diff --git a/source/position_sense/tamagawa/firmware/tamagawa_main.asm b/source/position_sense/tamagawa/firmware/tamagawa_main.asm
index 8f6fc48..d77eb91 100644
--- a/source/position_sense/tamagawa/firmware/tamagawa_main.asm
+++ b/source/position_sense/tamagawa/firmware/tamagawa_main.asm
@@ -173,11 +173,13 @@ TAMAGAWA_SKIP_INIT_SUCCESS:
     ;Initialization successful status update ends here
 	SBCO	&R0.b0,	PRUx_DMEM,	TAMAGAWA_INTFC_CMD_STATUS_OFFSET,	1
 
-HANDLE_PERIODIC_TRIGGER_MODE:
+CHECK_OPERATING_MODE:
 	LBCO	&R0.b0,	PRUx_DMEM,	TAMAGAWA_OPMODE_CONFIG_OFFSET,	1
     ;If opmode=1, Host trigger is done
 	;If opmode=0, Periodic trigger is done
 	QBNE	HANDLE_HOST_TRIGGER_MODE,	R0.b0,		0
+
+HANDLE_PERIODIC_TRIGGER_MODE:
     ;Get compare event status
     LBCO	&R0,	ICSS_IEP,	ICSS_IEP_CMP_STATUS_REG,	4
     ; wait till IEP CMP3 event
@@ -187,6 +189,7 @@ HANDLE_PERIODIC_TRIGGER_MODE:
     ; store compare event status
     SBCO	&R0,	ICSS_IEP,  ICSS_IEP_CMP_STATUS_REG,	4
     ; SET command TRIGGER
+    LDI		R0.b0,	1
     SBCO    &R0.b0,	PRUx_DMEM, TAMAGAWA_INTFC_CMD_TRIGGER_OFFSET,	1
 
 HANDLE_HOST_TRIGGER_MODE:
@@ -212,12 +215,15 @@ TAMAGAWA_HOST_CMD_END:
     ;check PRU host trigger for all three channels
     LBCO	&R3.b0,	PRUx_DMEM,	TAMAGAWA_OPMODE_CONFIG_OFFSET,	1 
     ;skip interrupt to R5F in host trigger
-    QBNE  SKIP_INTERRUPT_TRIGGER,  R3.b0,  0
+    QBNE    SKIP_INTERRUPT_TRIGGER,  R3.b0,  0
     ;Generate interrupt to R5F
-    LDI  R31.w0, 34;PRU_TRIGGER_HOST_TAMAGAWA_EVT0 ( pr0_pru_mst_intr[2]_intr_req )
-SKIP_INTERRUPT_TRIGGER:
+    LDI     R31.w0, 34;PRU_TRIGGER_HOST_TAMAGAWA_EVT0 ( pr0_pru_mst_intr[2]_intr_req )
+    ;Global reinit
+    set     R31, TAMAGAWA_TX_GLOBAL_REINIT
     ;Handle next Postition in periodic trigger
-    QBEQ		HANDLE_PERIODIC_TRIGGER_MODE,	R3.b0,		0
+    JMP		HANDLE_PERIODIC_TRIGGER_MODE
+
+SKIP_INTERRUPT_TRIGGER:
     ;Handle next Position request by user.
     JMP		HANDLE_HOST_TRIGGER_MODE
 
diff --git a/source/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h b/source/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h
index 0b79575..93ac76e 100644
--- a/source/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h
+++ b/source/position_sense/tamagawa/firmware/tamagawa_master_single_channel_bin.h
@@ -76,15 +76,16 @@ const unsigned int TamagawaFirmware[]= {
 0x91401880,
 0x914418c0,
 0x91481801,
-0x23019788,
+0x23019988,
 0x24000100,
 0x81031800,
 0x91001800,
-0x69000006,
+0x69000007,
 0x91743a80,
-0xcf03e0fd,
+0xcf03e0ff,
 0x1f03e0e0,
 0x81743a80,
+0x24000100,
 0x81021800,
 0x91021800,
 0x570000ff,
@@ -92,14 +93,15 @@ const unsigned int TamagawaFirmware[]= {
 0x9105183b,
 0x91081821,
 0x91091806,
-0x23002d88,
+0x23002f88,
 0x24000083,
 0x81021803,
 0x91001803,
-0x69000302,
+0x69000304,
 0x2400229f,
-0x570003ed,
-0x21001f00,
+0x1f13ffff,
+0x21001a00,
+0x21002000,
 0xc9000702,
 0x240000de,
 0xc9010702,
@@ -114,30 +116,30 @@ const unsigned int TamagawaFirmware[]= {
 0x51047a1b,
 0x101b1b1e,
 0x103b3b1e,
-0x230159c8,
-0x21009500,
+0x23015bc8,
+0x21009700,
 0xc9000705,
 0x11035e1a,
 0x69001a03,
 0x2400881a,
-0x21004c00,
+0x21004e00,
 0xc9010705,
 0x11035e1a,
 0x69011a03,
 0x2400b01a,
-0x21004c00,
+0x21004e00,
 0xc9020705,
 0x11035e1a,
 0x69021a03,
 0x2400d81a,
-0x21004c00,
+0x21004e00,
 0x901a3899,
 0x1079791e,
 0x1059591e,
 0x1039391e,
 0x1019191e,
-0x230159c8,
-0x21009500,
+0x23015bc8,
+0x21009700,
 0xc900070c,
 0x11035e1a,
 0x69001a0a,
@@ -149,7 +151,7 @@ const unsigned int TamagawaFirmware[]= {
 0x1079791e,
 0x1059591e,
 0x1039391e,
-0x21007700,
+0x21007900,
 0xc901070c,
 0x11035e1a,
 0x69011a0a,
@@ -161,7 +163,7 @@ const unsigned int TamagawaFirmware[]= {
 0x1079791e,
 0x1059591e,
 0x1039391e,
-0x21007700,
+0x21007900,
 0xc902070c,
 0x11035e1a,
 0x69021a0a,
@@ -173,8 +175,8 @@ const unsigned int TamagawaFirmware[]= {
 0x1079791e,
 0x1059591e,
 0x1039391e,
-0x21007700,
-0x230159c8,
+0x21007900,
+0x23015bc8,
 0x2eff819a,
 0x100a0a5e,
 0xc9000709,
@@ -185,7 +187,7 @@ const unsigned int TamagawaFirmware[]= {
 0x2400881a,
 0x901a1819,
 0x1019191e,
-0x21009500,
+0x21009700,
 0xc9010709,
 0x11035e1a,
 0x69011a07,
@@ -194,7 +196,7 @@ const unsigned int TamagawaFirmware[]= {
 0x2400b01a,
 0x901a1819,
 0x1019191e,
-0x21009500,
+0x21009700,
 0xc9020709,
 0x11035e1a,
 0x69021a07,
@@ -203,7 +205,7 @@ const unsigned int TamagawaFirmware[]= {
 0x2400d81a,
 0x901a1819,
 0x1019191e,
-0x21009500,
+0x21009700,
 0x2eff9d8b,
 0x2eff8183,
 0x2eff8185,
@@ -229,7 +231,7 @@ const unsigned int TamagawaFirmware[]= {
 0x11017f1c,
 0x6f011cff,
 0xd104ff02,
-0x2100b000,
+0x2100b200,
 0x1f070b0b,
 0x101c1c7f,
 0x100b0b0c,
@@ -241,10 +243,10 @@ const unsigned int TamagawaFirmware[]= {
 0x09010303,
 0x09010b0b,
 0x12630303,
-0x2100c000,
+0x2100c200,
 0x24000023,
 0x50030b02,
-0x2100bf00,
+0x2100c100,
 0x24000123,
 0x811838a3,
 0x01012424,
@@ -256,19 +258,19 @@ const unsigned int TamagawaFirmware[]= {
 0x51082408,
 0x510c240b,
 0x5100060e,
-0x2100a200,
+0x2100a400,
 0x10ececf0,
 0x2eff818c,
 0x5100440e,
-0x2100c800,
+0x2100ca00,
 0x10ececf1,
 0x2eff818c,
 0x5100440a,
-0x2100c800,
+0x2100ca00,
 0x10ececf2,
 0x2eff818c,
 0x51004406,
-0x2100c800,
+0x2100ca00,
 0x24000044,
 0x670424f3,
 0x670824f6,
@@ -291,7 +293,7 @@ const unsigned int TamagawaFirmware[]= {
 0x11027f1c,
 0x6f021cff,
 0xd10cff02,
-0x2100ee00,
+0x2100f000,
 0x1f070b0b,
 0x101c1c7f,
 0x100b0b0c,
@@ -303,10 +305,10 @@ const unsigned int TamagawaFirmware[]= {
 0x09010303,
 0x09010b0b,
 0x12630303,
-0x2100fe00,
+0x21010000,
 0x24000023,
 0x50030b02,
-0x2100fd00,
+0x2100ff00,
 0x24000123,
 0x812838a3,
 0x01012424,
@@ -318,19 +320,19 @@ const unsigned int TamagawaFirmware[]= {
 0x51082408,
 0x510c240b,
 0x5100060e,
-0x2100e000,
+0x2100e200,
 0x10ececf0,
 0x2eff818c,
 0x5100440e,
-0x21010600,
+0x21010800,
 0x10ececf1,
 0x2eff818c,
 0x5100440a,
-0x21010600,
+0x21010800,
 0x10ececf2,
 0x2eff818c,
 0x51004406,
-0x21010600,
+0x21010800,
 0x24000044,
 0x670424f3,
 0x670824f6,
@@ -353,7 +355,7 @@ const unsigned int TamagawaFirmware[]= {
 0x11047f1c,
 0x6f041cff,
 0xd114ff02,
-0x21012c00,
+0x21012e00,
 0x1f070b0b,
 0x101c1c7f,
 0x100b0b0c,
@@ -365,10 +367,10 @@ const unsigned int TamagawaFirmware[]= {
 0x09010303,
 0x09010b0b,
 0x12630303,
-0x21013c00,
+0x21013e00,
 0x24000023,
 0x50030b02,
-0x21013b00,
+0x21013d00,
 0x24000123,
 0x813838a3,
 0x01012424,
@@ -380,19 +382,19 @@ const unsigned int TamagawaFirmware[]= {
 0x51082408,
 0x510c240b,
 0x5100060e,
-0x21011e00,
+0x21012000,
 0x10ececf0,
 0x2eff818c,
 0x5100440e,
-0x21014400,
+0x21014600,
 0x10ececf1,
 0x2eff818c,
 0x5100440a,
-0x21014400,
+0x21014600,
 0x10ececf2,
 0x2eff818c,
 0x51004406,
-0x21014400,
+0x21014600,
 0x24000044,
 0x670424f3,
 0x670824f6,
@@ -409,9 +411,9 @@ const unsigned int TamagawaFirmware[]= {
 0x51087a04,
 0x51047a05,
 0x13500202,
-0x21016600,
+0x21016800,
 0x13f00202,
-0x21016600,
+0x21016800,
 0x11000202,
 0x2401099d,
 0x809d0402,
@@ -426,9 +428,9 @@ const unsigned int TamagawaFirmware[]= {
 0x51087a04,
 0x51047a05,
 0x13500202,
-0x21017700,
+0x21017900,
 0x13f00202,
-0x21017700,
+0x21017900,
 0x11000202,
 0x2401119d,
 0x809d0402,
@@ -443,9 +445,9 @@ const unsigned int TamagawaFirmware[]= {
 0x51087a04,
 0x51047a05,
 0x13500202,
-0x21018800,
+0x21018a00,
 0x13f00202,
-0x21018800,
+0x21018a00,
 0x11000202,
 0x2401199d,
 0x809d0402,