diff --git a/UAV-ControlSystem/Debug/UAV-ControlSystem.bin b/UAV-ControlSystem/Debug/UAV-ControlSystem.bin
index 9516067..c085200 100644
Binary files a/UAV-ControlSystem/Debug/UAV-ControlSystem.bin and b/UAV-ControlSystem/Debug/UAV-ControlSystem.bin differ
diff --git a/UAV-ControlSystem/Debug/objects.list b/UAV-ControlSystem/Debug/objects.list
index c16be5a..d89c6b1 100644
--- a/UAV-ControlSystem/Debug/objects.list
+++ b/UAV-ControlSystem/Debug/objects.list
@@ -1,5 +1,4 @@
 "src/drivers/adc.o"
-"src/drivers/dma.o"
 "src/main.o"
 "src/stm32f4xx_it.o"
 "src/syscalls.o"
diff --git a/UAV-ControlSystem/Debug/output.map b/UAV-ControlSystem/Debug/output.map
index 065cdac..673fe40 100644
--- a/UAV-ControlSystem/Debug/output.map
+++ b/UAV-ControlSystem/Debug/output.map
@@ -9,7 +9,7 @@ C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\lib
 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_cortex.o)
                               C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal.o) (HAL_NVIC_SetPriorityGrouping)
 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_dma.o)
-                              src/drivers/dma.o (HAL_DMA_Init)
+                              src/drivers/adc.o (HAL_DMA_Init)
 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_gpio.o)
                               src/drivers/adc.o (HAL_GPIO_Init)
 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_rcc.o)
@@ -36,15 +36,10 @@ c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201
 Allocating common symbols
 Common symbol       size              file
 
-g_DmaHandle         0x58              src/drivers/dma.o
+channels_added      0x40              src/drivers/adc.o
+g_DmaHandle         0x58              src/drivers/adc.o
 uwTick              0x4               C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal.o)
-g_ADC2              0x4               src/main.o
-sConfig             0x10              src/drivers/adc.o
-adc_testinput_handle
-                    0x48              src/main.o
 g_AdcHandle         0x48              src/drivers/adc.o
-adc_test2input_handle
-                    0x48              src/main.o
 
 Discarded input sections
 
@@ -147,191 +142,12 @@ Discarded input sections
  .group         0x00000000        0x8 src/drivers/adc.o
  .group         0x00000000        0x8 src/drivers/adc.o
  .group         0x00000000        0x8 src/drivers/adc.o
+ .group         0x00000000        0x8 src/drivers/adc.o
+ .group         0x00000000        0x8 src/drivers/adc.o
+ .group         0x00000000        0x8 src/drivers/adc.o
+ .group         0x00000000        0x8 src/drivers/adc.o
  .text          0x00000000        0x0 src/drivers/adc.o
  .data          0x00000000        0x0 src/drivers/adc.o
- .text.adc_read_int
-                0x00000000       0x30 src/drivers/adc.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .group         0x00000000        0x8 src/drivers/dma.o
- .text          0x00000000        0x0 src/drivers/dma.o
- .data          0x00000000        0x0 src/drivers/dma.o
- .bss           0x00000000        0x0 src/drivers/dma.o
- .text.configureDMA
-                0x00000000       0xb4 src/drivers/dma.o
- .debug_macro   0x00000000      0x8a4 src/drivers/dma.o
- .debug_macro   0x00000000       0x28 src/drivers/dma.o
- .debug_macro   0x00000000       0x28 src/drivers/dma.o
- .debug_macro   0x00000000       0x22 src/drivers/dma.o
- .debug_macro   0x00000000       0x44 src/drivers/dma.o
- .debug_macro   0x00000000       0xfd src/drivers/dma.o
- .debug_macro   0x00000000       0x22 src/drivers/dma.o
- .debug_macro   0x00000000      0x1df src/drivers/dma.o
- .debug_macro   0x00000000       0x35 src/drivers/dma.o
- .debug_macro   0x00000000       0x50 src/drivers/dma.o
- .debug_macro   0x00000000      0xe66 src/drivers/dma.o
- .debug_macro   0x00000000     0x891e src/drivers/dma.o
- .debug_macro   0x00000000       0x43 src/drivers/dma.o
- .debug_macro   0x00000000      0x24b src/drivers/dma.o
- .debug_macro   0x00000000     0x33a6 src/drivers/dma.o
- .debug_macro   0x00000000       0x58 src/drivers/dma.o
- .debug_macro   0x00000000       0x35 src/drivers/dma.o
- .debug_macro   0x00000000       0x9c src/drivers/dma.o
- .debug_macro   0x00000000       0x16 src/drivers/dma.o
- .debug_macro   0x00000000       0x97 src/drivers/dma.o
- .debug_macro   0x00000000      0x329 src/drivers/dma.o
- .debug_macro   0x00000000       0xfd src/drivers/dma.o
- .debug_macro   0x00000000       0x10 src/drivers/dma.o
- .debug_macro   0x00000000       0x52 src/drivers/dma.o
- .debug_macro   0x00000000       0x16 src/drivers/dma.o
- .debug_macro   0x00000000       0x43 src/drivers/dma.o
- .debug_macro   0x00000000      0x187 src/drivers/dma.o
- .debug_macro   0x00000000       0x10 src/drivers/dma.o
- .debug_macro   0x00000000       0x22 src/drivers/dma.o
- .debug_macro   0x00000000       0x3a src/drivers/dma.o
- .debug_macro   0x00000000       0x10 src/drivers/dma.o
- .debug_macro   0x00000000       0x40 src/drivers/dma.o
- .debug_macro   0x00000000       0x65 src/drivers/dma.o
- .debug_macro   0x00000000       0x16 src/drivers/dma.o
- .debug_macro   0x00000000      0x197 src/drivers/dma.o
- .debug_macro   0x00000000       0x57 src/drivers/dma.o
- .debug_macro   0x00000000      0x8a0 src/drivers/dma.o
- .debug_macro   0x00000000      0x9da src/drivers/dma.o
- .debug_macro   0x00000000      0x11e src/drivers/dma.o
- .debug_macro   0x00000000      0x130 src/drivers/dma.o
- .debug_macro   0x00000000       0x27 src/drivers/dma.o
- .debug_macro   0x00000000      0x272 src/drivers/dma.o
- .debug_macro   0x00000000       0x5f src/drivers/dma.o
- .debug_macro   0x00000000      0x23a src/drivers/dma.o
- .debug_macro   0x00000000      0x391 src/drivers/dma.o
- .debug_macro   0x00000000      0x16f src/drivers/dma.o
- .debug_macro   0x00000000       0xf9 src/drivers/dma.o
- .debug_macro   0x00000000      0x36e src/drivers/dma.o
- .debug_macro   0x00000000       0x23 src/drivers/dma.o
- .debug_macro   0x00000000       0xe6 src/drivers/dma.o
- .debug_macro   0x00000000       0xa1 src/drivers/dma.o
- .debug_macro   0x00000000       0x3c src/drivers/dma.o
- .debug_macro   0x00000000      0x13a src/drivers/dma.o
- .debug_macro   0x00000000      0x21e src/drivers/dma.o
- .debug_macro   0x00000000       0x2e src/drivers/dma.o
- .debug_macro   0x00000000      0x512 src/drivers/dma.o
- .debug_macro   0x00000000       0x88 src/drivers/dma.o
- .debug_macro   0x00000000       0xd5 src/drivers/dma.o
- .debug_macro   0x00000000      0x183 src/drivers/dma.o
- .debug_macro   0x00000000      0x1a7 src/drivers/dma.o
- .debug_macro   0x00000000       0xa5 src/drivers/dma.o
- .debug_macro   0x00000000      0x18b src/drivers/dma.o
- .debug_macro   0x00000000       0x24 src/drivers/dma.o
- .debug_macro   0x00000000       0x35 src/drivers/dma.o
- .debug_macro   0x00000000       0x97 src/drivers/dma.o
- .debug_macro   0x00000000      0x11e src/drivers/dma.o
- .debug_macro   0x00000000       0x7f src/drivers/dma.o
- .debug_macro   0x00000000       0x89 src/drivers/dma.o
- .debug_macro   0x00000000       0x7e src/drivers/dma.o
- .debug_macro   0x00000000      0x31a src/drivers/dma.o
- .debug_macro   0x00000000      0x409 src/drivers/dma.o
- .debug_macro   0x00000000       0xe4 src/drivers/dma.o
- .debug_macro   0x00000000      0x48d src/drivers/dma.o
- .debug_macro   0x00000000      0x22b src/drivers/dma.o
- .debug_macro   0x00000000      0x202 src/drivers/dma.o
- .debug_macro   0x00000000      0x6d9 src/drivers/dma.o
- .debug_macro   0x00000000       0x5b src/drivers/dma.o
- .debug_macro   0x00000000      0x14d src/drivers/dma.o
- .debug_macro   0x00000000      0x287 src/drivers/dma.o
- .debug_macro   0x00000000      0x225 src/drivers/dma.o
- .debug_macro   0x00000000      0x1b5 src/drivers/dma.o
- .debug_macro   0x00000000      0x2db src/drivers/dma.o
- .debug_macro   0x00000000       0x94 src/drivers/dma.o
- .debug_macro   0x00000000      0x1df src/drivers/dma.o
- .debug_macro   0x00000000      0x115 src/drivers/dma.o
- .debug_macro   0x00000000       0x6e src/drivers/dma.o
- .debug_macro   0x00000000      0x125 src/drivers/dma.o
- .debug_macro   0x00000000       0x16 src/drivers/dma.o
  .group         0x00000000        0x8 src/main.o
  .group         0x00000000        0x8 src/main.o
  .group         0x00000000        0x8 src/main.o
@@ -512,8 +328,8 @@ Discarded input sections
  .debug_macro   0x00000000      0x115 src/main.o
  .debug_macro   0x00000000       0x6e src/main.o
  .debug_macro   0x00000000      0x125 src/main.o
- .debug_macro   0x00000000       0x16 src/main.o
- COMMON         0x00000000       0x94 src/main.o
+ .debug_macro   0x00000000       0x10 src/main.o
+ .debug_macro   0x00000000       0x35 src/main.o
  .group         0x00000000        0x8 src/stm32f4xx_it.o
  .group         0x00000000        0x8 src/stm32f4xx_it.o
  .group         0x00000000        0x8 src/stm32f4xx_it.o
@@ -988,6 +804,8 @@ Discarded input sections
  .text          0x00000000        0x0 src/utilities.o
  .data          0x00000000        0x0 src/utilities.o
  .bss           0x00000000        0x0 src/utilities.o
+ .text.accumulate
+                0x00000000       0x40 src/utilities.o
  .debug_macro   0x00000000      0x8a4 src/utilities.o
  .debug_macro   0x00000000       0x22 src/utilities.o
  .debug_macro   0x00000000       0x44 src/utilities.o
@@ -2491,7 +2309,6 @@ LOAD c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.
 LOAD c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/../../../../arm-none-eabi/lib/armv7e-m/fpu/crt0.o
 LOAD c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/../../../../arm-none-eabi/lib/armv7e-m/fpu\libm.a
 LOAD src/drivers/adc.o
-LOAD src/drivers/dma.o
 LOAD src/main.o
 LOAD src/stm32f4xx_it.o
 LOAD src/syscalls.o
@@ -2516,249 +2333,252 @@ LOAD c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.
                 0x08000000                g_pfnVectors
                 0x08000188                . = ALIGN (0x4)
 
-.text           0x08000188     0x1e50
+.text           0x08000188     0x1f00
                 0x08000188                . = ALIGN (0x4)
  *(.text)
  .text          0x08000188       0xa4 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/armv7e-m/fpu/crtbegin.o
  *(.text*)
- .text.adc_configure
-                0x0800022c       0x70 src/drivers/adc.o
-                0x0800022c                adc_configure
- .text.adc_pin_add
-                0x0800029c       0xe4 src/drivers/adc.o
-                0x0800029c                adc_pin_add
- .text.adc_start
-                0x08000380       0x24 src/drivers/adc.o
-                0x08000380                adc_start
- .text.main     0x080003a4       0xe4 src/main.o
-                0x080003a4                main
+ .text.adc_read
+                0x0800022c       0x74 src/drivers/adc.o
+                0x0800022c                adc_read
  .text.HAL_ADC_MspInit
-                0x08000488       0xfc src/main.o
-                0x08000488                HAL_ADC_MspInit
+                0x080002a0       0xfc src/drivers/adc.o
+                0x080002a0                HAL_ADC_MspInit
+ .text.adc_configure
+                0x0800039c       0xac src/drivers/adc.o
+                0x0800039c                adc_configure
+ .text.adc_pin_add
+                0x08000448       0x34 src/drivers/adc.o
+                0x08000448                adc_pin_add
+ .text.adc_pin_conf
+                0x0800047c       0xe8 src/drivers/adc.o
+                0x0800047c                adc_pin_conf
+ .text.adc_start
+                0x08000564       0x34 src/drivers/adc.o
+                0x08000564                adc_start
+ .text.main     0x08000598       0xdc src/main.o
+                0x08000598                main
  .text.SystemClock_Config
-                0x08000584       0xc0 src/main.o
+                0x08000674       0xc0 src/main.o
  .text.SysTick_Handler
-                0x08000644       0x10 src/stm32f4xx_it.o
-                0x08000644                SysTick_Handler
+                0x08000734       0x10 src/stm32f4xx_it.o
+                0x08000734                SysTick_Handler
  .text.SystemInit
-                0x08000654       0x6c src/system_stm32f4xx.o
-                0x08000654                SystemInit
- .text.accumulate
-                0x080006c0       0x40 src/utilities.o
-                0x080006c0                accumulate
+                0x08000744       0x6c src/system_stm32f4xx.o
+                0x08000744                SystemInit
  .text.Error_Handler
-                0x08000700        0x8 src/utilities.o
-                0x08000700                Error_Handler
+                0x080007b0        0x8 src/utilities.o
+                0x080007b0                Error_Handler
  .text.Reset_Handler
-                0x08000708       0x48 startup/startup_stm32.o
-                0x08000708                Reset_Handler
+                0x080007b8       0x48 startup/startup_stm32.o
+                0x080007b8                Reset_Handler
  .text.Default_Handler
-                0x08000750        0x2 startup/startup_stm32.o
-                0x08000750                DebugMon_Handler
-                0x08000750                HardFault_Handler
-                0x08000750                PendSV_Handler
-                0x08000750                NMI_Handler
-                0x08000750                UsageFault_Handler
-                0x08000750                Default_Handler
-                0x08000750                MemManage_Handler
-                0x08000750                SVC_Handler
-                0x08000750                BusFault_Handler
- *fill*         0x08000752        0x2 
+                0x08000800        0x2 startup/startup_stm32.o
+                0x08000800                DebugMon_Handler
+                0x08000800                HardFault_Handler
+                0x08000800                PendSV_Handler
+                0x08000800                NMI_Handler
+                0x08000800                UsageFault_Handler
+                0x08000800                Default_Handler
+                0x08000800                MemManage_Handler
+                0x08000800                SVC_Handler
+                0x08000800                BusFault_Handler
+ *fill*         0x08000802        0x2 
  .text.HAL_Init
-                0x08000754       0x38 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal.o)
-                0x08000754                HAL_Init
+                0x08000804       0x38 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal.o)
+                0x08000804                HAL_Init
  .text.HAL_MspInit
-                0x0800078c       0x10 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal.o)
-                0x0800078c                HAL_MspInit
+                0x0800083c       0x10 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal.o)
+                0x0800083c                HAL_MspInit
  .text.HAL_InitTick
-                0x0800079c       0x38 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal.o)
-                0x0800079c                HAL_InitTick
+                0x0800084c       0x38 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal.o)
+                0x0800084c                HAL_InitTick
  .text.HAL_IncTick
-                0x080007d4       0x1c C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal.o)
-                0x080007d4                HAL_IncTick
+                0x08000884       0x1c C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal.o)
+                0x08000884                HAL_IncTick
  .text.HAL_GetTick
-                0x080007f0       0x18 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal.o)
-                0x080007f0                HAL_GetTick
+                0x080008a0       0x18 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal.o)
+                0x080008a0                HAL_GetTick
  .text.HAL_GetREVID
-                0x08000808       0x18 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal.o)
-                0x08000808                HAL_GetREVID
+                0x080008b8       0x18 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal.o)
+                0x080008b8                HAL_GetREVID
  .text.HAL_ADC_Init
-                0x08000820       0x88 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_adc.o)
-                0x08000820                HAL_ADC_Init
+                0x080008d0       0x88 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_adc.o)
+                0x080008d0                HAL_ADC_Init
  .text.HAL_ADC_Start_DMA
-                0x080008a8      0x1a0 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_adc.o)
-                0x080008a8                HAL_ADC_Start_DMA
+                0x08000958      0x1a0 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_adc.o)
+                0x08000958                HAL_ADC_Start_DMA
  .text.HAL_ADC_ConvCpltCallback
-                0x08000a48       0x14 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_adc.o)
-                0x08000a48                HAL_ADC_ConvCpltCallback
+                0x08000af8       0x14 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_adc.o)
+                0x08000af8                HAL_ADC_ConvCpltCallback
  .text.HAL_ADC_ConvHalfCpltCallback
-                0x08000a5c       0x14 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_adc.o)
-                0x08000a5c                HAL_ADC_ConvHalfCpltCallback
+                0x08000b0c       0x14 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_adc.o)
+                0x08000b0c                HAL_ADC_ConvHalfCpltCallback
  .text.HAL_ADC_ErrorCallback
-                0x08000a70       0x14 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_adc.o)
-                0x08000a70                HAL_ADC_ErrorCallback
+                0x08000b20       0x14 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_adc.o)
+                0x08000b20                HAL_ADC_ErrorCallback
  .text.HAL_ADC_ConfigChannel
-                0x08000a84      0x234 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_adc.o)
-                0x08000a84                HAL_ADC_ConfigChannel
+                0x08000b34      0x234 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_adc.o)
+                0x08000b34                HAL_ADC_ConfigChannel
  .text.ADC_Init
-                0x08000cb8      0x204 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_adc.o)
+                0x08000d68      0x204 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_adc.o)
  .text.ADC_DMAConvCplt
-                0x08000ebc       0xa8 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_adc.o)
+                0x08000f6c       0xa8 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_adc.o)
  .text.ADC_DMAHalfConvCplt
-                0x08000f64       0x1c C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_adc.o)
+                0x08001014       0x1c C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_adc.o)
  .text.ADC_DMAError
-                0x08000f80       0x30 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_adc.o)
+                0x08001030       0x30 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_adc.o)
  .text.NVIC_SetPriorityGrouping
-                0x08000fb0       0x48 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_cortex.o)
+                0x08001060       0x48 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_cortex.o)
  .text.NVIC_GetPriorityGrouping
-                0x08000ff8       0x1c C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_cortex.o)
+                0x080010a8       0x1c C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_cortex.o)
  .text.NVIC_SetPriority
-                0x08001014       0x54 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_cortex.o)
+                0x080010c4       0x54 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_cortex.o)
  .text.NVIC_EncodePriority
-                0x08001068       0x64 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_cortex.o)
+                0x08001118       0x64 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_cortex.o)
  .text.SysTick_Config
-                0x080010cc       0x44 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_cortex.o)
+                0x0800117c       0x44 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_cortex.o)
  .text.HAL_NVIC_SetPriorityGrouping
-                0x08001110       0x18 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_cortex.o)
-                0x08001110                HAL_NVIC_SetPriorityGrouping
+                0x080011c0       0x18 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_cortex.o)
+                0x080011c0                HAL_NVIC_SetPriorityGrouping
  .text.HAL_NVIC_SetPriority
-                0x08001128       0x38 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_cortex.o)
-                0x08001128                HAL_NVIC_SetPriority
+                0x080011d8       0x38 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_cortex.o)
+                0x080011d8                HAL_NVIC_SetPriority
  .text.HAL_SYSTICK_Config
-                0x08001160       0x18 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_cortex.o)
-                0x08001160                HAL_SYSTICK_Config
+                0x08001210       0x18 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_cortex.o)
+                0x08001210                HAL_SYSTICK_Config
  .text.HAL_SYSTICK_IRQHandler
-                0x08001178        0xc C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_cortex.o)
-                0x08001178                HAL_SYSTICK_IRQHandler
+                0x08001228        0xc C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_cortex.o)
+                0x08001228                HAL_SYSTICK_IRQHandler
  .text.HAL_SYSTICK_Callback
-                0x08001184       0x10 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_cortex.o)
-                0x08001184                HAL_SYSTICK_Callback
+                0x08001234       0x10 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_cortex.o)
+                0x08001234                HAL_SYSTICK_Callback
  .text.HAL_DMA_Init
-                0x08001194       0xd8 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_dma.o)
-                0x08001194                HAL_DMA_Init
+                0x08001244       0xd8 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_dma.o)
+                0x08001244                HAL_DMA_Init
  .text.HAL_DMA_Start_IT
-                0x0800126c       0x84 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_dma.o)
-                0x0800126c                HAL_DMA_Start_IT
+                0x0800131c       0x84 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_dma.o)
+                0x0800131c                HAL_DMA_Start_IT
  .text.DMA_SetConfig
-                0x080012f0       0x5c C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_dma.o)
+                0x080013a0       0x5c C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_dma.o)
  .text.DMA_CalcBaseAndBitshift
-                0x0800134c       0x6c C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_dma.o)
+                0x080013fc       0x6c C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_dma.o)
  .text.HAL_GPIO_Init
-                0x080013b8      0x344 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_gpio.o)
-                0x080013b8                HAL_GPIO_Init
+                0x08001468      0x344 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_gpio.o)
+                0x08001468                HAL_GPIO_Init
  .text.HAL_GPIO_WritePin
-                0x080016fc       0x34 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_gpio.o)
-                0x080016fc                HAL_GPIO_WritePin
+                0x080017ac       0x34 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_gpio.o)
+                0x080017ac                HAL_GPIO_WritePin
  .text.HAL_RCC_OscConfig
-                0x08001730      0x424 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_rcc.o)
-                0x08001730                HAL_RCC_OscConfig
+                0x080017e0      0x424 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_rcc.o)
+                0x080017e0                HAL_RCC_OscConfig
  .text.HAL_RCC_ClockConfig
-                0x08001b54      0x1e4 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_rcc.o)
-                0x08001b54                HAL_RCC_ClockConfig
+                0x08001c04      0x1e4 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_rcc.o)
+                0x08001c04                HAL_RCC_ClockConfig
  .text.HAL_RCC_GetSysClockFreq
-                0x08001d38       0xfc C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_rcc.o)
-                0x08001d38                HAL_RCC_GetSysClockFreq
+                0x08001de8       0xfc C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_rcc.o)
+                0x08001de8                HAL_RCC_GetSysClockFreq
  .text.HAL_RCC_GetHCLKFreq
-                0x08001e34       0x50 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_rcc.o)
-                0x08001e34                HAL_RCC_GetHCLKFreq
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+ .iplt          0x08002088        0x0 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/armv7e-m/fpu/crtbegin.o
 
-.rodata         0x08001fd8       0x20
-                0x08001fd8                . = ALIGN (0x4)
+.rodata         0x08002088       0x20
+                0x08002088                . = ALIGN (0x4)
  *(.rodata)
- .rodata        0x08001fd8        0x8 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_dma.o)
- .rodata        0x08001fe0       0x10 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_rcc.o)
-                0x08001fe0                APBAHBPrescTable
+ .rodata        0x08002088        0x8 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_dma.o)
+ .rodata        0x08002090       0x10 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_rcc.o)
+                0x08002090                APBAHBPrescTable
  *(.rodata*)
  .rodata.str1.4
-                0x08001ff0        0x4 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/../../../../arm-none-eabi/lib/armv7e-m/fpu\libc.a(lib_a-impure.o)
+                0x080020a0        0x4 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/../../../../arm-none-eabi/lib/armv7e-m/fpu\libc.a(lib_a-impure.o)
                                   0x2 (size before relaxing)
  .rodata._global_impure_ptr
-                0x08001ff4        0x4 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/../../../../arm-none-eabi/lib/armv7e-m/fpu\libc.a(lib_a-impure.o)
-                0x08001ff4                _global_impure_ptr
-                0x08001ff8                . = ALIGN (0x4)
+                0x080020a4        0x4 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/../../../../arm-none-eabi/lib/armv7e-m/fpu\libc.a(lib_a-impure.o)
+                0x080020a4                _global_impure_ptr
+                0x080020a8                . = ALIGN (0x4)
 
-.rel.dyn        0x08001ff8        0x0
- .rel.iplt      0x08001ff8        0x0 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/armv7e-m/fpu/crtbegin.o
+.rel.dyn        0x080020a8        0x0
+ .rel.iplt      0x080020a8        0x0 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/armv7e-m/fpu/crtbegin.o
 
-.ARM.extab      0x08001ff8        0x0
-                0x08001ff8                . = ALIGN (0x4)
+.ARM.extab      0x080020a8        0x0
+                0x080020a8                . = ALIGN (0x4)
  *(.ARM.extab* .gnu.linkonce.armextab.*)
-                0x08001ff8                . = ALIGN (0x4)
+                0x080020a8                . = ALIGN (0x4)
 
-.ARM            0x08001ff8        0x0
-                0x08001ff8                . = ALIGN (0x4)
-                0x08001ff8                __exidx_start = .
+.ARM            0x080020a8        0x0
+                0x080020a8                . = ALIGN (0x4)
+                0x080020a8                __exidx_start = .
  *(.ARM.exidx*)
-                0x08001ff8                __exidx_end = .
-                0x08001ff8                . = ALIGN (0x4)
+                0x080020a8                __exidx_end = .
+                0x080020a8                . = ALIGN (0x4)
 
-.preinit_array  0x08001ff8        0x0
-                0x08001ff8                . = ALIGN (0x4)
-                0x08001ff8                PROVIDE (__preinit_array_start, .)
+.preinit_array  0x080020a8        0x0
+                0x080020a8                . = ALIGN (0x4)
+                0x080020a8                PROVIDE (__preinit_array_start, .)
  *(.preinit_array*)
-                0x08001ff8                PROVIDE (__preinit_array_end, .)
-                0x08001ff8                . = ALIGN (0x4)
+                0x080020a8                PROVIDE (__preinit_array_end, .)
+                0x080020a8                . = ALIGN (0x4)
 
-.init_array     0x08001ff8        0x8
-                0x08001ff8                . = ALIGN (0x4)
-                0x08001ff8                PROVIDE (__init_array_start, .)
+.init_array     0x080020a8        0x8
+                0x080020a8                . = ALIGN (0x4)
+                0x080020a8                PROVIDE (__init_array_start, .)
  *(SORT(.init_array.*))
  .init_array.00000
-                0x08001ff8        0x4 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/../../../../arm-none-eabi/lib/armv7e-m/fpu\libc.a(lib_a-__call_atexit.o)
+                0x080020a8        0x4 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/../../../../arm-none-eabi/lib/armv7e-m/fpu\libc.a(lib_a-__call_atexit.o)
  *(.init_array*)
- .init_array    0x08001ffc        0x4 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/armv7e-m/fpu/crtbegin.o
-                0x08002000                PROVIDE (__init_array_end, .)
-                0x08002000                . = ALIGN (0x4)
+ .init_array    0x080020ac        0x4 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/armv7e-m/fpu/crtbegin.o
+                0x080020b0                PROVIDE (__init_array_end, .)
+                0x080020b0                . = ALIGN (0x4)
 
-.fini_array     0x08002000        0x4
-                0x08002000                . = ALIGN (0x4)
-                0x08002000                PROVIDE (__fini_array_start, .)
+.fini_array     0x080020b0        0x4
+                0x080020b0                . = ALIGN (0x4)
+                0x080020b0                PROVIDE (__fini_array_start, .)
  *(SORT(.fini_array.*))
  *(.fini_array*)
- .fini_array    0x08002000        0x4 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/armv7e-m/fpu/crtbegin.o
-                0x08002004                PROVIDE (__fini_array_end, .)
-                0x08002004                . = ALIGN (0x4)
-                0x08002004                _sidata = LOADADDR (.data)
+ .fini_array    0x080020b0        0x4 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/armv7e-m/fpu/crtbegin.o
+                0x080020b4                PROVIDE (__fini_array_end, .)
+                0x080020b4                . = ALIGN (0x4)
+                0x080020b4                _sidata = LOADADDR (.data)
 
-.data           0x20000000      0x430 load address 0x08002004
+.data           0x20000000      0x430 load address 0x080020b4
                 0x20000000                . = ALIGN (0x4)
                 0x20000000                _sdata = .
  *(.data)
@@ -2771,52 +2591,51 @@ LOAD c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.
                 0x20000430                . = ALIGN (0x4)
                 0x20000430                _edata = .
 
-.jcr            0x20000430        0x0 load address 0x08002434
+.jcr            0x20000430        0x0 load address 0x080024e4
  .jcr           0x20000430        0x0 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/armv7e-m/fpu/crtbegin.o
 
 .tm_clone_table
-                0x20000430        0x0 load address 0x08002434
+                0x20000430        0x0 load address 0x080024e4
  .tm_clone_table
                 0x20000430        0x0 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/armv7e-m/fpu/crtbegin.o
  .tm_clone_table
                 0x20000430        0x0 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/armv7e-m/fpu/crtend.o
 
-.igot.plt       0x20000430        0x0 load address 0x08002434
+.igot.plt       0x20000430        0x0 load address 0x080024e4
  .igot.plt      0x20000430        0x0 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/armv7e-m/fpu/crtbegin.o
                 0x20000430                . = ALIGN (0x4)
 
-.bss            0x20000430      0x100 load address 0x08002434
+.bss            0x20000430      0x3c4 load address 0x080024e4
                 0x20000430                _sbss = .
                 0x20000430                __bss_start__ = _sbss
  *(.bss)
  .bss           0x20000430       0x1c c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/armv7e-m/fpu/crtbegin.o
- .bss           0x2000044c       0x30 src/drivers/adc.o
+ .bss           0x2000044c      0x2c4 src/drivers/adc.o
                 0x2000044c                g_ADCBuffer
-                0x20000470                g_MeasurementNumber
-                0x20000474                adc_rank
-                0x20000478                g_ADCValue
+                0x200006cc                channel_counter
+                0x200006d0                channel_ranks
  *(.bss*)
  *(COMMON)
- COMMON         0x2000047c       0x58 src/drivers/adc.o
-                0x2000047c                sConfig
-                0x2000048c                g_AdcHandle
- COMMON         0x200004d4       0x58 src/drivers/dma.o
-                0x200004d4                g_DmaHandle
- COMMON         0x2000052c        0x4 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal.o)
-                0x2000052c                uwTick
-                0x20000530                . = ALIGN (0x4)
-                0x20000530                _ebss = .
-                0x20000530                __bss_end__ = _ebss
+ COMMON         0x20000710       0xe0 src/drivers/adc.o
+                0x20000710                channels_added
+                0x20000750                g_DmaHandle
+                0x200007a8                g_AdcHandle
+ COMMON         0x200007f0        0x4 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal.o)
+                0x200007f0                uwTick
+                0x200007f4                . = ALIGN (0x4)
+                0x200007f4                _ebss = .
+                0x200007f4                __bss_end__ = _ebss
 
 ._user_heap_stack
-                0x20000530      0x400 load address 0x08002434
-                0x20000530                . = ALIGN (0x8)
-                0x20000530                PROVIDE (end, .)
+                0x200007f4      0x404 load address 0x080024e4
+                0x200007f8                . = ALIGN (0x8)
+ *fill*         0x200007f4        0x4 
+                0x200007f8                PROVIDE (end, .)
                 [!provide]                PROVIDE (_end, .)
-                0x20000530                . = (. + _Min_Heap_Size)
-                0x20000930                . = (. + _Min_Stack_Size)
- *fill*         0x20000530      0x400 
-                0x20000930                . = ALIGN (0x8)
+                0x200007f8                . = (. + _Min_Heap_Size)
+                0x20000bf8                . = (. + _Min_Stack_Size)
+ *fill*         0x200007f8      0x400 
+                0x20000bf8                . = ALIGN (0x8)
 
 /DISCARD/
  libc.a(*)
@@ -2833,270 +2652,261 @@ LOAD c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.
  .ARM.attributes
                 0x00000056       0x39 src/drivers/adc.o
  .ARM.attributes
-                0x0000008f       0x39 src/drivers/dma.o
+                0x0000008f       0x39 src/main.o
  .ARM.attributes
-                0x000000c8       0x39 src/main.o
+                0x000000c8       0x39 src/stm32f4xx_it.o
  .ARM.attributes
-                0x00000101       0x39 src/stm32f4xx_it.o
+                0x00000101       0x39 src/system_stm32f4xx.o
  .ARM.attributes
-                0x0000013a       0x39 src/system_stm32f4xx.o
+                0x0000013a       0x39 src/utilities.o
  .ARM.attributes
-                0x00000173       0x39 src/utilities.o
+                0x00000173       0x25 startup/startup_stm32.o
  .ARM.attributes
-                0x000001ac       0x25 startup/startup_stm32.o
+                0x00000198       0x39 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal.o)
  .ARM.attributes
-                0x000001d1       0x39 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal.o)
+                0x000001d1       0x39 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_adc.o)
  .ARM.attributes
-                0x0000020a       0x39 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_adc.o)
+                0x0000020a       0x39 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_cortex.o)
  .ARM.attributes
-                0x00000243       0x39 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_cortex.o)
+                0x00000243       0x39 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_dma.o)
  .ARM.attributes
-                0x0000027c       0x39 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_dma.o)
+                0x0000027c       0x39 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_gpio.o)
  .ARM.attributes
-                0x000002b5       0x39 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_gpio.o)
+                0x000002b5       0x39 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_rcc.o)
  .ARM.attributes
-                0x000002ee       0x39 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_rcc.o)
+                0x000002ee       0x34 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/../../../../arm-none-eabi/lib/armv7e-m/fpu\libc.a(lib_a-impure.o)
  .ARM.attributes
-                0x00000327       0x34 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/../../../../arm-none-eabi/lib/armv7e-m/fpu\libc.a(lib_a-impure.o)
+                0x00000322       0x34 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/../../../../arm-none-eabi/lib/armv7e-m/fpu\libc.a(lib_a-init.o)
  .ARM.attributes
-                0x0000035b       0x34 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/../../../../arm-none-eabi/lib/armv7e-m/fpu\libc.a(lib_a-init.o)
+                0x00000356       0x34 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/../../../../arm-none-eabi/lib/armv7e-m/fpu\libc.a(lib_a-__call_atexit.o)
  .ARM.attributes
-                0x0000038f       0x34 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/../../../../arm-none-eabi/lib/armv7e-m/fpu\libc.a(lib_a-__call_atexit.o)
+                0x0000038a       0x34 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/../../../../arm-none-eabi/lib/armv7e-m/fpu\libc.a(lib_a-atexit.o)
  .ARM.attributes
-                0x000003c3       0x34 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/../../../../arm-none-eabi/lib/armv7e-m/fpu\libc.a(lib_a-atexit.o)
+                0x000003be       0x34 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/../../../../arm-none-eabi/lib/armv7e-m/fpu\libc.a(lib_a-fini.o)
  .ARM.attributes
-                0x000003f7       0x34 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/../../../../arm-none-eabi/lib/armv7e-m/fpu\libc.a(lib_a-fini.o)
+                0x000003f2       0x34 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/../../../../arm-none-eabi/lib/armv7e-m/fpu\libc.a(lib_a-__atexit.o)
  .ARM.attributes
-                0x0000042b       0x34 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/../../../../arm-none-eabi/lib/armv7e-m/fpu\libc.a(lib_a-__atexit.o)
+                0x00000426       0x34 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/armv7e-m/fpu/crtend.o
  .ARM.attributes
-                0x0000045f       0x34 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/armv7e-m/fpu/crtend.o
- .ARM.attributes
-                0x00000493       0x22 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/armv7e-m/fpu/crtn.o
+                0x0000045a       0x22 c:/ac6/systemworkbench/plugins/fr.ac6.mcu.externaltools.arm-none.win32_1.7.0.201602121829/tools/compiler/bin/../lib/gcc/arm-none-eabi/5.2.1/armv7e-m/fpu/crtn.o
 OUTPUT(UAV-ControlSystem.elf elf32-littlearm)
 
-.debug_info     0x00000000     0x5f02
- .debug_info    0x00000000      0x809 src/drivers/adc.o
- .debug_info    0x00000809      0x94b src/drivers/dma.o
- .debug_info    0x00001154      0xbf1 src/main.o
- .debug_info    0x00001d45       0xbd src/stm32f4xx_it.o
- .debug_info    0x00001e02      0x4ab src/system_stm32f4xx.o
- .debug_info    0x000022ad       0xf7 src/utilities.o
- .debug_info    0x000023a4       0x8c startup/startup_stm32.o
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+ .debug_macro   0x0000e122      0x329 src/drivers/adc.o
+ .debug_macro   0x0000e44b       0xfd src/drivers/adc.o
+ .debug_macro   0x0000e548       0x10 src/drivers/adc.o
+ .debug_macro   0x0000e558       0x52 src/drivers/adc.o
+ .debug_macro   0x0000e5aa       0x16 src/drivers/adc.o
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+ .debug_macro   0x0000e8ab       0x16 src/drivers/adc.o
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+ .debug_macro   0x0000ea58       0x57 src/drivers/adc.o
+ .debug_macro   0x0000eaaf      0x8a0 src/drivers/adc.o
+ .debug_macro   0x0000f34f      0x9da src/drivers/adc.o
+ .debug_macro   0x0000fd29      0x11e src/drivers/adc.o
+ .debug_macro   0x0000fe47      0x130 src/drivers/adc.o
+ .debug_macro   0x0000ff77       0x27 src/drivers/adc.o
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+ .debug_macro   0x00010fba       0x3c src/drivers/adc.o
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+ .debug_macro   0x00011916       0xd5 src/drivers/adc.o
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+ .debug_macro   0x00011b6e      0x1a7 src/drivers/adc.o
+ .debug_macro   0x00011d15       0xa5 src/drivers/adc.o
+ .debug_macro   0x00011dba      0x18b src/drivers/adc.o
+ .debug_macro   0x00011f45       0x24 src/drivers/adc.o
+ .debug_macro   0x00011f69       0x35 src/drivers/adc.o
+ .debug_macro   0x00011f9e       0x97 src/drivers/adc.o
+ .debug_macro   0x00012035      0x11e src/drivers/adc.o
+ .debug_macro   0x00012153       0x7f src/drivers/adc.o
+ .debug_macro   0x000121d2       0x89 src/drivers/adc.o
+ .debug_macro   0x0001225b       0x7e src/drivers/adc.o
+ .debug_macro   0x000122d9      0x31a src/drivers/adc.o
+ .debug_macro   0x000125f3      0x409 src/drivers/adc.o
+ .debug_macro   0x000129fc       0xe4 src/drivers/adc.o
+ .debug_macro   0x00012ae0      0x48d src/drivers/adc.o
+ .debug_macro   0x00012f6d      0x22b src/drivers/adc.o
+ .debug_macro   0x00013198      0x202 src/drivers/adc.o
+ .debug_macro   0x0001339a      0x6d9 src/drivers/adc.o
+ .debug_macro   0x00013a73       0x5b src/drivers/adc.o
+ .debug_macro   0x00013ace      0x14d src/drivers/adc.o
+ .debug_macro   0x00013c1b      0x287 src/drivers/adc.o
+ .debug_macro   0x00013ea2      0x225 src/drivers/adc.o
+ .debug_macro   0x000140c7      0x1b5 src/drivers/adc.o
+ .debug_macro   0x0001427c      0x2db src/drivers/adc.o
+ .debug_macro   0x00014557       0x94 src/drivers/adc.o
+ .debug_macro   0x000145eb      0x1df src/drivers/adc.o
+ .debug_macro   0x000147ca      0x115 src/drivers/adc.o
+ .debug_macro   0x000148df       0x6e src/drivers/adc.o
+ .debug_macro   0x0001494d      0x125 src/drivers/adc.o
+ .debug_macro   0x00014a72       0x10 src/drivers/adc.o
+ .debug_macro   0x00014a82       0x16 src/drivers/adc.o
+ .debug_macro   0x00014a98       0x35 src/drivers/adc.o
+ .debug_macro   0x00014acd       0x16 src/drivers/adc.o
+ .debug_macro   0x00014ae3       0x29 src/drivers/adc.o
+ .debug_macro   0x00014b0c      0x49a src/main.o
+ .debug_macro   0x00014fa6       0x16 src/main.o
+ .debug_macro   0x00014fbc      0x466 src/stm32f4xx_it.o
+ .debug_macro   0x00015422      0x462 src/system_stm32f4xx.o
+ .debug_macro   0x00015884       0x68 src/utilities.o
+ .debug_macro   0x000158ec      0x4aa C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal.o)
+ .debug_macro   0x00015d96      0x8a4 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal.o)
+ .debug_macro   0x0001663a      0x45d C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_adc.o)
+ .debug_macro   0x00016a97      0x45c C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_cortex.o)
+ .debug_macro   0x00016ef3      0x463 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_dma.o)
+ .debug_macro   0x00017356      0x494 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_gpio.o)
+ .debug_macro   0x000177ea      0x486 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_rcc.o)
 
-.debug_line     0x00000000     0x8c3d
- .debug_line    0x00000000      0xbe4 src/drivers/adc.o
- .debug_line    0x00000be4      0xb6c src/drivers/dma.o
- .debug_line    0x00001750      0xc15 src/main.o
- .debug_line    0x00002365      0xafe src/stm32f4xx_it.o
- .debug_line    0x00002e63      0xad3 src/system_stm32f4xx.o
- .debug_line    0x00003936      0x340 src/utilities.o
- .debug_line    0x00003c76       0x79 startup/startup_stm32.o
- .debug_line    0x00003cef      0xc4a C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal.o)
- .debug_line    0x00004939      0xec3 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_adc.o)
- .debug_line    0x000057fc      0xd7b C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_cortex.o)
- .debug_line    0x00006577      0xc91 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_dma.o)
- .debug_line    0x00007208      0xc9a C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_gpio.o)
- .debug_line    0x00007ea2      0xd9b C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_rcc.o)
+.debug_line     0x00000000     0x8122
+ .debug_line    0x00000000      0xc60 src/drivers/adc.o
+ .debug_line    0x00000c60      0xbea src/main.o
+ .debug_line    0x0000184a      0xafe src/stm32f4xx_it.o
+ .debug_line    0x00002348      0xad3 src/system_stm32f4xx.o
+ .debug_line    0x00002e1b      0x340 src/utilities.o
+ .debug_line    0x0000315b       0x79 startup/startup_stm32.o
+ .debug_line    0x000031d4      0xc4a C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal.o)
+ .debug_line    0x00003e1e      0xec3 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_adc.o)
+ .debug_line    0x00004ce1      0xd7b C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_cortex.o)
+ .debug_line    0x00005a5c      0xc91 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_dma.o)
+ .debug_line    0x000066ed      0xc9a C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_gpio.o)
+ .debug_line    0x00007387      0xd9b C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_rcc.o)
 
-.debug_str      0x00000000    0x9734f
- .debug_str     0x00000000    0x95913 src/drivers/adc.o
-                              0x95c4e (size before relaxing)
- .debug_str     0x00095913      0x5fa src/drivers/dma.o
-                              0x96087 (size before relaxing)
- .debug_str     0x00095f0d      0x1f2 src/main.o
-                              0x95e59 (size before relaxing)
- .debug_str     0x000960ff       0x26 src/stm32f4xx_it.o
+.debug_str      0x00000000    0x973c5
+ .debug_str     0x00000000    0x95ae8 src/drivers/adc.o
+                              0x95e2b (size before relaxing)
+ .debug_str     0x00095ae8      0x1cf src/main.o
+                              0x959ac (size before relaxing)
+ .debug_str     0x00095cb7       0x26 src/stm32f4xx_it.o
                               0x95630 (size before relaxing)
- .debug_str     0x00096125       0xcf src/system_stm32f4xx.o
+ .debug_str     0x00095cdd       0xcf src/system_stm32f4xx.o
                               0x957f7 (size before relaxing)
- .debug_str     0x000961f4       0x33 src/utilities.o
+ .debug_str     0x00095dac       0x33 src/utilities.o
                                0x321c (size before relaxing)
- .debug_str     0x00096227      0x4cc C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal.o)
+ .debug_str     0x00095ddf      0x98a C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal.o)
                               0x96179 (size before relaxing)
- .debug_str     0x000966f3      0x29c C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_adc.o)
+ .debug_str     0x00096769      0x29c C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_adc.o)
                               0x95dd2 (size before relaxing)
- .debug_str     0x0009698f      0x354 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_cortex.o)
+ .debug_str     0x00096a05      0x354 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_cortex.o)
                               0x9602d (size before relaxing)
- .debug_str     0x00096ce3      0x1b2 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_dma.o)
+ .debug_str     0x00096d59      0x1b2 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_dma.o)
                               0x95ae4 (size before relaxing)
- .debug_str     0x00096e95      0x255 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_gpio.o)
+ .debug_str     0x00096f0b      0x255 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_gpio.o)
                               0x95a73 (size before relaxing)
- .debug_str     0x000970ea      0x265 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_rcc.o)
+ .debug_str     0x00097160      0x265 C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_rcc.o)
                               0x95bea (size before relaxing)
 
 .comment        0x00000000       0x6e
  .comment       0x00000000       0x6e src/drivers/adc.o
                                  0x6f (size before relaxing)
- .comment       0x0000006e       0x6f src/drivers/dma.o
  .comment       0x0000006e       0x6f src/main.o
  .comment       0x0000006e       0x6f src/stm32f4xx_it.o
  .comment       0x0000006e       0x6f src/system_stm32f4xx.o
@@ -3109,9 +2919,8 @@ OUTPUT(UAV-ControlSystem.elf elf32-littlearm)
  .comment       0x0000006e       0x6f C:\Users\Philip\Documents\GitHub\UAV-Control-System\revolution_hal_lib\Debug\librevolution_hal_lib.a(stm32f4xx_hal_rcc.o)
 
 .debug_frame    0x00000000     0x1320
- .debug_frame   0x00000000       0x90 src/drivers/adc.o
- .debug_frame   0x00000090       0x34 src/drivers/dma.o
- .debug_frame   0x000000c4       0x78 src/main.o
+ .debug_frame   0x00000000       0xe8 src/drivers/adc.o
+ .debug_frame   0x000000e8       0x54 src/main.o
  .debug_frame   0x0000013c       0x2c src/stm32f4xx_it.o
  .debug_frame   0x00000168       0x58 src/system_stm32f4xx.o
  .debug_frame   0x000001c0       0x50 src/utilities.o
diff --git a/UAV-ControlSystem/inc/drivers/adc.h b/UAV-ControlSystem/inc/drivers/adc.h
index 44a2520..918b5d5 100644
--- a/UAV-ControlSystem/inc/drivers/adc.h
+++ b/UAV-ControlSystem/inc/drivers/adc.h
@@ -6,6 +6,7 @@
  */
  /**********************************************************************
  * NAME: adc.h                                                         *
+ * AUTHOR: Philip Johansson                                            *
  * PURPOSE: Set up and read from ADC                                   *
  * INFORMATION:                                                        *
  *	How to use this driver is explained in page 107 of HAL driver      *
@@ -28,50 +29,29 @@
 
 #include "stm32f4xx.h"
 
+
 /***********************************************************************
-* BRIEF:                                                               *
-* INFORMATION:                                                         *
+* BRIEF: Configuration of ADC                                          *
+* INFORMATION: Also initializes                                        *
 ***********************************************************************/
 void adc_configure();
 
-
 /***********************************************************************
-* BRIEF:                                                               *
-* INFORMATION:                                                         *
+* BRIEF: Add the wanted channels to a list                             *
+* INFORMATION: Not initialized here but later                          *
 ***********************************************************************/
 void adc_pin_add(uint32_t adc_channel);
 
 /***********************************************************************
-* BRIEF:                                                               *
-* INFORMATION:                                                         *
+* BRIEF: Read ADC channel                                              *
+* INFORMATION: Returns a mean value from "ADB_BUFFER_LENGTH" samples.  *
+***********************************************************************/
+uint32_t adc_read(uint32_t adc_channel);
+
+/***********************************************************************
+* BRIEF: When ADC is configured this function starts the DMA sampling  *
+* INFORMATION: Third arg is size. When its full it starts over.        *
 ***********************************************************************/
 void adc_start();
 
-
-/***********************************************************************
-* BRIEF:                                                               *
-* INFORMATION:                                                         *
-***********************************************************************/
-uint32_t adc_read_int();
-
-/***********************************************************************
-* BRIEF:                                                               *
-* INFORMATION:                                                         *
-***********************************************************************/
-//void HAL_ADC_ConvCpltCallback();
-
-/***********************************************************************
-* BRIEF:                                                               *
-* INFORMATION:                                                         *
-***********************************************************************/
-//void D**MA2_Stream4_IRQHandler();
-
-/***********************************************************************
-* BRIEF:                                                               *
-* INFORMATION:                                                         *
-***********************************************************************/
-void ADC_IRQHandler();
-
-
-
 #endif /* DRIVERS_ADC_H_ */
diff --git a/UAV-ControlSystem/inc/drivers/dma.h b/UAV-ControlSystem/inc/drivers/dma.h
deleted file mode 100644
index 1600ca9..0000000
--- a/UAV-ControlSystem/inc/drivers/dma.h
+++ /dev/null
@@ -1,16 +0,0 @@
-/*
- * dma.h
- *
- *  Created on: 16 sep. 2016
- *      Author: Philip
- */
-
-#ifndef DRIVERS_DMA_H_
-#define DRIVERS_DMA_H_
-
-#include "stm32f4xx.h"
-#include "system_variables.h"
-
-void configureDMA();
-
-#endif /* DRIVERS_DMA_H_ */
diff --git a/UAV-ControlSystem/inc/system_variables.h b/UAV-ControlSystem/inc/system_variables.h
index 6958b66..48e4968 100644
--- a/UAV-ControlSystem/inc/system_variables.h
+++ b/UAV-ControlSystem/inc/system_variables.h
@@ -1,43 +1,32 @@
 /*
- * system_variables.h
- *
- *  Created on: 15 sep. 2016
- *      Author: Philip
- */
+ /**********************************************************************
+ * NAME: adc.h                                                         *
+ * AUTHOR: Philip Johansson                                            *
+ * PURPOSE: Set up and read from ADC                                   *
+ * INFORMATION:                                                        *
+ *	Here we gather common variables for the system as a whole          *
+ *	                                                                   *
+ * GLOBAL VARIABLES:                                                   *
+ * Variable		Type		Description                                *
+ * --------		----		-----------                                *
+ * 																	   *
+ **********************************************************************/
 
 #ifndef SYSTEM_VARIABLES_H_
 #define SYSTEM_VARIABLES_H_
 
-#define ADC_STATE_POLL AS_DMA
 
 
 #define ADC_STATE
 #include "stm32f4xx.h"
 
 
-enum ADC_STATES { AS_POLL, AS_IRQ, AS_DMA };
-
-/* A buffer for the ADC to write with DMA */
-enum{ ADC_BUFFER_LENGTH = 9 };
-extern volatile uint32_t g_ADCBuffer[ADC_BUFFER_LENGTH];
-
-/* Defining boolean - false = 0, true = 1 */
-enum BOOLEAN { false,true };
-
-/* Counter of ADC readings */
-extern int g_MeasurementNumber;
-
-/* ADC Rank - For each IO we increment the rank?? */
-extern int adc_rank;
-
-/* Last ADC reading (when polling) */
-extern __IO uint32_t g_ADCValue;
-
-/* ADC handler - OBS: Tried to use this as a pointer but it did not work */
-extern ADC_HandleTypeDef g_AdcHandle;
 
 
-/* DMA handler */
-extern DMA_HandleTypeDef g_DmaHandle;
+
+
+
+
+
 
 #endif /* SYSTEM_VARIABLES_H_ */
diff --git a/UAV-ControlSystem/inc/utilities.h b/UAV-ControlSystem/inc/utilities.h
index 2d8402d..35d18a0 100644
--- a/UAV-ControlSystem/inc/utilities.h
+++ b/UAV-ControlSystem/inc/utilities.h
@@ -4,6 +4,18 @@
  *  Created on: 16 sep. 2016
  *      Author: Philip
  */
+ /**********************************************************************
+ * NAME: utilities.c                                                   *
+ * AUTHOR: Philip Johansson                                            *
+ * PURPOSE: Set up and read from ADC                                   *
+ * INFORMATION:                                                        *
+ *	Here we gather usable functions by the whole system                *
+ *	                                                                   *
+ * GLOBAL VARIABLES:                                                   *
+ * Variable		Type		Description                                *
+ * --------		----		-----------                                *
+ * 																	   *
+ **********************************************************************/
 
 #ifndef UTILITIES_H_
 #define UTILITIES_H_
@@ -11,7 +23,17 @@
 #include <stdint.h>
 #include "stm32f4xx_it.h"
 
+/***********************************************************************
+* BRIEF: Sums elements of array until index of second arg              *
+* INFORMATION: Returns the sum                                         *
+***********************************************************************/
 uint32_t accumulate(uint32_t list[], int length);
+
+/***********************************************************************
+* BRIEF: A function that can be called on exceptions                   *
+* INFORMATION: If an exception happens its easier to find it in an     *
+* infinite loop                                                        *
+***********************************************************************/
 void Error_Handler(void);
 
 #endif /* UTILITIES_H_ */
diff --git a/UAV-ControlSystem/src/drivers/adc.c b/UAV-ControlSystem/src/drivers/adc.c
index 4a1a9a0..4509f14 100644
--- a/UAV-ControlSystem/src/drivers/adc.c
+++ b/UAV-ControlSystem/src/drivers/adc.c
@@ -1,30 +1,122 @@
 /*
  * ADC.c
- *
- *  Created on: 13 sep. 2016
- *      Author: Philip
- */
+ /**********************************************************************
+ * NAME: adc.c                                                         *
+ * AUTHOR: Philip Johansson                                            *
+ * PURPOSE: Set up and read from ADC                                   *
+ * INFORMATION:                                                        *
+ *	How to use this driver is explained in page 107 of HAL driver      *
+ *	Enable the ADC clock                                               *
+ *	Enable the GPIO clock for the pin wanted                           *
+ *	Configure the GPIO pin as analog input                             *
+ *	Configure the ADC speed (prescaler/sampling time)                  *
+ *	Enable continuous measurement mode                                 *
+ *	                                                                   *
+ *	Read more at: www.visualgdb.com/tutorials/arm/stm32/adc/           *
+ *	                                                                   *
+ * GLOBAL VARIABLES:                                                   *
+ * Variable		Type		Description                                *
+ * --------		----		-----------                                *
+ * 																	   *
+ **********************************************************************/
 #include "drivers/adc.h"
 #include "system_variables.h"
 #include "utilities.h"
+#include <stdlib.h>
 
+/* A buffer for the ADC to write with DMA */
+enum{ ADC_BUFFER_LENGTH = 10 }; // TODO: Make this define instead of enum
+uint32_t g_ADCBuffer[160] = {0}; // We allocate more than needed. Gives 10 readings on 16ch
 
+/* Handler for the ADC */
 ADC_HandleTypeDef g_AdcHandle;
 
-volatile uint32_t g_ADCBuffer[ADC_BUFFER_LENGTH] = {0};
-int g_MeasurementNumber = 0;
-int adc_rank = 0;
-__IO uint32_t g_ADCValue = 0;
-ADC_ChannelConfTypeDef sConfig;
+/* DMA handler */
+DMA_HandleTypeDef g_DmaHandle;
 
+/* Stores a list (in order) of the channels added
+ * OBS: Index/size defined by channel_counter */
+uint32_t channels_added[16];
+/* Increments when new ADC input is added */
+int channel_counter = 0;
+
+/* Stores the rank of every channel */
+uint32_t channel_ranks[16] = {0};
+
+
+
+void adc_pin_conf(uint32_t adc_channel, int adc_rank);
+
+
+/***********************************************************************
+* BRIEF: Read ADC channel                                              *
+* INFORMATION: Returns a mean value from "ADB_BUFFER_LENGTH" samples.  *
+***********************************************************************/
+uint32_t adc_read(uint32_t adc_channel)
+{
+	int rank = channel_ranks[adc_channel];
+	int sum = 0;
+	for (int i = rank - 1; i < ADC_BUFFER_LENGTH * channel_counter; i += channel_counter )
+		sum += g_ADCBuffer[i];
+
+	return (sum/ADC_BUFFER_LENGTH);
+}
+
+
+/***********************************************************************
+* BRIEF: DMA configuration                                             *
+* INFORMATION: Is triggered automatically, enables clocks              *
+***********************************************************************/
+void HAL_ADC_MspInit(ADC_HandleTypeDef * hadc)
+{
+
+	   //static DMA_HandleTypeDef g_DmaHandle;
+
+	   // Enable DMA, ADC and related GPIO ports clock
+	   __DMA2_CLK_ENABLE();
+	   __ADC1_CLK_ENABLE();
+	   __GPIOA_CLK_ENABLE();
+	   __GPIOC_CLK_ENABLE();
+
+	   // DMA2 Stream4 channel1 (physically mapped to ADC1) configuration
+	   g_DmaHandle.Instance = DMA2_Stream4;
+	   g_DmaHandle.Init.Channel = DMA_CHANNEL_0;
+	   g_DmaHandle.Init.Direction = DMA_PERIPH_TO_MEMORY;
+	   g_DmaHandle.Init.PeriphInc = DMA_PINC_DISABLE;
+	   g_DmaHandle.Init.MemInc = DMA_MINC_ENABLE;
+	   g_DmaHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
+	   g_DmaHandle.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
+	   g_DmaHandle.Init.Mode = DMA_CIRCULAR;
+	   g_DmaHandle.Init.Priority = DMA_PRIORITY_HIGH;
+	   g_DmaHandle.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+	   g_DmaHandle.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_HALFFULL;
+	   g_DmaHandle.Init.MemBurst = DMA_MBURST_SINGLE;
+	   g_DmaHandle.Init.PeriphBurst = DMA_PBURST_SINGLE;
+	   HAL_DMA_Init(&g_DmaHandle);
+
+	   // Associate the initialized DMA handle to the the ADC handle
+	   //__HAL_LINKDMA(adc_handler, DMA_Handle, g_DmaHandle);
+	   __HAL_LINKDMA(&g_AdcHandle, DMA_Handle, g_DmaHandle);
+
+	   /* These are for interrupt which we are not using for ADC/DMA */
+	   //NVIC configuration for DMA transfer complete interrupt
+	   //HAL_NVIC_SetPriority(DMA2_Stream4_IRQn, 15, 15);
+	   //HAL_NVIC_EnableIRQ(DMA2_Stream4_IRQn);
+}
+
+
+/***********************************************************************
+* BRIEF: Configuration of ADC                                          *
+* INFORMATION: Also initializes                                        *
+***********************************************************************/
 void adc_configure()
 {
 
-//
-//	__ADC1_CLK_ENABLE();
-//
-//	HAL_NVIC_SetPriority(ADC_IRQn, 0,0);
-//	HAL_NVIC_EnableIRQ(ADC_IRQn);
+	/*  Not using the IRQs but here is how they can be declared */
+	//	__ADC1_CLK_ENABLE();
+	//
+	//	HAL_NVIC_SetPriority(ADC_IRQn, 0,0);
+	//	HAL_NVIC_EnableIRQ(ADC_IRQn);
 
 	g_AdcHandle.Instance = ADC1;
 	g_AdcHandle.Init.ClockPrescaler = ADC_CLOCKPRESCALER_PCLK_DIV8;
@@ -36,17 +128,34 @@ void adc_configure()
 	g_AdcHandle.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE; //ADC_EXTERNALTRIGCONV_T1_CC1;
 	g_AdcHandle.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONVEDGE_NONE;
 	g_AdcHandle.Init.DataAlign = ADC_DATAALIGN_RIGHT;
-	g_AdcHandle.Init.NbrOfConversion = 3; //adc_rank;
+	g_AdcHandle.Init.NbrOfConversion = channel_counter; //adc_rank;
 	g_AdcHandle.Init.DMAContinuousRequests = ENABLE;//DISABLE;
 	g_AdcHandle.Init.EOCSelection = EOC_SINGLE_CONV;
 
 
 	if (HAL_ADC_Init(&g_AdcHandle) != HAL_OK)
 		Error_Handler();
+	for (int i = 0; i < channel_counter; i++)
+		adc_pin_conf(channels_added[i], i + 1);
 }
 
+/***********************************************************************
+* BRIEF: Add the wanted channels to a list                             *
+* INFORMATION: Not initialized here but later                          *
+***********************************************************************/
 void adc_pin_add(uint32_t adc_channel)
 {
+	channels_added[channel_counter] = adc_channel;
+	channel_counter++;
+}
+
+/***********************************************************************
+* BRIEF: Configures the ADC channel and ads it to the handler          *
+* INFORMATION: Each added channel gets an incrementing rank            *
+***********************************************************************/
+void adc_pin_conf(uint32_t adc_channel, int adc_rank)
+{
+
 	/* Variable used to initialize the GPIO */
 	GPIO_InitTypeDef gpioInit;
 	/* Variable to assign the IO to its Port ex PA, PB etc */
@@ -93,79 +202,30 @@ void adc_pin_add(uint32_t adc_channel)
 	gpioInit.Pull = GPIO_NOPULL;
 	HAL_GPIO_Init(gpio_port,&gpioInit);
 
-
-
 	ADC_ChannelConfTypeDef adc_channel_conf;
 
-
-
-
 	adc_channel_conf.Channel = adc_channel; // ex ADC_CHANNEL_12
-	adc_rank++;
 	adc_channel_conf.Rank = (uint32_t)adc_rank;
 	adc_channel_conf.SamplingTime = ADC_SAMPLETIME_480CYCLES;
 	adc_channel_conf.Offset = 0;
 
+	channel_ranks[adc_channel] = (uint32_t)adc_rank;
+
 	if (HAL_ADC_ConfigChannel(&g_AdcHandle, &adc_channel_conf) != HAL_OK)
-	{
-		//asm("bkpt 255");
 		Error_Handler();
-	}
-
-
-
 }
 
+
+/***********************************************************************
+* BRIEF: When ADC is configured this function starts the DMA sampling  *
+* INFORMATION: Third arg is size. When its full it starts over.        *
+***********************************************************************/
 void adc_start()
 {
-	if (ADC_STATE_POLL == AS_POLL)
-		/* Polling */
-		HAL_ADC_Start(&g_AdcHandle);
-	if (ADC_STATE_POLL == AS_IRQ)
-		/* Interrupt case */
-		//g_AdcHandle.DMA_Handle->XferCpltCallback = &HAL_ADC_ConvCpltCallback;
-		HAL_ADC_Start_IT(&g_AdcHandle);
-	if (ADC_STATE_POLL == AS_DMA)
-		/* DMA case */
-		//if (HAL_ADC_Start_DMA(&g_AdcHandle, g_ADCBuffer, ADC_BUFFER_LENGTH) != HAL_OK)
-		if (HAL_ADC_Start_DMA(&g_AdcHandle, (uint32_t*)&g_ADCBuffer, ADC_BUFFER_LENGTH) != HAL_OK)
-		{
-			Error_Handler();
-		}
-}
-
-uint32_t adc_read_int()
-{
-	uint32_t value = 0;
-	if (HAL_ADC_PollForConversion(&g_AdcHandle, 100) == HAL_OK)
-	{
-		 value = HAL_ADC_GetValue(&g_AdcHandle);
-	}
-	return value;
+	if (HAL_ADC_Start_DMA(&g_AdcHandle, (uint32_t*)&g_ADCBuffer, channel_counter * ADC_BUFFER_LENGTH) != HAL_OK)
+		Error_Handler();
 }
 
 
-//void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef * AdcHandle)
-//{
-//	/* Interrupt case */
-//	//g_ADCValue = HAL_ADC_GetValue(AdcHandle);
-//
-//
-//	/* DMA case */
-//	/*
-//	g_ADCValue = accumulate(*g_ADCBuffer, ADC_BUFFER_LENGTH) / ADC_BUFFER_LENGTH;
-//	g_MeasurementNumber += ADC_BUFFER_LENGTH;
-//	*/
-//
-//
-//	// Test to see if this functions is ran at all
-//	//g_ADCValue = 2;
-//
-//	int hej = g_ADCValue;
-//}
-
-
-
-
 
 
diff --git a/UAV-ControlSystem/src/drivers/dma.c b/UAV-ControlSystem/src/drivers/dma.c
deleted file mode 100644
index bfc134c..0000000
--- a/UAV-ControlSystem/src/drivers/dma.c
+++ /dev/null
@@ -1,41 +0,0 @@
-/*
- * dma.c
- *
- *  Created on: 16 sep. 2016
- *      Author: Philip
- */
-
-#include "drivers/dma.h"
-#include "stm32_hal_legacy.h"
-
-DMA_HandleTypeDef g_DmaHandle;
-
-void configureDMA()
-{
-	//__DMA2_CLK_ENABLE();
-	__HAL_RCC_DMA2_CLK_ENABLE();
-
-	g_DmaHandle.Instance = DMA2_Stream4;
-
-	g_DmaHandle.Init.Channel = DMA_CHANNEL_0;
-	g_DmaHandle.Init.Direction = DMA_PERIPH_TO_MEMORY;
-	g_DmaHandle.Init.PeriphInc = DMA_PINC_DISABLE;
-	g_DmaHandle.Init.MemInc	= DMA_MINC_ENABLE;
-	g_DmaHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
-	g_DmaHandle.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
-	g_DmaHandle.Init.Mode = DMA_CIRCULAR;
-	g_DmaHandle.Init.Priority = DMA_PRIORITY_HIGH;
-	g_DmaHandle.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
-	g_DmaHandle.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_HALFFULL;
-	g_DmaHandle.Init.MemBurst = DMA_MBURST_SINGLE;
-	g_DmaHandle.Init.PeriphBurst = DMA_PBURST_SINGLE;
-
-	HAL_DMA_Init(&g_DmaHandle);
-
-	__HAL_LINKDMA(&g_AdcHandle, DMA_Handle, g_DmaHandle);
-
-//	HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_0);)
-	HAL_NVIC_SetPriority(DMA2_Stream4_IRQn,0,0);
-	HAL_NVIC_EnableIRQ(DMA2_Stream4_IRQn);
-}
-
diff --git a/UAV-ControlSystem/src/main.c b/UAV-ControlSystem/src/main.c
index 76a5d32..e9b440d 100644
--- a/UAV-ControlSystem/src/main.c
+++ b/UAV-ControlSystem/src/main.c
@@ -13,23 +13,16 @@
 #include "drivers/adc.h"
 #include "stm32f4xx.h"
 #include "system_variables.h"
-#include "drivers/dma.h"
 #include "utilities.h"
 #include <string.h>
 
 
 
 			
-/* Private function prototypes -----------------------------------------------*/
+
 static void SystemClock_Config(void);
-static void SystemClock_Config_Lennart(void);
 
 
-ADC_HandleTypeDef adc_testinput_handle; // For example battery voltage
-ADC_HandleTypeDef adc_test2input_handle;
-uint32_t g_ADC2;
-int g_MeasurementNumber;
-
 
 int main(void)
 {
@@ -44,12 +37,15 @@ int main(void)
 	  /* Configure the system clock to 100 MHz */
 	  SystemClock_Config();
 
-	  adc_configure();
-
 	  adc_pin_add(ADC_CHANNEL_0);
 	  adc_pin_add(ADC_CHANNEL_1);
 	  adc_pin_add(ADC_CHANNEL_12);
 
+
+	  adc_configure();
+
+
+
 	  __GPIOB_CLK_ENABLE();
 
 	  GPIO_InitTypeDef gpinit;
@@ -66,8 +62,12 @@ int main(void)
 	  {
 	    i++;
 
-	    g_ADCValue = accumulate(g_ADCBuffer,ADC_BUFFER_LENGTH) / ADC_BUFFER_LENGTH;
+	    //g_ADCValue = accumulate(g_ADCBuffer,ADC_BUFFER_LENGTH) / ADC_BUFFER_LENGTH;
 	    //HAL_Delay(100);
+	    int g_ADCValue = adc_read(ADC_CHANNEL_0);
+	    int g_ADCValue1 = adc_read(ADC_CHANNEL_1);
+	    int g_ADCValue12 = adc_read(ADC_CHANNEL_12);
+
 	    int offTime = g_ADCValue;
 	    int onTime = 4096 - offTime;
 	    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_5,GPIO_PIN_SET);
@@ -86,59 +86,11 @@ int main(void)
 	for(;;);
 }
 
-HAL_ADC_MspInit(ADC_HandleTypeDef * hadc)
-{
-
-	   //static DMA_HandleTypeDef g_DmaHandle;
-
-	   // Enable DMA, ADC and related GPIO ports clock
-	   __DMA2_CLK_ENABLE();
-	   __ADC1_CLK_ENABLE();
-	   __GPIOA_CLK_ENABLE();
-	   __GPIOC_CLK_ENABLE();
-
-	   // DMA2 Stream4 channel1 (physically mapped to ADC1) configuration
-	   g_DmaHandle.Instance = DMA2_Stream4;
-	   g_DmaHandle.Init.Channel = DMA_CHANNEL_0;
-	   g_DmaHandle.Init.Direction = DMA_PERIPH_TO_MEMORY;
-	   g_DmaHandle.Init.PeriphInc = DMA_PINC_DISABLE;
-	   g_DmaHandle.Init.MemInc = DMA_MINC_ENABLE;
-	   g_DmaHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD;
-	   g_DmaHandle.Init.MemDataAlignment = DMA_MDATAALIGN_WORD;
-	   g_DmaHandle.Init.Mode = DMA_CIRCULAR;
-	   g_DmaHandle.Init.Priority = DMA_PRIORITY_HIGH;
-	   g_DmaHandle.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
-	   g_DmaHandle.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_HALFFULL;
-	   g_DmaHandle.Init.MemBurst = DMA_MBURST_SINGLE;
-	   g_DmaHandle.Init.PeriphBurst = DMA_PBURST_SINGLE;
-	   HAL_DMA_Init(&g_DmaHandle);
-
-	   // Associate the initialized DMA handle to the the ADC handle
-	   //__HAL_LINKDMA(adc_handler, DMA_Handle, g_DmaHandle);
-	   __HAL_LINKDMA(&g_AdcHandle, DMA_Handle, g_DmaHandle);
-
-	   // NVIC configuration for DMA transfer complete interrupt
-	   //HAL_NVIC_SetPriority(DMA2_Stream4_IRQn, 15, 15);
-	   //HAL_NVIC_EnableIRQ(DMA2_Stream4_IRQn);
-}
-
-//void DMA2_Stream4_IRQHandler(void)
-//{
-//	//HAL_DMA_IRQHandler(g_AdcHandle.DMA_Handle);
-//	HAL_DMA_IRQHandler(&g_DmaHandle);
-//}
-//
-//void ADC_IRQHandler()
-//{
-//	HAL_ADC_IRQHandler(&g_AdcHandle);
-//}
-//
-//void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef * AdcHandle)
-//{
-//	int i = 2;
-//}
-
 
+/***********************************************************************
+* BRIEF: Starts the system clock                                       *
+* INFORMATION: In the current version it works with ADC and DMA        *
+***********************************************************************/
 static void SystemClock_Config(void)
 {
 	RCC_ClkInitTypeDef RCC_ClkInitStruct;
@@ -177,10 +129,3 @@ static void SystemClock_Config(void)
 }
 
 
-
-/**
-  * @brief  This function is executed in case of error occurrence.
-  * @param  None
-  * @retval None
-  */
-
diff --git a/UAV-ControlSystem/src/utilities.c b/UAV-ControlSystem/src/utilities.c
index f04d223..a125951 100644
--- a/UAV-ControlSystem/src/utilities.c
+++ b/UAV-ControlSystem/src/utilities.c
@@ -1,11 +1,24 @@
 /*
  * utilities.c
- *
- *  Created on: 16 sep. 2016
- *      Author: Philip
- */
+ /**********************************************************************
+ * NAME: utilities.c                                                   *
+ * AUTHOR: Philip Johansson                                            *
+ * PURPOSE: Set up and read from ADC                                   *
+ * INFORMATION:                                                        *
+ *	Here we gather usable functions by the whole system                *
+ *	                                                                   *
+ * GLOBAL VARIABLES:                                                   *
+ * Variable		Type		Description                                *
+ * --------		----		-----------                                *
+ * 																	   *
+ **********************************************************************/
+
 #include "utilities.h"
 
+/***********************************************************************
+* BRIEF: Sums elements of array until index of second arg              *
+* INFORMATION: Returns the sum                                         *
+***********************************************************************/
 uint32_t accumulate(uint32_t * list, int length)
 {
 	int value = 0;
@@ -16,6 +29,11 @@ uint32_t accumulate(uint32_t * list, int length)
 	return value;
 }
 
+/***********************************************************************
+* BRIEF: A function that can be called on exceptions                   *
+* INFORMATION: If an exception happens its easier to find it in an     *
+* infinite loop                                                        *
+***********************************************************************/
 void Error_Handler(void)
 {
   while(1)