diff --git a/include/ecu_api/ComAPI.h b/include/ecu_api/ComAPI.h
new file mode 100644
index 0000000..756a848
--- /dev/null
+++ b/include/ecu_api/ComAPI.h
@@ -0,0 +1,41 @@
+/*
+  HOW TO INCLUDE ANOTHER CONNECTION:
+    1. Add a ConnectionType and make the IssueCommand call your methods
+    2. Generate a WriteXY Method
+        2.1 The Parameters can include: commandType, the Command, index, args, response
+        2.2 If The Write was successfull set response to "+"
+    3. Generate a ReadXY Method
+        3.1 The Parameters can include: commandType, command, index, response, isplusminus
+        3.2 If the Read was successfull return the result in response
+*/
+#ifndef __ComAPI__
+#define __ComAPI__
+#include "Mapping.h"
+#include <string>
+#include <terminal_session/connection.h>
+#include <timer_session/connection.h>
+
+typedef struct can_frame can_frame_t;
+
+class ComAPI
+{
+private:
+    Mapping SeriellToCan;
+    int handle;
+    int ConnectionType;
+    char *IntegerToChar(int in);
+    Terminal::Connection terminal;
+    Timer::Connection timer;
+
+    int WriteSerial(std::string str);
+    int ReadAll(std::string &str);
+    int ReadSerial(std::string &str, std::string command, bool isplusminuss);
+public:
+    /********************** Functions ****************************/
+    int IssueCommand(std::string commandType, int command, int index, std::string args, std::string &response, bool isplusminus = false);
+    int IssueCommand(std::string commandType, int command, std::string &response, bool isplusminus = false);
+    /********************** Constructor **************************/
+    ComAPI(int ConnectionType);
+};
+
+#endif
diff --git a/include/ecu_api/Constants.h b/include/ecu_api/Constants.h
new file mode 100644
index 0000000..db9b66e
--- /dev/null
+++ b/include/ecu_api/Constants.h
@@ -0,0 +1,284 @@
+#ifndef __Constants__
+#define __Constants__
+
+/******************** SetCommand Device ********************/
+#define _G 0
+
+#define _M 1
+#define _P 2
+#define _S 3
+#define _C 4
+#define _CB 5
+
+#define _AC 7
+#define _DC 8
+
+#define _DS 9
+#define _D1 10
+#define _D0 11
+
+#define _H 13
+#define _EX 14
+#define _MG 15
+#define _MS 16
+
+#define _PR 17
+#define _PX 18
+#define _PRX 19
+#define _AX 20
+#define _DX 21
+#define _SX 22
+#define _B 23
+#define _CS 24
+
+#define _RC 26
+
+#define _EES 27
+#define _BND 28
+
+
+/******************** SetCommand Alias ********************/
+#define _GO 0
+
+#define _MOTCMD 1
+#define _MOTPOS 2
+#define _MOTVEL 3
+#define _SENCNTR 4
+#define _SBLCNTR 5
+#define _VAR 6
+
+#define _ACCEL 7
+#define _DECEL 8
+
+#define _DOUT 9
+#define _DSET 10
+#define _DRES 11
+
+#define _HOME 13
+#define _ESTOP 14
+#define _MGO 15
+#define _MSTOP 16
+
+#define _MPOSREL 17
+#define _NXTPOS 18
+#define _NXTPOSR 19
+#define _NXTACC 20
+#define _NXTDEC 21
+#define _NXTVEL 22
+#define _BOOL 23
+
+
+#define _CANSEND 24
+
+#define _RCOUT 26
+
+#define _EESAV 27
+#define _BIND 28
+
+
+/******************** GetValue Device ********************/
+#define _A 0
+
+#define _M 1
+#define _P 2
+#define _S 3
+#define _C 4
+#define _CB 5
+#define _VAR 6
+#define _SR 7
+#define _CR 8
+//#define _CBR 9
+#define _BS 10
+#define _BSR 11
+#define _BA 12
+#define _V 13
+#define _D 14
+#define _DI 15
+#define _AI 16
+#define _PI 17
+#define _T 18
+#define _F 19
+#define _FS 20
+#define _FF 21
+//#define _B 22
+#define _DO 23
+#define _E 24
+
+#define _CIS 25
+#define _CIA 26
+#define _CIP 27
+
+#define _TM 28
+
+#define _LK 29
+
+#define _K 33
+#define _DR 34
+
+#define _AIC 35
+#define _PIC 36
+
+#define _MA 38
+
+#define _MGD 40
+#define _MGT 41
+#define _MGM 42
+#define _MGS 43
+
+/******************** GetValue Alias ********************/
+#define _MOTAMPS 0
+
+#define _MOTCMD 1
+#define _MOTPWR 2
+#define _ABSPEED 3
+#define _ABCNTR 4
+#define _BLCNTR 5
+#define _VAR 6
+
+#define _RELSPEED 7
+#define _RELCNTR 8
+#define _BLRCNTR 9
+#define _BLSPEED 10
+#define _BLRSPEED 11
+#define _BATAMPS 12
+#define _VOLTS 13
+#define _DIGIN 14
+#define _DIN 15
+#define _ANAIN 16
+#define _PLSIN 17
+#define _TEMP 18
+#define _FEEDBK 19
+#define _STFLAG 20
+#define _FLTFLAG 21
+#define _DIGOUT 23
+#define _LPERR 24
+
+#define _CMDSER 25
+#define _CMDANA 26
+#define _CMDPLS 27
+
+#define _TIME 28
+
+#define _LOCKED 29
+#define _FID 30
+#define _TRN 31
+
+#define _SPEKTRUM 33
+#define _DREACHED 34
+
+#define _ANAINC 35
+#define _PLSINC 36
+
+#define _MEMS 38
+
+#define _CAN 39
+
+#define _MGDET 40
+#define _MGTRACK 41
+#define _MGMRKR 42
+#define _MGSTATUS 43
+
+
+/******************** SetConfig/GetConfig Alias ********************/
+#define _EE 0
+
+#define _BKD 1
+#define _OVL 2
+#define _UVL 3
+#define _THLD 4
+#define _MXMD 5
+#define _PWMF 6
+
+#define _CPRI 7
+#define _RWD 8
+#define _ECHOF 9
+#define _RSBR 10
+#define _ACS 11
+#define _AMS 12
+#define _CLIN 13
+#define _DFC 14
+
+#define _DINA 15
+#define _DINL 16
+#define _DOA 17
+#define _DOL 18
+
+#define _AMOD 19
+#define _AMIN 20
+#define _AMAX 21
+#define _ACTR 22
+#define _ADB 23
+#define _ALIN 24
+#define _AINA 25
+#define _AMINA 26
+#define _AMAXA 27
+#define _APOL 28
+
+#define _PMOD 29
+#define _PMIN 30
+#define _PMAX 31
+#define _PCTR 32
+#define _PDB 33
+#define _PLIN 34
+#define _PINA 35
+#define _PMINA 36
+#define _PMAXA 37
+#define _PPOL 38
+
+#define _MMOD 39
+#define _MXPF 40
+#define _MXPR 41
+#define _ALIM 42
+#define _ATRIG 43
+#define _ATGA 44
+#define _ATGD 45
+#define _KP 46
+#define _KI 47
+#define _KD 48
+#define _PIDM 49
+#define _ICAP 50
+#define _MAC 51
+#define _MDEC 52
+#define _MVEL 53
+#define _MXRPM 54
+#define _MXTRN 55
+#define _CLERD 56
+
+#define _BPOL 57
+#define _BLSTD 58
+#define _BLFB 59
+#define _BHOME 60
+#define _BLL 61
+#define _BHL 62
+#define _BLLA 63
+#define _BHLA 64
+
+#define _SXC 65
+#define _SXM 66
+
+#define _TELS 70
+#define _BRUN 71
+#define _EMOD 72
+#define _EPPR 73
+#define _ELL 74
+#define _EHL 75
+#define _ELLA 76
+#define _EHLA 77
+#define _EHOME 78
+
+#define _SKUSE 79
+#define _SKMIN 80
+#define _SKMAX 81
+#define _SKCTR 82
+#define _SKDB 83
+#define _SKLIN 84
+
+#define _CEN 85
+#define _CNOD 86
+#define _CBR 87
+#define _CHB 88
+#define _CAS 89
+#define _CLSN 90
+#define _CSRT 91
+
+#endif
diff --git a/include/ecu_api/CoreAPI.h b/include/ecu_api/CoreAPI.h
new file mode 100644
index 0000000..9facda5
--- /dev/null
+++ b/include/ecu_api/CoreAPI.h
@@ -0,0 +1,223 @@
+//   PROTOTYPE SETTER:
+//   int SetSomething(int PORT, int VALUE)
+//      int status = RQ_INVALID_CONFIG_ITEM;
+//      if (CheckRange(PORT, MIN, MAX) && CheckRange(VALUE, MIN, MAX))
+//          status = device.SetCommand(CMD, PORT, VALUE);
+//      return status;
+//
+//   PROTOTYPE GETTER:
+//   int GetSomething(int PORT, int& VALUE)
+//      int status = RQ_INVALID_CONFIG_ITEM;
+//      if (CheckRange(PORT, MIN, MAX))
+//          status =  device.GetConfig(CMD, PORT, VALUE);
+//      return status;
+//      
+//  Also dont use block comments
+
+#ifndef __CoreAPI__
+#define __CoreAPI__
+
+#include "RoboteqDevice.h"
+
+class CoreAPI
+{
+private:
+    RoboteqDevice device;
+    inline bool CheckRange(int val, int min, int max);
+    inline bool CheckMotor(int mot);
+    inline void ExtractDINA(int mot, int &val);
+protected:
+public:
+    /*****************************************************/
+    int SetMotorSpeedAccel(int speed, int accel);
+    int SetMotorSpeedDecel(int speed, int decel);
+    int SetMotorSpeedRel(int speed);
+    int SetMotorSpeedAbs(int speed);
+
+    int SetAbsoluteDesiredPosition(int port, int value);
+    int SetMotorPositionVelocity(int port, int value);
+    int SetNextPositionVelocity(int port, int value);
+    int SetEncoderCounter(int port, int value);
+    int SetBrushlessCounter(int port, int value);
+    int SetUserIntegerVariables(int num, int value);
+    int SetUserIntegerBool(int num, int value);
+    int SetAcceleration(int port, int accel);
+    int SetNextAcceleration(int port, int accel);
+    int SetDeceleration(int port, int decel);
+    int SetNextDeceleration(int port, int decel);
+    int SetDigitalOuts(int port);
+    int SetResetDigitalOuts(int port);
+    int SetLoadHomeCounter(int port);
+    int SetEmergencyStop();
+    int SetReleaseEmergencyStop();
+    int SetEmergencyStop(int port);
+    int SetRelativeDesiredPosition(int port, int value);
+    int SetNextAbsoluteDesiredPosition(int port, int value);
+    int SetNextRelativeDesiredPosition(int port, int value);
+    int SetSaveConfig();
+
+    // CONFIG
+    int SetScriptingAutostart(int val);
+    int SetAnalogCenterSafety(int val);
+    int SetChannelPriorities(int port, int val);
+    int SetSerialTimout(int val);
+    int SetLinearity(int val);
+    int SetAnalogMinMaxSafety(int val);
+    int SetEncoderMode(int mot, int val);
+    int SetEncoderPPR(int val);
+    int SetEncoderLowLimitCount(int val);
+    int SetEncoderHighLimitCount(int val);
+    int SetEncoderCounterLoadAtHomePosition(int val);
+    int SetEncoderLowLimitAction(int mot, int val);
+    int SetEncoderHighLimitAction(int mot, int val);
+    int SetDigitalInput(int port, int val);
+    int SetDigitalInputAction(int port, int mot, int val);
+    int SetAnalogInputMode(int port, int val);
+    int SetAnalogInputAction(int port, int mot, int val);
+    int SetAnalogInputMin(int port, int val);
+    int SetAnalogInputCenter(int port, int val);
+    int SetAnalogInputMax(int port, int val);
+    int SetAnalogInputPolarity(int port, int val);
+    int SetAnalogDeadband(int port, int val);
+    int SetAnalogMinAction(int port, int mot, int val);
+    int SetAnalogMaxAction(int port, int mot, int val);
+    int SetPulseInputMode(int port, int val);
+    int SetPulseInputAction(int port, int mot, int val);
+    int SetPulseMin(int port, int val);
+    int SetPulseMax(int port, int val);
+    int SetPulseCenter(int port, int val);
+    int SetPulseDeadbeand(int port, int val);
+    int SetPulseMinAction(int port, int mot, int val);
+    int SetPulseMaxAction(int port, int mot, int val);
+    int SetPulseLinearity(int port, int val);
+    int SetDigitalOutputActiveLevel(int port, int val);
+    int SetDigitalOutputAction(int port, int mot, int val);
+    int SetPWMFrequency(int val);
+    int SetOvervoltageLimit(int val);
+    int SetUndervoltageLimit(int val);
+    int SetBrakeActivationDelay(int val);
+    int SetShortCircuitThreshold(int val);
+    int SetNumPoles(int mot, int val);
+    int SetBrushlessFeedback(int mot, int val);
+    int SetBrushlessStallDetection(int mot, int val);
+    int SetEncoderLowLimit(int mot, int val);
+    int SetEncoderHighLimitAction(int port, int mot, int val);
+    int SetEncoderLowLimitAction(int port, int mot, int val);
+    int SetMotorAmpsLimit(int val);
+    int SetMotorAmpsTriggerValue(int val);
+    int SetMotorAmpsTriggerAction(int mot, int val);
+    int SetMotorAmpsTriggerDelay(int val);
+    int SetMotorMaxPowerForward(int val);
+    int SetMotorMaxPowerReverse(int val);
+    int SetMotorMaxRPM(int val);
+    int SetMotorOperatingMode(int val);
+    int SetMotorDefaultVelocity(int val);
+    int SetMotorMaxTurns(int val);
+    int SetProportionalGain(int val);
+    int SetIntegrationalGain(int val);
+    int SetDifferentialGain(int val);
+    int SetMotorIntCap(int val);
+    int SetLoopErrorMode(int val);
+
+    //int SetTelemetryString(std::string &str);
+    //int SetEncoderHighLimit(int mot, int val);
+    //int SetBrushlessHomeCounter(int mot, int val);
+    /******************************************************/
+    int GetMotorPower(int &power);
+    int GetMotorRPM(int &rpm);
+    int GetMotorAmps(int &amps);
+    int GetBatteryVolt(int &volt);
+    int GetControllerVolt(int &volt);
+    int Get5VOutput(int &volt);
+    int GetMotorTemperature(int &temp);
+    int GetMCUTemperature(int &temp);
+    // CONFIG
+    int GetMotorControllerType(std::string &val);
+    int GetMotorControllerFirmware(std::string &val);
+    int GetLoopError(int &val);
+    int GetScriptingAutostart(int &val);
+    int GetAnalogCenterSafety(int &val);
+    int GetTelemetryString(std::string &str);
+    int GetChannelPriorities(int port, int &val);
+    int GetSerialTimeout(int &val);
+    int GetLinearity(int &val);
+    int GetAnalogMinMaxSafety(int &val);
+    int GetBrushlessCountRelative(int &val);
+    int GetEncoderMode(int mot, int &val);
+    int GetEncoderPPR(int &val);
+    int GetEncoderLowLimitCount(int &val);
+    int GetEncoderHighLimitCount(int &val);
+    int GetEncoderCounterLoadAtHomePosition(int &val);
+    int GetEncoderLowLimitAction(int mot, int &val);
+    int GetEncoderHighLimitAction(int mot, int &val);
+    int GetDigitalInput(int port, int &val);
+    int GetDigitalInputAction(int port, int mot, int &val);
+    int GetAnalogInputMode(int port, int &val);
+    int GetAnalogInputAction(int port, int &val);
+    int GetAnalogInputMin(int port, int &val);
+    int GetAnalogInputCenter(int port, int &val);
+    int GetAnalogInputMax(int port, int &val);
+    int GetAnalogInputPolarity(int port, int &val);
+    int GetAnalogDeadband(int port, int &val);
+    int GetAnalogMinAction(int port, int &val);
+    int GetAnalogMaxAction(int port, int &val);
+    int GetPulseInputMode(int port, int &val);
+    int GetPulseInputAction(int port, int mot, int &val);
+    int GetPulseMin(int port, int &val);
+    int GetPulseMax(int port, int &val);
+    int GetPulseCenter(int port, int &val);
+    int GetPulseDeadbeand(int port, int &val);
+    int GetPulseMinAction(int port, int mot, int &val);
+    int GetPulseMaxAction(int port, int mot, int &val);
+    int GetPulseLinearity(int port, int &val);
+    int GetDigitalOutputActiveLevel(int port, int &val);
+    int GetDigitalOutputAction(int port, int mot, int &val);
+    int GetPWMFrequency(int &val);
+    int GetOvervoltageLimit(int &val);
+    int GetUndervoltageLimit(int &val);
+    int GetBrakeActivationDelay(int &val);
+    int GetShortCircuitThreshold(int &val);
+    int GetNumPoles(int mot, int &val);
+    int GetBrushlessFeedback(int mot, int &val);
+    int GetBrushlessStallDetection(int mot, int &val);
+    int GetEncoderLowLimit(int mot, int &val);
+    int GetEncoderHighLimit(int mot, int &val);
+    int GetBrushlessHomeCounter(int mot, int &val);
+    int GetEncoderHighLimitAction(int port, int mot, int &val);
+    int GetEncoderLowLimitAction(int port, int mot, int &val);
+    int GetMotorAmpsLimit(int &val);
+    int GetMotorAmpsTriggerValue(int &val);
+    int GetMotorAmpsTriggerAction(int mot, int &val);
+    int GetMotorAmpsTriggerDelay(int &val);
+    int GetMotorMaxPowerForward(int &val);
+    int GetMotorMaxPowerReverse(int &val);
+    int GetMotorMaxRPM(int &val);
+    int GetAcceleration(int &val);
+    int GetDeacceleration(int &val);
+    int GetMotorOperatingMode(int &val);
+    int GetMotorDefaultVelocity(int &val);
+    int GetMotorMaxTurns(int &val);
+    int GetProportionalGain(int &val);
+    int GetIntegrationalGain(int &val);
+    int GetDifferentialGain(int &val);
+    int GetMotorIntCap(int &val);
+    int GetLoopErrorMode(int &val);
+
+    int GetAbsoluteDesiredPosition(int port, int &value);
+    int GetMotorPositionVelocity(int port, int &value);
+    int GetEncoderCounter(int port, int &value);
+    int GetBrushlessCounter(int port, int &value);
+    int GetUserIntegerVariables(int num, int &value);
+    int GetUserIntegerBool(int num, int &value);
+    int GetDigitalOuts(int port, int &value);
+
+    bool IsConnected();
+
+    // TODO
+    //int GetNextPositionVelocity(int port, int &value);
+    /********************** Constructor **************************/
+    CoreAPI(int ConnectionType);
+    ~CoreAPI();
+};
+
+#endif
diff --git a/include/ecu_api/Defines.h b/include/ecu_api/Defines.h
new file mode 100644
index 0000000..200340d
--- /dev/null
+++ b/include/ecu_api/Defines.h
@@ -0,0 +1,117 @@
+/********** BRUN ***************/
+#define BRUN_DISABLED 0
+#define BRUN_DELAYED 1
+#define BRUN_ACTIVATED 2
+
+/******** Command Priorities *******/
+#define CPRI_DISABLED 0
+#define CPRI_SERIAL 1
+#define CPRI_RC 2
+#define CPRI_ANALOG 3
+
+/********* Linearity **************/
+#define LIN_LINEAR 0
+#define LIN_EXP_WEAK 1
+#define LIN_EXP_MEDIUM 2
+#define LIN_EXP_STRONG 3
+#define LIN_LOG_WEAK 4
+#define LIN_LOG_MEDIUM 5
+#define LIN_LOG_STRONG 6
+
+/******** Encode Usage ************/
+#define ENC_UNUSED 0
+#define ENC_COMMAND 1
+#define ENC_FEEDBACK 2
+
+/*********** Motor Numbers ********/
+#define MOT1 16
+#define MOT2 32
+#define MOT12 48
+
+/************ DINA ****************/
+#define DINA_NO_ACTION 0
+#define DINA_SAFETY_STOP 1
+#define DINA_EMERGENCY_STOP 2
+#define DINA_MOTOR_STOP 3
+#define DINA_FORWARD_LIMIT_SWITCH 4
+#define DINA_REVERSE_LIMIT_SWITCH 5
+#define DINA_INVERT_DIRECTION 6
+#define DINA_RUN_MICROBASIC 7
+#define DINA_LOAD_HOME_VALUE 8
+#define DINA_MOT1 32
+#define DINA_MOT2 64
+#define DINA_MOT12 96
+
+/************ AMOD ****************/
+#define AMOD_DISABLED 0
+#define AMOD_ABSOLUTE 1
+#define AMOD_RELATIVE 2
+
+/********** Polarity **************/
+#define APOL_UNINVERTED 0
+#define APOL_INVERTED 1
+
+/************* Deadband ************/
+#define DB_MIN 0
+#define DB_MAX 50
+
+/************* Pulse Mode **********/
+#define PMOD_DISABLED 0
+#define PMOD_PULSE_WIDTH 1
+#define PMOD_FREQUENCY 2
+#define PMOD_PERIOD 3
+
+/********* Digital Output ***********/
+#define DOL_ACTIVE_HIGH 0
+#define DOL_ACTIVE_LOW 1
+
+#define DOA_NO_ACTION 0
+#define DOA_MOTOR_ON 1
+#define DOA_OVERVOLTAGE 2
+#define DOA_OVERTEMPERATURE 3
+#define DOA_MIRROR_STATUS_LED 4
+#define DOA_NO_MOSFET_FAILURE 5
+
+/********** Short Circuit **********/
+#define THLD_HIGH_SENSITIVITY 0
+#define THLD_MEDIUM_SENSITIVITY 1
+#define THLD_LOW_SENSITIVITY 2
+#define THLD_DISABLED 3
+
+/********* Feedback **************/
+#define BLFB_HALL_SENSOR 0
+#define BLFB_ENCODER 1
+
+/********* Stall Detection *******/
+#define BLSTD_DISABLED 0
+#define BLSTD_250MS_OVER_10 1
+#define BLSTD_500OMS_0VER_25 2
+#define BLSTD_1000MS_OVER_50 3
+
+/****** Motor Operatin Mode ******/
+#define MMOD_OPEN_LOOP_SPEED 0
+#define MMOD_CLOSED_LOOP_SPEED 1
+#define MMOD_CLOSED_LOOP_POSITION_RELATIVE 2
+#define MMOD_closed_LOPP_COUNT_POSITION 3
+#define MMOD_CLOSED_LOOP_POSITION_TRACKING 4
+#define MMOD_TORQUE 5
+
+/********* LOOP ERROR Detection *******/
+#define CLERD_DISABLED 0
+#define CLERD_250msGreater100 1
+#define CLERD_500msGreater250 2
+#define CLERD_1000msGreater500 3
+
+/************** General ***************/
+#define MAX_DIGITAL_INPUTS 6
+#define MAX_ANALOG_INPUTS 6
+#define MAX_DIGITAL_OUTPUTS 2
+#define MAX_OVERVOLTAGE 500
+
+
+/*************** COM *******************/
+#define CONNECTION_USB 0
+#define CONNECTION_CAN 1
+#define CONNECTION_COM 2
+
+#define MAX_RPM 2500
diff --git a/include/ecu_api/ErrorCodes.h b/include/ecu_api/ErrorCodes.h
new file mode 100644
index 0000000..029629b
--- /dev/null
+++ b/include/ecu_api/ErrorCodes.h
@@ -0,0 +1,23 @@
+#ifndef __ErrorCodes_H_
+#define __ErrorCodes_H_
+
+#define RQ_INVALID_HANDLE        -1
+#define RQ_SUCCESS               0
+#define RQ_ERR_OPEN_PORT         1
+#define RQ_ERR_NOT_CONNECTED     2
+#define RQ_ERR_TRANSMIT_FAILED   3
+#define	RQ_ERR_SERIAL_IO         4
+#define	RQ_ERR_SERIAL_RECEIVE    5
+#define RQ_INVALID_RESPONSE      6
+#define RQ_UNRECOGNIZED_DEVICE   7
+#define RQ_UNRECOGNIZED_VERSION  8
+#define RQ_INVALID_CONFIG_ITEM   9
+#define RQ_INVALID_OPER_ITEM     10
+#define RQ_INVALID_COMMAND_ITEM  11
+#define RQ_INDEX_OUT_RANGE       12
+#define RQ_SET_CONFIG_FAILED     13
+#define RQ_GET_CONFIG_FAILED     14
+#define RQ_GET_VALUE_FAILED      15
+#define RQ_SET_COMMAND_FAILED    16
+
+#endif
diff --git a/include/ecu_api/Mapping.h b/include/ecu_api/Mapping.h
new file mode 100644
index 0000000..4a8076a
--- /dev/null
+++ b/include/ecu_api/Mapping.h
@@ -0,0 +1,13 @@
+#ifndef __MAPPING__
+#define __MAPPING__
+
+typedef unsigned char   __u8;
+class Mapping{
+  public:
+    __u8 GetReadMapping(int cmd);
+    __u8 GetWriteMapping(int cmd);
+    Mapping();
+    ~Mapping();
+};
+
+#endif
diff --git a/include/ecu_api/RoboteqDevice.h b/include/ecu_api/RoboteqDevice.h
new file mode 100644
index 0000000..85e2697
--- /dev/null
+++ b/include/ecu_api/RoboteqDevice.h
@@ -0,0 +1,34 @@
+#ifndef __RoboteqDevice_H_
+#define __RoboteqDevice_H_
+
+#include "ComAPI.h"
+
+class RoboteqDevice
+{
+private:
+    ComAPI com;
+public:
+    bool IsConnected();
+    void Disconnect();
+
+    int SetConfig(int configItem, int index, int value);
+    int SetConfig(int configItem, int value);
+    int SetRawConfig(int configItem, std::string str);
+
+    int SetCommand(int commandItem, int index, int value);
+    int SetCommand(int commandItem, int value);
+    int SetCommand(int commandItem);
+
+    int GetConfig(int configItem, int index, int &result);
+    int GetConfig(int configItem, int &result);
+    int GetRawConfig(int configItem, std::string &result);
+
+    int GetValue(int operatingItem, int index, int &result);
+    int GetValue(int operatingItem, int &result);
+    int GetRawValue(int operatingItem, std::string &result);
+
+    RoboteqDevice(int type);
+    ~RoboteqDevice();
+};
+
+#endif
diff --git a/lib/mk/ecu_api.mk b/lib/mk/ecu_api.mk
new file mode 100644
index 0000000..19f6318
--- /dev/null
+++ b/lib/mk/ecu_api.mk
@@ -0,0 +1,7 @@
+SRC_CC = RoboteqDevice.cpp ComAPI.cpp CoreAPI.cpp Mapping.cpp
+
+LIBS = base stdcxx
+
+REP_INC_DIR += include/ecu_api
+
+vpath % $(REP_DIR)/src/lib/ecu_api
diff --git a/src/lib/ecu_api/ComAPI.cpp b/src/lib/ecu_api/ComAPI.cpp
new file mode 100644
index 0000000..33cd130
--- /dev/null
+++ b/src/lib/ecu_api/ComAPI.cpp
@@ -0,0 +1,126 @@
+#include "ComAPI.h"
+
+#include "Constants.h"
+#include "ErrorCodes.h"
+#include "Defines.h"
+
+#include <base/printf.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <termios.h>
+#include <sstream>
+#include <string.h>
+#include <queue>
+
+
+using namespace std;
+#define BUFFER_SIZE 1024
+
+ComAPI::ComAPI(int ConnectionType) : timer(), terminal(), SeriellToCan()
+{
+    handle = RQ_INVALID_HANDLE;
+    ComAPI::ConnectionType = ConnectionType;
+}
+
+/********************** Functions *****************************/
+/**
+ * Writes to the device
+ * @param  str Stuff that needs to be written
+ * @return     RQ Status Flags
+ */
+int ComAPI::WriteSerial(std::string str)
+{
+    size_t countSent = terminal.write(str.c_str(), str.length());
+
+    //Verify whether the Transmitted Data on UART was Successful or Not
+    if (countSent < str.length())
+        return RQ_ERR_TRANSMIT_FAILED;
+
+    return RQ_SUCCESS;
+}
+/**
+ * Reads from the Serial Port
+ */
+int ComAPI::ReadSerial(std::string &str, std::string command, bool isplusminus)
+{
+    int countRcv;
+
+    char buf[BUFFER_SIZE + 1] = "";
+
+    str = "";
+    countRcv = terminal.read(buf, BUFFER_SIZE);
+    str.append(buf, countRcv);
+
+    if (countRcv < 0)
+    {
+        return RQ_ERR_SERIAL_RECEIVE;
+    }
+
+    if (isplusminus)
+    {
+        if (str.length() < 2)
+            return RQ_INVALID_RESPONSE;
+
+        str = str.substr(str.length() - 2, 1);
+        return RQ_SUCCESS;
+    }
+
+    std::string::size_type pos = str.rfind(command + "=");
+    if (pos == std::string::npos)
+        return RQ_INVALID_RESPONSE;
+
+    pos += command.length() + 1;
+
+    std::string::size_type carriage = str.find("\r", pos);
+    if (carriage == std::string::npos)
+        return RQ_INVALID_RESPONSE;
+
+    str = str.substr(pos, carriage - pos);
+
+    return RQ_SUCCESS;
+}
+
+/**
+ * Calls the IssueCommand(std::string, std::string, std::string, std::string&,bool) Method
+ * @param  commandType CommandTypes: !,?,~,^ (SetCommand, GetValue, GetConfig,SetConfig)
+ * @param  command     The Command to be Executed
+ * @param  index       The Index of the Command
+ * @param  args        Arguments for the command
+ * @param  response    Return value
+ * @param  isplusminus Get expects a '=' while Set expects an '+' or '-'
+ * @return             RQ Status Flags
+ */
+int ComAPI::IssueCommand(std::string commandType, int command, int index, std::string args, std::string &response, bool isplusminus)
+{
+    int status = RQ_UNRECOGNIZED_DEVICE;
+    response = "";
+    if (ConnectionType == CONNECTION_USB
+            || ConnectionType == CONNECTION_COM)
+    {
+        char commandItem[10];
+        // Command to hex
+        sprintf(commandItem, "$%02X", command);
+        // Write Command To Device
+        string test = commandType + commandItem + " " + to_string(index) + (args == "" ? "" : " " + args) + "\r";
+        if ((status = WriteSerial(commandType + commandItem + " " + to_string(index) + (args == "" ? "" : " " + args) + "\r")) != RQ_SUCCESS)
+            return RQ_ERR_TRANSMIT_FAILED;
+        // **** Wait
+        timer.msleep(10);
+        // **** Read from Port
+        return ReadSerial(response, commandItem, isplusminus);
+    }
+    else
+        return status;
+}
+/**
+ * Calls the IssueCommand(std::string, std::string, std::string, std::string&,bool) Method
+ * @param  commandType CommandTypes: !,?,~,^ (SetCommand, GetValue, GetConfig,SetConfig)
+ * @param  command     The Command to be Executed
+ * @param  response    Return value
+ * @param  isplusminus Get expects a '=' while Set expects an '+' or '-'
+ * @return             RQ Status Flags
+ */
+int ComAPI::IssueCommand(std::string commandType, int command, std::string &response, bool isplusminus)
+{
+    return IssueCommand(commandType, command, 0, "", response, isplusminus);
+}
diff --git a/src/lib/ecu_api/CoreAPI.cpp b/src/lib/ecu_api/CoreAPI.cpp
new file mode 100644
index 0000000..4c1efed
--- /dev/null
+++ b/src/lib/ecu_api/CoreAPI.cpp
@@ -0,0 +1,2231 @@
+#include "CoreAPI.h"
+
+#include <sstream>
+#include <stdlib.h>
+#include <string>
+
+#include "ErrorCodes.h"
+#include "Constants.h"
+#include "Defines.h"
+
+/**************************************************************/
+/************************ Constructor *************************/
+/**************************************************************/
+CoreAPI::CoreAPI(int ConnectionType) : device(ConnectionType)
+{}
+CoreAPI::~CoreAPI() {}
+
+/**************************************************************/
+/************************ SETTER ******************************/
+/**************************************************************/
+/**************************************************************/
+/************************ RUNTIME *****************************/
+/**************************************************************/
+/**
+* Sets the maximum acceleration and sets the speed step by step
+* @param  speed Resulting Speed
+* @param  accel Acceleration
+* @return       RRQ Status Flags
+*/
+int CoreAPI::SetMotorSpeedAccel(int speed, int accel)
+{
+    int status;
+    if ((status = CoreAPI::SetAcceleration(1, accel)) != RQ_SUCCESS)
+        return RQ_INVALID_RESPONSE;
+
+    if ((status = CoreAPI::SetMotorSpeedAbs(speed)) != RQ_SUCCESS)
+        return RQ_INVALID_RESPONSE;
+
+    return RQ_SUCCESS;
+}
+/**
+* Lowers Motorspeed to speed descending according to decel
+* @param  speed Desired speed
+* @param  decel Deacceleration
+* @return       RQ Status Flags
+*/
+int CoreAPI::SetMotorSpeedDecel(int speed, int decel)
+{
+    int status;
+    if ((status = CoreAPI::SetDeceleration(1, decel)) != RQ_SUCCESS)
+        return RQ_INVALID_RESPONSE;
+
+    if ((status = CoreAPI::SetMotorSpeedAbs(speed)) != RQ_SUCCESS)
+        return RQ_INVALID_RESPONSE;
+
+    return RQ_SUCCESS;
+}
+/**
+* Sets Motorspeed according to a value between 0 and 1000
+* @param  speed Desired Speed
+* @return       RQ Status Flags
+*/
+int CoreAPI::SetMotorSpeedRel(int speed)
+{
+    int status = device.SetCommand(_MOTCMD, speed);
+    return status;
+}
+/**
+* Sets the Motorspeed in RPM
+* @param  speed Desired Speed in RPM
+* @return       RQ Status Flags
+*/
+int CoreAPI::SetMotorSpeedAbs(int speed)
+{
+    int status = device.SetCommand(_GO, 1, speed);
+    return status;
+}
+/**
+ * \test
+ * (_P) see p. 169
+ * @param  port  Port
+ * @param  value Value
+ * @return       RQ Status Flags
+ */
+int CoreAPI::SetAbsoluteDesiredPosition(int port, int value)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, 2)
+            && CheckRange(value, CPRI_DISABLED, CPRI_ANALOG))
+        status = device.SetCommand(_P, port, value);
+    return  status;
+}
+/**
+ * \test
+ * (_S) see p. 171
+ * @param  port  Port
+ * @param  value Value
+ * @return       RQ Status Flags
+ */
+int CoreAPI::SetMotorPositionVelocity(int port, int value)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, 2) && CheckRange(value, 0, MAX_RPM))
+        status = device.SetCommand(_S, port, value);
+    return status;
+}
+/**
+ * \test
+ * (_SX) see p. 171
+ * @param  port  Port
+ * @param  value Value
+ * @return       RQ Status Flags
+ */
+int CoreAPI::SetNextPositionVelocity(int port, int value)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, 2)
+            && CheckRange(value, 0, MAX_RPM))
+        status = device.SetCommand(_SX, port, value);
+    return status;
+}
+/**
+ * \test
+ * (_C) see p. 166
+ * @param  port  Port
+ * @param  value Value
+ * @return       RQ Status Flags
+ */
+int CoreAPI::SetEncoderCounter(int port, int value)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, 2))
+        status = device.SetCommand(_C, port, value);
+    return status;
+}
+/**
+ * \test
+ * (_CB) see p. 166
+ * @param  port  Port
+ * @param  value Value
+ * @return       RQ Status Flags
+ */
+int CoreAPI::SetBrushlessCounter(int port, int value)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, 2))
+        status = device.SetCommand(_CB, port, value);
+    return status;
+}
+/**
+ * \test
+ * Sets the User Variables (_VAR) see p. 171
+ * @param  num   Number 0 - 16
+ * @param  value Integer Value to Set
+ * @return       RQ Status Flags
+ */
+int CoreAPI::SetUserIntegerVariables(int num, int value)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(num, 0, 16))
+        status = device.SetCommand(_VAR, num, value);
+    return status;
+}
+/**
+ * \test
+ * Sets the User Variables (_B) see p. 165
+ * @param  num   Number 0 - 16
+ * @param  value Integer Value to Set
+ * @return       RQ Status Flags
+ */
+int CoreAPI::SetUserIntegerBool(int num, int value)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(num, 0, 32))
+        status = device.SetCommand(_B, num, value);
+    return status;
+}
+/**
+ * \test
+ * Sets the Acceleration ( _AC) see p. 165
+ * @param  port  Motor 1 or 2
+ * @param  value Acceleration
+ * @return       RQ Status Flags
+ */
+int CoreAPI::SetAcceleration(int port, int value)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, 2))
+        status = device.SetCommand(_AC, port, value);
+    return status;
+}
+/**
+ * \test
+ * Sets the next Acceleration ( _AX) see p.165
+ * @param  port  Motor 1 or 2
+ * @param  value Acceleration
+ * @return       RQ Status Flags
+ */
+int CoreAPI::SetNextAcceleration(int port, int value)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, 2))
+        status = device.SetCommand(_AX, port, value);
+    return status;
+}
+/**
+ * \test
+ * Sets the Deacceleration ( _DC) see p.167
+ * @param  port  Motor 1 or 2
+ * @param  value Acceleration
+ * @return       RQ Status Flags
+ */
+int CoreAPI::SetDeceleration(int port, int value)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, 2))
+        status = device.SetCommand(_DC, port, value);
+    return status;
+}
+/**
+ * \test
+ * Sets the next Deacceleration ( _DX) see p.168
+ * @param  port  Motor 1 or 2
+ * @param  value Acceleration
+ * @return       RQ Status Flags
+ */
+int CoreAPI::SetNextDeceleration(int port, int value)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, 2))
+        status = device.SetCommand(_DX, port, value);
+    return status;
+}
+/**
+ * \test
+ * Enables the Digital Outputs ( _D1) see p.167
+ * @param  port  Outputs: 0 - MAX_DIGITAL_OUTPUTS
+ * @return       RQ Status Flags
+ */
+int CoreAPI::SetDigitalOuts(int port)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_DIGITAL_OUTPUTS))
+        status = device.SetCommand(_D1, port);
+    return status;
+}
+/**
+ * \test
+ * Reset the Digital Outputs ( _D0) see p.167
+ * @param  port  Outputs: 0 - MAX_DIGITAL_OUTPUTS
+ * @return       RQ Status Flags
+ */
+int CoreAPI::SetResetDigitalOuts(int port)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_DIGITAL_OUTPUTS))
+        status = device.SetCommand(_D0, port);
+    return status;
+}
+/**
+ * \test
+ * (_H) see p.169
+ * @param  port  Port
+ * @return       RQ Status Flags
+ */
+int CoreAPI::SetLoadHomeCounter(int port)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, 2))
+        status = device.SetCommand(_H, port);
+    return status;
+}
+/**
+ * \test
+ * Trigger Emeregency Stop (_EX) see p.168
+ * @return RQ Status Flags
+ */
+int CoreAPI::SetEmergencyStop()
+{
+    return device.SetCommand(_EX, 0, 0);;
+}
+/**
+ * \test
+ * Release Emergency Stop (_MG) see p.169
+ * @return RQ Status Flags
+ */
+int CoreAPI::SetReleaseEmergencyStop()
+{
+    return device.SetCommand(_MG, 0, 0);
+}
+/**
+ * \test
+ * Trigger Emeregency Stop on specified Motor (_MS) see p.169
+ * @param  port Motor: 1 or 2
+ * @return RQ Status Flags
+ */
+int CoreAPI::SetEmergencyStop(int port)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, 2))
+        status = device.SetCommand(_MS, port);
+    return status;
+}
+/**
+ * \test
+ * (_PR) see p.170
+ * @param  port  Port
+ * @param  value Value
+ * @return       RQ Status Flags
+ */
+int CoreAPI::SetRelativeDesiredPosition(int port, int value)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, 2))
+        status = device.SetCommand(_PR, port, value);
+    return status;
+}
+/**
+ * \test
+ * (_PX) see p.170
+ * @param  port  Port
+ * @param  value Value
+ * @return       RQ Status Flags
+ */
+int CoreAPI::SetNextAbsoluteDesiredPosition(int port, int value)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, 2))
+        status = device.SetCommand(_PX, port, value);
+    return status;
+}
+/**
+ * (_PRX) see p.170
+ * @param  port  Port
+ * @param  value Value
+ * @return       RQ Status Flags
+ */
+int CoreAPI::SetNextRelativeDesiredPosition(int port, int value)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, 2))
+        status = device.SetCommand(_PRX, port, value);
+    return status;
+}
+/**
+ * \test
+ * Saves the Config to the Flash (_EES) see p.168
+ * @return RQ Status Flags
+ */
+int CoreAPI::SetSaveConfig()
+{
+    return device.SetCommand(_EES, 0);
+}
+/**************************************************************/
+/************************ CONFIG ******************************/
+/**************************************************************/
+
+/**
+* Sets the Scripting Autostart Mode (_BRUN) see p.196
+* @param  val BRUN_DISABLED | BRUN_DELAYED | BRUN_ACTIVATED
+* @return       RQ Status Flags
+*/
+int CoreAPI::SetScriptingAutostart(int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(val, BRUN_DISABLED, BRUN_ACTIVATED) )
+        status = device.SetConfig(_BRUN, val);
+    return status;
+}
+/**
+* Sets the Linearity (_CLIN) see p.197
+* @param  val  LIN_LINEAR | LIN_EXP_WEAK | LIN_EXP_MEDIUM | LIN_EXP_STRONG | LIN_LOG_WEAK | LIN_LOG_MEDIUM | LIN_LOG_STRONG
+* @return       RQ Status Flags
+*/
+int CoreAPI::SetLinearity(int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(val, LIN_LINEAR, LIN_LOG_STRONG))
+        status = device.SetConfig(_CLIN, val);
+    return status;
+}
+/**
+* Sets the Serial Timout (_RWD) see p.198
+* @param  val Range: 0 - 65000
+* @return       RQ Status Flags
+*/
+int CoreAPI::SetSerialTimout(int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(val, 0, 6500))
+        status = device.SetConfig(_RWD, val);
+    return status;
+}
+/**
+* Sets the ChannelPriorities (_CPRI) p.197
+* @param port Port: 1 - 3
+* @param  val CPRI_DISABLED | CPRI_SERIAL | CPRI_RC | CPRI_ANALOG
+* @return     RQ Status Flags
+*/
+int CoreAPI::SetChannelPriorities(int port, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, 3)
+            && CheckRange(val, CPRI_DISABLED, CPRI_ANALOG))
+        status = device.SetConfig(_CPRI, port, val);
+    return  status;
+}
+/*int CoreAPI::SetTelemetryString(std::string &str)
+{
+    return device.SetRawConfig(_TELS, str);
+}*/
+/**
+* Sets the AnalogCenterSafety (_ACS) see p. 196
+* @param  value sets ACS
+* @return       RQ Status Flags
+*/
+int CoreAPI::SetAnalogCenterSafety(int value)
+{
+    return device.SetConfig(_ACS, value);
+}
+/**
+* Sets Analog within Min & Max Safety (_AMS) see p. 196
+* @param  val Sets AMS
+* @return     RQ Status Flags
+*/
+int CoreAPI::SetAnalogMinMaxSafety(int val)
+{
+    return device.SetConfig(_AMS, val);
+}
+/**
+* Sets the Encoder Usage (_EMOD) see p. 210
+* @param  mot   Motor: MOT1 | MOT2
+* @param  val Desired Value: ENC_UNUSED | ENC_COMMAND | ENC_FEEDBACK
+* @return       RQ Status Flags
+*/
+int CoreAPI::SetEncoderMode(int mot, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(val, ENC_UNUSED, ENC_FEEDBACK))
+        status =  device.SetConfig(_EMOD, mot + val);
+    return status;
+}
+/**
+* Set the Encoder PPR Value (_EPPR) see p.210
+* @param  val Desired Value: Range 1 - 5000 default: 100
+* @return     RQ Status Flags
+*/
+int CoreAPI::SetEncoderPPR(int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(val, 1, 5000))
+        status =  device.SetConfig(_EPPR, val);
+    return status;
+}
+/**
+* Encoder Low Count Limit (_ELL) see p.209
+* @param  val Desired Value
+* @return     RQ Status Flags
+*/
+int CoreAPI::SetEncoderLowLimitCount(int val)
+{
+    return device.SetConfig(_ELL, val);
+}
+/**
+* Encoder High Count Limit (_EHL) see p.208
+* @param  val Desired Value
+* @return     RQ Status Flags
+*/
+int CoreAPI::SetEncoderHighLimitCount(int val)
+{
+    return device.SetConfig(_EHL, val);
+}
+/**
+* Encoder Counter Load at Home Position (_EHOME) see p.209
+* @param  val Desired Value
+* @return     RQ Status Flags
+*/
+int CoreAPI::SetEncoderCounterLoadAtHomePosition(int val)
+{
+    return device.SetConfig(_EHOME, val);
+}
+/**
+* Gets the Encoder High Limit Action (_EHLA) see p.209
+* @param  mot Motor: MOT1 | MOT2
+* @param  val DINA Values:  DINA_NO_ACTION | DINA_SAFETY_STOP | DINA_EMERGENCY_STOP | DINA_MOTOR_STOP | DINA_FORWARD_LIMIT_SWITCH |
+                            DINA_REVERSE_LIMIT_SWITCH | DINA_INVERT_DIRECTION | DINA_RUN_MICROBASIC | DINA_LOAD_HOME_VALUE
+* @return     RQ_Status_Flags
+*/
+int CoreAPI::SetEncoderLowLimitAction(int mot, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(val, DINA_NO_ACTION, DINA_LOAD_HOME_VALUE)
+            && CheckMotor(mot))
+        status = device.SetConfig(_ELLA, mot + val);
+    return  status;
+}
+
+/**
+* Gets the Encoder High Limit Action (_EHLA) see p.209
+* @param  mot Motor: MOT1 | MOT2
+* @param  val DINA Values:  DINA_NO_ACTION | DINA_SAFETY_STOP | DINA_EMERGENCY_STOP | DINA_MOTOR_STOP | DINA_FORWARD_LIMIT_SWITCH |
+                            DINA_REVERSE_LIMIT_SWITCH | DINA_INVERT_DIRECTION | DINA_RUN_MICROBASIC | DINA_LOAD_HOME_VALUE
+* @return     RQ_Status_Flags
+*/
+int CoreAPI::SetEncoderHighLimitAction(int mot, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(val, DINA_NO_ACTION, DINA_LOAD_HOME_VALUE)
+            && CheckMotor(mot))
+        status = device.SetConfig(_EHLA, mot + val);
+    return status;
+}
+/**
+ * Set the Digital Inputs for each port (_DINL) see p. 200
+ * @param  port Port number 0 - MAX_DIGITAL_INPUTS
+ * @param  val  Desired Value: 0 -> active low, 1 -> active high
+ * @return      RQ Status Flags
+ */
+int CoreAPI::SetDigitalInput(int port, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_DIGITAL_INPUTS) && CheckRange(val, 0, 1))
+        status = device.SetConfig(_DINL, port, val);
+    return status;
+}
+/**
+ * Sets the Digital Input Action if a port is triggered (_DINA) see p.199
+ * @param  port Port: 0 - MAX_DIGITAL_INPUTS
+ * @param  mot  Motor: DINA_MOT1 || DINA_MOT2 || DINA_MOT12
+ * @param  val  DINA Values:  DINA_NO_ACTION | DINA_SAFETY_STOP | DINA_EMERGENCY_STOP | DINA_MOTOR_STOP | DINA_FORWARD_LIMIT_SWITCH |
+                              DINA_REVERSE_LIMIT_SWITCH | DINA_INVERT_DIRECTION | DINA_RUN_MICROBASIC | DINA_LOAD_HOME_VALUE
+ * @return      RQ Status Flags
+ */
+int CoreAPI::SetDigitalInputAction(int port, int mot, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if ((mot == DINA_MOT1 || mot == DINA_MOT2 || mot == DINA_MOT12) &&
+            CheckRange(port, 0, MAX_DIGITAL_INPUTS)
+            && CheckRange(val, DINA_NO_ACTION, DINA_LOAD_HOME_VALUE))
+        status = device.SetConfig(_DINA, port, val + mot);
+    return  status;
+}
+/**
+ * Sets the Analog Input Mode (_AMOD) see p.204
+ * @param  port Port: 0 - MAX_ANALOG_INPUTS
+ * @param  val  AMOD Values: AMOD_DISABLED | AMOD_ABSOLUTE | AMOD_RELATIVE
+ * @return      RQ Status Flags
+ */
+int CoreAPI::SetAnalogInputMode(int port, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS)
+            && CheckRange(val, AMOD_DISABLED, AMOD_RELATIVE))
+        status = device.SetConfig(_AMOD, port, val);
+    return status;
+}
+
+/**
+ * Sts the Analog Input Actions for each port (_AINA) see p.202
+ * @param  port Port: 0 - MAX_ANALOG_INPUTS
+ * @param  mot  Motor: MOT1 | MOT2 | MOT12
+ * @param  val  Returns the USAGE: ENC_UNUSED | ENC_COMMAND | ENC_FEEDBACK
+ * @return      RQ Status Flags
+ */
+int CoreAPI::SetAnalogInputAction(int port, int mot, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS)
+            && CheckRange(val, ENC_UNUSED, ENC_FEEDBACK)
+            && CheckMotor(mot))
+        status = device.SetConfig(_AINA, port, mot + val);
+    return status;
+}
+/**
+ * Set Analog Input Range for each Point (_AMIN) see p. 203
+ * @param  port Port: 0 - MAX_ANALOG_INPUTS
+ * @param  val  Min: 0 - 5000 mV default: 100mV
+ * @return      RQ Status Flags
+ */
+int CoreAPI::SetAnalogInputMin(int port, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS)
+            && CheckRange(val, 0, 5000))
+        status = device.SetConfig(_AMIN, port, val);
+    return status;
+}
+/**
+ * Sets the Analog Input Center (_ACTR) see p. 201
+ * @param  port Port: 0 - MAX_ANALOG_INPUT
+ * @param  val  Center: 0 - 5000 default: 2500
+ * @return      RQ Status Flags
+ */
+int CoreAPI::SetAnalogInputCenter(int port, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS)
+            && CheckRange(val, 0, 5000))
+        status = device.SetConfig(_ACTR, port, val);
+    return status;
+}
+/**
+ * Sets the Analog Input Max (_AMAX) see p. 203
+ * @param  port Port: 0 - MAX_ANALOG_INPUT
+ * @param  val  Max: 0 - 5000 default: 4900
+ * @return      RQ Status Flags
+ */
+int CoreAPI::SetAnalogInputMax(int port, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS))
+        status = device.SetConfig(_AMAX, port, val);
+    return status;
+}
+/**
+ * Sets the Analog Input Polarity for every port (_APOL) see p.204
+ * @param  port Port: 0 - MAX_ANALOG_INPUTS
+ * @param  val  Polarity: APOL_UNINVERTED | APOL_INVERTED
+ * @return      RQ Status Flags
+ */
+int CoreAPI::SetAnalogInputPolarity(int port, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS)
+            && CheckRange(val, APOL_UNINVERTED, APOL_INVERTED))
+        status = device.SetConfig(_APOL, port, val);
+    return status;
+}
+/**
+ * Sets the Analog Deadband (_ADB) see p.201
+ * @param  port Port: 0 - MAX_ANALOG_INPUTS
+ * @param  val  Deadband: 0 - 50
+ * @return      RQ Status Flags
+ */
+int CoreAPI::SetAnalogDeadband(int port, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS)
+            && CheckRange(val, DB_MIN, DB_MAX))
+        status = device.SetConfig(_ADB, port, val);
+    return  status;
+}
+/**
+ * Sets the Action on Analog Min (_AMINA) see p.201
+ * @param  port Port: 0 - MAX_ANALOG_INPUTS
+ * @param  mot  Motor: MOT1 | MOT2 | MOT12
+ * @param  val DINA Values:  DINA_NO_ACTION | DINA_SAFETY_STOP | DINA_EMERGENCY_STOP | DINA_MOTOR_STOP | DINA_FORWARD_LIMIT_SWITCH |
+                             DINA_REVERSE_LIMIT_SWITCH | DINA_INVERT_DIRECTION | DINA_RUN_MICROBASIC | DINA_LOAD_HOME_VALUE
+ * @return      RQ Status Flags
+ */
+int CoreAPI::SetAnalogMinAction(int port, int mot, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS)
+            && CheckRange(val, DINA_NO_ACTION, DINA_LOAD_HOME_VALUE)
+            && CheckMotor(mot))
+        status =  device.SetConfig(_AMINA, port, mot + val);
+    return status;
+}
+/**
+ * Sets the Action on Analog Max (_AMAXA) see p.201
+ * @param  port Port: 0 - MAX_ANALOG_INPUTS
+ * @param  mot  Motor: MOT1 | MOT2 | MOT12
+ * @param  val DINA Values:  DINA_NO_ACTION | DINA_SAFETY_STOP | DINA_EMERGENCY_STOP | DINA_MOTOR_STOP | DINA_FORWARD_LIMIT_SWITCH |
+                             DINA_REVERSE_LIMIT_SWITCH | DINA_INVERT_DIRECTION | DINA_RUN_MICROBASIC | DINA_LOAD_HOME_VALUE
+ * @return      RQ Status Flags
+ */
+int CoreAPI::SetAnalogMaxAction(int port, int mot, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS)
+            && CheckRange(val, DINA_NO_ACTION, DINA_LOAD_HOME_VALUE)
+            && CheckMotor(mot))
+        return  device.SetConfig(_AMAXA, port, mot + val);
+    return status;
+}
+/**
+ * Sets the Pulse Input Mode (_PMOD) see p. 207
+ * @param  port Port: 0 - MAX_ANALOG_INPUTS
+ * @param  val  PM Values:  PMOD_DISABLED  |  PMOD_PULSE_WIDTH |  PMOD_FREQUENCY |  PMOD_PERIOD
+ * @return      RQ Status Flags
+ */
+int CoreAPI::SetPulseInputMode(int port, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS)
+            && CheckRange(val, PMOD_DISABLED, PMOD_PERIOD))
+        status =  device.SetConfig(_PMOD, port, val);
+    return status;
+}
+/**
+ * Sets the Action on a Pulse (_PINA) see p.206
+ * @param  port Port: 0 - MAX_ANALOG_INPUTS
+ * @param  val  Action: ENC_COMMAND | ENC_FEEDBACK | ENC_UNUSED
+ * @param  mot  Motor: MOT1 | MOT2 | MOT12
+ * @return      RQ Status Flags
+ */
+int CoreAPI::SetPulseInputAction(int port, int mot, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS)
+            && CheckMotor(mot)
+            && CheckRange(val, ENC_UNUSED, ENC_FEEDBACK))
+    {
+        status = device.SetConfig(_PINA, port, mot + val);
+    }
+    return status;
+}
+/**
+ * Sets the Pulse Min Range (_PMIN) see p.207
+ * @param  port Port: 0 - MAX_ANALOG_INPUTS
+ * @param  val  Minimum: 0 - 65000 us default: 1000
+ * @return      RQ Status Flags
+ */
+int CoreAPI::SetPulseMin(int port, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS) && CheckRange(val, 0, 65000))
+    {
+        status = device.SetConfig(_PMIN, port, val);
+    }
+    return status;
+}
+/**
+ * Sets the Pulse Max Range (_PMAX) see p.206
+ * @param  port Port: 0 - MAX_ANALOG_INPUTS
+ * @param  val  Minimum: 0 - 65000 us default: 2000
+ * @return      RQ Status Flags
+ */
+int CoreAPI::SetPulseMax(int port, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS) && CheckRange(val, 0, 65000))
+    {
+        status = device.SetConfig(_PMAX, port, val);
+    }
+    return status;
+}
+/**
+ * Sets the Pulse Min Range (_PMIN) see p.205
+ * @param  port Port: 0 - MAX_ANALOG_INPUTS
+ * @param  val  Minimum: 0 - 65000 us default: 1500
+ * @return      RQ Status Flags
+ */
+int CoreAPI::SetPulseCenter(int port, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS) && CheckRange(val, 0, 65000))
+    {
+        status = device.SetConfig(_PCTR, port, val);
+    }
+    return status;
+}
+/**
+ * Gets the Pulse Input Deadband (_PDB) see p. 205
+ * @param  port Port: 0 - MAX_ANALOG_INPUTS
+ * @param  val  Deadband: 0 - 50 default: 0
+ * @return      RQ Status Flags
+ */
+int CoreAPI::SetPulseDeadbeand(int port, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS) && CheckRange(val, 0, 50))
+    {
+        status = device.SetConfig(_PDB, port, val);
+    }
+    return status;
+}
+/**
+ * Gets the Action on Max Pulse (_PMAX) see p.207
+ * @param  port Port: 0 - Max_ANALOG_INPUTS
+ * @param  val DINA Values:  DINA_NO_ACTION | DINA_SAFETY_STOP | DINA_EMERGENCY_STOP | DINA_MOTOR_STOP | DINA_FORWARD_LIMIT_SWITCH |
+                             DINA_REVERSE_LIMIT_SWITCH | DINA_INVERT_DIRECTION | DINA_RUN_MICROBASIC | DINA_LOAD_HOME_VALUE
+ * @param  mot  Motor: MOT1 | MOT2 | MOT12
+ * @return      RQ Status Flags
+ */
+int CoreAPI::SetPulseMaxAction(int port, int mot, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS)
+            && CheckRange(val, DINA_NO_ACTION, DINA_LOAD_HOME_VALUE)
+            && CheckMotor(mot))
+    {
+        status = device.SetConfig(_PMAXA, port, val + mot);
+    }
+    return status;
+}
+/**
+ * Gets the Action on Min Pulse (_PMAX) see p.207
+ * @param  port Port: 0 - Max_ANALOG_INPUTS
+ * @param  val DINA Values:  DINA_NO_ACTION | DINA_SAFETY_STOP | DINA_EMERGENCY_STOP | DINA_MOTOR_STOP | DINA_FORWARD_LIMIT_SWITCH |
+                             DINA_REVERSE_LIMIT_SWITCH | DINA_INVERT_DIRECTION | DINA_RUN_MICROBASIC | DINA_LOAD_HOME_VALUE
+ * @param  mot  Motor: MOT1 | MOT2 | MOT12
+ * @return      RQ Status Flags
+ */
+int CoreAPI::SetPulseMinAction(int port, int mot, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS)
+            && CheckRange(val, DINA_NO_ACTION, DINA_LOAD_HOME_VALUE)
+            && CheckMotor(mot))
+    {
+        status = device.SetConfig(_PMINA, port, val + mot);
+    }
+    return status;
+}
+/**
+ * Sets the Linearity on the Pulse Input (_PLIN) see p.206
+ * @param  port Port: 0 - MAX_ANALOG_INPUTS
+ * @param  val  Linearty: LIN_LINEAR | LIN_EXP_WEAK | LIN_EXP_MEDIUM | LIN_EXP_STRONG | LIN_LOG_WEAK | LIN_LOG_MEDIUM | LIN_LOG_STRONG
+ * @return      RQ Status Flags
+ */
+int CoreAPI::SetPulseLinearity(int port, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS)
+            && CheckRange(val, LIN_LINEAR, LIN_LOG_STRONG))
+    {
+        status = device.SetConfig(_PLIN, port, val);
+    }
+    return status;
+}
+/**
+ * Sets the Digital Output Active Levels (_DOL) see p.200
+ * @param  port Port: 0 - MAX_DIGITAL_OUTPUTS
+ * @param  val  Active Level: DOL_ACTIVE_HIGH | DOL_ACTIVE_LOW
+ * @return      RQ Status Flags
+ */
+int CoreAPI::SetDigitalOutputActiveLevel(int port, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_DIGITAL_OUTPUTS)
+            && CheckRange(val, DOL_ACTIVE_LOW, DOL_ACTIVE_HIGH))
+    {
+        status = device.SetConfig(_DOL, port,  val);
+    }
+    return status;
+}
+/**
+ * Sets the Digital Output Action (_DOA) see p.200
+ * @param  port Port: 0 - MAX_DIGITAL_OUTPUTS
+ * @param  mot  Motor: MOT1 | MOT2 | MOT12
+ * @param  val  Actions: DOA_NO_ACTION | DOA_MOTOR_ON | DOA_OVERVOLTAGE | DOA_OVERTEMPERATURE  | DOA_MIRROR_STATUS_LED | DOA_NO_MOSFET_FAILURE
+ * @return      RQ Status Flags
+ */
+int CoreAPI::SetDigitalOutputAction(int port, int mot, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_DIGITAL_OUTPUTS)
+            && CheckRange(val, DOA_NO_ACTION, DOA_NO_MOSFET_FAILURE)
+            && CheckMotor(mot))
+    {
+        status = device.SetConfig(_DOA, port, val + mot);
+    }
+    return status;
+}
+/**
+ * Gets the PWM Frequency (_PWMF) see p.215
+ * @param  val PWM Frequency multiplied with 10, Range: 10 - 200 (1 - 20kHz)
+ * @return     RQ Status Flags
+ */
+int CoreAPI::SetPWMFrequency(int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(val, 10, 200))
+        status = device.SetConfig(_PWMF, val);
+    return status;
+}
+/**
+ * Sets the Overvoltage Limit, at this point an overvoltage signal is issued (_OVL) see p.214
+ * @param  val Overvoltage Limit multiplied by 10: Range 100 - MAX_OVERVOLTAGE
+ * @return     RQ Status Flags
+ */
+int CoreAPI::SetOvervoltageLimit(int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(val, 100, MAX_OVERVOLTAGE))
+        status = device.SetConfig(_OVL, val);
+    return status;
+}
+/**
+ * Sets the Undervoltage Limit, This parameter sets the voltage below which the controller will turn off its power stage. (_UVL) see p.215
+ * @param  val Overvoltage Limit multiplied by 10: Range 50 - MAX_OVERVOLTAGE
+ * @return     RQ Status Flags
+ */
+int CoreAPI::SetUndervoltageLimit(int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(val, 50, MAX_OVERVOLTAGE))
+        status = device.SetConfig(_UVL, val);
+    return status;
+}
+/**
+ * Sets the Break Delay (_BKD) see p.214
+ * @param  val Delay in ms
+ * @return     RQ Status Flags
+ */
+int CoreAPI::SetBrakeActivationDelay(int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (val >= 0)
+        status = device.SetConfig(_BKD, val);
+    return status;
+}
+/**
+ * Sets the Short Circuit Detection Sensitivity (_THLD) see p.215
+ * @param  val Sensitivity: THLD_HIGH_SENSITIVITY | THLD_MEDIUM_SENSITIVITY | THLD_LOW_SENSITIVITY | THLD_DISABLED
+ * @return     RQ Status Flags
+ */
+int CoreAPI::SetShortCircuitThreshold(int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(val, THLD_HIGH_SENSITIVITY, THLD_DISABLED))
+        status = device.SetConfig(_THLD, val);
+    return status;
+}
+/**
+ * Gets the Number of Poles of the BL Motor (_BPOL) see p.213
+ * @param  mot Motor: 1 or 2
+ * @param  val [description]
+ * @return     [description]
+ */
+int CoreAPI::SetNumPoles(int mot, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(mot, 0, 2))
+        status = device.SetConfig(_BPOL, mot, val);
+    return status;
+}
+/**
+ * Sets the selected Encoder (_BLFB) see p.212
+ * @param  mot Motor: 1 or 2
+ * @param  val Feedback: BLFB_HALL_SENSOR | BLFB_ENCODER
+ * @return     RQ Status Flags
+ */
+int CoreAPI::SetBrushlessFeedback(int mot, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(mot, 0, 2) && CheckRange(val, BLFB_HALL_SENSOR, BLFB_ENCODER))
+    {
+        status = device.SetConfig(_BLFB, mot, val);
+    }
+    return status;
+}
+/**
+ * Set the Stall Detection Mode (_BLSTD) see p.213
+ * @param  mot Motor: 0 or 1
+ * @param  val Detection Modes: BLSTD_DISABLED | BLSTD_250MS_OVER_10  | BLSTD_500OMS_0VER_25 | BLSTD_1000MS_OVER_50 3
+ * @return     RQ Status Flags
+ */
+int CoreAPI::SetBrushlessStallDetection(int mot, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(mot, 0, 2) && CheckRange(val, BLSTD_DISABLED, BLSTD_1000MS_OVER_50))
+        status = device.SetConfig(_BLSTD, mot, val);
+    return status;
+}
+/**
+ * (_BLL) see p.212
+ * @param  mot Motor: 1 or 2
+ * @param  val Counter: default -2000
+ * @return     RQ Status Flags
+ */
+int CoreAPI::SetEncoderLowLimit(int mot, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(mot, 0, 2))
+        status = device.SetConfig(_BLL, mot, val);
+    return status;
+}
+/**
+ * Encoder High Limit Action (_BHLA) see p.211
+ * @param  port Port: 1 or 2
+ * @param  mot  Motor: MOT1 | MOT2 | MOT12
+ * @param  val DINA Values:  DINA_NO_ACTION | DINA_SAFETY_STOP | DINA_EMERGENCY_STOP | DINA_MOTOR_STOP | DINA_FORWARD_LIMIT_SWITCH |
+                             DINA_REVERSE_LIMIT_SWITCH | DINA_INVERT_DIRECTION | DINA_RUN_MICROBASIC | DINA_LOAD_HOME_VALUE
+ * @return      RQ Status Flags
+ */
+int CoreAPI::SetEncoderHighLimitAction(int port, int mot, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, 2)
+            && CheckMotor(mot)
+            && CheckRange(val, DINA_NO_ACTION, DINA_LOAD_HOME_VALUE))
+        status = device.SetConfig(_BHLA, port, mot + val);
+    return status;
+}
+/**
+ * Encoder Low Limit Action (_BHLA) see p.211
+ * @param  port Port: 1 or 2
+ * @param  mot  Motor: MOT1 | MOT2 | MOT12
+ * @param  val DINA Values:  DINA_NO_ACTION | DINA_SAFETY_STOP | DINA_EMERGENCY_STOP | DINA_MOTOR_STOP | DINA_FORWARD_LIMIT_SWITCH |
+                             DINA_REVERSE_LIMIT_SWITCH | DINA_INVERT_DIRECTION | DINA_RUN_MICROBASIC | DINA_LOAD_HOME_VALUE
+ * @return      RQ Status Flags
+ */
+int CoreAPI::SetEncoderLowLimitAction(int port, int mot, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, 2)
+            && CheckMotor(mot)
+            && CheckRange(val, DINA_NO_ACTION, DINA_LOAD_HOME_VALUE))
+        status = device.SetConfig(_BLLA, port, val + mot);
+    return status;
+}
+/**
+ * Amps Limit (_ALIM) see p.216
+ * @param  val Amps multiplied with 10: 10A to Datasheet Max, default: 75% of Max
+ * @return     RQ Status Flags
+ */
+int CoreAPI::SetMotorAmpsLimit(int val)
+{
+    return device.SetConfig(_ALIM, val);
+}
+/**
+ * Amps Trigger Value (_ATRIG) see p.217
+ * @param  val Amps multiplied with 10: 10A to Datasheet Max, default: 75% of Max
+ * @return     RQ Status Flags
+ */
+int CoreAPI::SetMotorAmpsTriggerValue(int val)
+{
+    return device.SetConfig(_ATRIG, val);
+}
+/**
+ * Amps Trigger Action (_ATGA) see p.217
+ * @param  mot  Motor: MOT1 | MOT2 | MOT12
+ * @param  val DINA Values:  DINA_NO_ACTION | DINA_SAFETY_STOP | DINA_EMERGENCY_STOP | DINA_MOTOR_STOP | DINA_FORWARD_LIMIT_SWITCH |
+                             DINA_REVERSE_LIMIT_SWITCH | DINA_INVERT_DIRECTION | DINA_RUN_MICROBASIC | DINA_LOAD_HOME_VALUE
+ * @return     RQ Status Flags
+ */
+int CoreAPI::SetMotorAmpsTriggerAction(int mot, int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckMotor(mot)
+            && CheckRange(val, DINA_NO_ACTION, DINA_LOAD_HOME_VALUE))
+        status = device.SetConfig(_ATGA, val + mot);
+    return status;
+}
+/**
+ * Amps Trigger Delay (_ATGD) see p.217
+ * @param  val Delay in ms
+ * @return     RQ Status Delay
+ */
+int CoreAPI::SetMotorAmpsTriggerDelay(int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (val > 0)
+        status = device.SetConfig(_ATGD, val);
+    return status;
+}
+/**
+ * Max Power Forward (_MXPF) see p.220
+ * @param  val Power: 25 - 100, default: 100
+ * @return     RQ Status Flags
+ */
+int CoreAPI::SetMotorMaxPowerForward(int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(val, 25, 100))
+        status = device.SetConfig(_MXPF, val);
+    return status;
+}
+/**
+ * Max Power Forward (_MXPR) see p.221
+ * @param  val Power: 25 - 100, default: 100
+ * @return     RQ Status Flags
+ */
+int CoreAPI::SetMotorMaxPowerReverse(int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(val, 25, 100))
+        status = device.SetConfig(_MXPR, val);
+    return  status;
+}
+/**
+ * Max RPM (_MXRPM) see p.221
+ * @param  val RPM: 10 - 65000, default: 3000
+ * @return     RQ Status Flags
+ */
+int CoreAPI::SetMotorMaxRPM(int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(val, 25, 65000))
+        status = device.SetConfig(_MXRPM, val);
+    return  status;
+}
+/**
+ * Gets the Motor Operating Mode (_MMOD) see p.220
+ * @param  val Mode: MMOD_OPEN_LOOP_SPEED | MMOD_CLOSED_LOOP_SPEED | MMOD_CLOSED_LOOP_POSITION_RELATIVE
+ *                   | MMOD_closed_LOPP_COUNT_POSITION | MMOD_CLOSED_LOOP_POSITION_TRACKING | MMOD_TORQUE
+ * @return     RQ Status Flags
+ */
+int CoreAPI::SetMotorOperatingMode(int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(val, MMOD_OPEN_LOOP_SPEED, MMOD_TORQUE))
+        status = device.SetConfig(_MMOD, val);
+    return status;
+}
+/**
+ * Gets the Velocity value in RPM (_MVEL) see p.220 !! Use !S in operating Mode !!
+ * @param  val Velocity
+ * @return     RQ Status Flags
+ */
+int CoreAPI::SetMotorDefaultVelocity(int val)
+{
+    return device.SetConfig(_MVEL, val);
+}
+/**
+ * Gets the Turns between Limits (_MXTRN) see p.221
+ * @param  val Turns multiplied with 10
+ * @return     RQ Status Flags
+ */
+int CoreAPI::SetMotorMaxTurns(int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (val > 0)
+        status = device.SetConfig(_MXTRN, val * 10);
+    return status;
+}
+/**
+ * Gets the Proportional Gain for the Channel (_KP) see p.219
+ * @param  val Gain multiplied with 10
+ * @return     RQ Status Flags
+ */
+int CoreAPI::SetProportionalGain(int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (val > 0)
+        status = device.SetConfig(_KP, val * 10);
+    return status;
+}
+/**
+ * Gets the PID Integral Gain (_KI) see p.219
+ * @param  val Gain multiplied with 10
+ * @return     RQ Status Flags
+ */
+int CoreAPI::SetIntegrationalGain(int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (val > 0)
+        status = device.SetConfig(_KI, val * 10);
+    return status;
+}
+/**
+ * Gets the PID Differential Gain (_KD) see p.218
+ * @param  val Gain multiplied with 10
+ * @return     RQ Status Flags
+ */
+int CoreAPI::SetDifferentialGain(int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (val > 0)
+        status = device.SetConfig(_KD, val * 10);
+    return status;
+}
+/**
+ * Gets the PID Integral Cap (_ICAP) see p. 218
+ * @param  val Integral cap in %: 1 - 100, default: 100
+ * @return     RQ Status Flags
+ */
+int CoreAPI::SetMotorIntCap(int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(val, 1, 100))
+        status = device.SetConfig(_ICAP, val);
+    return  status;
+}
+/**
+ * Gets the Loop Error Detection Mode (_CLERD) see p.218
+ * @param  val Detections Modes: CLERD_DISABLED | CLERD_250msGreater100 | CLERD_500msGreater250 | CLERD_1000msGreater500
+ * @return     RQ Status Flags
+ */
+int CoreAPI::SetLoopErrorMode(int val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(val, CLERD_DISABLED, CLERD_1000msGreater500))
+        status = device.SetConfig(_CLERD, val);
+    return status;
+}
+
+/**************************************************************/
+/************************ GETTER ******************************/
+/**************************************************************/
+/**************************************************************/
+/*********************** RUNTIME ******************************/
+/**************************************************************/
+/**
+ * \test
+* Gets the Motorpower (_MOTPWR / _P)
+* @param  result Returns the actual Motorpower (Range 0 - 1000)
+* @return        RQ Status Flags
+*/
+int CoreAPI::GetMotorPower(int &result)
+{
+    int status = device.GetValue(_MOTPWR, result);
+    return status;
+}
+/**
+ * \test
+* Gets the Motor amps (_MOTAMPS / _A)
+* @param  amps Returns the Motoramps
+* @return       RQ Status Flags
+*/
+int CoreAPI::GetMotorAmps(int &amps)
+{
+    int status = device.GetValue(_MOTAMPS, amps);
+    return status;
+}
+/**
+ * \test
+* Gets the Loop Error Count (_LPERR / _E)
+* @param  err Returns the number of Errors
+* @return      RQ Status Flags
+*/
+int CoreAPI::GetLoopError(int &err)
+{
+    int status = device.GetValue(_LPERR, err);
+    return status;
+}
+/**
+ * \test
+* Gets the Motor RPM (_BLSPEED / _BS)
+* @param  rpm Returns the current RPM
+* @return      RQ Status Flags
+*/
+int CoreAPI::GetMotorRPM(int &rpm)
+{
+    int status = device.GetValue(_BLSPEED, rpm);
+    return status;
+
+}
+/**
+ * \test
+* Gets the Controller Voltage (_VOLTS 0)
+* @param  volt Returns the Controller Volt ( 126 => 12.6V)
+* @return       RQ Status Flags
+*/
+int CoreAPI::GetControllerVolt(int &volt)
+{
+    int status = device.GetValue(_VOLTS, 0, volt);
+    return status;
+}
+/**
+ * \test
+* Gets the 5V Output (_VOLTS 2)
+* @param  volt Returns the Controller Volt ( 5023 => 5.023V)
+* @return      RQ Status Flags
+*/
+int CoreAPI::Get5VOutput(int &volt)
+{
+    int status = device.GetValue(_VOLTS, 2, volt);
+    return status;
+}
+/**
+ * \test
+* Gets the Battery Voltage (_VOLTS 1)
+* @param  volt Returns the Controller Volt ( 120 => 12.0V)
+* @return      RQ Status Flags
+*/
+int CoreAPI::GetBatteryVolt(int &volt)
+{
+    int status = device.GetValue(_VOLTS, 1, volt);
+    return status;
+}
+/**
+ * \test
+* FGets the Motor Temperature (_Temp 1)
+* @param  temp Returns the Temperature in Celsius
+* @return      RQ Status Flags
+*/
+int CoreAPI::GetMotorTemperature(int &temp)
+{
+    int status = device.GetValue(_TEMP, 1, temp);
+    return status;
+}
+/**
+ * \test
+* Gets the Controller Temperature (_TEMP 2)
+* @param  temp Returns the Temperature in Celsius
+* @return      RQ Status Flags
+*/
+int CoreAPI::GetMCUTemperature(int &temp)
+{
+    int status = device.GetValue(_TEMP, 2, temp);
+    return status;
+}
+/**
+ * \test
+ * (_P) see p.184
+ * @param  port  Port
+ * @param  value Return Value
+ * @return       RQ Status Flags
+ */
+int CoreAPI::GetAbsoluteDesiredPosition(int port, int &value)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, 2))
+        status = device.GetValue(_P, port, value);
+    return  status;
+}
+/**
+ * \test
+ * (_S) see p.185
+ * @param  port  Port
+ * @param  value Return Value
+ * @return       RQ Status Flags
+ */
+int CoreAPI::GetMotorPositionVelocity(int port, int &value)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, 2))
+        status = device.GetValue(_S, port, value);
+    return status;
+}
+/**
+ * \test
+ * (_C) see p.176
+ * @param  port  Port
+ * @param  value Return Value
+ * @return       RQ Status Flags
+ */
+int CoreAPI::GetEncoderCounter(int port, int &value)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, 2))
+        status = device.GetValue(_C, value);
+    return status;
+}
+/**
+ * \test
+ * (_CB) see p.176
+ * @param  port  Port
+ * @param  value Return Value
+ * @return       RQ Status Flags
+ */
+int CoreAPI::GetBrushlessCounter(int port, int &value)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, 2))
+        status = device.GetValue(_CB, port, value);
+    return status;
+}
+/**
+ * \test
+ * Gets a User Integer Variable (_VAR) see p.187
+ * @param  num   Which One
+ * @param  value Return Value
+ * @return       RQ Status Flags
+ */
+int CoreAPI::GetUserIntegerVariables(int num, int &value)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(num, 0, 16))
+        status = device.GetValue(_VAR, num, value);
+    return status;
+}
+/**
+ * \test
+ * Gets a User Bool Variable (_B) see p.174
+ * @param  num   Which One
+ * @param  value Return Value
+ * @return       RQ Status Flags
+ */
+int CoreAPI::GetUserIntegerBool(int num, int &value)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(num, 0, 32))
+        status = device.GetValue(_B, num, value);
+    return status;
+}
+/**
+ * \test
+ * Gets whether a Digital Out is on or off (_DO) see p.
+ * @param  port  Port
+ * @param  value Return Value
+ * @return       RQ Status Flags
+ */
+int CoreAPI::GetDigitalOuts(int port, int &value)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_DIGITAL_OUTPUTS))
+        status = device.GetValue(_DO, port, value);
+    return status;
+}
+/**************************************************************/
+/************************ CONFIG ******************************/
+/**************************************************************/
+
+/**
+* Gets the MotorController Type (_TRN) see p.186
+* @param  type Returns the Motorcontroler type
+* @return      RQ Status Flags
+*/
+int CoreAPI::GetMotorControllerType(std::string &type)
+{
+    std::string response;
+    int status = device.GetRawValue(_TRN, response);
+    std::istringstream iss(response);
+    iss.ignore(256, ':');
+    iss >> type;
+    return status;
+}
+/**
+* Gets the Firmwareversion (_FID) see p.180
+* @param  firmware Returns the Motorcontroler Firmware Version
+* @return          RQ Status Flags
+*/
+int CoreAPI::GetMotorControllerFirmware(std::string &firmware)
+{
+    return device.GetRawValue(_FID, firmware);
+}
+/**
+* Gets the Scripting Autostart Mode (_BRUN) see p.196
+* @param  val BRUN_DISABLED | BRUN_DELAYED | BRUN_ACTIVATED
+* @return       RQ Status Flags
+*/
+int CoreAPI::GetScriptingAutostart(int &val)
+{
+    return device.GetConfig(_BRUN, val);
+}
+/**
+* Gets the AnalogCenterSafety (_ACS) see p. 196
+* @param  val is Analog Safety enabled
+* @return       RQ Status Flags
+*/
+int CoreAPI::GetAnalogCenterSafety(int &val)
+{
+    return device.GetConfig(_ACS, val);;
+}
+/**
+* Gets the Telemetry String (_TELS) p.199
+* @param  str Telemetry String
+* @return     RQ Status Flags
+*/
+int CoreAPI::GetTelemetryString(std::string &str)
+{
+    return device.GetRawConfig(_TELS, str);
+}
+/**
+* Gets the ChannelPriorities (_CPRI) p.197
+* @param  port Port: 1 - 3
+* @param  val The Array represents the priority (first to third), the content is CP_X
+* @return     RQ Status Flags
+*/
+int CoreAPI::GetChannelPriorities(int port, int &val)
+{
+    int status;
+    if (CheckRange(port, 0, 3))
+        status = device.GetConfig(_CPRI, port, val);
+    return status;
+}
+/**
+* Gets the Serial Timout (_RWD)  see p. 198
+* @param  val Returns the Serial Timeout
+* @return       RQ Status Flags
+*/
+int CoreAPI::GetSerialTimeout(int &val)
+{
+    return device.GetConfig(_RWD, val);
+}
+/**
+* Gets the Linearity (_CLIN) see p.197
+* @param  val Return the Linearity Values ( LIN_X)
+* @return       RQ Status Flags
+*/
+int CoreAPI::GetLinearity(int &val)
+{
+    return device.GetConfig(_CLIN, val);
+}
+/**
+* Gets Analog within Min & Max Safety (_AMS) see p.196
+* @param  val Is Analog Safety enabled
+* @return     RQ Status Flags
+*/
+int CoreAPI::GetAnalogMinMaxSafety(int &val)
+{
+    return device.GetConfig(_AMS, val);;
+}
+/**
+* Read Brushless Count Relative (_CBR) see p.177
+* @param  val Return Value
+* @return     [description]
+*/
+int CoreAPI::GetBrushlessCountRelative(int &val)
+{
+    return device.GetConfig(_CBR, val);
+}
+/**
+* Gets the Encoder Mode (_EMOD) see p.210
+* @param  mot   Select the Motor: MOT1 | MOT2
+* @param  val Returns the USAGE: ENC_UNUSED | ENC_COMMAND | ENC_FEEDBACK
+* @return       RQ Status Flags
+*/
+int CoreAPI::GetEncoderMode(int mot, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckMotor(mot))
+    {
+        status = device.GetConfig(_EMOD, val);
+        ExtractDINA(mot, val);
+    }
+    return status;
+}
+/**
+* Gets the Encoder PPR Value (_EPPR) see p.210
+* @param  val Return Value, Range 1 - 5000 default: 100
+* @return     RQ Status Flags
+*/
+int CoreAPI::GetEncoderPPR(int &val)
+{
+    return device.GetConfig(_EPPR, val);
+}
+/**
+* Gets the Encoder Low Count Limit (_ELL) see p.209
+* @param  val Returns the Low Limit Count
+* @return     RQ Status Flags
+*/
+int CoreAPI::GetEncoderLowLimitCount(int &val)
+{
+    return device.GetConfig(_ELL, val);
+}
+/**
+* Gets the Encoder High Count Limit (_ELL) see p.208
+* @param  val Returns the Low Limit Count
+* @return     RQ Status Flags
+*/
+int CoreAPI::GetEncoderHighLimitCount(int &val)
+{
+    return device.GetConfig(_EHL, val);
+}
+/**
+* Gets the Encoder Counter Load at Home Position (_EHOME) see p.209
+* @param  val Returns
+* @return     RQ Status Flags
+*/
+int CoreAPI::GetEncoderCounterLoadAtHomePosition(int &val)
+{
+    return device.GetConfig(_EHOME, val);
+}
+/**
+* Gets the Encoder Low Limit Action (_EHLA) see p.209
+* @param  mot Motor: MOT1 | MOT2
+* @param  val DINA Values:  DINA_NO_ACTION | DINA_SAFETY_STOP | DINA_EMERGENCY_STOP | DINA_MOTOR_STOP | DINA_FORWARD_LIMIT_SWITCH |
+                            DINA_REVERSE_LIMIT_SWITCH | DINA_INVERT_DIRECTION | DINA_RUN_MICROBASIC | DINA_LOAD_HOME_VALUE
+* @return     RQ_Status_Flags
+*/
+int CoreAPI::GetEncoderLowLimitAction(int mot, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckMotor(mot))
+    {
+        status = device.GetConfig(_ELLA, val);
+        ExtractDINA(mot, val);
+    }
+    return status;
+}
+/**
+* Gets the Encoder High Limit Action (_EHLA) see p.209
+* @param  mot Motor: MOT1 | MOT2
+* @param  val DINA Values:  DINA_NO_ACTION | DINA_SAFETY_STOP | DINA_EMERGENCY_STOP | DINA_MOTOR_STOP | DINA_FORWARD_LIMIT_SWITCH |
+                            DINA_REVERSE_LIMIT_SWITCH | DINA_INVERT_DIRECTION | DINA_RUN_MICROBASIC | DINA_LOAD_HOME_VALUE
+* @return     RQ_Status_Flags
+*/
+int CoreAPI::GetEncoderHighLimitAction(int mot, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckMotor(mot))
+    {
+        status = device.GetConfig(_EHLA, val);
+        ExtractDINA(mot, val);
+    }
+    return status;
+}
+/**
+ * Gets the Digital Input Active Level for each port (_DINL) see p.200
+ * @param  port Which port
+ * @param  val  High or Low
+ * @return      RQ Status Flags
+ */
+int CoreAPI::GetDigitalInput(int port, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_DIGITAL_INPUTS))
+        status = device.GetConfig(_DINL, port, val);
+    return status;
+}
+/**
+ * Gets the Digital Input Action if a port is triggered (_DINA) see p.199
+ * @param  port Port: 0 - MAX_DIGITAL_INPUTS
+ * @param  mot  Motor: DINA_MOT1 | DINA_MOT2 | DINA_MOT12
+ * @param  val DINA Values:  DINA_NO_ACTION | DINA_SAFETY_STOP | DINA_EMERGENCY_STOP | DINA_MOTOR_STOP | DINA_FORWARD_LIMIT_SWITCH |
+                             DINA_REVERSE_LIMIT_SWITCH | DINA_INVERT_DIRECTION | DINA_RUN_MICROBASIC | DINA_LOAD_HOME_VALUE
+ * @return      RQ Status Flags
+ */
+int CoreAPI::GetDigitalInputAction(int port, int mot, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if ((mot == DINA_MOT1 || mot == DINA_MOT2 || mot == DINA_MOT12)
+            && CheckRange(port, 0, MAX_DIGITAL_INPUTS))
+    {
+        status = device.GetConfig(_DINA, port, val);
+        if ((val & mot) != 0)
+            val = val & ~DINA_MOT12;
+    }
+    return status;
+}
+/**
+ * Gets the Analog Input Mode (_AMOD) see p.204
+ * @param  port Port: 0 - MAX_ANALOG_INPUTS
+ * @param  val  AMOD Values: AMOD_DISABLED | AMOD_ABSOLUTE | AMOD_RELATIVE
+ * @return      RQ Status Flags
+ */
+int CoreAPI::GetAnalogInputMode(int port, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS))
+        status = device.GetConfig(_AMOD, port, val);
+    return status;
+}
+/**
+ * Gets the Analog Input Actions for each port (_AINA) see p.202
+ * @param  port Port: 0 - MAX_ANALOG_INPUTS
+ * @param  val  Returns the USAGE: ENC_UNUSED | ENC_COMMAND | ENC_FEEDBACK
+ * @return      RQ Status Flags
+ */
+int CoreAPI::GetAnalogInputAction(int port, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS))
+        status = device.GetConfig(_AINA, port, val);
+    return status;
+}
+/**
+ * Get Analog Input Range for each Point (_AMIN) see p. 203
+ * @param  port Port: 0 - MAX_ANALOG_INPUTS
+ * @param  val  Min: 0 - 5000 mV default: 100mV
+ * @return      RQ Status Flags
+ */
+int CoreAPI::GetAnalogInputMin(int port, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS))
+        status = device.GetConfig(_AMIN, port, val);
+    return status;
+}
+/**
+ * Gets the Analog Input Center (_ACTR) see p. 201
+ * @param  port Port: 0 - MAX_ANALOG_INPUT
+ * @param  val  Center: 0 - 5000 default: 2500
+ * @return      RQ Status Flags
+ */
+int CoreAPI::GetAnalogInputCenter(int port, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS))
+        status = device.GetConfig(_ACTR, port, val);
+    return status;
+}
+/**
+ * Gets the Analog Input Max (_AMAX) see p. 203
+ * @param  port Port: 0 - MAX_ANALOG_INPUT
+ * @param  val  Max: 0 - 5000 default: 4900
+ * @return      RQ Status Flags
+ */
+int CoreAPI::GetAnalogInputMax(int port, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS))
+        status = device.GetConfig(_AMAX, port, val);
+    return status;
+}
+/**
+ * Gets the Analog Input Polarity for every port (_APOL) see p.204
+ * @param  port Port: 0 - MAX_ANALOG_INPUTS
+ * @param  val  Polarity: POL_UNINVERTED | POL_INVERTED
+ * @return      RQ Status Flags
+ */
+int CoreAPI::GetAnalogInputPolarity(int port, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS))
+        status =  device.GetConfig(_APOL, port, val);
+    return status;
+}
+/**
+ * Gets the Analog Deadband (_ADB) see p.201
+ * @param  port Port: 0 - MAX_ANALOG_INPUTS
+ * @param  val  Deadband: 0 - 50
+ * @return      RQ Status Flags
+ */
+int CoreAPI::GetAnalogDeadband(int port, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS))
+        status = device.GetConfig(_ADB, port, val);
+    return status;
+}
+/**
+ * Gets the Action on Analog Min (_AMINA) see p.201
+ * @param  port Port: 0 - MAX_ANALOG_INPUTS
+ * @param  val DINA Values:  DINA_NO_ACTION | DINA_SAFETY_STOP | DINA_EMERGENCY_STOP | DINA_MOTOR_STOP | DINA_FORWARD_LIMIT_SWITCH |
+                             DINA_REVERSE_LIMIT_SWITCH | DINA_INVERT_DIRECTION | DINA_RUN_MICROBASIC | DINA_LOAD_HOME_VALUE
+ * @return      RQ Status Flags
+ */
+int CoreAPI::GetAnalogMinAction(int port, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS))
+        status = device.GetConfig(_AMINA, port, val);
+    return status;
+}
+/**
+ * Gets the Action on Analog Max (_AMAXA
+ * @param  port Port: 0 - MAX_ANALOG_INPUTS
+ * @param  val DINA Values:  DINA_NO_ACTION | DINA_SAFETY_STOP | DINA_EMERGENCY_STOP | DINA_MOTOR_STOP | DINA_FORWARD_LIMIT_SWITCH |
+                             DINA_REVERSE_LIMIT_SWITCH | DINA_INVERT_DIRECTION | DINA_RUN_MICROBASIC | DINA_LOAD_HOME_VALUE
+ * @return      RQ Status Flags
+ */
+int CoreAPI::GetAnalogMaxAction(int port, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS))
+        status =  device.GetConfig(_AMAXA, port, val);
+    return status;
+}
+/**
+ * Gets the Pulse Operating Mode (_PMOD) see p. 207
+ * @param  port Port: 0 - MAX_ANALOG_INPUTS
+ * @param  val  PM Values:  PM_DISABLED  |  PM_PULSE_WIDTH |  PM_FREQUENCY |  PM_PERIOD
+ * @return      RQ Status Flags
+ */
+int CoreAPI::GetPulseInputMode(int port, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS))
+        status =  device.GetConfig(_PMOD, port, val);
+    return status;
+}
+/**
+ * Gets the Action on a Pulse (_PINA) see p.206
+ * @param  port Port: 0 - MAX_ANALOG_INPUTS
+ * @param  val  Action: ENC_COMMAND | ENC_FEEDBACK | ENC_UNUSED
+ * @param  mot  Motor: MOT1 | MOT2 | MOT12
+ * @return      RQ Status Flags
+ */
+int CoreAPI::GetPulseInputAction(int port, int mot, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS) && CheckMotor(mot))
+        status = device.GetConfig(_PINA, port, val);
+    ExtractDINA(mot, val);
+    return status;
+}
+/**
+ * Gets the Pulse Min Range (_PMIN) see p.207
+ * @param  port Port: 0 - MAX_ANALOG_INPUTS
+ * @param  val  Minimum: 0 - 65000 us default: 1000
+ * @return      RQ Status Flags
+ */
+int CoreAPI::GetPulseMin(int port, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS))
+        status = device.GetConfig(_PMIN, port, val);
+    return status;
+}
+/**
+ * Gets the Pulse Max Range (_PMAX) see p.206
+ * @param  port Port: 0 - MAX_ANALOG_INPUTS
+ * @param  val  Minimum: 0 - 65000 us default: 2000
+ * @return      RQ Status Flags
+ */
+int CoreAPI::GetPulseMax(int port, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS))
+        status = device.GetConfig(_PMAX, port, val);
+    return status;
+}
+/**
+ * Gets the Pulse Center Range (_PCTR) see p.205
+ * @param  port Port: 0 - MAX_ANALOG_INPUTS
+ * @param  val  Minimum: 0 - 65000 us default: 1500
+ * @return      RQ Status Flags
+ */
+int CoreAPI::GetPulseCenter(int port, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS))
+        status = device.GetConfig(_PCTR, port, val);
+    return status;
+}
+/**
+ * Gets the Pulse Input Deadband (_PDB) see p. 205
+ * @param  port Port: 0 - MAX_ANALOG_INPUTS
+ * @param  val  Deadband: 0 - 50 default: 0
+ * @return      RQ Status Flags
+ */
+int CoreAPI::GetPulseDeadbeand(int port, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS))
+        status = device.GetConfig(_PDB, port, val);
+    return status;
+}
+/**
+ * Gets the Action on Max Pulse (_PMAX) see p.207
+ * @param  port Port: 0 - Max_ANALOG_INPUTS
+ * @param  val  DINA Values:  DINA_NO_ACTION | DINA_SAFETY_STOP | DINA_EMERGENCY_STOP | DINA_MOTOR_STOP | DINA_FORWARD_LIMIT_SWITCH |
+                              DINA_REVERSE_LIMIT_SWITCH | DINA_INVERT_DIRECTION | DINA_RUN_MICROBASIC | DINA_LOAD_HOME_VALUE
+ * @param  mot  Motor: MOT1 | MOT2 | MOT12
+ * @return      RQ Status Flags
+ */
+int CoreAPI::GetPulseMaxAction(int port, int mot, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS))
+    {
+        status = device.GetConfig(_PMAXA, port, val);
+        ExtractDINA(mot, val);
+    }
+    return status;
+}
+/**
+ * Gets the Action on Min Pulse (_PMAX) see p.207
+ * @param  port Port: 0 - Max_ANALOG_INPUTS
+ * @param  val DINA Values:  DINA_NO_ACTION | DINA_SAFETY_STOP | DINA_EMERGENCY_STOP | DINA_MOTOR_STOP | DINA_FORWARD_LIMIT_SWITCH |
+                             DINA_REVERSE_LIMIT_SWITCH | DINA_INVERT_DIRECTION | DINA_RUN_MICROBASIC | DINA_LOAD_HOME_VALUE
+ * @param  mot  Motor: MOT1 | MOT2 | MOT12
+ * @return      RQ Status Flags
+ */
+int CoreAPI::GetPulseMinAction(int port, int mot, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS))
+    {
+        status = device.GetConfig(_PMINA, port, val);
+        ExtractDINA(mot, val);
+    }
+    return status;
+}
+/**
+ * Gets the Linearity on the Pulse Input (_PLIN) see p.206
+ * @param  port Port: 0 - MAX_ANALOG_INPUTS
+ * @param  val  Linearty: LIN_LINEAR | LIN_EXP_WEAK | LIN_EXP_MEDIUM | LIN_EXP_STRONG | LIN_LOG_WEAK | LIN_LOG_MEDIUM | LIN_LOG_STRONG
+ * @return      RQ Status Flags
+ */
+int CoreAPI::GetPulseLinearity(int port, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_ANALOG_INPUTS))
+        status = device.GetConfig(_PLIN, port, val);
+    return status;
+}
+/**
+ * Gets the Digital Output Active Levels (_DOL) see p.200
+ * @param  port Port: 0 - MAX_DIGITAL_OUTPUTS
+ * @param  val  Active Level: DO_ACTIVE_HIGH | DO_ACTIVE_LOW
+ * @return      RQ Status Flags
+ */
+int CoreAPI::GetDigitalOutputActiveLevel(int port, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_DIGITAL_OUTPUTS))
+        status = device.GetConfig(_DOL, port, val);
+    return status;
+}
+/**
+ * Gets the Digital Output Action (_DOA) see p.200
+ * @param  port Port: 0 - MAX_DIGITAL_OUTPUTS
+ * @param  mot  Motor: MOT1 | MOT2 | MOT12
+ * @param  val  Actions: DO_NO_ACTION | DO_MOTOR_ON | DO_OVERVOLTAGE | DO_OVERTEMPERATURE  | DO_MIRROR_STATUS_LED | DO_NO_MOSFET_FAILURE
+ * @return      RQ Status Flags
+ */
+int CoreAPI::GetDigitalOutputAction(int port, int mot, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, MAX_DIGITAL_OUTPUTS) && CheckMotor(mot))
+    {
+        status = device.GetConfig(_DOA, port, val);
+        ExtractDINA(mot, val);
+    }
+    return status;
+}
+/**
+ * Gets the PWM Frequency (_PWMF) see p.215
+ * @param  val PWM Frequency multiplied with 10, Range: 10 - 200 (1 - 20kHz)
+ * @return     RQ Status Flags
+ */
+int CoreAPI::GetPWMFrequency(int &val)
+{
+    return device.GetConfig(_PWMF, val);
+}
+/**
+ * Gets the Overvoltage Limit, at this point an overvoltage signal is issued (_OVL)
+ * @param  val Overvoltage Limit multiplied by 10: Range 100 - MAX_OVERVOLTAGE
+ * @return     RQ Status Flags
+ */
+int CoreAPI::GetOvervoltageLimit(int &val)
+{
+    return device.GetConfig(_OVL, val);
+}
+/**
+ * Gets the Undervoltage Limit (_UVL) see p.215
+ * @param  val Overvoltage Limit multiplied by 10: Range 50 - MAX_OVERVOLTAGE
+ * @return     RQ Status Flags
+ */
+int CoreAPI::GetUndervoltageLimit(int &val)
+{
+    return device.GetConfig(_UVL, val);
+}
+/**
+ * Gets the Break Delay (_BKD) see p. 214
+ * @param  val Delay in ms
+ * @return     RQ Status Flags
+ */
+int CoreAPI::GetBrakeActivationDelay(int &val)
+{
+    return device.GetConfig(_BKD, val);
+}
+/**
+ * Gets the Short Circuit Detection Sensitivity (_THLD) see p.215
+ * @param  val Sensitivity: THLD_HIGH_SENSITIVITY | THLD_MEDIUM_SENSITIVITY | THLD_LOW_SENSITIVITY | THLD_DISABLED
+ * @return     RQ Status Flags
+ */
+int CoreAPI::GetShortCircuitThreshold(int &val)
+{
+    return device.GetConfig(_THLD, val);
+}
+
+/**
+ * Gets the Number of Poles of the BL Motor (_BPOL) see p.213
+ * @param  mot Motor: 1 or 2
+ * @param  val [description]
+ * @return     [description]
+ */
+int CoreAPI::GetNumPoles(int mot, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(mot, 0, 2))
+        status = device.GetConfig(_BPOL, mot, val);
+    return status;
+}
+/**
+ * Gets the selected Encoder (_BLFB) see p.212
+ * @param  mot Motor: 1 or 2
+ * @param  val Feedback: BLFB_HALL_SENSOR | BLFB_ENCODER
+ * @return     RQ Status Flags
+ */
+int CoreAPI::GetBrushlessFeedback(int mot, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(mot, 0, 2))
+        status = device.GetConfig(_BLFB, mot, val);
+    return status;
+}
+
+/**
+ * Get the Stall Detection Mode (_BLSTD) see p.213
+ * @param  mot Motor: 1 or 2
+ * @param  val Detection Modes: BLSTD_DISABLED | BLSTD_250MS_OVER_10  | BLSTD_500OMS_0VER_25 | BLSTD_1000MS_OVER_50 3
+ * @return     RQ Status Flags
+ */
+int CoreAPI::GetBrushlessStallDetection(int mot, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(mot, 0, 2))
+        status = device.GetConfig(_BLSTD, mot, val);
+    return status;
+}
+/**
+ * (_BLL) see p.212
+ * @param  mot Motor: 1 or 2
+ * @param  val Counter: default -2000
+ * @return     RQ Status Flags
+ */
+int CoreAPI::GetEncoderLowLimit(int mot, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(mot, 0, 2))
+        status = device.GetConfig(_BLL, mot, val);
+    return status;
+}
+/**
+ * Gets the Brushless Counter High Limit (_BHL) see p.211
+ * @param  mot Motor: 1 or 2
+ * @param  val Counter default -2000
+ * @return     RQ Status Flags
+ */
+int CoreAPI::GetEncoderHighLimit(int mot, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(mot, 0, 2))
+        status = device.GetConfig(_BHL, mot, val);
+    return status;
+}
+/**
+ * Brushless Counter Load at Home Position (_BHOME) see p.211
+ * @param  mot Motor: 1 or 2
+ * @param  val Counter
+ * @return     RQ Status Flags
+ */
+int CoreAPI::GetBrushlessHomeCounter(int mot, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(mot, 0, 2))
+        status = device.GetConfig(_BHOME, mot, val);
+    return status;
+}
+/**
+ * Encoder High Limit Action (_BHLA) see p.211
+ * @param  port Port: 1 or 2
+ * @param  mot  Motor: MOT1 | MOT2 | MOT12
+ * @param  val DINA Values:  DINA_NO_ACTION | DINA_SAFETY_STOP | DINA_EMERGENCY_STOP | DINA_MOTOR_STOP | DINA_FORWARD_LIMIT_SWITCH |
+                             DINA_REVERSE_LIMIT_SWITCH | DINA_INVERT_DIRECTION | DINA_RUN_MICROBASIC | DINA_LOAD_HOME_VALUE
+ * @return      RQ Status Flags
+ */
+int CoreAPI::GetEncoderHighLimitAction(int port, int mot, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, 2) && CheckMotor(mot))
+    {
+        status = device.GetConfig(_BHLA, port, val);
+        ExtractDINA(mot, val);
+    }
+    return status;
+}
+/**
+ * Encoder Low Limit Action (_BHLA) see p.211
+ * @param  port Port: 1 or 2
+ * @param  mot  Motor: MOT1 | MOT2 | MOT12
+ * @param  val DINA Values:  DINA_NO_ACTION | DINA_SAFETY_STOP | DINA_EMERGENCY_STOP | DINA_MOTOR_STOP | DINA_FORWARD_LIMIT_SWITCH |
+                             DINA_REVERSE_LIMIT_SWITCH | DINA_INVERT_DIRECTION | DINA_RUN_MICROBASIC | DINA_LOAD_HOME_VALUE
+ * @return      RQ Status Flags
+ */
+int CoreAPI::GetEncoderLowLimitAction(int port, int mot, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckRange(port, 0, 2) && CheckMotor(mot))
+    {
+        status = device.GetConfig(_BLLA, port, val);
+        ExtractDINA(mot, val);
+    }
+    return status;
+}
+/**
+ * Amps Limit (_ALIM) see p.216
+ * @param  val Amps multiplied with 10: 10A to Datasheet Max, default: 75% of Max
+ * @return     RQ Status Flags
+ */
+int CoreAPI::GetMotorAmpsLimit(int &val)
+{
+    return device.GetConfig(_ALIM, val);
+}
+/**
+ * Amps Trigger Value (_ATRIG) see p.217
+ * @param  val Amps multiplied with 10: 10A to Datasheet Max, default: 75% of Max
+ * @return     RQ Status Flags
+ */
+int CoreAPI::GetMotorAmpsTriggerValue(int &val)
+{
+    return device.GetConfig(_ATRIG, val);
+}
+/**
+ * Amps Trigger Action (_ATGA) see p.217
+ * @param  mot  Motor: MOT1 | MOT2 | MOT12
+ * @param  val DINA Values:  DINA_NO_ACTION | DINA_SAFETY_STOP | DINA_EMERGENCY_STOP | DINA_MOTOR_STOP | DINA_FORWARD_LIMIT_SWITCH |
+                             DINA_REVERSE_LIMIT_SWITCH | DINA_INVERT_DIRECTION | DINA_RUN_MICROBASIC | DINA_LOAD_HOME_VALUE
+ * @return     RQ Status Flags
+ */
+int CoreAPI::GetMotorAmpsTriggerAction(int mot, int &val)
+{
+    int status = RQ_INVALID_CONFIG_ITEM;
+    if (CheckMotor(mot))
+    {
+        status = device.GetConfig(_ATGA, val);
+        ExtractDINA(mot, val);
+    }
+    return status;
+}
+/**
+ * Amps Trigger Delay (_ATGD) see p.217
+ * @param  val Delay in ms
+ * @return     RQ Status Delay
+ */
+int CoreAPI::GetMotorAmpsTriggerDelay(int &val)
+{
+    return device.GetConfig(_ATGD, val);
+}
+/**
+ * Max Power Forward (_MXPF) see p.220
+ * @param  val Power: 25 - 100, default: 100
+ * @return     RQ Status Flags
+ */
+int CoreAPI::GetMotorMaxPowerForward(int &val)
+{
+    return device.GetConfig(_MXPF, val);
+}
+/**
+ * Max Power Forward (_MXPR) see p.221
+ * @param  val Power: 25 - 100, default: 100
+ * @return     RQ Status Flags
+ */
+int CoreAPI::GetMotorMaxPowerReverse(int &val)
+{
+    return device.GetConfig(_MXPR, val);
+}
+/**
+ * Max RPM (_MXRPM) see p.221
+ * @param  val RPM: 10 - 65000, default: 3000
+ * @return     RQ Status Flags
+ */
+int CoreAPI::GetMotorMaxRPM(int &val)
+{
+    return device.GetConfig(_MXRPM, val);
+}
+/**
+ * Get Acceleration time in 0.1 RPM per seconds (_MAC) see p.219
+ * @param  val Accel: 100 to 32000
+ * @return     RQ Status Flags
+ */
+int CoreAPI::GetAcceleration(int &val)
+{
+    return device.GetConfig(_MAC, val);
+}
+/**
+ * Gets Deceleration time in 0.1 RPM per second (_MDEC) see p.220
+ * @param  val Deccel: 100 - 32000
+ * @return     RQ Status Flags
+ */
+int CoreAPI::GetDeacceleration(int &val)
+{
+    return device.GetConfig(_MDEC, val);
+}
+/**
+ * Gets the Motor Operating Mode (_MMOD) see p.220
+ * @param  val Mode: MMOD_OPEN_LOOP_SPEED | MMOD_CLOSED_LOOP_SPEED | MMOD_CLOSED_LOOP_POSITION_RELATIVE
+ *                   | MMOD_closed_LOPP_COUNT_POSITION | MMOD_CLOSED_LOOP_POSITION_TRACKING | MMOD_TORQUE
+ * @return     RQ Status Flags
+ */
+int CoreAPI::GetMotorOperatingMode(int &val)
+{
+    return device.GetConfig(_MMOD, val);
+}
+/**
+ * Gets the Velocity value in RPM (_MVEL) see p.220
+ * @param  val Velocity
+ * @return     RQ Status Flags
+ */
+int CoreAPI::GetMotorDefaultVelocity(int &val)
+{
+    return device.GetConfig(_MVEL, val);
+}
+/**
+ * Gets the Turns between Limits (_MXTRN) see p.221
+ * @param  val Turns multiplied with 10
+ * @return     RQ Status Flags
+ */
+int CoreAPI::GetMotorMaxTurns(int &val)
+{
+    return device.GetConfig(_MXTRN, val);
+}
+/**
+ * Gets the Proportional Gain for the Channel (_KP) see p.219
+ * @param  val Gain multiplied with 10
+ * @return     RQ Status Flags
+ */
+int CoreAPI::GetProportionalGain(int &val)
+{
+    return device.GetConfig(_KP, val);
+}
+/**
+ * Gets the PID Integral Gain (_KI) see p.219
+ * @param  val Gain multiplied with 10
+ * @return     RQ Status Flags
+ */
+int CoreAPI::GetIntegrationalGain(int &val)
+{
+    return device.GetConfig(_KI, val);
+}
+/**
+ * Gets the PID Differential Gain (_KD) see p.218
+ * @param  val Gain multiplied with 10
+ * @return     RQ Status Flags
+ */
+int CoreAPI::GetDifferentialGain(int &val)
+{
+    return device.GetConfig(_KD, val);
+}
+/**
+ * Gets the PID Integral Cap (_ICAP) see p. 218
+ * @param  val Integral cap in %: 1 - 100, default: 100
+ * @return     RQ Status Flags
+ */
+int CoreAPI::GetMotorIntCap(int &val)
+{
+    return device.GetConfig(_ICAP, val);
+}
+/**
+ * Gets the Loop Error Detection Mode (_CLERD) see p.218
+ * @param  val Detections Modes: CLERD_DISABLED | CLERD_250msGreater100 | CLERD_500msGreater250 | CLERD_1000msGreater500
+ * @return     RQ Status Flags
+ */
+int CoreAPI::GetLoopErrorMode(int &val)
+{
+    return device.GetConfig(_CLERD, val);
+}
+/**
+ * Device Connected
+ * @return bool
+ */
+bool CoreAPI::IsConnected()
+{
+    return device.IsConnected();
+}
+/**************************************************************/
+/************************ INLINE ******************************/
+/**************************************************************/
+bool inline CoreAPI::CheckRange(int val, int min, int max)
+{
+    return val >= min && val <= max;
+}
+bool inline CoreAPI::CheckMotor(int mot)
+{
+    return mot == MOT1 || mot == MOT2 || mot == MOT12;
+}
+void inline CoreAPI::ExtractDINA(int mot, int &val)
+{
+    if ((val & mot) != 0)
+        val = val & ~MOT12;
+}
diff --git a/src/lib/ecu_api/Mapping.cpp b/src/lib/ecu_api/Mapping.cpp
new file mode 100644
index 0000000..06a5fe1
--- /dev/null
+++ b/src/lib/ecu_api/Mapping.cpp
@@ -0,0 +1,107 @@
+#include "Mapping.h"
+
+#include <stdlib.h>
+#include <map>
+#include "Constants.h"
+
+using namespace std;
+
+static map<int, __u8> ReadMappings_21; // Read
+static map<int, __u8> ReadMappings_64; // Read
+static map<int, __u8> WriteMappings_20; // Write
+
+Mapping::Mapping()
+{
+    ReadMappings_21[_A] = 0x0;
+    ReadMappings_21[_M] = 0x1;
+    ReadMappings_21[_P] = 0x2;
+    ReadMappings_21[_S] = 0x3;
+    ReadMappings_21[_C] = 0x4;
+    ReadMappings_21[_CB] = 0x5;
+    ReadMappings_21[_VAR] = 0x6;
+    ReadMappings_21[_SR] = 0x7;
+    ReadMappings_21[_CR] = 0x8;
+    ReadMappings_21[_CBR] = 0x9;
+    ReadMappings_21[_BS] = 0xA;
+    ReadMappings_21[_BSR] = 0xB;
+    ReadMappings_21[_BA] = 0xC;
+    ReadMappings_21[_V] = 0xD;
+    ReadMappings_21[_D] = 0xE;
+    ReadMappings_21[_T] = 0xF;
+    ReadMappings_21[_F] = 0x10;
+    ReadMappings_21[_FS] = 0x11;
+    ReadMappings_21[_FF] = 0x12;
+    ReadMappings_21[_DO] = 0x13;
+    ReadMappings_21[_E] = 0x14;
+    ReadMappings_21[_B] = 0x15;
+    ReadMappings_21[_CIS] = 0x16;
+    ReadMappings_21[_CIA] = 0x17;
+    ReadMappings_21[_CIP] = 0x18;
+    ReadMappings_21[_TM] = 0x19;
+    ReadMappings_21[_K] = 0x1A;
+    ReadMappings_21[_DR] = 0x1B;
+    ReadMappings_21[_MA] = 0x1C;
+    ReadMappings_21[_MGD] = 0x1D;
+    ReadMappings_21[_MGT] = 0x1E;
+    ReadMappings_21[_MGM] = 0x1F;
+    ReadMappings_21[_MGS] = 0x20;
+    // ReadMappings_21[_FM] = 0x20;
+    // ****
+    ReadMappings_64[_DI] = 0x00;
+    ReadMappings_64[_AI] = 0x01;
+    ReadMappings_64[_AIC] = 0x02;
+    ReadMappings_64[_PI] = 0x03;
+    ReadMappings_64[_PIC] = 0x04;
+    // ****
+    WriteMappings_20[_GO] = 0x00;
+    WriteMappings_20[_P] = 0x01;
+    WriteMappings_20[_S] = 0x02;
+    WriteMappings_20[_C] = 0x03;
+    WriteMappings_20[_CB] = 0x04;
+    WriteMappings_20[_VAR] = 0x05;
+    WriteMappings_20[_AC] = 0x06;
+    WriteMappings_20[_DC] = 0x07;
+    WriteMappings_20[_DS] = 0x08;
+    WriteMappings_20[_D1] = 0x09;
+    WriteMappings_20[_D0] = 0x0A;
+    WriteMappings_20[_H] = 0x0B;
+    WriteMappings_20[_EX] = 0x0C;
+    WriteMappings_20[_MG] = 0x0D;
+    WriteMappings_20[_MS] = 0x0E;
+    WriteMappings_20[_PR] = 0x0F;
+    WriteMappings_20[_PX] = 0x10;
+    WriteMappings_20[_PRX] = 0x11;
+    WriteMappings_20[_AX] = 0x12;
+    WriteMappings_20[_DX] = 0x13;
+    WriteMappings_20[_SX] = 0x14;
+    WriteMappings_20[_B] = 0x15;
+    WriteMappings_20[_EES] = 0x17;
+}
+Mapping::~Mapping() {}
+
+/**
+ * Maps the USB/COM Defines to the SDO Objects
+ * @param  cmd USB/COM Define
+ * @return     SDO Index
+ */
+__u8 Mapping::GetReadMapping(int cmd)
+{
+    __u8 mappedCmd = 0;
+    if (ReadMappings_21.find(cmd) != ReadMappings_21.end())
+        mappedCmd = ReadMappings_21[cmd];
+    else
+        mappedCmd = ReadMappings_64[(__u8)cmd];
+    return mappedCmd;
+}
+/**
+ * Maps the USB/COM Defines to the SDO Objects
+ * @param  cmd USB/COM Define
+ * @return     SDO Index
+ */
+__u8 Mapping::GetWriteMapping(int cmd)
+{
+    __u8 mappedCmd = 0;
+    if (WriteMappings_20.find(cmd) != WriteMappings_20.end())
+        mappedCmd = WriteMappings_20[cmd];
+    return mappedCmd;
+}
diff --git a/src/lib/ecu_api/RoboteqDevice.cpp b/src/lib/ecu_api/RoboteqDevice.cpp
new file mode 100644
index 0000000..8a34cae
--- /dev/null
+++ b/src/lib/ecu_api/RoboteqDevice.cpp
@@ -0,0 +1,234 @@
+#include <iostream>
+#include <stdio.h>
+#include <string>
+#include <fcntl.h>
+#include <errno.h>
+#include <termios.h>
+#include <time.h>
+#include <sstream>
+#include <unistd.h>
+#include "ErrorCodes.h"
+#include "RoboteqDevice.h"
+#include <base/printf.h>
+
+using namespace std;
+
+RoboteqDevice::RoboteqDevice(int type) : com(type)
+{}
+RoboteqDevice::~RoboteqDevice()
+{}
+/**
+ * Checks if the Device is Connected (Only calling ComAPI)
+ * @return connected?
+ */
+bool RoboteqDevice::IsConnected()
+{
+    return true;//com.IsConnected();
+}
+/**
+ * Send the rquested Command to the Controller
+ * @param  configItem  Determines which Command is issued
+ * @param  index       Determines which Value will be returned
+ * @param  value       Determines what value is issued
+ * @return             RQ Status flags
+ */
+int RoboteqDevice::SetConfig(int configItem, int index, int value)
+{
+    string response;
+    if (configItem < 0 || configItem > 255)
+        return RQ_INVALID_CONFIG_ITEM;
+
+    if (index < 0)
+        return RQ_INDEX_OUT_RANGE;
+
+    int status = com.IssueCommand("^", configItem, index, to_string(value), response, true);
+    if (status != RQ_SUCCESS)
+        return status;
+    if (response != "+")
+        return RQ_SET_CONFIG_FAILED;
+
+    return RQ_SUCCESS;
+}
+/**
+ * Calls the SetConfig(int, int, int) Method with index set to 1
+ * @param  configItem Determines which Command is issued
+ * @param  value      Determines what value is issued
+ * @return            RQ Status Flags
+ */
+int RoboteqDevice::SetConfig(int configItem, int value)
+{
+    return SetConfig(configItem, 1, value);
+}
+/**
+ * !! USE ONLY IF YOU KNOW WHAT YOU ARE DOING !! Not supported ATM
+ * @param  configItem Determines which Command is issued
+ * @param  str        args to pass
+ * @return            RQ Status Flags
+ */
+int RoboteqDevice::SetRawConfig(int configItem, string str)
+{
+    string response;
+
+    if (configItem < 0 || configItem > 255)
+        return RQ_INVALID_CONFIG_ITEM;
+
+    int status = com.IssueCommand("^", configItem, 0, str, response, true);
+    if (status != RQ_SUCCESS)
+        return status;
+    if (response != "+")
+        return RQ_SET_CONFIG_FAILED;
+
+    return RQ_SUCCESS;
+}
+/**
+ * Sends the requested command to the Controller
+ * @param  commandItem Determines which Command is issued
+ * @param  index       Determines which Value will be returned
+ * @param  value       Determines what value is issued
+ * @return             RQ Status flags
+ */
+int RoboteqDevice::SetCommand(int commandItem, int index, int value)
+{
+    string response;
+
+    if (commandItem < 0 || commandItem > 255)
+        return RQ_INVALID_COMMAND_ITEM;
+
+    if (index < 0)
+        return RQ_INDEX_OUT_RANGE;
+    string toString = to_string(value);
+    int status = com.IssueCommand("!", commandItem, index, toString , response, true);
+    //PDBG("status %s", status == RQ_SUCCESS ? "success" : "failed");
+    //if (status != RQ_SUCCESS) {
+    //    return status;
+    //if (response != "+")
+    //    PERR("Set Command failed %d", status);
+    //    return RQ_SET_COMMAND_FAILED;
+    //}
+
+    return status;
+}
+/**
+ * Calls SetCommand(int, int, int) Method with index set to 1
+ * @param  commandItem Determines which Command is issued
+ * @param  value       The Value send to the Controller
+ * @return             RQ Status Flags
+ */
+int RoboteqDevice::SetCommand(int commandItem, int value)
+{
+    return SetCommand(commandItem, 1, value);
+}
+/**
+ * Calls SetCommand(int, int, int) with index to 1 and value to 0
+ * @param  commandItem Determines which Command is issued
+ * @return             RQ Status Flags
+ */
+int RoboteqDevice::SetCommand(int commandItem)
+{
+    return SetCommand(commandItem, 1, 0);
+}
+/**
+ * Sends the requested configItem to the Controller
+ * @param  configItem    Determines which Command is issued
+ * @param  index         Determines which Value will be returned
+ * @param  result        Value returned by the Controller
+ * @return               RQ Status Flags
+ */
+int RoboteqDevice::GetConfig(int configItem, int index, int &result)
+{
+    string response;
+
+    if (configItem < 0 || configItem > 255)
+        return RQ_INVALID_CONFIG_ITEM;
+
+    if (index < 0)
+        return RQ_INDEX_OUT_RANGE;
+
+    int status = com.IssueCommand("~", configItem, index, "", response);
+    if (status != RQ_SUCCESS)
+        return status;
+
+    istringstream iss(response);
+    iss >> result;
+
+    if (iss.fail())
+        return RQ_GET_CONFIG_FAILED;
+
+    return RQ_SUCCESS;
+}
+/**
+ * Calls the GetConfig(int, int, int&) Method with index set to 1
+ * @param  configItem    Determines which Command is issued
+ * @param  result        Value returned by the Controller
+ * @return               RQ Status Flags
+ */
+int RoboteqDevice::GetConfig(int configItem, int &result)
+{
+    return GetConfig(configItem, 1, result);
+}
+/**
+ * Calls the GetValue(int, int, int&) Method with index set to 1
+ * @param  operatingItem Determines which Command is issued
+ * @param  result        Value returned by the Controller
+ * @return               RQ Status Flags
+ */
+int RoboteqDevice::GetValue(int operatingItem, int &result)
+{
+    return GetValue(operatingItem, 1, result);
+}
+/**
+ * Returns the Raw Output
+ * @param  operatingItem Determines whicht Command is issued
+ * @param  result        Returns the string ( raw )
+ * @return               RQ Status Flags
+ */
+int RoboteqDevice::GetRawConfig(int operatingItem, std::string &result)
+{
+    if (operatingItem < 0 || operatingItem > 255)
+        return RQ_INVALID_OPER_ITEM;
+
+    return com.IssueCommand("~", operatingItem, 0, "", result);;
+}
+/**
+ * The Response of the Controller is parsed and stored in the result array
+ * @param  operatingItem Determines which Command is issued
+ * @param  index         Determines which Value will be returned
+ * @param  result        Value returned by the Controller
+ * @return               RQ Status Flags
+ */
+int RoboteqDevice::GetValue(int operatingItem, int index, int &result)
+{
+    string response;
+
+    if (operatingItem < 0 || operatingItem > 255)
+        return RQ_INVALID_OPER_ITEM;
+
+    if (index < 0)
+        return RQ_INDEX_OUT_RANGE;
+
+
+    int status = com.IssueCommand("?", operatingItem, index, "", response);
+    if (status != RQ_SUCCESS)
+        return status;
+
+    istringstream iss(response);
+    iss >> result;
+
+    if (iss.fail())
+        return RQ_GET_VALUE_FAILED;
+
+    return RQ_SUCCESS;
+}
+/**
+ * Returns the Raw Output
+ * @param  operatingItem Determines whicht Command is issued
+ * @param  result        Returns the string ( raw )
+ * @return               RQ Status Flags
+ */
+int RoboteqDevice::GetRawValue(int operatingItem, string &result)
+{
+    if (operatingItem < 0 || operatingItem > 255)
+        return RQ_INVALID_OPER_ITEM;
+
+    return com.IssueCommand("?", operatingItem, 0, "", result);;
+}