diff --git a/01_Matlab/BLDCmotorControl_FOC_R2017b_fixdt.slx b/01_Matlab/BLDCmotorControl_FOC_R2017b_fixdt.slx
index 7ae59db..9fa7c6d 100644
Binary files a/01_Matlab/BLDCmotorControl_FOC_R2017b_fixdt.slx and b/01_Matlab/BLDCmotorControl_FOC_R2017b_fixdt.slx differ
diff --git a/01_Matlab/init_model.m b/01_Matlab/init_model.m
index 4e3dce2..2e45e9c 100644
--- a/01_Matlab/init_model.m
+++ b/01_Matlab/init_model.m
@@ -58,16 +58,16 @@ r_cos_M1            = cos((a_elecAngle_XA + 30)*(pi/180));
 
 %% Control Manager
 % Control type selection
-CTRL_COM            = 0;    % [-] Commutation Control
-CTRL_FOC            = 1;    % [-] Field Oriented Control (FOC)
-z_ctrlTypSel        = 1;    % [-] Control Type Selection (default)
+CTRL_COM            = 0;        % [-] Commutation Control
+CTRL_FOC            = 1;        % [-] Field Oriented Control (FOC)
+z_ctrlTypSel        = CTRL_FOC; % [-] Control Type Selection (default)
 
 % Control model request
-OPEN_MODE           = 0;    % [-] Open mode
-VLT_MODE            = 1;    % [-] Voltage mode
-SPD_MODE            = 2;    % [-] Speed mode
-TRQ_MODE            = 3;    % [-] Torque mode
-z_ctrlModReq        = 1;    % [-] Control Mode Request (default)
+OPEN_MODE           = 0;        % [-] Open mode
+VLT_MODE            = 1;        % [-] Voltage mode
+SPD_MODE            = 2;        % [-] Speed mode
+TRQ_MODE            = 3;        % [-] Torque mode
+z_ctrlModReq        = VLT_MODE; % [-] Control Mode Request (default)
 
 %% F01_Estimations
 % Position Estimation Parameters
diff --git a/Inc/config.h b/Inc/config.h
index 9d2eeb0..b6640d9 100644
--- a/Inc/config.h
+++ b/Inc/config.h
@@ -137,7 +137,7 @@
  * 1. In BLDC_controller_data.c you can find the field weakening Map as a function of input target: MAP = id_fieldWeak_M1, XAXIS = r_fieldWeak_XA
  * 2. The default calibration was experimentally calibrated to my particular needs
  * 3. If you re-calibrate the field weakening map please take all the safety measures! The motors can spin very fast!
- * 4. During the recalibration make sure the speed values in XAXIS are equally spaced for a correct Map interpolation.
+ * 4. During the recalibration make sure the values in XAXIS are equally spaced for a correct Map interpolation.
  */
 
 
@@ -152,7 +152,7 @@
  */
 
 // Value of FILTER is in fixdt(0,16,16)
-// VAL_fixedPoint = VAL_floatingPoint * 2^16. In this case 6554 = 0.1 * 2^16
+// VAL_fixedPoint = VAL_floatingPoint * 2^16. In this case 6553 = 0.1 * 2^16
 #define FILTER              6553  // 0.1f [-] lower value == softer filter [0, 65535] = [ 0.0 - 1.0].
 
 // Value of COEFFICIENT is in fixdt(1,16,14)
diff --git a/Src/bldc.c b/Src/bldc.c
index c1e71c2..4a8d49f 100644
--- a/Src/bldc.c
+++ b/Src/bldc.c
@@ -79,10 +79,9 @@ static int16_t offsetdcr    = 2000;
 int16_t        batVoltage       = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE;
 static int16_t batVoltageFixdt  = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE << 4;  // Fixed-point filter output initialized at 400 V*100/cell = 4 V/cell converted to fixed-point
 
-
-//scan 8 channels with 2ADCs @ 20 clk cycles per sample
-//meaning ~80 ADC clock cycles @ 8MHz until new DMA interrupt =~ 100KHz
-//=640 cpu cycles
+// =================================
+// DMA interrupt frequency =~ 16 kHz
+// =================================
 void DMA1_Channel1_IRQHandler(void) {
 
   DMA1->IFCR = DMA_IFCR_CTCIF1;