diff --git a/lib/asm/non_matchings/unknown_072930/_MakeMotorData.s b/lib/asm/non_matchings/osMotor/_MakeMotorData.s
similarity index 100%
rename from lib/asm/non_matchings/unknown_072930/_MakeMotorData.s
rename to lib/asm/non_matchings/osMotor/_MakeMotorData.s
diff --git a/lib/asm/non_matchings/unknown_072930/osMotorInit.s b/lib/asm/non_matchings/osMotor/osMotorInit.s
similarity index 78%
rename from lib/asm/non_matchings/unknown_072930/osMotorInit.s
rename to lib/asm/non_matchings/osMotor/osMotorInit.s
index 0508ae1a..1c86ff94 100644
--- a/lib/asm/non_matchings/unknown_072930/osMotorInit.s
+++ b/lib/asm/non_matchings/osMotor/osMotorInit.s
@@ -49,15 +49,15 @@ glabel osMotorInit
 .L8007218C:
 /* 072D8C 8007218C 24010080 */  li    $at, 128
 /* 072D90 80072190 11C10003 */  beq   $t6, $at, .L800721A0
-/* 072D94 80072194 3C048012 */   lui   $a0, %hi(D_80123FF0) # $a0, 0x8012
+/* 072D94 80072194 3C048012 */   lui   $a0, %hi(_motorstartbuf) # $a0, 0x8012
 /* 072D98 80072198 10000026 */  b     .L80072234
 /* 072D9C 8007219C 2402000B */   li    $v0, 11
 .L800721A0:
-/* 072DA0 800721A0 3C038012 */  lui   $v1, %hi(D_80123FD0) # $v1, 0x8012
-/* 072DA4 800721A4 3C058012 */  lui   $a1, %hi(D_80123FF0) # $a1, 0x8012
-/* 072DA8 800721A8 24A53FF0 */  addiu $a1, %lo(D_80123FF0) # addiu $a1, $a1, 0x3ff0
-/* 072DAC 800721AC 24633FD0 */  addiu $v1, %lo(D_80123FD0) # addiu $v1, $v1, 0x3fd0
-/* 072DB0 800721B0 24843FF0 */  addiu $a0, %lo(D_80123FF0) # addiu $a0, $a0, 0x3ff0
+/* 072DA0 800721A0 3C038012 */  lui   $v1, %hi(_motorstopbuf) # $v1, 0x8012
+/* 072DA4 800721A4 3C058012 */  lui   $a1, %hi(_motorstartbuf) # $a1, 0x8012
+/* 072DA8 800721A8 24A53FF0 */  addiu $a1, %lo(_motorstartbuf) # addiu $a1, $a1, 0x3ff0
+/* 072DAC 800721AC 24633FD0 */  addiu $v1, %lo(_motorstopbuf) # addiu $v1, $v1, 0x3fd0
+/* 072DB0 800721B0 24843FF0 */  addiu $a0, %lo(_motorstartbuf) # addiu $a0, $a0, 0x3ff0
 /* 072DB4 800721B4 24020001 */  li    $v0, 1
 .L800721B8:
 /* 072DB8 800721B8 24630004 */  addiu $v1, $v1, 4
@@ -71,21 +71,21 @@ glabel osMotorInit
 /* 072DD8 800721D8 A082FFFC */  sb    $v0, -4($a0)
 /* 072DDC 800721DC 1465FFF6 */  bne   $v1, $a1, .L800721B8
 /* 072DE0 800721E0 A060FFFC */   sb    $zero, -4($v1)
-/* 072DE4 800721E4 3C0F8012 */  lui   $t7, %hi(D_80123ED0) # $t7, 0x8012
-/* 072DE8 800721E8 25EF3ED0 */  addiu $t7, %lo(D_80123ED0) # addiu $t7, $t7, 0x3ed0
-/* 072DEC 800721EC 3C068012 */  lui   $a2, %hi(D_80123FF0) # $a2, 0x8012
+/* 072DE4 800721E4 3C0F8012 */  lui   $t7, %hi(_MotorStartData) # $t7, 0x8012
+/* 072DE8 800721E8 25EF3ED0 */  addiu $t7, %lo(_MotorStartData) # addiu $t7, $t7, 0x3ed0
+/* 072DEC 800721EC 3C068012 */  lui   $a2, %hi(_motorstartbuf) # $a2, 0x8012
 /* 072DF0 800721F0 00101180 */  sll   $v0, $s0, 6
 /* 072DF4 800721F4 004F3821 */  addu  $a3, $v0, $t7
 /* 072DF8 800721F8 AFA2002C */  sw    $v0, 0x2c($sp)
-/* 072DFC 800721FC 24C63FF0 */  addiu $a2, %lo(D_80123FF0) # addiu $a2, $a2, 0x3ff0
+/* 072DFC 800721FC 24C63FF0 */  addiu $a2, %lo(_motorstartbuf) # addiu $a2, $a2, 0x3ff0
 /* 072E00 80072200 02002025 */  move  $a0, $s0
 /* 072E04 80072204 0C01C7E0 */  jal   _MakeMotorData
 /* 072E08 80072208 24050600 */   li    $a1, 1536
 /* 072E0C 8007220C 8FA2002C */  lw    $v0, 0x2c($sp)
-/* 072E10 80072210 3C188012 */  lui   $t8, %hi(D_80123DD0) # $t8, 0x8012
-/* 072E14 80072214 27183DD0 */  addiu $t8, %lo(D_80123DD0) # addiu $t8, $t8, 0x3dd0
-/* 072E18 80072218 3C068012 */  lui   $a2, %hi(D_80123FD0) # $a2, 0x8012
-/* 072E1C 8007221C 24C63FD0 */  addiu $a2, %lo(D_80123FD0) # addiu $a2, $a2, 0x3fd0
+/* 072E10 80072210 3C188012 */  lui   $t8, %hi(_MotorStopData) # $t8, 0x8012
+/* 072E14 80072214 27183DD0 */  addiu $t8, %lo(_MotorStopData) # addiu $t8, $t8, 0x3dd0
+/* 072E18 80072218 3C068012 */  lui   $a2, %hi(_motorstopbuf) # $a2, 0x8012
+/* 072E1C 8007221C 24C63FD0 */  addiu $a2, %lo(_motorstopbuf) # addiu $a2, $a2, 0x3fd0
 /* 072E20 80072220 02002025 */  move  $a0, $s0
 /* 072E24 80072224 24050600 */  li    $a1, 1536
 /* 072E28 80072228 0C01C7E0 */  jal   _MakeMotorData
diff --git a/lib/asm/non_matchings/unknown_072930/osMotorStart.s b/lib/asm/non_matchings/osMotor/osMotorStart.s
similarity index 95%
rename from lib/asm/non_matchings/unknown_072930/osMotorStart.s
rename to lib/asm/non_matchings/osMotor/osMotorStart.s
index 165e2e22..fc0abd6c 100644
--- a/lib/asm/non_matchings/unknown_072930/osMotorStart.s
+++ b/lib/asm/non_matchings/osMotor/osMotorStart.s
@@ -8,8 +8,8 @@ glabel osMotorStart
 /* 072A70 80071E70 3C018013 */  lui   $at, %hi(__osContLastCmd) # $at, 0x8013
 /* 072A74 80071E74 A02ECD90 */  sb    $t6, %lo(__osContLastCmd)($at)
 /* 072A78 80071E78 8DF80008 */  lw    $t8, 8($t7)
-/* 072A7C 80071E7C 3C088012 */  lui   $t0, %hi(D_80123ED0) # $t0, 0x8012
-/* 072A80 80071E80 25083ED0 */  addiu $t0, %lo(D_80123ED0) # addiu $t0, $t0, 0x3ed0
+/* 072A7C 80071E7C 3C088012 */  lui   $t0, %hi(_MotorStartData) # $t0, 0x8012
+/* 072A80 80071E80 25083ED0 */  addiu $t0, %lo(_MotorStartData) # addiu $t0, $t0, 0x3ed0
 /* 072A84 80071E84 0018C980 */  sll   $t9, $t8, 6
 /* 072A88 80071E88 03282821 */  addu  $a1, $t9, $t0
 /* 072A8C 80071E8C 0C0335B0 */  jal   __osSiRawStartDma
diff --git a/lib/asm/non_matchings/unknown_072930/osMotorStop.s b/lib/asm/non_matchings/osMotor/osMotorStop.s
similarity index 95%
rename from lib/asm/non_matchings/unknown_072930/osMotorStop.s
rename to lib/asm/non_matchings/osMotor/osMotorStop.s
index 30c01635..0875e6b9 100644
--- a/lib/asm/non_matchings/unknown_072930/osMotorStop.s
+++ b/lib/asm/non_matchings/osMotor/osMotorStop.s
@@ -8,8 +8,8 @@ glabel osMotorStop
 /* 072948 80071D48 3C018013 */  lui   $at, %hi(__osContLastCmd) # $at, 0x8013
 /* 07294C 80071D4C A02ECD90 */  sb    $t6, %lo(__osContLastCmd)($at)
 /* 072950 80071D50 8DF80008 */  lw    $t8, 8($t7)
-/* 072954 80071D54 3C088012 */  lui   $t0, %hi(D_80123DD0) # $t0, 0x8012
-/* 072958 80071D58 25083DD0 */  addiu $t0, %lo(D_80123DD0) # addiu $t0, $t0, 0x3dd0
+/* 072954 80071D54 3C088012 */  lui   $t0, %hi(_MotorStopData) # $t0, 0x8012
+/* 072958 80071D58 25083DD0 */  addiu $t0, %lo(_MotorStopData) # addiu $t0, $t0, 0x3dd0
 /* 07295C 80071D5C 0018C980 */  sll   $t9, $t8, 6
 /* 072960 80071D60 03282821 */  addu  $a1, $t9, $t0
 /* 072964 80071D64 0C0335B0 */  jal   __osSiRawStartDma
diff --git a/lib/src/os/osMotor.c b/lib/src/os/osMotor.c
index eab11065..4379d74d 100644
--- a/lib/src/os/osMotor.c
+++ b/lib/src/os/osMotor.c
@@ -3,8 +3,171 @@
 
 #include "types.h"
 #include "macros.h"
+#include "libultra_internal.h"
+#include "controller.h"
+#include "siint.h"
 
-GLOBAL_ASM("lib/asm/non_matchings/unknown_072930/osMotorStop.s")
-GLOBAL_ASM("lib/asm/non_matchings/unknown_072930/osMotorStart.s")
-GLOBAL_ASM("lib/asm/non_matchings/unknown_072930/_MakeMotorData.s")
-GLOBAL_ASM("lib/asm/non_matchings/unknown_072930/osMotorInit.s")
+#if 1
+GLOBAL_ASM("lib/asm/non_matchings/osMotor/osMotorStop.s")
+GLOBAL_ASM("lib/asm/non_matchings/osMotor/osMotorStart.s")
+GLOBAL_ASM("lib/asm/non_matchings/osMotor/_MakeMotorData.s")
+GLOBAL_ASM("lib/asm/non_matchings/osMotor/osMotorInit.s")
+#else
+
+static void _MakeMotorData(int channel, u16 address, u8 *buffer, OSPifRam *mdata);
+//u32 __osMotorinitialized[MAXCONTROLLERS] = {0, 0, 0, 0};
+extern OSPifRam _MotorStopData[MAXCONTROLLERS];
+extern OSPifRam _MotorStartData[MAXCONTROLLERS];
+extern u8 _motorstopbuf[32];
+extern u8 _motorstartbuf[32];
+s32 osMotorStop(OSPfs *pfs)
+{
+    int i;
+    s32 ret;
+    u8 *ptr;
+    __OSContRamReadFormat ramreadformat;
+
+    __osSiGetAccess();
+
+    __osContLastCmd = CONT_CMD_WRITE_MEMPACK;
+    __osSiRawStartDma(OS_WRITE, &_MotorStopData[pfs->channel]);
+    osRecvMesg(pfs->queue, NULL, OS_MESG_BLOCK);
+    ret = __osSiRawStartDma(OS_READ, &__osPfsPifRam);
+    osRecvMesg(pfs->queue, NULL, OS_MESG_BLOCK);
+    ptr = (u8 *)&__osPfsPifRam;
+
+    if (pfs->channel != 0)
+        for (i = 0; i < pfs->channel; i++)
+            ptr++;
+
+    ramreadformat = *(__OSContRamReadFormat *)ptr;
+    ret = CHNL_ERR(ramreadformat);
+    if (ret == 0 && ramreadformat.datacrc != __osContDataCrc((u8*)&_motorstopbuf))
+    {
+        ret = PFS_ERR_CONTRFAIL;
+    }
+    __osSiRelAccess();
+    return ret;
+}
+
+s32 osMotorStart(OSPfs *pfs)
+{
+
+    int i;
+    s32 ret;
+    u8 *ptr;
+    __OSContRamReadFormat ramreadformat;
+
+    __osSiGetAccess();
+
+    __osContLastCmd = CONT_CMD_WRITE_MEMPACK;
+    __osSiRawStartDma(OS_WRITE, &_MotorStartData[pfs->channel]);
+    osRecvMesg(pfs->queue, NULL, OS_MESG_BLOCK);
+    ret = __osSiRawStartDma(OS_READ, &__osPfsPifRam);
+    osRecvMesg(pfs->queue, NULL, OS_MESG_BLOCK);
+    ptr = (u8 *)&__osPfsPifRam;
+
+    if (pfs->channel != 0)
+        for (i = 0; i < pfs->channel; i++)
+            ptr++;
+
+    ramreadformat = *(__OSContRamReadFormat *)ptr;
+    ret = CHNL_ERR(ramreadformat);
+    if (ret == 0 && ramreadformat.datacrc != __osContDataCrc((u8*)&_motorstartbuf))
+    {
+        ret = PFS_ERR_CONTRFAIL;
+    }
+    __osSiRelAccess();
+    return ret;
+}
+
+static void _MakeMotorData(int channel, u16 address, u8 *buffer, OSPifRam *mdata)
+{
+    u8 *ptr;
+    __OSContRamReadFormat ramreadformat;
+    int i;
+
+    ptr = (u8 *)mdata->ramarray;
+    for (i = 0; i < ARRLEN(mdata->ramarray); i++)
+        mdata->ramarray[i] = 0;
+    mdata->pifstatus = CONT_CMD_EXE;
+    ramreadformat.dummy = CONT_CMD_NOP;
+    ramreadformat.txsize = CONT_CMD_WRITE_MEMPACK_TX;
+    ramreadformat.rxsize = CONT_CMD_WRITE_MEMPACK_RX;
+    ramreadformat.cmd = CONT_CMD_WRITE_MEMPACK;
+
+    ramreadformat.address = (address << 0x5) | __osContAddressCrc(address);
+    ramreadformat.datacrc = CONT_CMD_NOP;
+    for (i = 0; i < ARRLEN(ramreadformat.data); i++)
+
+        ramreadformat.data[i] = *buffer++;
+    if (channel != 0)
+    {
+        for (i = 0; i < channel; i++)
+        {
+            *ptr++ = 0;
+        }
+    }
+    *(__OSContRamReadFormat *)ptr = ramreadformat;
+    ptr += sizeof(__OSContRamReadFormat);
+    ptr[0] = CONT_CMD_END;
+}
+
+s32 osMotorInit(OSMesgQueue *mq, OSPfs *pfs, int channel)
+{
+    int i;
+    s32 ret;
+    u8 temp[32];
+    pfs->queue = mq;
+    pfs->channel = channel;
+    pfs->status = 0;
+    pfs->activebank = 128;
+
+    for (i = 0; i < ARRLEN(temp); i++)
+        temp[i] = 254;
+
+    ret = __osContRamWrite(mq, channel, 1024, temp, FALSE);
+    if (ret == 2) //TODO: remove magic constant
+        ret = __osContRamWrite(mq, channel, 1024, temp, FALSE);
+    if (ret != 0)
+        return ret;
+
+    ret = __osContRamRead(mq, channel, 1024, temp);
+    if (ret == 2)
+        ret = PFS_ERR_CONTRFAIL; //is this right?
+    if (ret != 0)
+        return ret;
+    if (temp[31] == 254)
+        return PFS_ERR_DEVICE;
+
+    for (i = 0; i < ARRLEN(temp); i++)
+        temp[i] = 128;
+
+    ret = __osContRamWrite(mq, channel, 1024, temp, FALSE);
+    if (ret == 2)
+        ret = __osContRamWrite(mq, channel, 1024, temp, FALSE);
+    if (ret != 0)
+        return ret;
+
+    ret = __osContRamRead(mq, channel, 1024, temp);
+    if (ret == 2)
+        ret = PFS_ERR_CONTRFAIL;
+    if (ret != 0)
+        return ret;
+    if (temp[31] != 128)
+        return PFS_ERR_DEVICE;
+
+    //if (!__osMotorinitialized[channel])
+    //{
+        for (i = 0; i < ARRLEN(_motorstartbuf); i++)
+        {
+            _motorstartbuf[i] = 1;
+            _motorstopbuf[i] = 0;
+        }
+        _MakeMotorData(channel, 1536, _motorstartbuf, &_MotorStartData[channel]);
+        _MakeMotorData(channel, 1536, _motorstopbuf, &_MotorStopData[channel]);
+        //__osMotorinitialized[channel] = 1;
+    //}
+    return 0;
+}
+#endif
diff --git a/src/memory.c b/src/memory.c
index 43087210..5a6ee72e 100644
--- a/src/memory.c
+++ b/src/memory.c
@@ -4,6 +4,7 @@
 #include "memory.h"
 #include "printf.h"
 #include "thread0_epc.h"
+#include "controller.h"
 
 /************ .rodata ************/
 
@@ -37,10 +38,10 @@ s32 D_801235C4;
 FreeQueueSlot gFreeQueue[256];
 s32 gFreeQueueCount;
 s32 gFreeQueueState;
-s32 D_80123DD0[64];
-s32 D_80123ED0[64];
-s32 D_80123FD0[8];
-s32 D_80123FF0[8];
+OSPifRam _MotorStopData[MAXCONTROLLERS];
+OSPifRam _MotorStartData[MAXCONTROLLERS];
+u8 _motorstopbuf[32];
+u8 _motorstartbuf[32];
 
 extern MemoryPoolSlot gMainMemoryPool;