diff --git a/01_Matlab/BLDC_controller_ert_rtw/BLDC_controller.c b/01_Matlab/BLDC_controller_ert_rtw/BLDC_controller.c
index 3e5b04a..14c361c 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/BLDC_controller.c
+++ b/01_Matlab/BLDC_controller_ert_rtw/BLDC_controller.c
@@ -9,7 +9,7 @@
  *
  * Model version                  : 1.879
  * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017
- * C/C++ source code generated on : Thu Jun  6 17:49:29 2019
+ * C/C++ source code generated on : Thu Jun  6 22:50:24 2019
  *
  * Target selection: ert.tlc
  * Embedded hardware selection: ARM Compatible->ARM Cortex
diff --git a/01_Matlab/BLDC_controller_ert_rtw/BLDC_controller.h b/01_Matlab/BLDC_controller_ert_rtw/BLDC_controller.h
index 01b6ed6..6e0c616 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/BLDC_controller.h
+++ b/01_Matlab/BLDC_controller_ert_rtw/BLDC_controller.h
@@ -9,7 +9,7 @@
  *
  * Model version                  : 1.879
  * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017
- * C/C++ source code generated on : Thu Jun  6 17:49:29 2019
+ * C/C++ source code generated on : Thu Jun  6 22:50:24 2019
  *
  * Target selection: ert.tlc
  * Embedded hardware selection: ARM Compatible->ARM Cortex
diff --git a/01_Matlab/BLDC_controller_ert_rtw/BLDC_controller_data.c b/01_Matlab/BLDC_controller_ert_rtw/BLDC_controller_data.c
index 23fd577..ecb95dc 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/BLDC_controller_data.c
+++ b/01_Matlab/BLDC_controller_ert_rtw/BLDC_controller_data.c
@@ -9,7 +9,7 @@
  *
  * Model version                  : 1.879
  * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017
- * C/C++ source code generated on : Thu Jun  6 17:49:29 2019
+ * C/C++ source code generated on : Thu Jun  6 22:50:24 2019
  *
  * Target selection: ert.tlc
  * Embedded hardware selection: ARM Compatible->ARM Cortex
@@ -64,23 +64,23 @@ const ConstP rtConstP = {
   /* Computed Parameter: r_sin3PhaA_M1_Table
    * Referenced by: '<S20>/r_sin3PhaA_M1'
    */
-  { 795, 930, 991, 996, 971, 942, 930, 942, 971, 996, 991, 930, 795, 584, 310, 0,
-    -310, -584, -795, -930, -991, -996, -971, -942, -930, -942, -971, -996, -991,
-    -930, -795, -584, -310, 0, 310, 584, 795 },
+  { 813, 945, 1000, 996, 962, 926, 912, 926, 962, 996, 1000, 945, 813, 599, 319,
+    0, -319, -599, -813, -945, -1000, -996, -962, -926, -912, -926, -962, -996,
+    -1000, -945, -813, -599, -319, 0, 319, 599, 813 },
 
   /* Computed Parameter: r_sin3PhaB_M1_Table
    * Referenced by: '<S20>/r_sin3PhaB_M1'
    */
-  { -930, -942, -971, -996, -991, -930, -795, -584, -310, 0, 310, 584, 795, 930,
-    991, 996, 971, 942, 930, 942, 971, 996, 991, 930, 795, 584, 310, 0, -310,
-    -584, -795, -930, -991, -996, -971, -942, -930 },
+  { -912, -926, -962, -996, -1000, -945, -813, -599, -319, 0, 319, 599, 813, 945,
+    1000, 996, 962, 926, 912, 926, 962, 996, 1000, 945, 813, 599, 319, 0, -319,
+    -599, -813, -945, -1000, -996, -962, -926, -912 },
 
   /* Computed Parameter: r_sin3PhaC_M1_Table
    * Referenced by: '<S20>/r_sin3PhaC_M1'
    */
-  { 795, 584, 310, 0, -310, -584, -795, -930, -991, -996, -971, -942, -930, -942,
-    -971, -996, -991, -930, -795, -584, -310, 0, 310, 584, 795, 930, 991, 996,
-    971, 942, 930, 942, 971, 996, 991, 930, 795 },
+  { 813, 599, 319, 0, -319, -599, -813, -945, -1000, -996, -962, -926, -912,
+    -926, -962, -996, -1000, -945, -813, -599, -319, 0, 319, 599, 813, 945, 1000,
+    996, 962, 926, 912, 926, 962, 996, 1000, 945, 813 },
 
   /* Computed Parameter: z_commutMap_M1_table
    * Referenced by: '<S10>/z_commutMap_M1'
diff --git a/01_Matlab/BLDC_controller_ert_rtw/buildInfo.mat b/01_Matlab/BLDC_controller_ert_rtw/buildInfo.mat
index 322edce..902c929 100644
Binary files a/01_Matlab/BLDC_controller_ert_rtw/buildInfo.mat and b/01_Matlab/BLDC_controller_ert_rtw/buildInfo.mat differ
diff --git a/01_Matlab/BLDC_controller_ert_rtw/codeInfo.mat b/01_Matlab/BLDC_controller_ert_rtw/codeInfo.mat
index 411fb55..1a6f103 100644
Binary files a/01_Matlab/BLDC_controller_ert_rtw/codeInfo.mat and b/01_Matlab/BLDC_controller_ert_rtw/codeInfo.mat differ
diff --git a/01_Matlab/BLDC_controller_ert_rtw/codedescriptor.dmr b/01_Matlab/BLDC_controller_ert_rtw/codedescriptor.dmr
index 1f2a558..10b9402 100644
Binary files a/01_Matlab/BLDC_controller_ert_rtw/codedescriptor.dmr and b/01_Matlab/BLDC_controller_ert_rtw/codedescriptor.dmr differ
diff --git a/01_Matlab/BLDC_controller_ert_rtw/ert_main.c b/01_Matlab/BLDC_controller_ert_rtw/ert_main.c
index cb280d6..56553ed 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/ert_main.c
+++ b/01_Matlab/BLDC_controller_ert_rtw/ert_main.c
@@ -9,7 +9,7 @@
  *
  * Model version                  : 1.879
  * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017
- * C/C++ source code generated on : Thu Jun  6 17:49:29 2019
+ * C/C++ source code generated on : Thu Jun  6 22:50:24 2019
  *
  * Target selection: ert.tlc
  * Embedded hardware selection: ARM Compatible->ARM Cortex
diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/BLDC_controller_c.html b/01_Matlab/BLDC_controller_ert_rtw/html/BLDC_controller_c.html
index e334492..7f7a71b 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/BLDC_controller_c.html
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/BLDC_controller_c.html
@@ -23,7 +23,7 @@
 </span><span><a class="LN" name="9">    9   </a><span class="CT"> *</span>
 </span><span><a class="LN" name="10">   10   </a><span class="CT"> * Model version                  : 1.879</span>
 </span><span><a class="LN" name="11">   11   </a><span class="CT"> * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017</span>
-</span><span><a class="LN" name="12">   12   </a><span class="CT"> * C/C++ source code generated on : Thu Jun  6 17:49:29 2019</span>
+</span><span><a class="LN" name="12">   12   </a><span class="CT"> * C/C++ source code generated on : Thu Jun  6 22:50:24 2019</span>
 </span><span><a class="LN" name="13">   13   </a><span class="CT"> *</span>
 </span><span><a class="LN" name="14">   14   </a><span class="CT"> * Target selection: ert.tlc</span>
 </span><span><a class="LN" name="15">   15   </a><span class="CT"> * Embedded hardware selection: ARM Compatible-&gt;ARM Cortex</span>
diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/BLDC_controller_data_c.html b/01_Matlab/BLDC_controller_ert_rtw/html/BLDC_controller_data_c.html
index fd7fdf5..fb19588 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/BLDC_controller_data_c.html
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/BLDC_controller_data_c.html
@@ -23,7 +23,7 @@
 </span><span><a class="LN" name="9">    9   </a><span class="CT"> *</span>
 </span><span><a class="LN" name="10">   10   </a><span class="CT"> * Model version                  : 1.879</span>
 </span><span><a class="LN" name="11">   11   </a><span class="CT"> * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017</span>
-</span><span><a class="LN" name="12">   12   </a><span class="CT"> * C/C++ source code generated on : Thu Jun  6 17:49:29 2019</span>
+</span><span><a class="LN" name="12">   12   </a><span class="CT"> * C/C++ source code generated on : Thu Jun  6 22:50:24 2019</span>
 </span><span><a class="LN" name="13">   13   </a><span class="CT"> *</span>
 </span><span><a class="LN" name="14">   14   </a><span class="CT"> * Target selection: ert.tlc</span>
 </span><span><a class="LN" name="15">   15   </a><span class="CT"> * Embedded hardware selection: ARM Compatible-&gt;ARM Cortex</span>
@@ -78,23 +78,23 @@
 </span><span><a class="LN" name="64">   64   </a>  <span class="CT">/* Computed Parameter: r_sin3PhaA_M1_Table</span>
 </span><span><a class="LN" name="65">   65   </a><span class="CT">   * Referenced by: '<a href="matlab:coder.internal.code2model('BLDCmotorControl_R2017b:2687:299')" name="code2model"><font color="#117755"><i>&lt;S20&gt;/r_sin3PhaA_M1</i></font></a>'</span>
 </span><span><a class="LN" name="66">   66   </a><span class="CT">   */</span>
-</span><span><a class="LN" name="67">   67   </a>  <b>{</b> 795, 930, 991, 996, 971, 942, 930, 942, 971, 996, 991, 930, 795, 584, 310, 0,
-</span><span><a class="LN" name="68">   68   </a>    -310, -584, -795, -930, -991, -996, -971, -942, -930, -942, -971, -996, -991,
-</span><span><a class="LN" name="69">   69   </a>    -930, -795, -584, -310, 0, 310, 584, 795 <b>}</b>,
+</span><span><a class="LN" name="67">   67   </a>  <b>{</b> 813, 945, 1000, 996, 962, 926, 912, 926, 962, 996, 1000, 945, 813, 599, 319,
+</span><span><a class="LN" name="68">   68   </a>    0, -319, -599, -813, -945, -1000, -996, -962, -926, -912, -926, -962, -996,
+</span><span><a class="LN" name="69">   69   </a>    -1000, -945, -813, -599, -319, 0, 319, 599, 813 <b>}</b>,
 </span><span><a class="LN" name="70">   70   </a>
 </span><span><a class="LN" name="71">   71   </a>  <span class="CT">/* Computed Parameter: r_sin3PhaB_M1_Table</span>
 </span><span><a class="LN" name="72">   72   </a><span class="CT">   * Referenced by: '<a href="matlab:coder.internal.code2model('BLDCmotorControl_R2017b:2687:300')" name="code2model"><font color="#117755"><i>&lt;S20&gt;/r_sin3PhaB_M1</i></font></a>'</span>
 </span><span><a class="LN" name="73">   73   </a><span class="CT">   */</span>
-</span><span><a class="LN" name="74">   74   </a>  <b>{</b> -930, -942, -971, -996, -991, -930, -795, -584, -310, 0, 310, 584, 795, 930,
-</span><span><a class="LN" name="75">   75   </a>    991, 996, 971, 942, 930, 942, 971, 996, 991, 930, 795, 584, 310, 0, -310,
-</span><span><a class="LN" name="76">   76   </a>    -584, -795, -930, -991, -996, -971, -942, -930 <b>}</b>,
+</span><span><a class="LN" name="74">   74   </a>  <b>{</b> -912, -926, -962, -996, -1000, -945, -813, -599, -319, 0, 319, 599, 813, 945,
+</span><span><a class="LN" name="75">   75   </a>    1000, 996, 962, 926, 912, 926, 962, 996, 1000, 945, 813, 599, 319, 0, -319,
+</span><span><a class="LN" name="76">   76   </a>    -599, -813, -945, -1000, -996, -962, -926, -912 <b>}</b>,
 </span><span><a class="LN" name="77">   77   </a>
 </span><span><a class="LN" name="78">   78   </a>  <span class="CT">/* Computed Parameter: r_sin3PhaC_M1_Table</span>
 </span><span><a class="LN" name="79">   79   </a><span class="CT">   * Referenced by: '<a href="matlab:coder.internal.code2model('BLDCmotorControl_R2017b:2687:301')" name="code2model"><font color="#117755"><i>&lt;S20&gt;/r_sin3PhaC_M1</i></font></a>'</span>
 </span><span><a class="LN" name="80">   80   </a><span class="CT">   */</span>
-</span><span><a class="LN" name="81">   81   </a>  <b>{</b> 795, 584, 310, 0, -310, -584, -795, -930, -991, -996, -971, -942, -930, -942,
-</span><span><a class="LN" name="82">   82   </a>    -971, -996, -991, -930, -795, -584, -310, 0, 310, 584, 795, 930, 991, 996,
-</span><span><a class="LN" name="83">   83   </a>    971, 942, 930, 942, 971, 996, 991, 930, 795 <b>}</b>,
+</span><span><a class="LN" name="81">   81   </a>  <b>{</b> 813, 599, 319, 0, -319, -599, -813, -945, -1000, -996, -962, -926, -912,
+</span><span><a class="LN" name="82">   82   </a>    -926, -962, -996, -1000, -945, -813, -599, -319, 0, 319, 599, 813, 945, 1000,
+</span><span><a class="LN" name="83">   83   </a>    996, 962, 926, 912, 926, 962, 996, 1000, 945, 813 <b>}</b>,
 </span><span><a class="LN" name="84">   84   </a>
 </span><span><a class="LN" name="85">   85   </a>  <span class="CT">/* Computed Parameter: z_commutMap_M1_table</span>
 </span><span><a class="LN" name="86">   86   </a><span class="CT">   * Referenced by: '<a href="matlab:coder.internal.code2model('BLDCmotorControl_R2017b:2687:411')" name="code2model"><font color="#117755"><i>&lt;S10&gt;/z_commutMap_M1</i></font></a>'</span>
diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/BLDC_controller_h.html b/01_Matlab/BLDC_controller_ert_rtw/html/BLDC_controller_h.html
index 730f01a..ead75bf 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/BLDC_controller_h.html
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/BLDC_controller_h.html
@@ -23,7 +23,7 @@
 </span><span><a class="LN" name="9">    9   </a><span class="CT"> *</span>
 </span><span><a class="LN" name="10">   10   </a><span class="CT"> * Model version                  : 1.879</span>
 </span><span><a class="LN" name="11">   11   </a><span class="CT"> * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017</span>
-</span><span><a class="LN" name="12">   12   </a><span class="CT"> * C/C++ source code generated on : Thu Jun  6 17:49:29 2019</span>
+</span><span><a class="LN" name="12">   12   </a><span class="CT"> * C/C++ source code generated on : Thu Jun  6 22:50:24 2019</span>
 </span><span><a class="LN" name="13">   13   </a><span class="CT"> *</span>
 </span><span><a class="LN" name="14">   14   </a><span class="CT"> * Target selection: ert.tlc</span>
 </span><span><a class="LN" name="15">   15   </a><span class="CT"> * Embedded hardware selection: ARM Compatible-&gt;ARM Cortex</span>
diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/BLDC_controller_metrics.html b/01_Matlab/BLDC_controller_ert_rtw/html/BLDC_controller_metrics.html
index cdcdaa7..b39b53c 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/BLDC_controller_metrics.html
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/BLDC_controller_metrics.html
@@ -175,7 +175,7 @@ BLDC_controller.c
 693
 </td>
 <td width="22%" align="right" valign="top" style="border-style: none">
-06/06/2019  5:49 PM
+06/06/2019 10:50 PM
 </td>
 
 </tr>
@@ -193,7 +193,7 @@ BLDC_controller.h
 246
 </td>
 <td width="22%" align="right" valign="top" style="border-style: none">
-06/06/2019  5:49 PM
+06/06/2019 10:50 PM
 </td>
 
 </tr>
@@ -211,7 +211,7 @@ rtwtypes.h
 109
 </td>
 <td width="22%" align="right" valign="top" style="border-style: none">
-06/06/2019  5:49 PM
+06/06/2019 10:50 PM
 </td>
 
 </tr>
@@ -229,7 +229,7 @@ BLDC_controller_data.c
 102
 </td>
 <td width="22%" align="right" valign="top" style="border-style: none">
-06/06/2019  5:49 PM
+06/06/2019 10:50 PM
 </td>
 
 </tr>
diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/BLDC_controller_survey.html b/01_Matlab/BLDC_controller_ert_rtw/html/BLDC_controller_survey.html
index 8e73480..ac1194b 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/BLDC_controller_survey.html
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/BLDC_controller_survey.html
@@ -109,7 +109,7 @@ Simulink Coder Version
 Timestamp of Generated Source Code
 </td>
 <td align="left" valign="top">
-Thu Jun  6 17:49:29 2019
+Thu Jun  6 22:50:24 2019
 </td>
 
 </tr>
diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/BLDC_controller_traceInfo.js b/01_Matlab/BLDC_controller_ert_rtw/html/BLDC_controller_traceInfo.js
index 506bcf1..1d7e5dc 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/BLDC_controller_traceInfo.js
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/BLDC_controller_traceInfo.js
@@ -1,63 +1,63 @@
 function RTW_Sid2UrlHash() {
 	this.urlHashMap = new Array();
 	/* <S2>/Abs1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1660"] = "BLDC_controller.c:179,188";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1660"] = "BLDC_controller.c:179,182,183,185,188";
 	/* <S2>/F02_Electrical_Angle_Calculation */
 	this.urlHashMap["BLDCmotorControl_R2017b:2687:215"] = "BLDC_controller.c:384,447";
 	/* <S2>/If1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:434"] = "BLDC_controller.c:363,450,668&BLDC_controller.h:52";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:434"] = "BLDC_controller.c:363,366,367,368,369,372,373,383,450,668,669&BLDC_controller.h:52";
 	/* <S7>/F01_03_Direction_Detection */
 	this.urlHashMap["BLDCmotorControl_R2017b:2687:38"] = "BLDC_controller.c:216,253";
 	/* <S7>/If2 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1313"] = "BLDC_controller.c:206";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1313"] = "BLDC_controller.c:206,215";
 	/* <S7>/z_ctrlTypSel1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:208"] = "ert_main.c:78&BLDC_controller.c:364,453,552&BLDC_controller.h:165";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:208"] = "BLDC_controller.c:364,368,453,455,552,568&BLDC_controller.h:165&ert_main.c:78";
 	/* <S8>/Action Port */
 	this.urlHashMap["BLDCmotorControl_R2017b:2687:221"] = "BLDC_controller.c:385";
 	/* <S8>/Constant16 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1464"] = "BLDC_controller.c:389";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1464"] = "BLDC_controller.c:389,400";
 	/* <S8>/Constant2 */
 	this.urlHashMap["BLDCmotorControl_R2017b:2687:1465"] = "msg=rtwMsg_CodeGenerationReducedBlock&block=BLDCmotorControl_R2017b:2687:1465";
 	/* <S8>/Divide4 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1466"] = "BLDC_controller.c:412";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1466"] = "BLDC_controller.c:412,417";
 	/* <S8>/Divide5 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1467"] = "BLDC_controller.c:413";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1467"] = "BLDC_controller.c:413,418";
 	/* <S8>/Math
 Function */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:623"] = "BLDC_controller.c:440";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:623"] = "BLDC_controller.c:440,441";
 	/* <S8>/Product2 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:545"] = "BLDC_controller.c:436";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:545"] = "BLDC_controller.c:436,438";
 	/* <S8>/Product6 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1474"] = "BLDC_controller.c:414";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1474"] = "BLDC_controller.c:414,417";
 	/* <S8>/Relational
 Operator7 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1475"] = "BLDC_controller.c:395";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1475"] = "BLDC_controller.c:395,400";
 	/* <S8>/Scope */
 	this.urlHashMap["BLDCmotorControl_R2017b:2687:262"] = "msg=rtwMsg_reducedBlock&block=BLDCmotorControl_R2017b:2687:262";
 	/* <S8>/Sum1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1476"] = "BLDC_controller.c:398";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1476"] = "BLDC_controller.c:398,403,405";
 	/* <S8>/Sum2 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1477"] = "BLDC_controller.c:415";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1477"] = "BLDC_controller.c:415,417,418";
 	/* <S8>/Sum3 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:546"] = "BLDC_controller.c:434";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:546"] = "BLDC_controller.c:434,438";
 	/* <S8>/Switch3 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1478"] = "BLDC_controller.c:387,408";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1478"] = "BLDC_controller.c:387,400,401,403,408";
 	/* <S8>/Switch_PhaAdv */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:514"] = "BLDC_controller.c:420,446&BLDC_controller.h:39";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:514"] = "BLDC_controller.c:420,424,441,443,446&BLDC_controller.h:39";
 	/* <S8>/a_elecAngle1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1479"] = "BLDC_controller.c:411";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1479"] = "BLDC_controller.c:411,417,418";
 	/* <S8>/a_elecPeriod1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:512"] = "ert_main.c:83&BLDC_controller.c:421&BLDC_controller.h:168";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:512"] = "BLDC_controller.c:421,424&BLDC_controller.h:168&ert_main.c:83";
 	/* <S8>/a_elecPeriod2 */
 	this.urlHashMap["BLDCmotorControl_R2017b:2687:547"] = "msg=rtwMsg_CodeGenerationReducedBlock&block=BLDCmotorControl_R2017b:2687:547";
 	/* <S8>/a_phaAdv_M2 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:521"] = "ert_main.c:63&BLDC_controller.c:430&BLDC_controller.h:156";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:521"] = "BLDC_controller.c:430,431,432&BLDC_controller.h:156&ert_main.c:63";
 	/* <S8>/r_phaAdvDC_XA */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:522"] = "ert_main.c:58&BLDC_controller.c:425&BLDC_controller.h:153";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:522"] = "BLDC_controller.c:425,426,427,428&BLDC_controller.h:153&ert_main.c:58";
 	/* <S8>/a_elecAngleAdv */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:278"] = "BLDC_controller.c:374";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:278"] = "BLDC_controller.c:374,375";
 	/* <S8>/a_elecAngle */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:279"] = "BLDC_controller.c:378";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:279"] = "BLDC_controller.c:378,380";
 	/* <S9>/F03_01_Pure_Trapezoidal_Method */
 	this.urlHashMap["BLDCmotorControl_R2017b:2687:285"] = "BLDC_controller.c:457,476";
 	/* <S9>/F03_02_Sinusoidal_Method */
@@ -71,195 +71,195 @@ Operator7 */
 	/* <S9>/Merge2 */
 	this.urlHashMap["BLDCmotorControl_R2017b:2687:347"] = "BLDC_controller.h:43";
 	/* <S9>/Switch Case */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:348"] = "BLDC_controller.c:452,526";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:348"] = "BLDC_controller.c:452,455,456,479,502,526";
 	/* <S10>/Constant1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:370"] = "BLDC_controller.c:615,621,651";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:370"] = "BLDC_controller.c:615,618,621,624,651,654";
 	/* <S10>/Divide1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:373"] = "BLDC_controller.c:616,622,652";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:373"] = "BLDC_controller.c:616,618,622,624,652,654";
 	/* <S10>/Divide2 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:374"] = "BLDC_controller.c:556";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:374"] = "BLDC_controller.c:556,607,608,609";
 	/* <S10>/Divide4 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:375"] = "BLDC_controller.c:557";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:375"] = "BLDC_controller.c:557,570,571,572";
 	/* <S10>/Switch1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:401"] = "BLDC_controller.c:548,612";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:401"] = "BLDC_controller.c:548,568,570,571,572,607,608,609,612";
 	/* <S10>/z_commutMap_M1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:411"] = "BLDC_controller.c:555,565,575,577,582,584,589,593,599,603&BLDC_controller.h:108&BLDC_controller_data.c:86";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:411"] = "BLDC_controller.c:555,565,574,575,577,580,581,582,584,587,589,593,596,599,603,606,607,608,609&BLDC_controller.h:108&BLDC_controller_data.c:86";
 	/* <S11>/Bitwise
 Operator */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1535"] = "BLDC_controller.c:190";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1535"] = "BLDC_controller.c:190,198,199";
 	/* <S11>/UnitDelay */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:31"] = "BLDC_controller.c:194,626&BLDC_controller.h:53";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:31"] = "BLDC_controller.c:194,199,626,629&BLDC_controller.h:53";
 	/* <S11>/UnitDelay1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:32"] = "BLDC_controller.c:195,631&BLDC_controller.h:54";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:32"] = "BLDC_controller.c:195,199,631,634&BLDC_controller.h:54";
 	/* <S11>/UnitDelay2 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:33"] = "BLDC_controller.c:196,636&BLDC_controller.h:55";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:33"] = "BLDC_controller.c:196,200,636,639&BLDC_controller.h:55";
 	/* <S12>/Selector */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:14"] = "BLDC_controller.c:224,249,396,563,591,601";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:14"] = "BLDC_controller.c:224,227,249,251,396,401,403,404,405,563,574,581,591,596,601";
 	/* <S12>/Sum */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:15"] = "BLDC_controller.c:169,397";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:15"] = "BLDC_controller.c:169,176,177,397,403,404,405";
 	/* <S12>/g_Ha */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:17"] = "BLDC_controller.c:170,390";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:17"] = "BLDC_controller.c:170,176,390,404";
 	/* <S12>/g_Hb */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:18"] = "BLDC_controller.c:171,391";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:18"] = "BLDC_controller.c:171,177,391,404,405";
 	/* <S12>/vec_hallToPos */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:22"] = "BLDC_controller.c:223,248,388,549,590,600&BLDC_controller.h:113&BLDC_controller_data.c:92";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:22"] = "BLDC_controller.c:223,227,248,251,388,401,403,549,574,581,590,596,600&BLDC_controller.h:113&BLDC_controller_data.c:92";
 	/* <S13>/Action Port */
 	this.urlHashMap["BLDCmotorControl_R2017b:2687:1314"] = "BLDC_controller.c:217";
 	/* <S13>/Constant20 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:42"] = "BLDC_controller.c:231";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:42"] = "BLDC_controller.c:231,239";
 	/* <S13>/Constant23 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:43"] = "BLDC_controller.c:232";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:43"] = "BLDC_controller.c:232,242";
 	/* <S13>/Constant24 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:44"] = "BLDC_controller.c:233";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:44"] = "BLDC_controller.c:233,240";
 	/* <S13>/Constant8 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:45"] = "BLDC_controller.c:234";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:45"] = "BLDC_controller.c:234,239";
 	/* <S13>/Logical
 Operator3 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:48"] = "BLDC_controller.c:235";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:48"] = "BLDC_controller.c:235,239";
 	/* <S13>/Relational
 Operator1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:49"] = "BLDC_controller.c:236";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:49"] = "BLDC_controller.c:236,239";
 	/* <S13>/Relational
 Operator6 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:50"] = "BLDC_controller.c:237";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:50"] = "BLDC_controller.c:237,239";
 	/* <S13>/Sum2 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:51"] = "BLDC_controller.c:222";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:51"] = "BLDC_controller.c:222,227";
 	/* <S13>/Switch2 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:52"] = "BLDC_controller.c:230,245&BLDC_controller.h:50";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:52"] = "BLDC_controller.c:230,239,240,242,245&BLDC_controller.h:50";
 	/* <S13>/UnitDelay1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1631"] = "BLDC_controller.c:219&BLDC_controller.h:49";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1631"] = "BLDC_controller.c:219,220&BLDC_controller.h:49";
 	/* <S13>/UnitDelay2 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1318"] = "BLDC_controller.c:225,247&BLDC_controller.h:51";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1318"] = "BLDC_controller.c:225,228,247,251&BLDC_controller.h:51";
 	/* <S14>/Abs2 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1366"] = "BLDC_controller.c:345,352";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1366"] = "BLDC_controller.c:345,346,347,349,352";
 	/* <S14>/Abs5 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1320"] = "BLDC_controller.c:327,334";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1320"] = "BLDC_controller.c:327,328,329,331,334";
 	/* <S14>/CTRL_COMM */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1321"] = "BLDC_controller.c:550";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1321"] = "BLDC_controller.c:550,568";
 	/* <S14>/Constant6 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:64"] = "BLDC_controller.c:203,262";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:64"] = "BLDC_controller.c:203,254,262";
 	/* <S14>/Counter_Hold_and_Error_Calculation */
 	this.urlHashMap["BLDCmotorControl_R2017b:2687:1340"] = "BLDC_controller.c:256,274,677,684";
 	/* <S14>/If1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1339"] = "BLDC_controller.c:202,291";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1339"] = "BLDC_controller.c:202,215,291";
 	/* <S14>/Logical
 Operator2 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1325"] = "BLDC_controller.c:554";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1325"] = "BLDC_controller.c:554,568,569";
 	/* <S14>/Relational
 Operator1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1524"] = "BLDC_controller.c:558";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1524"] = "BLDC_controller.c:558,568,569";
 	/* <S14>/Relational
 Operator3 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1326"] = "BLDC_controller.c:559";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1326"] = "BLDC_controller.c:559,568";
 	/* <S14>/Relational
 Operator4 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1327"] = "BLDC_controller.c:560";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1327"] = "BLDC_controller.c:560,568";
 	/* <S14>/Scope2 */
 	this.urlHashMap["BLDCmotorControl_R2017b:2687:141"] = "msg=rtwMsg_reducedBlock&block=BLDCmotorControl_R2017b:2687:141";
 	/* <S14>/Sign */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1525"] = "BLDC_controller.c:528,535";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1525"] = "BLDC_controller.c:528,529,530,532,535";
 	/* <S14>/Sign1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1526"] = "BLDC_controller.c:537,546";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1526"] = "BLDC_controller.c:537,540,541,543,546";
 	/* <S14>/Sum1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:142"] = "BLDC_controller.c:209,265,293,304";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:142"] = "BLDC_controller.c:209,254,265,288,293,294,304,306";
 	/* <S14>/UnitDelay1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1507"] = "BLDC_controller.c:212,266,644&BLDC_controller.h:47";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1507"] = "BLDC_controller.c:212,259,266,644,645&BLDC_controller.h:47";
 	/* <S14>/dz_counter */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1518"] = "ert_main.c:68,73&BLDC_controller.c:354,561&BLDC_controller.h:57,159,162";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1518"] = "BLDC_controller.c:354,355,356,358,359,561,569&BLDC_controller.h:57,159,162&ert_main.c:68,73";
 	/* <S14>/n_commDeacv */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1328"] = "ert_main.c:43,48&BLDC_controller.c:336,562&BLDC_controller.h:56,144,147";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1328"] = "BLDC_controller.c:336,337,338,340,341,562,569&BLDC_controller.h:56,144,147&ert_main.c:43,48";
 	/* <S14>/r_commDCDeacv */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1329"] = "ert_main.c:53&BLDC_controller.c:551&BLDC_controller.h:150";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1329"] = "BLDC_controller.c:551,568&BLDC_controller.h:150&ert_main.c:53";
 	/* <S15>/z_counterRawPrev */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1341"] = "BLDC_controller.c:207,264&BLDC_controller.h:44";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1341"] = "BLDC_controller.c:207,259,264&BLDC_controller.h:44";
 	/* <S15>/Action Port */
 	this.urlHashMap["BLDCmotorControl_R2017b:2687:1344"] = "BLDC_controller.c:257";
 	/* <S15>/Sum4 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1454"] = "BLDC_controller.c:261&BLDC_controller.h:45";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1454"] = "BLDC_controller.c:261,269&BLDC_controller.h:45";
 	/* <S15>/z_counter2 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:169"] = "BLDC_controller.c:267,271,678&BLDC_controller.h:48";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:169"] = "BLDC_controller.c:267,269,271,272,678,679&BLDC_controller.h:48";
 	/* <S15>/z_counter */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1358"] = "BLDC_controller.c:681";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1358"] = "BLDC_controller.c:681,682";
 	/* <S16>/Constant1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1637"] = "BLDC_controller.c:297";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1637"] = "BLDC_controller.c:297,307";
 	/* <S16>/Constant2 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1433"] = "BLDC_controller.c:315";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1433"] = "BLDC_controller.c:315,324";
 	/* <S16>/Constant3 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1434"] = "BLDC_controller.c:316";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1434"] = "BLDC_controller.c:316,325";
 	/* <S16>/Divide1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1435"] = "BLDC_controller.c:318";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1435"] = "BLDC_controller.c:318,324,325";
 	/* <S16>/Divide2 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1436"] = "BLDC_controller.c:314";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1436"] = "BLDC_controller.c:314,324,325";
 	/* <S16>/Divide3 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1437"] = "BLDC_controller.c:319";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1437"] = "BLDC_controller.c:319,324";
 	/* <S16>/Divide4 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1438"] = "BLDC_controller.c:301";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1438"] = "BLDC_controller.c:301,309";
 	/* <S16>/Logical
 Operator1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1627"] = "BLDC_controller.c:300";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1627"] = "BLDC_controller.c:300,306";
 	/* <S16>/Relational
 Operator2 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1624"] = "BLDC_controller.c:302";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1624"] = "BLDC_controller.c:302,306";
 	/* <S16>/Relational
 Operator5 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1628"] = "BLDC_controller.c:303";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1628"] = "BLDC_controller.c:303,306";
 	/* <S16>/Sum1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1443"] = "BLDC_controller.c:320";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1443"] = "BLDC_controller.c:320,324";
 	/* <S16>/Sum2 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1444"] = "BLDC_controller.c:321";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1444"] = "BLDC_controller.c:321,324";
 	/* <S16>/Switch1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1638"] = "BLDC_controller.c:296,312";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1638"] = "BLDC_controller.c:296,306,307,309,312";
 	/* <S16>/UnitDelay2 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1446"] = "BLDC_controller.c:322,647&BLDC_controller.h:40";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1446"] = "BLDC_controller.c:322,324,647,648&BLDC_controller.h:40";
 	/* <S16>/cf_spdCoef */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1447"] = "ert_main.c:33&BLDC_controller.c:298&BLDC_controller.h:138";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1447"] = "BLDC_controller.c:298,309&BLDC_controller.h:138&ert_main.c:33";
 	/* <S16>/cf_speedFilt */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1448"] = "ert_main.c:38&BLDC_controller.c:317&BLDC_controller.h:141";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1448"] = "BLDC_controller.c:317,324,325&BLDC_controller.h:141&ert_main.c:38";
 	/* <S16>/z_maxCntRst */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1625"] = "BLDC_controller.c:299";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1625"] = "BLDC_controller.c:299,306";
 	/* <S17>/Constant1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1651:1616"] = "BLDC_controller.c:204,283";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1651:1616"] = "BLDC_controller.c:204,276,283,285";
 	/* <S17>/Constant23 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1651:1617"] = "BLDC_controller.c:205,263";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1651:1617"] = "BLDC_controller.c:205,254,263";
 	/* <S17>/Relational
 Operator1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1651:1618"] = "BLDC_controller.c:208";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1651:1618"] = "BLDC_controller.c:208,276";
 	/* <S17>/Switch1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1651:1619"] = "BLDC_controller.c:210";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1651:1619"] = "BLDC_controller.c:210,215,254,288";
 	/* <S17>/Switch2 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1651:1620"] = "BLDC_controller.c:211,277,282";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1651:1620"] = "BLDC_controller.c:211,276,277,280,282,285";
 	/* <S17>/UnitDelay1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:1651:1621"] = "BLDC_controller.c:213,278,641,674&BLDC_controller.h:46";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:1651:1621"] = "BLDC_controller.c:213,276,278,280,641,642,674,675&BLDC_controller.h:46";
 	/* <S18>/Action Port */
 	this.urlHashMap["BLDCmotorControl_R2017b:2687:287"] = "BLDC_controller.c:458";
 	/* <S18>/a_trapElecAngle_XA */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:288"] = "BLDC_controller.c:460";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:288"] = "BLDC_controller.c:460,461,462";
 	/* <S18>/r_trapPhaA_M1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:289"] = "BLDC_controller.c:464&BLDC_controller.h:63&BLDC_controller_data.c:29";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:289"] = "BLDC_controller.c:464,465,466&BLDC_controller.h:63&BLDC_controller_data.c:29";
 	/* <S18>/r_trapPhaB_M1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:290"] = "BLDC_controller.c:468&BLDC_controller.h:68&BLDC_controller_data.c:34";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:290"] = "BLDC_controller.c:468,469,470&BLDC_controller.h:68&BLDC_controller_data.c:34";
 	/* <S18>/r_trapPhaC_M1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:291"] = "BLDC_controller.c:472&BLDC_controller.h:73&BLDC_controller_data.c:39";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:291"] = "BLDC_controller.c:472,473,474&BLDC_controller.h:73&BLDC_controller_data.c:39";
 	/* <S19>/Action Port */
 	this.urlHashMap["BLDCmotorControl_R2017b:2687:307"] = "BLDC_controller.c:481";
 	/* <S19>/a_sinElecAngle_XA */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:308"] = "BLDC_controller.c:483";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:308"] = "BLDC_controller.c:483,484,485";
 	/* <S19>/r_sinPhaA_M1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:309"] = "BLDC_controller.c:487&BLDC_controller.h:78&BLDC_controller_data.c:44";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:309"] = "BLDC_controller.c:487,488,489&BLDC_controller.h:78&BLDC_controller_data.c:44";
 	/* <S19>/r_sinPhaB_M1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:310"] = "BLDC_controller.c:491&BLDC_controller.h:83&BLDC_controller_data.c:51";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:310"] = "BLDC_controller.c:491,492,493&BLDC_controller.h:83&BLDC_controller_data.c:51";
 	/* <S19>/r_sinPhaC_M1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:311"] = "BLDC_controller.c:495&BLDC_controller.h:88&BLDC_controller_data.c:58";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:311"] = "BLDC_controller.c:495,496,497&BLDC_controller.h:88&BLDC_controller_data.c:58";
 	/* <S20>/Action Port */
 	this.urlHashMap["BLDCmotorControl_R2017b:2687:297"] = "BLDC_controller.c:504";
 	/* <S20>/a_sinElecAngle_XA */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:298"] = "BLDC_controller.c:506";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:298"] = "BLDC_controller.c:506,507,508";
 	/* <S20>/r_sin3PhaA_M1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:299"] = "BLDC_controller.c:510&BLDC_controller.h:93&BLDC_controller_data.c:65";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:299"] = "BLDC_controller.c:510,511,512&BLDC_controller.h:93&BLDC_controller_data.c:65";
 	/* <S20>/r_sin3PhaB_M1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:300"] = "BLDC_controller.c:514&BLDC_controller.h:98&BLDC_controller_data.c:72";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:300"] = "BLDC_controller.c:514,515,516&BLDC_controller.h:98&BLDC_controller_data.c:72";
 	/* <S20>/r_sin3PhaC_M1 */
-	this.urlHashMap["BLDCmotorControl_R2017b:2687:301"] = "BLDC_controller.c:518&BLDC_controller.h:103&BLDC_controller_data.c:79";
+	this.urlHashMap["BLDCmotorControl_R2017b:2687:301"] = "BLDC_controller.c:518,519,520&BLDC_controller.h:103&BLDC_controller_data.c:79";
 	this.getUrlHash = function(sid) { return this.urlHashMap[sid];}
 }
 RTW_Sid2UrlHash.instance = new RTW_Sid2UrlHash();
diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/codeMetrics.mat b/01_Matlab/BLDC_controller_ert_rtw/html/codeMetrics.mat
index 6c7e9da..6a9bd0f 100644
Binary files a/01_Matlab/BLDC_controller_ert_rtw/html/codeMetrics.mat and b/01_Matlab/BLDC_controller_ert_rtw/html/codeMetrics.mat differ
diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/ert_main_c.html b/01_Matlab/BLDC_controller_ert_rtw/html/ert_main_c.html
index 13c7da7..334e3ec 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/ert_main_c.html
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/ert_main_c.html
@@ -23,7 +23,7 @@
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-</span><span><a class="LN" name="12">   12   </a><span class="CT"> * C/C++ source code generated on : Thu Jun  6 17:49:29 2019</span>
+</span><span><a class="LN" name="12">   12   </a><span class="CT"> * C/C++ source code generated on : Thu Jun  6 22:50:24 2019</span>
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/rtwtypes_h.html b/01_Matlab/BLDC_controller_ert_rtw/html/rtwtypes_h.html
index 54a75ea..3be57e4 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/rtwtypes_h.html
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/rtwtypes_h.html
@@ -23,7 +23,7 @@
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-</span><span><a class="LN" name="12">   12   </a><span class="CT"> * C/C++ source code generated on : Thu Jun  6 17:49:29 2019</span>
+</span><span><a class="LN" name="12">   12   </a><span class="CT"> * C/C++ source code generated on : Thu Jun  6 22:50:24 2019</span>
 </span><span><a class="LN" name="13">   13   </a><span class="CT"> *</span>
 </span><span><a class="LN" name="14">   14   </a><span class="CT"> * Target selection: ert.tlc</span>
 </span><span><a class="LN" name="15">   15   </a><span class="CT"> * Embedded hardware selection: ARM Compatible-&gt;ARM Cortex</span>
diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/traceInfo.mat b/01_Matlab/BLDC_controller_ert_rtw/html/traceInfo.mat
index 36b37c9..550ff60 100644
Binary files a/01_Matlab/BLDC_controller_ert_rtw/html/traceInfo.mat and b/01_Matlab/BLDC_controller_ert_rtw/html/traceInfo.mat differ
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index 2365fc0..7acc3b4 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_1828_d.svg
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_1828_d.svg
@@ -174,5 +174,5 @@
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+  <!--generated on windows @ 2019-06-06 22:50:44 W. Europe Daylight Time-->
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_1831_d.svg b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_1831_d.svg
index 8818e06..1f66b1a 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_1831_d.svg
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_1831_d.svg
@@ -174,5 +174,5 @@
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+  <!--generated on windows @ 2019-06-06 22:50:43 W. Europe Daylight Time-->
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_1834_d.svg b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_1834_d.svg
index e2afa4a..8b5fb81 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_1834_d.svg
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_1834_d.svg
@@ -174,5 +174,5 @@
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+  <!--generated on windows @ 2019-06-06 22:50:43 W. Europe Daylight Time-->
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_1837_d.svg b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_1837_d.svg
index f88f009..947207e 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_1837_d.svg
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_1837_d.svg
@@ -174,5 +174,5 @@
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+  <!--generated on windows @ 2019-06-06 22:50:43 W. Europe Daylight Time-->
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_2687_10_d.svg b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_2687_10_d.svg
index 79c0120..bcd1264 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_2687_10_d.svg
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_2687_10_d.svg
@@ -700,5 +700,5 @@
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_2687_1340_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_2687_1340_d.json
index 42aa94b..7b4b197 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_2687_1340_d.json
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_2687_1340_d.json
@@ -159,63 +159,6 @@
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  },
- {
-  "sid":"BLDCmotorControl_R2017b:2687:1454",
-  "className":"Simulink.Sum",
-  "icon":"WebViewIcon2",
-  "name":"Sum4",
-  "label":"Sum4",
-  "parent":"BLDCmotorControl_R2017b:2687:1340",
-  "inspector":{
-   "params":[
-    "AccumDataTypeStr",
-    "OutDataTypeStr",
-    "CollapseDim",
-    "CollapseMode",
-    "IconShape",
-    "InputSameDT",
-    "Inputs",
-    "LockScale",
-    "OutMax",
-    "OutMin",
-    "RndMeth",
-    "SampleTime",
-    "SaturateOnIntegerOverflow"
-   ],
-   "values":[
-    "Inherit: Same as first input",
-    "Inherit: Same as first input",
-    "1",
-    "All dimensions",
-    "rectangular",
-    "on",
-    "+-",
-    "off",
-    "[]",
-    "[]",
-    "Simplest",
-    "-1",
-    "off"
-   ],
-   "tabs":[
-    "Signal Attributes",
-    "-Other"
-   ],
-   "tabs_idx":[
-    0,
-    2
-   ]
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"Sum",
-   "masktype":""
-  }
- },
  {
   "sid":"BLDCmotorControl_R2017b:2687:169",
   "className":"Simulink.UnitDelay",
@@ -362,6 +305,63 @@
    "masktype":""
   }
  },
+ {
+  "sid":"BLDCmotorControl_R2017b:2687:1454",
+  "className":"Simulink.Sum",
+  "icon":"WebViewIcon2",
+  "name":"Sum4",
+  "label":"Sum4",
+  "parent":"BLDCmotorControl_R2017b:2687:1340",
+  "inspector":{
+   "params":[
+    "AccumDataTypeStr",
+    "OutDataTypeStr",
+    "CollapseDim",
+    "CollapseMode",
+    "IconShape",
+    "InputSameDT",
+    "Inputs",
+    "LockScale",
+    "OutMax",
+    "OutMin",
+    "RndMeth",
+    "SampleTime",
+    "SaturateOnIntegerOverflow"
+   ],
+   "values":[
+    "Inherit: Same as first input",
+    "Inherit: Same as first input",
+    "1",
+    "All dimensions",
+    "rectangular",
+    "on",
+    "+-",
+    "off",
+    "[]",
+    "[]",
+    "Simplest",
+    "-1",
+    "off"
+   ],
+   "tabs":[
+    "Signal Attributes",
+    "-Other"
+   ],
+   "tabs_idx":[
+    0,
+    2
+   ]
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"Sum",
+   "masktype":""
+  }
+ },
  {
   "sid":"BLDCmotorControl_R2017b:2687:1341#out:1",
   "className":"Simulink.Line",
diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_2687_1340_d.svg b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_2687_1340_d.svg
index 44cd1b2..628c614 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_2687_1340_d.svg
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_2687_1340_d.svg
@@ -107,75 +107,11 @@
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_2687_1401_d.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_2687_1401_d.json
index 11be9d3..2ff71bb 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_2687_1401_d.json
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_2687_1401_d.json
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-   "values":[
-    "on",
-    "-1"
-   ],
-   "tabs":[
-    "Parameter Attributes"
-   ],
-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"Signum",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_R2017b:2687:1329",
-  "className":"Simulink.Constant",
-  "icon":"WebViewIcon2",
-  "name":"r_commDCDeacv",
-  "label":"r_commDCDeacv",
-  "parent":"BLDCmotorControl_R2017b:2687:59",
-  "inspector":{
-   "params":[
-    "Value",
-    "OutDataTypeStr",
-    "FramePeriod",
-    "LockScale",
-    "OutMax",
-    "OutMin",
-    "SampleTime",
-    "VectorParams1D"
-   ],
-   "values":[
-    "r_commDCDeacv",
-    "Inherit: Inherit via back propagation",
-    "inf",
-    "off",
-    "[]",
-    "[]",
-    "inf",
-    "on"
-   ],
-   "tabs":[
-    "Main",
-    "Signal Attributes",
-    "-Other"
-   ],
-   "tabs_idx":[
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-    1,
-    2
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-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"Constant",
+   "blocktype":"RelationalOperator",
    "masktype":""
   }
  },
@@ -1251,20 +1209,71 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_R2017b:2687:659",
-  "className":"Simulink.Mux",
+  "sid":"BLDCmotorControl_R2017b:2687:1524",
+  "className":"Simulink.RelationalOperator",
   "icon":"WebViewIcon2",
-  "name":"Mux1",
-  "label":"Mux1",
+  "name":"Relational Operator1",
+  "label":"Relational Operator1",
   "parent":"BLDCmotorControl_R2017b:2687:59",
   "inspector":{
    "params":[
-    "Inputs",
-    "DisplayOption"
+    "OutDataTypeStr",
+    "InputSameDT",
+    "Operator",
+    "RndMeth",
+    "SampleTime",
+    "ZeroCross"
    ],
    "values":[
-    "2",
-    "bar"
+    "boolean",
+    "off",
+    "==",
+    "Simplest",
+    "-1",
+    "on"
+   ],
+   "tabs":[
+    "Data Type",
+    "-Other"
+   ],
+   "tabs_idx":[
+    0,
+    1
+   ]
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"RelationalOperator",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_R2017b:2687:1339",
+  "className":"Simulink.If",
+  "icon":"WebViewIcon2",
+  "name":"If1",
+  "label":"If1",
+  "parent":"BLDCmotorControl_R2017b:2687:59",
+  "inspector":{
+   "params":[
+    "NumInputs",
+    "IfExpression",
+    "ElseIfExpressions",
+    "ShowElse",
+    "ZeroCross",
+    "SampleTime"
+   ],
+   "values":[
+    "1",
+    "u1 ~= 0",
+    "",
+    "off",
+    "on",
+    "-1"
    ],
    "tabs":[
     "Parameter Attributes"
@@ -1277,7 +1286,356 @@
   "obj_viewer":[
   ],
   "finder":{
-   "blocktype":"Mux",
+   "blocktype":"If",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_R2017b:2687:1400",
+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon2",
+  "name":"Goto6",
+  "label":"Goto6",
+  "parent":"BLDCmotorControl_R2017b:2687:59",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
+   ],
+   "values":[
+    "n_motRaw",
+    "local",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"Goto",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_R2017b:2687:1630",
+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon2",
+  "name":"Goto2",
+  "label":"Goto2",
+  "parent":"BLDCmotorControl_R2017b:2687:59",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
+   ],
+   "values":[
+    "z_dirPrev",
+    "local",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"Goto",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_R2017b:2687:1374",
+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon2",
+  "name":"Goto18",
+  "label":"Goto18",
+  "parent":"BLDCmotorControl_R2017b:2687:59",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
+   ],
+   "values":[
+    "r_DC",
+    "local",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"Goto",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_R2017b:2687:1533",
+  "className":"Simulink.From",
+  "icon":"WebViewIcon2",
+  "name":"From9",
+  "label":"From9",
+  "parent":"BLDCmotorControl_R2017b:2687:59",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "IconDisplay"
+   ],
+   "values":[
+    "b_edge",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
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+  "finder":{
+   "blocktype":"From",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_R2017b:2687:1395",
+  "className":"Simulink.From",
+  "icon":"WebViewIcon2",
+  "name":"From8",
+  "label":"From8",
+  "parent":"BLDCmotorControl_R2017b:2687:59",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "IconDisplay"
+   ],
+   "values":[
+    "z_counter",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
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+  "finder":{
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+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_R2017b:2687:1521",
+  "className":"Simulink.From",
+  "icon":"WebViewIcon2",
+  "name":"From6",
+  "label":"From6",
+  "parent":"BLDCmotorControl_R2017b:2687:59",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "IconDisplay"
+   ],
+   "values":[
+    "z_dir",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"From",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_R2017b:2687:1324",
+  "className":"Simulink.From",
+  "icon":"WebViewIcon2",
+  "name":"From30",
+  "label":"From30",
+  "parent":"BLDCmotorControl_R2017b:2687:59",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "IconDisplay"
+   ],
+   "values":[
+    "z_ctrlTypSel",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"From",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_R2017b:2687:1371",
+  "className":"Simulink.Goto",
+  "icon":"WebViewIcon2",
+  "name":"Goto16",
+  "label":"Goto16",
+  "parent":"BLDCmotorControl_R2017b:2687:59",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "TagVisibility",
+    "IconDisplay"
+   ],
+   "values":[
+    "z_ctrlTypSel",
+    "local",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"Goto",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_R2017b:2687:1455",
+  "className":"Simulink.From",
+  "icon":"WebViewIcon2",
+  "name":"From19",
+  "label":"From19",
+  "parent":"BLDCmotorControl_R2017b:2687:59",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "IconDisplay"
+   ],
+   "values":[
+    "dz_counter",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"From",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_R2017b:2687:1380",
+  "className":"Simulink.From",
+  "icon":"WebViewIcon2",
+  "name":"From18",
+  "label":"From18",
+  "parent":"BLDCmotorControl_R2017b:2687:59",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "IconDisplay"
+   ],
+   "values":[
+    "b_advCtrlEna",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"From",
+   "masktype":""
+  }
+ },
+ {
+  "sid":"BLDCmotorControl_R2017b:2687:1665",
+  "className":"Simulink.From",
+  "icon":"WebViewIcon2",
+  "name":"From17",
+  "label":"From17",
+  "parent":"BLDCmotorControl_R2017b:2687:59",
+  "inspector":{
+   "params":[
+    "GotoTag",
+    "IconDisplay"
+   ],
+   "values":[
+    "r_DCabs",
+    "Tag"
+   ],
+   "tabs":[
+    "Parameter Attributes"
+   ],
+   "tabs_idx":0
+  },
+  "viewer":{
+   "jshandler":"webview/handlers/ElementHandler"
+  },
+  "obj_viewer":[
+  ],
+  "finder":{
+   "blocktype":"From",
    "masktype":""
   }
  },
@@ -1379,186 +1737,11 @@
   }
  },
  {
-  "sid":"BLDCmotorControl_R2017b:2687:1400",
-  "className":"Simulink.Goto",
-  "icon":"WebViewIcon2",
-  "name":"Goto6",
-  "label":"Goto6",
-  "parent":"BLDCmotorControl_R2017b:2687:59",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "TagVisibility",
-    "IconDisplay"
-   ],
-   "values":[
-    "n_motRaw",
-    "local",
-    "Tag"
-   ],
-   "tabs":[
-    "Parameter Attributes"
-   ],
-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"Goto",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_R2017b:2687:1326",
-  "className":"Simulink.RelationalOperator",
-  "icon":"WebViewIcon2",
-  "name":"Relational Operator3",
-  "label":"Relational Operator3",
-  "parent":"BLDCmotorControl_R2017b:2687:59",
-  "inspector":{
-   "params":[
-    "OutDataTypeStr",
-    "InputSameDT",
-    "Operator",
-    "RndMeth",
-    "SampleTime",
-    "ZeroCross"
-   ],
-   "values":[
-    "boolean",
-    "off",
-    "~=",
-    "Simplest",
-    "-1",
-    "on"
-   ],
-   "tabs":[
-    "Data Type",
-    "-Other"
-   ],
-   "tabs_idx":[
-    0,
-    1
-   ]
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"RelationalOperator",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_R2017b:2687:1372",
-  "className":"Simulink.Goto",
-  "icon":"WebViewIcon2",
-  "name":"Goto17",
-  "label":"Goto17",
-  "parent":"BLDCmotorControl_R2017b:2687:59",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "TagVisibility",
-    "IconDisplay"
-   ],
-   "values":[
-    "b_advCtrlEna",
-    "local",
-    "Tag"
-   ],
-   "tabs":[
-    "Parameter Attributes"
-   ],
-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"Goto",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_R2017b:2687:1664",
-  "className":"Simulink.Goto",
-  "icon":"WebViewIcon2",
-  "name":"Goto10",
-  "label":"Goto10",
-  "parent":"BLDCmotorControl_R2017b:2687:59",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "TagVisibility",
-    "IconDisplay"
-   ],
-   "values":[
-    "r_DCabs",
-    "local",
-    "Tag"
-   ],
-   "tabs":[
-    "Parameter Attributes"
-   ],
-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"Goto",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_R2017b:2687:1398",
-  "className":"Simulink.Goto",
-  "icon":"WebViewIcon2",
-  "name":"Goto15",
-  "label":"Goto15",
-  "parent":"BLDCmotorControl_R2017b:2687:59",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "TagVisibility",
-    "IconDisplay"
-   ],
-   "values":[
-    "n_mot",
-    "local",
-    "Tag"
-   ],
-   "tabs":[
-    "Parameter Attributes"
-   ],
-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"Goto",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_R2017b:2687:1533",
+  "sid":"BLDCmotorControl_R2017b:2687:1642",
   "className":"Simulink.From",
   "icon":"WebViewIcon2",
-  "name":"From9",
-  "label":"From9",
+  "name":"From15",
+  "label":"From15",
   "parent":"BLDCmotorControl_R2017b:2687:59",
   "inspector":{
    "params":[
@@ -1566,166 +1749,7 @@
     "IconDisplay"
    ],
    "values":[
-    "b_edge",
-    "Tag"
-   ],
-   "tabs":[
-    "Parameter Attributes"
-   ],
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-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
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-  "obj_viewer":[
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-  "finder":{
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-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_R2017b:2687:1630",
-  "className":"Simulink.Goto",
-  "icon":"WebViewIcon2",
-  "name":"Goto2",
-  "label":"Goto2",
-  "parent":"BLDCmotorControl_R2017b:2687:59",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "TagVisibility",
-    "IconDisplay"
-   ],
-   "values":[
-    "z_dirPrev",
-    "local",
-    "Tag"
-   ],
-   "tabs":[
-    "Parameter Attributes"
-   ],
-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
-  ],
-  "finder":{
-   "blocktype":"Goto",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_R2017b:2687:1362",
-  "className":"Simulink.Goto",
-  "icon":"WebViewIcon2",
-  "name":"Goto9",
-  "label":"Goto9",
-  "parent":"BLDCmotorControl_R2017b:2687:59",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "TagVisibility",
-    "IconDisplay"
-   ],
-   "values":[
-    "dz_counter",
-    "local",
-    "Tag"
-   ],
-   "tabs":[
-    "Parameter Attributes"
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-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
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-  "finder":{
-   "blocktype":"Goto",
-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_R2017b:2687:1395",
-  "className":"Simulink.From",
-  "icon":"WebViewIcon2",
-  "name":"From8",
-  "label":"From8",
-  "parent":"BLDCmotorControl_R2017b:2687:59",
-  "inspector":{
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-    "GotoTag",
-    "IconDisplay"
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-   "values":[
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-    "Tag"
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-   "tabs":[
-    "Parameter Attributes"
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-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
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-  "finder":{
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-   "masktype":""
-  }
- },
- {
-  "sid":"BLDCmotorControl_R2017b:2687:972",
-  "className":"Simulink.From",
-  "icon":"WebViewIcon2",
-  "name":"From7",
-  "label":"From7",
-  "parent":"BLDCmotorControl_R2017b:2687:59",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "IconDisplay"
-   ],
-   "values":[
-    "n_motRaw",
-    "Tag"
-   ],
-   "tabs":[
-    "Parameter Attributes"
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-   "tabs_idx":0
-  },
-  "viewer":{
-   "jshandler":"webview/handlers/ElementHandler"
-  },
-  "obj_viewer":[
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-  "finder":{
-   "blocktype":"From",
-   "masktype":""
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- },
- {
-  "sid":"BLDCmotorControl_R2017b:2687:1521",
-  "className":"Simulink.From",
-  "icon":"WebViewIcon2",
-  "name":"From6",
-  "label":"From6",
-  "parent":"BLDCmotorControl_R2017b:2687:59",
-  "inspector":{
-   "params":[
-    "GotoTag",
-    "IconDisplay"
-   ],
-   "values":[
-    "z_dir",
+    "z_counterRaw",
     "Tag"
    ],
    "tabs":[
@@ -1774,119 +1798,6 @@
    "masktype":""
   }
  },
- {
-  "sid":"BLDCmotorControl_R2017b:2687:1381",
-  "className":"Simulink.Outport",
-  "icon":"WebViewIcon2",
-  "name":"b_advCtrlEna",
-  "label":"b_advCtrlEna",
-  "parent":"BLDCmotorControl_R2017b:2687:59",
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-    "OutMax",
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-    "VarSizeSig",
-    "SampleTime",
-    "SignalType",
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-    "EnsureOutportIsVirtual",
-    "InitialOutput",
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-    "OutputWhenDisabled",
-    "OutputWhenUnConnected",
-    "OutputWhenUnconnectedValue",
-    "SignalName",
-    "SignalObject",
-    "SourceOfInitialOutputValue",
-    "StorageClass",
-    "VectorParamsAs1DForOutWhenUnconnected"
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@@ -2598,7 +2423,40 @@
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@@ -2685,20 +2543,20 @@
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_29_icons.png b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_29_icons.png
index 42168d8..b46cb8d 100644
Binary files a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_29_icons.png and b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_29_icons.png differ
diff --git a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_h_1.json b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_h_1.json
index 12618b3..dd3cf27 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_h_1.json
+++ b/01_Matlab/BLDC_controller_ert_rtw/html/webview/support/slwebview_files/BLDCmotorControl_R2017b_h_1.json
@@ -237,25 +237,25 @@
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+   ":2687:1313",
+   ":2687:1384",
+   ":2687:1490",
+   ":2687:1662",
+   ":2687:1489",
+   ":2687:1666",
+   ":2687:1482",
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+   ":2687:1634",
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@@ -390,9 +390,9 @@
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-   ":2687:1632",
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+   ":2687:1632",
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@@ -447,58 +447,58 @@
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+   ":2687:1487",
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-   ":2687:660",
-   ":2687:786",
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+   ":2687:1339",
+   ":2687:1400",
+   ":2687:1630",
+   ":2687:1374",
+   ":2687:1533",
+   ":2687:1395",
+   ":2687:1521",
+   ":2687:1324",
+   ":2687:1371",
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-   ":2687:1321",
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-   ":2687:1366",
-   ":2687:1323",
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-   ":2687:1370",
-   ":2687:1324",
-   ":2687:1641",
-   ":2687:1663",
-   ":2687:1397",
-   ":2687:1651",
-   ":2687:1320",
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-   ":2687:1487",
+   ":2687:1401",
+   ":2687:1642",
+   ":2687:1485",
+   ":2687:1517",
+   ":2687:1523",
+   ":2687:660",
+   ":2687:1340",
+   ":2687:786",
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+   ":2687:972",
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+   ":2687:1366",
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+   ":2687:1629",
+   ":2687:1486",
+   ":2687:1372",
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+   ":2687:1370",
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+   ":2687:1381",
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@@ -572,10 +572,10 @@
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@@ -606,32 +606,32 @@
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+   ":2687:1439",
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+   ":2687:1637",
+   ":2687:1436",
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diff --git a/01_Matlab/BLDC_controller_ert_rtw/rtwtypes.h b/01_Matlab/BLDC_controller_ert_rtw/rtwtypes.h
index ca29438..d0bdf6a 100644
--- a/01_Matlab/BLDC_controller_ert_rtw/rtwtypes.h
+++ b/01_Matlab/BLDC_controller_ert_rtw/rtwtypes.h
@@ -9,7 +9,7 @@
  *
  * Model version                  : 1.879
  * Simulink Coder version         : 8.13 (R2017b) 24-Jul-2017
- * C/C++ source code generated on : Thu Jun  6 17:49:29 2019
+ * C/C++ source code generated on : Thu Jun  6 22:50:24 2019
  *
  * Target selection: ert.tlc
  * Embedded hardware selection: ARM Compatible->ARM Cortex
diff --git a/01_Matlab/BLDC_controller_ert_rtw/rtwtypeschksum.mat b/01_Matlab/BLDC_controller_ert_rtw/rtwtypeschksum.mat
index 6581ae0..34054ad 100644
Binary files a/01_Matlab/BLDC_controller_ert_rtw/rtwtypeschksum.mat and b/01_Matlab/BLDC_controller_ert_rtw/rtwtypeschksum.mat differ
diff --git a/01_Matlab/init_model.m b/01_Matlab/init_model.m
index 52e3666..b107619 100644
--- a/01_Matlab/init_model.m
+++ b/01_Matlab/init_model.m
@@ -101,7 +101,7 @@ r_sinPhaC_M1        = sin(omega + 120*(pi/180) + pha_adv*(pi/180));
 
 % Sinusoidal 3rd armonic method
 A                   = 1.15;     % Sine amplitude (tunable to get the Saddle sin maximum to value 1000)
-sin3Arm             = 0.22*sin(3*(omega + pha_adv*(pi/180)));     % 3rd armonic
+sin3Arm             = 0.238*sin(3*(omega + pha_adv*(pi/180)));     % 3rd armonic
 r_sin3PhaA_M1       = sin3Arm + A*r_sinPhaA_M1;
 r_sin3PhaB_M1       = sin3Arm + A*r_sinPhaB_M1;
 r_sin3PhaC_M1       = sin3Arm + A*r_sinPhaC_M1;
diff --git a/Src/BLDC_controller_data.c b/Src/BLDC_controller_data.c
index 554f815..cf2472c 100644
--- a/Src/BLDC_controller_data.c
+++ b/Src/BLDC_controller_data.c
@@ -64,23 +64,23 @@ const ConstP rtConstP = {
   /* Computed Parameter: r_sin3PhaA_M1_Table
    * Referenced by: '<S20>/r_sin3PhaA_M1'
    */
-  { 795, 930, 991, 996, 971, 942, 930, 942, 971, 996, 991, 930, 795, 584, 310, 0,
-    -310, -584, -795, -930, -991, -996, -971, -942, -930, -942, -971, -996, -991,
-    -930, -795, -584, -310, 0, 310, 584, 795 },
+  { 813, 945, 1000, 996, 962, 926, 912, 926, 962, 996, 1000, 945, 813, 599, 319,
+    0, -319, -599, -813, -945, -1000, -996, -962, -926, -912, -926, -962, -996,
+    -1000, -945, -813, -599, -319, 0, 319, 599, 813 },
 
   /* Computed Parameter: r_sin3PhaB_M1_Table
    * Referenced by: '<S20>/r_sin3PhaB_M1'
    */
-  { -930, -942, -971, -996, -991, -930, -795, -584, -310, 0, 310, 584, 795, 930,
-    991, 996, 971, 942, 930, 942, 971, 996, 991, 930, 795, 584, 310, 0, -310,
-    -584, -795, -930, -991, -996, -971, -942, -930 },
+  { -912, -926, -962, -996, -1000, -945, -813, -599, -319, 0, 319, 599, 813, 945,
+    1000, 996, 962, 926, 912, 926, 962, 996, 1000, 945, 813, 599, 319, 0, -319,
+    -599, -813, -945, -1000, -996, -962, -926, -912 },
 
   /* Computed Parameter: r_sin3PhaC_M1_Table
    * Referenced by: '<S20>/r_sin3PhaC_M1'
    */
-  { 795, 584, 310, 0, -310, -584, -795, -930, -991, -996, -971, -942, -930, -942,
-    -971, -996, -991, -930, -795, -584, -310, 0, 310, 584, 795, 930, 991, 996,
-    971, 942, 930, 942, 971, 996, 991, 930, 795 },
+  { 813, 599, 319, 0, -319, -599, -813, -945, -1000, -996, -962, -926, -912,
+    -926, -962, -996, -1000, -945, -813, -599, -319, 0, 319, 599, 813, 945, 1000,
+    996, 962, 926, 912, 926, 962, 996, 1000, 945, 813 },
 
   /* Computed Parameter: z_commutMap_M1_table
    * Referenced by: '<S10>/z_commutMap_M1'