ui8_possible_motor_state = MOTOR_STATE_RUNNING_INTERPOLATION_360;
-				}else if (ui16_motor_speed_erps > 3) {
+				}else if (motor_speed_erps > 3) {
 					ui8_possible_motor_state = MOTOR_STATE_RUNNING_INTERPOLATION_60;
 				} else {
 					ui8_possible_motor_state = MOTOR_STATE_RUNNING_NO_INTERPOLATION;
@@ -162,15 +171,18 @@ void updateCorrection() {
 		return;
 	}
 
-	if (ui16_motor_speed_erps > 3 && ui16_BatteryCurrent > ui16_current_cal_b + 3) { //normal riding,
-		if (ui16_ADC_iq_current >> 2 > 128 && ui8_position_correction_value < 143) {
+	const uint8_t curr_target = 126;
+	const uint8_t max_angle = 143;
+
+	if (motor_speed_erps > 3 && BatteryCurrent > ui16_current_cal_b + 3) { //normal riding,
+		if (ui16_ADC_iq_current >> 2 > (curr_target+2) && ui8_position_correction_value < max_angle) {
 			ui8_position_correction_value++;
 		} else if (ui16_ADC_iq_current >> 2 < 126 && ui8_position_correction_value > 111) {
 			ui8_position_correction_value--;
 		}
-	} else if (ui16_motor_speed_erps > 3 && ui16_BatteryCurrent < ui16_current_cal_b - 3) {//regen
+	} else if (motor_speed_erps > 3 && BatteryCurrent < ui16_current_cal_b - 3) {//regen
 		ui8_position_correction_value = 127; //set advance angle to neutral value
-	} else if (ui16_motor_speed_erps < 3) {
+	} else if (motor_speed_erps < 3) {
 		ui8_position_correction_value = 127; //reset advance angle at very low speed)
 	}
 
@@ -179,6 +191,8 @@ void updateCorrection() {
 // runs every 64us (PWM frequency)
 
 void motor_fast_loop(void) {
+
+	/* FIXME: These counters are... not well implemented. */
 	if (ui16_time_ticks_for_uart_timeout < 65530) {
 		ui16_time_ticks_for_uart_timeout++;
 	}
@@ -200,7 +214,7 @@ void motor_fast_loop(void) {
 		ui16_PWM_cycles_counter_total = 0xffff; //(SVM_TABLE_LEN_x1024) / PWM_CYCLES_COUNTER_MAX;
 		ui8_position_correction_value = 127;
 		hall_sensors_last = 0;
-		ui16_motor_speed_erps = 0;
+		motor_speed_erps = 0;
 
 
 		// next code is need for motor startup correctly
@@ -305,3 +319,30 @@ void watchdog_init(void) {
 	IWDG_SetReload(2); // 187.5us; for some reason, a value of 1 don't work, only 2
 	IWDG_ReloadCounter();
 }
+
+
+// Move these includes here if you want to see the identifiers that the ISR code uses
+// without much regard for safety (most of whats left (except those timers) are effectively constants (except if adjusted during debug).
+//#include "ACAcontrollerState.h"
+//#include "ACAcommons.h"
+
+
+// The concept here is loaned from linux; except that SDCC doesnt do typeof(x), so we need one per width.
+#define READ_ONCE_U16(x)	(*(const volatile uint16_t *)&(x))
+#define WRITE_ONCE_U16(x, val)						\
+do {									\
+	*(volatile uint16_t *)&(x) = (val);				\
+} while (0)
+
+/* Communicate between "fast loop" (ISR) and rest of the system. */
+void motor_slow_update_pre(void) {
+	disableInterrupts();
+	ui16_motor_speed_erps = READ_ONCE_U16(motor_speed_erps);
+	enableInterrupts();
+}
+
+void motor_slow_update_post(void) {
+	disableInterrupts();
+	WRITE_ONCE_U16(BatteryCurrent, ui16_BatteryCurrent);
+	enableInterrupts();
+}
diff --git a/motor.h b/motor.h
index 8528266e..afee4311 100755
--- a/motor.h
+++ b/motor.h
@@ -18,11 +18,17 @@
 #define MOTOR_STATE_RUNNING_INTERPOLATION_60 2
 #define MOTOR_STATE_RUNNING_INTERPOLATION_360 3
 
+// external for PWM (TIM1 isr context)
 extern uint8_t ui8_sinetable_position;
-extern uint16_t ui16_speed_inverse;
+
+// external for debug only (and the BOdisplay... now there's an acronym.)
 extern uint16_t ui16_PWM_cycles_counter_total;
-extern uint16_t ui16_iq_current_ma;
-extern uint16_t ui16_log;
+extern uint16_t ui16_ADC_iq_current;
+extern uint8_t ui8_possible_motor_state;
+extern uint8_t ui8_dynamic_motor_state;
+extern uint8_t ui8_position_correction_value;
+extern uint8_t uint8_t_60deg_pwm_cycles[6];
+extern uint8_t uint8_t_hall_case[7];
 
 
 void hall_sensor_init (void);
@@ -30,4 +36,9 @@ void hall_sensors_read_and_action (void);
 void motor_fast_loop (void);
 void watchdog_init (void);
 
+// slow loop before setpoint
+void motor_slow_update_pre(void);
+// slow loop after setpoint
+void motor_slow_update_post(void);
+
 #endif /* _MOTOR_H_ */
diff --git a/tools/JavaConfigurator/src/OSEC.java b/tools/JavaConfigurator/src/OSEC.java
index 293d7b1b..e7e9e36e 100644
--- a/tools/JavaConfigurator/src/OSEC.java
+++ b/tools/JavaConfigurator/src/OSEC.java
@@ -1357,8 +1357,26 @@ public void actionPerformed(ActionEvent arg0) {
 
 					}
 				}
+				String command;
+				if (System.getProperty("os.name").toLowerCase().contains("win")) {
+					command = "cmd /c start Start_Compiling";
+				} else {
+					// Use the environment variable if you want to set
+					// a custom term on a random linux distro.
+					String terminal = System.getenv("TERMINAL");
+					if (terminal == null) {
+						File tf = new File("/usr/bin/x-terminal-emulator");
+						if (tf.exists()) {
+							terminal = "x-terminal-emulator";
+						} else {
+							terminal = "xterm";
+						}
+					}
+					command = terminal + " -e ./apply_config.sh";
+				}
+
 				try {
-					Process process = Runtime.getRuntime().exec("cmd /c start Start_Compiling");
+					Process process = Runtime.getRuntime().exec(command);
 				} catch (IOException e1) {
 					txtThrottlemin.setText("Error");
 					e1.printStackTrace();
diff --git a/uart.c b/uart.c
index edbdbcef..bd7d40d5 100755
--- a/uart.c
+++ b/uart.c
@@ -48,6 +48,13 @@ uint8_t uart_get_buffered(void) {
     }
     return c;
 }
+
+int uart_getch(void) {
+	if (byte_avail_at_position() != UART_EMPTY_INDICATOR) 
+		return uart_get_buffered();
+	return -1;
+}
+
 // FIXME only needed as long as the other displays do not use new functions
 // and instead have their own irq handler
 
diff --git a/uart.h b/uart.h
index f8bab6e3..5ff1366b 100755
--- a/uart.h
+++ b/uart.h
@@ -25,4 +25,5 @@ void uart_fill_rx_packet_buffer(uint8_t *buffer, uint8_t bufferSize, uint8_t *bu
 void uart_init (void);
 void putbyte(uint8_t c);
 
+int uart_getch(void);
 #endif /* _UART_H */