diff --git a/README.md b/README.md
index cefae16..a8f839e 100644
--- a/README.md
+++ b/README.md
@@ -4,15 +4,17 @@ BTA_utils
 clone of my BTA_utils on sourceforge
 
 
-** jsonbta
+* jsonbta
 Allows to stream BTA data over TCP socket
 
-** Stellarium_control
+* Stellarium_control
 Allows to point telescope with help of stellarium
 
-** fits_headers
+* fits_headers
 Process FITS-files with WCS headers and calculate reference angle between plate angle (P2) and parallax angle
 
-** wfs_read
+* wfs_read
 Read WFS/DAT files got by SHA tool (Shack-Hartmann processing utilite) and get some information from it.
 
+* p1rotator
+Raspberry-Pi based tool for BTA field derotators
diff --git a/p1rotator/config.h b/p1rotator/config.h
index 20e0b2c..33b0d29 100644
--- a/p1rotator/config.h
+++ b/p1rotator/config.h
@@ -37,14 +37,14 @@
 
 // End-switch - GPIO25 (leg22)
 #define ESW_PIN         (25)
-// Stepper: EN - GPIO18 (leg12), DIR - GPIO23 (leg16), STEP - GPIO24 (leg18)
+// Stepper: STEP - GPIO18 (leg12), DIR - GPIO23 (leg16), EN - GPIO24 (leg18)
 #define DIR_PIN         (23)
-#define STEP_PIN        (24)
-#define EN_PIN          (18)
+#define STEP_PIN        (18)
+#define EN_PIN          (24)
 
 // active/passive levels (depending on stepper driver connection schematic)
-#define PIN_ACTIVE      (1)
-#define PIN_PASSIVE     (0)
+#define PIN_ACTIVE      (0)
+#define PIN_PASSIVE     (1)
 
 // active level on end-switch: 0 - normally opened, 1 - normally closed
 #define ESW_ACTIVE      (0)
@@ -55,7 +55,7 @@
 
 // maximum 200 steps per second
 #define MAX_SPEED   (200)
-#define USTEP_DELAY (1./MAX_SPEED/USTEPS)
+#define USTEP_DELAY (1./MAX_SPEED/USTEPS/2)
 
 // Position angle calculation (val_Alp, val_Del, S_time - for real work)
 #define CALC_PA()       calc_PA(SrcAlpha, SrcDelta, S_time)
@@ -65,7 +65,7 @@
 
 
 // microsteps per one revolution
-#define ONETURN_USTEPS  (ONETURN_STEPS * USTEPS * GEARRAT)
+#define ONETURN_USTEPS  (ONETURN_STEPS * USTEPS * GEARRAT * 2)
 // initial (wrong) value of microsteps counter
 #define USTEPSBAD       (2*ONETURN_USTEPS)
 // minimal PA delta
diff --git a/p1rotator/stepper.c b/p1rotator/stepper.c
index 99a0b3a..e394591 100644
--- a/p1rotator/stepper.c
+++ b/p1rotator/stepper.c
@@ -98,9 +98,11 @@ void print_PA(double ang){
 
 #ifdef __arm__
 static void Write(int pin, int val){
+	double t0 = dtime();
     if(val) val = 1;
     digitalWrite(pin, val);
-    while(digitalRead(pin) != val);
+    while(digitalRead(pin) != val && dtime() - t0 > 1.);
+    if(digitalRead(pin) != val) WARNX("error setting pin value: need %d, got %d", val, digitalRead(pin));
 }
 static void Toggle(int pin){
     int v = digitalRead(pin);
@@ -110,15 +112,19 @@ static void Toggle(int pin){
 
 void setup_pins(){
 #ifdef __arm__
+	DBG("setup GPIO");
     wiringPiSetupGpio();
-    Write(EN_PIN, PIN_PASSIVE); // disable all @ start
-    Write(DIR_PIN, PIN_PASSIVE);
-    Write(STEP_PIN, PIN_PASSIVE);
+    DBG("setup PINs");
     pinMode(DIR_PIN, OUTPUT);
     pinMode(EN_PIN, OUTPUT);
     pinMode(STEP_PIN, OUTPUT);
     pinMode(ESW_PIN, INPUT);
+    Write(EN_PIN, PIN_PASSIVE); // disable all @ start
+    Write(DIR_PIN, PIN_PASSIVE);
+    Write(STEP_PIN, PIN_PASSIVE);
+    DBG("setup pullup");
     pullUpDnControl(ESW_PIN, PUD_UP);
+    DBG("done");
 #else // __arm__
     green("Setup GPIO\n");
 #endif // __arm__
@@ -129,17 +135,19 @@ void setup_pins(){
  */
 void stop_motor(){
 //    force_exit = 1;
-    usleep(1000);
+//    usleep(1000);
 #ifdef __arm__
     // disable motor & all other
-    pullUpDnControl(ESW_PIN, PUD_OFF);
-    pinMode(DIR_PIN, INPUT);
-    pinMode(EN_PIN, INPUT);
-    pinMode(STEP_PIN, INPUT);
+    DBG("return pin modes");
     // return values to initial state
     Write(EN_PIN, 0);
     Write(DIR_PIN, 0);
     Write(STEP_PIN, 0);
+    pinMode(DIR_PIN, INPUT);
+    //pinMode(EN_PIN, INPUT);
+    pinMode(STEP_PIN, INPUT);
+	DBG("pull control");
+    pullUpDnControl(ESW_PIN, PUD_OFF);
     DBG("STOPPED");
 #else
     green("Stop Stepper\n");
@@ -170,6 +178,7 @@ static void move_motor(int nusteps){
         dir = -1;
         nusteps = -nusteps;
     }
+    DBG("moving for %d steps", nusteps);
 #ifdef __arm__
     Write(DIR_PIN, (dir > 0) ? DIR_POSITIVE : DIR_NEGATIVE); // prepare direction
     for(; nusteps; --nusteps){
@@ -187,6 +196,7 @@ int gotozero(){
 #ifdef __arm__
     int nusteps = ONETURN_USTEPS * 1.1;
     Write(DIR_PIN, DIR_NEGATIVE);
+    DBG("go to zero position");
     for(; nusteps; --nusteps){
         Toggle(STEP_PIN);
         mk_pause(USTEP_DELAY);