diff --git a/Firmware-Compatibility.md b/Firmware-Compatibility.md
index 8a14100..d62b260 100644
--- a/Firmware-Compatibility.md
+++ b/Firmware-Compatibility.md
@@ -46,11 +46,11 @@ This is the pin mapping this firmware is using, you might have to adapt it to yo
 |PHASE RIGHT W HIGH|PA10|||
 |PHASE RIGHT W LOW|PB15|||
 |LEFT_DC_CUR|PC0||Used to measure Left motor DC current with a 3.5mΩ or 2x7mΩ shunts<br>Missing on some of the boards, so no dc current limitation|
-|LEFT_U_CUR|PA0||Used to measure phase current for FOC with low-side Mosfet RDSon|
-|LEFT_V_CUR|PC3||Used to measure phase current for FOC with low-side Mosfet RDSon|
+|LEFT_U_CUR|PA0||Used to measure phase current for FOC through low-side Mosfet RDSon as shunt resistor|
+|LEFT_V_CUR|PC3||Used to measure phase current for FOC through low-side Mosfet RDSon as shunt resistor|
 |RIGHT_DC_CUR|PC1||Used to measure Right motor DC current with a 3.5mΩ or 2x7mΩ shunts<br>Missing on some of the boards, so no dc current limitation|
-|RIGHT_U_CUR|PC4||Used to measure phase current for FOC with low-side Mosfet RDSon|
-|RIGHT_V_CUR|PC5||Used to measure phase current for FOC with low-side Mosfet RDSon|
+|RIGHT_U_CUR|PC4||Used to measure phase current for FOC through low-side Mosfet RDSon as shunt resistor|
+|RIGHT_V_CUR|PC5||Used to measure phase current for FOC through low-side Mosfet RDSon as shunt resistor|
 |DCLINK|PC2|PA1|Used to measure Battery voltage with adc through a voltage divider|
 |OFF|PA5|PC15|Used to maintain the latch on, released to power off|
 |BUTTON|PA1|PB9|To power on/off<br>To trigger [auto-calibration](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki/Input-Calibration#auto-calibration)<br>To set current and speed limits [on the go](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki/Setup-current-and-speed-limits#gear-setting-up-the-current-and-speed-limits-on-the-go)<br>To change cable length on [transpotter](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki/Variant-TRANSPOTTER#cable-length)|