diff --git a/HSFW_management/99-edmund_hsfw.rules b/HSFW_management/99-edmund_hsfw.rules
new file mode 100644
index 0000000..daadae6
--- /dev/null
+++ b/HSFW_management/99-edmund_hsfw.rules
@@ -0,0 +1 @@
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="82cd", MODE:="0666"
diff --git a/HSFW_management/CMakeLists.txt b/HSFW_management/CMakeLists.txt
new file mode 100644
index 0000000..49bfefe
--- /dev/null
+++ b/HSFW_management/CMakeLists.txt
@@ -0,0 +1,114 @@
+cmake_minimum_required(VERSION 2.8)
+set(PROJ HSFW_manage)
+set(MINOR_VERSION "1")
+set(MID_VERSION "0")
+set(MAJOR_VERSION "0")
+set(VERSION "${MAJOR_VERSION}.${MID_VERSION}.${MINOR_VERSION}")
+# new policy for version control
+if(POLICY CMP0048)
+	cmake_policy(SET CMP0048 OLD)
+endif(POLICY CMP0048)
+
+enable_language(C)
+
+message("VERSION: ${VERSION}")
+# default flags
+set(CFLAGS -O2 -Wextra -Wall -Werror -W -std=gnu99)
+
+set(CMAKE_COLOR_MAKEFILE ON)
+
+# here is one of two variants: all .c in directory or .c files in list
+aux_source_directory(${CMAKE_CURRENT_SOURCE_DIR} SOURCES)
+
+# cmake -DDEBUG=1 -> debugging
+if(DEFINED DEBUG)
+	add_definitions(-DEBUG)
+endif()
+
+# directory should contain dir locale/ru for gettext translations
+set(LCPATH ${CMAKE_SOURCE_DIR}/locale/ru)
+
+if(NOT DEFINED LOCALEDIR)
+	if(DEFINED DEBUG)
+		set(LOCALEDIR ${CMAKE_CURRENT_SOURCE_DIR}/locale)
+	else()
+		set(LOCALEDIR ${CMAKE_INSTALL_PREFIX}/share/locale)
+	endif()
+endif()
+
+###### pkgconfig ######
+# pkg-config modules (for pkg-check-modules)
+set(MODULES libudev)
+# find packages:
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(${PROJ} REQUIRED ${MODULES})
+pkg_check_modules(USB libusb)
+if(NOT USB_FOUND)
+	pkg_check_modules(USB REQUIRED libusb-1.0)
+endif()
+
+project(${PROJ})
+# change wrong behaviour with install prefix
+if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT AND CMAKE_INSTALL_PREFIX MATCHES "/usr/local")
+	message("Change default install path to /usr")
+	set(CMAKE_INSTALL_PREFIX "/usr")
+endif()
+message("Install dir prefix: ${CMAKE_INSTALL_PREFIX}")
+
+# gettext files
+set(PO_FILE ${LCPATH}/messages.po)
+set(MO_FILE ${LCPATH}/LC_MESSAGES/${PROJ}.mo)
+set(RU_FILE ${LCPATH}/ru.po)
+
+# exe file
+add_executable(${PROJ} ${SOURCES})
+# -I
+include_directories(${${PROJ}_INCLUDE_DIRS} ${USB_INCLUDE_DIRS})
+# -L
+link_directories(${${PROJ}_LIBRARY_DIRS} ${USB_LIBRARY_DIRS})
+# -D
+add_definitions(${CFLAGS} -DLOCALEDIR=\"${LOCALEDIR}\"
+		-DPACKAGE_VERSION=\"${VERSION}\" -DGETTEXT_PACKAGE=\"${PROJ}\"
+		-DMINOR_VERSION=\"${MINOR_VERSION}\" -DMID_VERSION=\"${MID_VERSION}\"
+		-DMAJOR_VERSION=\"${MAJOR_VESION}\")
+# -l
+target_link_libraries(${PROJ} ${${PROJ}_LIBRARIES} ${USB_LIBRARIES})
+
+# Installation of the program
+INSTALL(FILES ${MO_FILE} DESTINATION "share/locale/ru/LC_MESSAGES")
+INSTALL(TARGETS ${PROJ} DESTINATION "bin")
+
+###### gettext ######
+find_package(Gettext REQUIRED)
+find_program(GETTEXT_XGETTEXT_EXECUTABLE xgettext)
+if(NOT GETTEXT_XGETTEXT_EXECUTABLE OR NOT GETTEXT_MSGFMT_EXECUTABLE)
+	message(FATAL_ERROR "xgettext not found")
+endif()
+file(MAKE_DIRECTORY ${LCPATH})
+file(MAKE_DIRECTORY ${LCPATH}/LC_MESSAGES)
+
+add_custom_command(
+	OUTPUT ${PO_FILE}
+	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+	COMMAND ${GETTEXT_XGETTEXT_EXECUTABLE} --from-code=utf-8 ${SOURCES} -c -k_ -kN_ -o ${PO_FILE}
+	COMMAND sed -i 's/charset=.*\\\\n/charset=koi8-r\\\\n/' ${PO_FILE}
+	COMMAND enconv ${PO_FILE}
+	DEPENDS ${SOURCES}
+)
+
+# we need this to prewent ru.po & .mo from deleting by make clean
+add_custom_command(
+	OUTPUT ${MO_FILE}
+	COMMAND ${GETTEXT_MSGFMT_EXECUTABLE} ${RU_FILE} -o ${MO_FILE}
+	DEPENDS ${RU_FILE} ru_file_updated
+)
+
+add_custom_command(
+	OUTPUT ru_file_updated
+	COMMAND [ -f ${RU_FILE} ] && ${GETTEXT_MSGMERGE_EXECUTABLE} -Uis ${RU_FILE} ${PO_FILE} || cp ${PO_FILE} ${RU_FILE}
+	COMMAND ${CMAKE_COMMAND} -E touch ru_file_updated
+	BYPRODUCTS ${RU_FILE}
+	DEPENDS ${PO_FILE}
+)
+
+add_custom_target(MO_FILE ALL DEPENDS ${MO_FILE})
diff --git a/HSFW_management/LICENSE b/HSFW_management/LICENSE
new file mode 100644
index 0000000..70566f2
--- /dev/null
+++ b/HSFW_management/LICENSE
@@ -0,0 +1,674 @@
+GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+                            Preamble
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+
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+
+  Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+  12. No Surrender of Others' Freedom.
+
+  If conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
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+  14. Revised Versions of this License.
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+
+  If the Program specifies that a proxy can decide which future
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+  Later license versions may give you additional or different
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+  15. Disclaimer of Warranty.
+
+  THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
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+  16. Limitation of Liability.
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+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+  17. Interpretation of Sections 15 and 16.
+
+  If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+                     END OF TERMS AND CONDITIONS
+
+            How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    {one line to give the program's name and a brief idea of what it does.}
+    Copyright (C) {year}  {name of author}
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+  If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+    {project}  Copyright (C) {year}  {fullname}
+    This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+  You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<http://www.gnu.org/licenses/>.
+
+  The GNU General Public License does not permit incorporating your program
+into proprietary programs.  If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library.  If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.  But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.
\ No newline at end of file
diff --git a/HSFW_management/Readme.md b/HSFW_management/Readme.md
new file mode 100644
index 0000000..9c73f76
--- /dev/null
+++ b/HSFW_management/Readme.md
@@ -0,0 +1,3 @@
+Edmund Optics high-speed filter wheel management
+================================================
+
diff --git a/HSFW_management/cmdlnopts.c b/HSFW_management/cmdlnopts.c
new file mode 100644
index 0000000..da25c2e
--- /dev/null
+++ b/HSFW_management/cmdlnopts.c
@@ -0,0 +1,135 @@
+/*
+ * cmdlnopts.c - the only function that parse cmdln args and returns glob parameters
+ *
+ * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+#include <assert.h>
+#include <stdio.h>
+#include <string.h>
+#include <strings.h>
+#include <math.h>
+#include "cmdlnopts.h"
+#include "usefull_macros.h"
+
+#define RAD 57.2957795130823
+#define D2R(x) ((x) / RAD)
+#define R2D(x) ((x) * RAD)
+
+/*
+ * here are global parameters initialisation
+ */
+int help;
+glob_pars G;
+
+int listNms   = 0       // list names
+	,gohome   = 0       // first go home
+	,reName   = 0       // rename wheels/positions
+;
+
+
+//            DEFAULTS
+// default global parameters
+glob_pars const Gdefault = {
+	 NULL          // wheelID
+	,NULL          // wheelName
+	,0             // filterPos ( 0 - get current position)
+	,NULL          // filterName
+	,NULL          // filterId
+};
+
+/*
+ * Define command line options by filling structure:
+ *	name	has_arg	flag	val		type		argptr			help
+*/
+myoption cmdlnopts[] = {
+	/// "отобразить эту справку"
+	{"help",	NO_ARGS,	NULL,	'h',	arg_int,	APTR(&help),		N_("show this help")},
+	/// "буквенный идентификатор колеса"
+	{"wheel-id",NEED_ARG,	NULL,	'W',	arg_string,	APTR(&G.wheelID),	N_("letter wheel identificator")},
+	/// "название колеса"
+	{"wheel-name",NEED_ARG,	NULL,	'N',	arg_string,	APTR(&G.wheelName),	N_("wheel name")},
+	/// "номер позиции фильтра"
+	{"f-position",NEED_ARG,	NULL,	'p',	arg_int,	APTR(&G.filterPos),	N_("filter position number")},
+	/// "название фильтра"
+	{"filter-name",NEED_ARG,NULL,	'n',	arg_string,	APTR(&G.filterName),N_("filter name")},
+	/// "идентификатор фильтра, например, \"A3\""
+	{"filter-id",NEED_ARG,	NULL,	'i',	arg_string,	APTR(&G.filterId),	N_("filter identificator like \"A3\"")},
+	/// "список всех сохраненных имен"
+	{"list-all",NO_ARGS,	&listNms,LIST_ALL,arg_none,	NULL,				N_("list all stored names")},
+	/// "список имен только присутствующих устройств"
+	{"list",	NO_ARGS,	&listNms,LIST_PRES,arg_none,NULL,				N_("list only present devices' names")},
+	/// "переместиться в стартовую позицию"
+	{"home",	NO_ARGS,	NULL,	'H',	arg_none,	&gohome,			N_("move to home position")},
+	/// "переименовать сохраненные имена колес/фильтров"
+	{"rename",	NO_ARGS,	&reName,1,		arg_none,	NULL,				N_("rename stored wheels/filters names")},
+	end_option
+};
+
+/**
+ * Safely convert data from string to double
+ *
+ * @param num (o) - double number read from string
+ * @param str (i) - input string
+ * @return TRUE if success
+ */
+bool myatod(double *num, const char *str){
+	double res;
+	char *endptr;
+	assert(str);
+	res = strtod(str, &endptr);
+	if(endptr == str || *str == '\0' || *endptr != '\0'){
+		/// "Неправильный формат числа double!"
+		WARNX(_("Wrong double number format!"));
+		return FALSE;
+	}
+	*num = res;
+	return TRUE;
+}
+
+/**
+ * Parse command line options and return dynamically allocated structure
+ * 		to global parameters
+ * @param argc - copy of argc from main
+ * @param argv - copy of argv from main
+ * @return allocated structure with global parameters
+ */
+glob_pars *parse_args(int argc, char **argv){
+	int i, oldargc = argc - 1;
+	void *ptr;
+	ptr = memcpy(&G, &Gdefault, sizeof(G)); assert(ptr);
+	/// "Использование: %s [аргументы] [префикс выходного файла]\n\n\tГде [аргументы]:\n"
+	//change_helpstring(_("Usage: %s [args] [outfile prefix] [file list for group operations]\n\n\tWhere args are:\n"));
+	// parse arguments
+	parseargs(&argc, &argv, cmdlnopts);
+	if(help) showhelp(-1, cmdlnopts);
+	if(argc > 0){
+		/// "Игнорируются параметры: "
+		WARNX(_("Ignore parameters:"));
+		for (i = 0; i < argc; i++){
+			printf("%s\n", argv[i]);
+		}
+	}
+	if(argc == oldargc){ // no parameters given or given only wrong parameters
+		listNms = LIST_PRES;
+		/// "Не передано никаких аргументов, вывожу список подключенных устройств!"
+		WARNX(_("No arguments given, list all devices connected!"));
+		return &G;
+	}
+	return &G;
+}
+
diff --git a/HSFW_management/cmdlnopts.h b/HSFW_management/cmdlnopts.h
new file mode 100644
index 0000000..d5b794b
--- /dev/null
+++ b/HSFW_management/cmdlnopts.h
@@ -0,0 +1,51 @@
+/*
+ * cmdlnopts.h - comand line options for parseargs
+ *
+ * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#pragma once
+#ifndef __CMDLNOPTS_H__
+#define __CMDLNOPTS_H__
+
+#include "parseargs.h"
+
+/*
+ * here are some typedef's for global data
+ */
+typedef struct{
+	char *wheelID;         // ID of wheel to work with
+	char *wheelName;       // and/or its name
+	int   filterPos;       // position of filter
+	char *filterName;      // and/or its name
+	char *filterId;        // or full ID like "A2"
+} glob_pars;
+
+// ids for "list all" & "list present"
+#define LIST_ALL   (1)
+#define LIST_PRES  (2)
+
+// default & global parameters
+extern glob_pars const Gdefault;
+extern int listNms, gohome, reName;
+
+extern glob_pars G;
+
+glob_pars *parse_args(int argc, char **argv);
+
+#endif // __CMDLNOPTS_H__
diff --git a/HSFW_management/hidmanage.c b/HSFW_management/hidmanage.c
new file mode 100644
index 0000000..0c48f9b
--- /dev/null
+++ b/HSFW_management/hidmanage.c
@@ -0,0 +1,99 @@
+/*
+ * hidmanage.c - manage HID devices
+ *
+ * Copyright 2016 Edward V. Emelianoff <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#include <libudev.h>
+#include "usefull_macros.h"
+#include "hidmanage.h"
+
+/**
+ * Find turrets present
+ * @param wheels (o) - if not NULL - list of wheels found (like "ABC")
+ * return amount of devices found
+ *
+ * WARNING! If there's more than one turret with wheels having same name
+ *    access by wheel ID could lead undefined behaviour!
+ */
+int find_wheels(wheel_descr **wheels){
+	struct udev *udev;
+	struct udev_enumerate *enumerate;
+	struct udev_list_entry *devices, *dev_list_entry;
+	wheel_descr *founded = NULL;
+	// Create the udev object
+	udev = udev_new();
+	int N = 0;
+	if(!udev){
+		ERR("Can't create udev");
+	}
+	// Create a list of the devices in the 'hidraw' subsystem.
+	enumerate = udev_enumerate_new(udev);
+	udev_enumerate_add_match_subsystem(enumerate, "hidraw");
+	udev_enumerate_scan_devices(enumerate);
+	devices = udev_enumerate_get_list_entry(enumerate);
+	// Check out each device found
+	udev_list_entry_foreach(dev_list_entry, devices){
+		const char *path;
+		struct udev_device *dev;
+		path = udev_list_entry_get_name(dev_list_entry);
+		dev = udev_device_new_from_syspath(udev, path);
+		const char *devpath = udev_device_get_devnode(dev);
+		DBG("Device Node Path: %s", devpath);
+		dev = udev_device_get_parent_with_subsystem_devtype(dev, "usb", "usb_device");
+		if(!dev){
+			WARNX("Unable to find parent usb device for %s", devpath);
+			udev_device_unref(dev);
+			continue;
+		}
+		const char *vid, *pid;
+		vid = udev_device_get_sysattr_value(dev,"idVendor");
+		pid = udev_device_get_sysattr_value(dev, "idProduct");
+		DBG("  VID/PID: %s/%s", vid, pid);
+		if(strcmp(vid, W_VID) == 0 && strcmp(pid, W_PID) == 0){
+			++N;
+			if(!founded){
+				founded = MALLOC(wheel_descr, 1);
+			}else{
+				founded = realloc(founded, sizeof(wheel_descr)*N);
+				if(!founded) ERR("realloc");
+			}
+			wheel_descr *curdev = &founded[N-1];
+			int fd = open(devpath, O_RDWR|O_NONBLOCK);
+			if(fd < 0){
+				/// "Не могу открыть %s"
+				WARN(_("Can't open %s"), devpath);
+				curdev->fd = -1;
+			}else
+				curdev->fd = fd;
+			DBG("%s  %s",
+					udev_device_get_sysattr_value(dev,"manufacturer"),
+					udev_device_get_sysattr_value(dev,"product"));
+			curdev->serial = strdup(udev_device_get_sysattr_value(dev, "serial"));
+			DBG("serial: %s\n", curdev->serial);
+		}
+		udev_device_unref(dev);
+	}
+	// Free the enumerator object
+	udev_enumerate_unref(enumerate);
+	if(wheels){
+		*wheels = founded;
+	}else
+		free(founded);
+	return N;
+}
diff --git a/HSFW_management/hidmanage.h b/HSFW_management/hidmanage.h
new file mode 100644
index 0000000..5cb2295
--- /dev/null
+++ b/HSFW_management/hidmanage.h
@@ -0,0 +1,38 @@
+/*
+ * hidmanage.h - manage HID devices
+ *
+ * Copyright 2016 Edward V. Emelianoff <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+#pragma once
+#ifndef __HIDMANAGE_H__
+#define __HIDMANAGE_H__
+
+#define W_VID "10c4"
+#define W_PID "82cd"
+
+typedef struct{
+	int fd;
+	char *serial;
+	char ID;
+	char name[9];
+	int maxpos;
+} wheel_descr;
+
+int find_wheels(wheel_descr **wheels);
+
+#endif // __HIDMANAGE_H__
diff --git a/HSFW_management/hsfw.c b/HSFW_management/hsfw.c
new file mode 100644
index 0000000..e22086c
--- /dev/null
+++ b/HSFW_management/hsfw.c
@@ -0,0 +1,459 @@
+/*
+ * hsfw.c - functions for work with wheels
+ *
+ * Copyright 2016 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#include <string.h>
+#include <sys/ioctl.h>
+#include <linux/hidraw.h>
+
+#include "cmdlnopts.h"
+#include "usefull_macros.h"
+#include "hsfw.h"
+#include "hidmanage.h"
+
+// wheel Id & filter position given (if given by name - check names stored)
+static int wheel_id = -1      // wheel ID given or found by name
+	,filter_pos = -1          // filter position given or found by name
+	,max_pos = -1             // max filter position allowed
+	,wheel_fd = -1            // file descriptor of active wheel
+	,HW_found = 0             // amount of wheels found
+;
+
+static wheel_descr *wheel_chosen = NULL; // pointer to chosen wheel
+
+static wheel_descr *wheels = NULL; // array with descriptors of found devs
+
+char *get_filter_name(wheel_descr *wheel, int pos);
+void list_hw(int show);
+void rename_hw();
+void move_wheel();
+void set_cur_wheel(int idx);
+int writereg(int fd, uint8_t *buf, int l);
+int readreg(int fd, uint8_t *buf, int reg, int l);
+void check_and_clear_err(int fd);
+void go_home(int fd);
+void list_props(_U_ int verblevl, wheel_descr *wheel);
+int poll_regstatus(int fd, int msg);
+
+/**
+ * set variables pointing current wheel to wheels[idx]
+ */
+void set_cur_wheel(int idx){
+	wheel_chosen = &wheels[idx];
+	wheel_id = wheel_chosen->ID;
+	wheel_fd = wheel_chosen->fd;
+	max_pos = wheel_chosen->maxpos;
+}
+
+/**
+ * Check command line arguments, find filters/wheels by name, find max positions & so on
+ */
+void check_args(){
+	// here we fill value of wheel_id if no given and present only one turret
+	list_hw(listNms);  // also exit if no HW found
+	if(listNms) return;
+	int i;
+	if(G.wheelID || G.filterId){
+		char wID = (G.wheelID) ? *G.wheelID : *G.filterId;
+		if((wID < 'A' || wID > 'H') || (G.wheelID && strlen(G.wheelID) != 1)){
+			/// "Идентификатор колеса должен быть буквой от \"A\" до \"H\"!"
+			ERRX(_("Wheel ID should be a letter from \"A\" to \"H\"!"));
+		}
+		wheel_id = wID;
+		DBG("wheel given by id: %c", wheel_id);
+		for(i = 0; i < HW_found; ++i){
+			if(wheels[i].ID == wheel_id)
+				set_cur_wheel(i);
+		}
+	}
+	if(G.wheelName){ // find wheel by name given
+		if(G.wheelID){
+			/// "Заданы и идентификатор, и имя колеса; попробуйте что-то одно!"
+			ERRX(_("You give both wheel ID and wheel name, try something one!"));
+		}
+		wheel_fd = -1;
+		for(i = 0; i < HW_found; ++i){
+			if(strcmp(wheels[i].name, G.wheelName) == 0){
+				set_cur_wheel(i);
+				break;
+			}
+		}
+	}
+	// if there's only one turret, fill wheel_id
+	if(wheel_id < 0 && HW_found == 1)
+		set_cur_wheel(0);
+	if(wheel_fd < 0 || !wheel_chosen){
+		/// "Заданное колесо не обнаружено!"
+		ERRX(_("Given wheel not found!"));
+	}
+	if(gohome) return;
+	if(G.filterId){ // filter given by its id like "B3"
+		char *fid = G.filterId;
+		/// "Идентификатор фильтра состоит из буквы (колесо) и цифры (позиция)"
+		if(strlen(G.filterId) != 2 || fid[1] > '9' || fid[1] < '0')
+			ERRX(_("Filter ID is letter (wheel) and number (position)"));
+		filter_pos = fid[1] - '0';
+	}else if(G.filterPos){ // filter given by numerical position
+		filter_pos = G.filterPos;
+	}else if(G.filterName){ // filter given by name - search it
+		for(i = 1; i <= max_pos; ++i){
+			DBG("Search filter %s in pos %d (%s)", G.filterName, i, get_filter_name(wheel_chosen, i));
+			if(strcmp(G.filterName, get_filter_name(wheel_chosen, i)) == 0){
+				filter_pos = i;
+				break;
+			}
+		}
+		if(i > max_pos){
+			/// "Фильтр %s не обнаружен"
+			ERRX(_("Filter %s not found!"), G.filterName);
+		}
+	}else{
+		/// "Не задано никакого действия"
+		ERRX("No action given");
+	}
+	if(filter_pos < 1 || filter_pos > max_pos){
+		/// "Позиция фильтра должна быть числом от 1 до %d!"
+		ERRX(_("Filter position should be a number from 1 to %d!"), max_pos);
+	}
+	DBG("filter given by position: %d", filter_pos);
+}
+
+/**
+ * write buf of length l to register & check answer
+ * return 0 if all OK
+ */
+int writereg(int fd, uint8_t *buf, int l){
+	uint8_t reg = buf[0];
+	//#if 0//
+	#ifdef EBUG
+	int i;
+	printf("Write reg %d:", reg);
+	for(i = 0; i < l; ++i) printf(" %02hhx", buf[i]);
+	printf("\n");
+	#endif
+	if(ioctl(fd, HIDIOCSFEATURE(l), buf) < 0 || buf[0] != reg){
+		/// "Ошибка отправки данных"
+		WARNX(_("Error sending data"));
+		return 1;
+	}
+	return 0;
+}
+
+/**
+ * read register to buf & check answer
+ * return 0 if all OK
+ */
+int readreg(int fd, uint8_t *buf, int reg, int l){
+	memset(buf, 0, l);
+	buf[0] = reg;
+	if(ioctl(fd, HIDIOCGFEATURE(l), buf) < 0 || buf[0] != reg){
+		/// "Ошибка чтения данных"
+		WARNX(_("Error reading data"));
+		return 1;
+	}
+	//#if 0//
+	#ifdef EBUG
+	int i;
+	printf("Read reg %d:", reg);
+	for(i = 0; i < l; ++i) printf(" %02hhx", buf[i]);
+	printf("\n");
+	#endif
+	return 0;
+}
+
+/**
+ * Check error state and clear it if need
+ */
+void check_and_clear_err(int fd){
+	int i, stat = 1;
+	uint8_t buf[REG_STATUS_LEN];
+	for(i = 0; i < 10 && stat; ++i){
+		stat = readreg(fd, buf, REG_STATUS, REG_STATUS_LEN);
+		if(stat) usleep(100000);
+	}
+	/// "Ошибка, количество попыток истекло"
+	if(i == 10) ERRX(_("Error, tries amount exceed"));
+	if(buf[1] != 0xff){
+		if(buf[5]){
+			/// "Ошибка No %d, сбрасываю"
+			//red(_("Error No %d, clear it"), buf[5]);
+			stat = 1;
+			for(i = 0; i < 10 && stat; ++i){
+				memset(buf, 0, sizeof(buf));
+				buf[0] = REG_CLERR;
+				stat = writereg(fd, buf, REG_CLERR_LEN);
+				usleep(100000);
+				if(!stat) stat = readreg(fd, buf, REG_STATUS, REG_STATUS_LEN);
+				if(!stat && buf[5]) stat = 1;
+			}
+		}
+		readreg(fd, buf, REG_STATUS, REG_STATUS_LEN);
+		if(buf[1] != 0xff){
+			/// "Турель не инициализирована, движение в \"дом\""
+			red(_("Turret isn't initialized, move home..."));
+			go_home(fd);
+			readreg(fd, buf, REG_STATUS, REG_STATUS_LEN);
+		}
+	}
+}
+
+/**
+ * poll status register until moving stops
+ * @return current position
+ */
+int poll_regstatus(int fd, int msg){
+	uint8_t buf[REG_STATUS_LEN];
+	int i, stat = 1;
+	/// "Ожидание окончания движения"
+	if(msg) printf(_("Wait for end of moving "));
+	for(i = 0; i < 300 && stat; ++i){
+		stat = readreg(fd, buf, REG_STATUS, REG_STATUS_LEN);
+		if(!stat){
+			if(buf[2] == 0xff || buf[3] == 0xff) stat = 1;
+		}
+		if(buf[5]){
+			if(msg) printf("\n");
+			/// "Произошла ошибка, повторите запуск"
+			ERRX(_("Error ocured, repeat again"));
+		}
+		usleep(50000);
+		if(msg) printf("."); fflush(stdout);
+	}
+	if(msg) printf("\n");
+	return buf[4];
+}
+
+/**
+ * return statically allocated buffer with given filter name
+ * @param wheel - given wheel file structure
+ * @param pos   - filter position (starts from 1)
+ */
+char *get_filter_name(wheel_descr *wheel, int pos){
+	static uint8_t buf[REG_NAME_LEN];
+	int fd = wheel->fd;
+	if(fd < 0) return NULL;
+	if(pos < 1 || pos > wheel->maxpos){
+		/// "Заданная позиция вне диапазона 1..%d"
+		WARNX(_("Given position out of range 1..%d"), wheel->maxpos);
+		return NULL;
+	}
+	memset(buf, 0, sizeof(buf));
+	buf[0] = REG_NAME;
+	buf[1] = FILTER_NAME;
+	buf[2] = wheel->ID;
+	buf[3] = pos;
+	if(writereg(fd, buf, REG_NAME_LEN)) return NULL;
+	if(readreg(fd, buf, REG_NAME, REG_NAME_LEN)) return NULL;
+	if(buf[2]) return NULL;
+	if(buf[6]){
+		char *x = strchr((char*)&buf[6], ' ');
+		if(x) *x = 0;
+		return (char*) &buf[6];
+	}
+	else return NULL;
+}
+
+/**
+ * list properties of wheels & fill remain fields of struct wheel_descr
+ */
+void list_props(_U_ int verblevl, wheel_descr *wheel){
+	uint8_t buf[REG_NAME_LEN];
+	int fd = wheel->fd;
+	if(fd < 0){
+		/// "Не могу открыть устройство"
+		WARNX(_("Can't open device"));
+		return;
+	}
+	check_and_clear_err(fd);
+	// get status of wheel
+	if(readreg(fd, buf, REG_INFO, REG_INFO_LEN)) return;
+	wheel->ID = buf[5];
+	wheel->maxpos = buf[4];
+	DBG("Wheel with id '%c' and maxpos %d", wheel->ID, wheel->maxpos);
+	char *getwname(int id){
+		memset(buf, 0, sizeof(buf));
+		buf[0] = REG_NAME;
+		buf[1] = WHEEL_NAME;
+		buf[2] = id;
+		if(writereg(fd, buf, REG_NAME_LEN)) return NULL;
+		if(readreg(fd, buf, REG_NAME, REG_NAME_LEN)) return NULL;
+		if(buf[6]){
+			char *x = strchr((char*)&buf[6], ' ');
+			if(x) *x = 0;
+			return (char*)&buf[6];
+		}
+		else return NULL;
+	}
+	if(verblevl == LIST_PRES || !verblevl){ // list only presented devices or not list
+		char *nm;
+		/// "\nСвойства подключенного колеса\n"
+		if(verblevl) green(_("\nConnected wheel properties\n"));
+		if(verblevl) printf("Wheel ID '%c'", wheel->ID);
+		nm = getwname(wheel->ID);
+		if(nm){
+			strncpy(wheel->name, nm, 9);
+			if(verblevl) printf(", name '%s'", wheel->name);
+		}
+		if(verblevl) printf("\n\tFilters:\n");
+		else return;
+		int i, m = wheel->maxpos + 1;
+		// now get filter names
+		for(i = 1; i < m; ++i){
+			nm = get_filter_name(wheel, i);
+			printf("\t\tPOS %d", i);
+			if(nm) printf(" -- '%s'", nm);
+			printf("\n");
+		}
+	}
+	if(verblevl != LIST_ALL) return;
+	// now list all things stored in memory of turret driver
+	int w;
+	/// "\nВсе записи EEPROM\n"
+	green(_("\nAll records from EEPROM\n"));
+	wheel_descr wl;
+	wl.fd = fd;
+	wl.maxpos = ABS_MAX_POS;
+	for(w = 'A'; w < 'I'; ++w){
+		char *nm = getwname(w);
+		int f;
+		printf("Wheel ID '%c'", w);
+		if(nm) printf(" with name '%s'", nm);
+		printf("; filters:\n");
+		wl.ID = w;
+		for(f = 1; f <= ABS_MAX_POS; ++f){
+			nm = get_filter_name(&wl, f);
+			if(!nm){
+				check_and_clear_err(fd);
+				memset(buf, 0, sizeof(buf));
+				buf[0] = REG_NAME;
+				writereg(fd, buf, REG_NAME_LEN);
+				readreg(fd, buf, REG_NAME, REG_NAME_LEN);
+				break;
+			}
+			printf("\tPOS %d -- '%s'\n", f, nm);
+		}
+	}
+}
+
+/**
+ * Check hardware present
+ * if 'show' != 0 show names found
+ */
+void list_hw(int show){
+	int i;
+	if(show) DBG("show");
+	HW_found = find_wheels(&wheels);
+	DBG("Found %d dev[s]", HW_found);
+	if(HW_found == 0){
+		/// "Турели не обнаружены"
+		ERRX(_("No turrets found"));
+	}
+	for(i = 0; i < HW_found; ++i)
+		if(wheels[i].fd > 0) break;
+	if(i == HW_found){
+		/// "Обнаружено %d турелей, но ни к одной нет прав доступа"
+		ERRX(_("Found %d turrets but have no access rights to any"), HW_found);
+	}
+	// read other wheel properties & list if show!=0
+	for(i = 0; i < HW_found; ++i){
+		list_props(show, &wheels[i]);
+	}
+}
+
+void rename_hw(){
+	FNAME();
+	check_and_clear_err(wheel_fd);
+}
+
+/**
+ * move wheel home
+ */
+void go_home(int fd){
+	static int Nruns = 0;
+	/// "Зацикливание, попробуйте еще раз"
+	if(++Nruns > 10) ERRX(_("Cycling detected, try again"));
+	DBG("Wheel go home");
+	poll_regstatus(fd, 0); // wait for last moving
+	uint8_t buf[REG_HOME_LEN];
+	int i, stat = 1;
+	for(i = 0; i < 10 && stat; ++i){
+		memset(buf, 0, REG_HOME_LEN);
+		buf[0] = REG_HOME;
+		stat = writereg(fd, buf, REG_HOME_LEN);
+		if(stat){usleep(100000); continue;}
+		if((stat = readreg(fd, buf, REG_HOME, REG_HOME_LEN))) continue;
+		if(buf[1] != 0xff){
+			stat = 1; continue;
+		}else{
+			readreg(fd, buf, REG_HOME, REG_HOME_LEN);
+			break;
+		}
+	}
+	if(i == 10) exit(1);
+	// now poll REG_STATUS
+	poll_regstatus(fd, 1);
+	check_and_clear_err(fd);
+}
+
+void move_wheel(){
+	DBG("Move wheel %c to pos %d", wheel_id, filter_pos);
+	if(wheel_fd < 0) return;
+	if(filter_pos == poll_regstatus(wheel_fd, 0)){
+		/// "Уже в заданной позиции"
+		WARNX(_("Already at position"));
+		exit(0);
+	}
+	uint8_t buf[REG_GOTO_LEN];
+	int i, stat = 1;
+	for(i = 0; i < 10 && stat; ++i){
+		DBG("i=%d",i);
+		memset(buf, 0, REG_GOTO_LEN);
+		buf[0] = REG_GOTO;
+		buf[1] = filter_pos;
+		stat = writereg(wheel_fd, buf, REG_GOTO_LEN);
+		usleep(100000);
+		if(stat) continue;
+		if((stat = readreg(wheel_fd, buf, REG_GOTO, REG_GOTO_LEN))) continue;
+		if(buf[1] != 0xff){
+			stat = 1; continue;
+		}else{
+			readreg(wheel_fd, buf, REG_GOTO, REG_HOME_LEN);
+			break;
+		}
+	}
+	if(i == 10) exit(1);
+	poll_regstatus(wheel_fd, 1);
+	check_and_clear_err(wheel_fd);
+}
+
+void process_args(){
+	FNAME();
+	if(wheel_id < 0) return;
+	if(gohome){
+		go_home(wheel_fd);
+		return;
+	}
+	if(reName){
+		rename_hw();
+		return;
+	}
+	if(filter_pos < 0) return;
+	move_wheel();
+}
diff --git a/HSFW_management/hsfw.h b/HSFW_management/hsfw.h
new file mode 100644
index 0000000..6f6f6d5
--- /dev/null
+++ b/HSFW_management/hsfw.h
@@ -0,0 +1,52 @@
+/*
+ * hsfw.h - functions for work with wheels
+ *
+ * Copyright 2016 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+#pragma once
+#ifndef __HSFW_H__
+#define __HSFW_H__
+
+#define REG_CLERR		(0x02)
+#define REG_CLERR_LEN	(2)
+#define REG_STATUS		(0x0a)
+#define REG_STATUS_LEN	(6)
+#define REG_INFO		(0x0b)
+#define REG_INFO_LEN	(7)
+#define REG_GOTO		(0x14)
+#define REG_GOTO_LEN	(3)
+#define REG_HOME		(0x15)
+#define REG_HOME_LEN	(3)
+#define REG_NAME		(0x16)
+#define REG_NAME_LEN	(14)
+
+// absolute max position (for any wheel)
+#define ABS_MAX_POS		(8)
+
+enum name_cmd{
+	RESTORE_DEFVALS = 1,
+	RENAME_FILTER,
+	FILTER_NAME,
+	RENAME_WHEEL,
+	WHEEL_NAME
+};
+
+void check_args();
+void process_args();
+
+#endif // __HSFW_H__
diff --git a/HSFW_management/locale/ru/LC_MESSAGES/HSFW_manage.mo b/HSFW_management/locale/ru/LC_MESSAGES/HSFW_manage.mo
new file mode 100644
index 0000000..b91c3b4
Binary files /dev/null and b/HSFW_management/locale/ru/LC_MESSAGES/HSFW_manage.mo differ
diff --git a/HSFW_management/locale/ru/messages.po b/HSFW_management/locale/ru/messages.po
new file mode 100644
index 0000000..232b898
--- /dev/null
+++ b/HSFW_management/locale/ru/messages.po
@@ -0,0 +1,265 @@
+# SOME DESCRIPTIVE TITLE.
+# Copyright (C) YEAR THE PACKAGE'S COPYRIGHT HOLDER
+# This file is distributed under the same license as the PACKAGE package.
+# FIRST AUTHOR <EMAIL@ADDRESS>, YEAR.
+#
+#, fuzzy
+msgid ""
+msgstr ""
+"Project-Id-Version: PACKAGE VERSION\n"
+"Report-Msgid-Bugs-To: \n"
+"POT-Creation-Date: 2016-05-13 20:47+0300\n"
+"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
+"Last-Translator: FULL NAME <EMAIL@ADDRESS>\n"
+"Language-Team: LANGUAGE <LL@li.org>\n"
+"Language: \n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=koi8-r\n"
+"Content-Transfer-Encoding: 8bit\n"
+
+#. amount of pcount and/or scount wrong
+#. / "Неправильный формат строки помощи"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/parseargs.c:56
+msgid "Wrong helpstring!"
+msgstr ""
+
+#. / "Целое вне допустимого диапазона"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/parseargs.c:86
+msgid "Integer out of range"
+msgstr ""
+
+#. / "Неправильный параметр: %s"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/parseargs.c:480
+#, c-format
+msgid "Wrong parameter: %s"
+msgstr ""
+
+#. / "%s: необходим аргумент!"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/parseargs.c:485
+#, c-format
+msgid "%s: argument needed!"
+msgstr ""
+
+#. / "Неправильный аргумент \"%s\" параметра \"%s\""
+#: /Big/Data/SAO/edmund_opt/HSFW_management/parseargs.c:490
+#, c-format
+msgid "Wrong argument \"%s\" of parameter \"%s\""
+msgstr ""
+
+#: /Big/Data/SAO/edmund_opt/HSFW_management/usefull_macros.c:173
+msgid "No filename given!"
+msgstr ""
+
+#: /Big/Data/SAO/edmund_opt/HSFW_management/usefull_macros.c:175
+#, c-format
+msgid "Can't open %s for reading"
+msgstr ""
+
+#: /Big/Data/SAO/edmund_opt/HSFW_management/usefull_macros.c:177
+#, c-format
+msgid "Can't stat %s"
+msgstr ""
+
+#: /Big/Data/SAO/edmund_opt/HSFW_management/usefull_macros.c:180
+msgid "Mmap error for input"
+msgstr ""
+
+#: /Big/Data/SAO/edmund_opt/HSFW_management/usefull_macros.c:181
+msgid "Can't close mmap'ed file"
+msgstr ""
+
+#: /Big/Data/SAO/edmund_opt/HSFW_management/usefull_macros.c:190
+msgid "Can't munmap"
+msgstr ""
+
+#: /Big/Data/SAO/edmund_opt/HSFW_management/usefull_macros.c:214
+msgid "Can't setup console"
+msgstr ""
+
+#. Get settings
+#: /Big/Data/SAO/edmund_opt/HSFW_management/usefull_macros.c:283
+msgid "Can't get settings"
+msgstr ""
+
+#: /Big/Data/SAO/edmund_opt/HSFW_management/usefull_macros.c:293
+msgid "Can't set settings"
+msgstr ""
+
+#. / "Не могу открыть %s"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hidmanage.c:80
+#, c-format
+msgid "Can't open %s"
+msgstr ""
+
+#. / "отобразить эту справку"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/cmdlnopts.c:61
+msgid "show this help"
+msgstr ""
+
+#. / "буквенный идентификатор колеса"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/cmdlnopts.c:63
+msgid "letter wheel identificator"
+msgstr ""
+
+#. / "название колеса"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/cmdlnopts.c:65
+msgid "wheel name"
+msgstr ""
+
+#. / "номер позиции фильтра"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/cmdlnopts.c:67
+msgid "filter position number"
+msgstr ""
+
+#. / "название фильтра"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/cmdlnopts.c:69
+msgid "filter name"
+msgstr ""
+
+#. / "идентификатор фильтра, например, \"A3\""
+#: /Big/Data/SAO/edmund_opt/HSFW_management/cmdlnopts.c:71
+msgid "filter identificator like \"A3\""
+msgstr ""
+
+#. / "список всех сохраненных имен"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/cmdlnopts.c:73
+msgid "list all stored names"
+msgstr ""
+
+#. / "список имен только присутствующих устройств"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/cmdlnopts.c:75
+msgid "list only present devices' names"
+msgstr ""
+
+#. / "переместиться в стартовую позицию"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/cmdlnopts.c:77
+msgid "move to home position"
+msgstr ""
+
+#. / "переименовать сохраненные имена колес/фильтров"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/cmdlnopts.c:79
+msgid "rename stored wheels/filters names"
+msgstr ""
+
+#. / "Неправильный формат числа double!"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/cmdlnopts.c:97
+msgid "Wrong double number format!"
+msgstr ""
+
+#. / "Игнорируются параметры: "
+#: /Big/Data/SAO/edmund_opt/HSFW_management/cmdlnopts.c:122
+msgid "Ignore parameters:"
+msgstr ""
+
+#. / "Не передано никаких аргументов, вывожу список подключенных устройств!"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/cmdlnopts.c:130
+msgid "No arguments given, list all devices connected!"
+msgstr ""
+
+#. / "Идентификатор колеса должен быть буквой от \"A\" до \"H\"!"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:77
+msgid "Wheel ID should be a letter from \"A\" to \"H\"!"
+msgstr ""
+
+#. / "Заданы и идентификатор, и имя колеса; попробуйте что-то одно!"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:89
+msgid "You give both wheel ID and wheel name, try something one!"
+msgstr ""
+
+#. / "Заданное колесо не обнаружено!"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:104
+msgid "Given wheel not found!"
+msgstr ""
+
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:111
+msgid "Filter ID is letter (wheel) and number (position)"
+msgstr ""
+
+#. / "Фильтр %s не обнаружен"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:125
+#, c-format
+msgid "Filter %s not found!"
+msgstr ""
+
+#. / "Позиция фильтра должна быть числом от 1 до %d!"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:133
+#, c-format
+msgid "Filter position should be a number from 1 to %d!"
+msgstr ""
+
+#. / "Ошибка отправки данных"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:153
+msgid "Error sending data"
+msgstr ""
+
+#. / "Ошибка чтения данных"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:168
+msgid "Error reading data"
+msgstr ""
+
+#. / "Ошибка, количество попыток истекло"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:192
+msgid "Error, tries amount exceed"
+msgstr ""
+
+#. / "Турель не инициализирована, движение в \"дом\""
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:210
+msgid "Turret isn't initialized, move home..."
+msgstr ""
+
+#. / "Ожидание окончания движения"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:225
+#, c-format
+msgid "Wait for end of moving "
+msgstr ""
+
+#. / "Произошла ошибка, повторите запуск"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:234
+msgid "Error ocured, repeat again"
+msgstr ""
+
+#. / "Заданная позиция вне диапазона 1..%d"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:254
+#, c-format
+msgid "Given position out of range 1..%d"
+msgstr ""
+
+#. / "Не могу открыть устройство"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:281
+msgid "Can't open device"
+msgstr ""
+
+#. / "\nСвойства подключенного колеса\n"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:307
+msgid ""
+"\n"
+"Connected wheel properties\n"
+msgstr ""
+
+#. / "\nВсе записи EEPROM\n"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:329
+msgid ""
+"\n"
+"All records from EEPROM\n"
+msgstr ""
+
+#. / "Турели не обнаружены"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:366
+msgid "No turrets found"
+msgstr ""
+
+#. / "Обнаружено %d турелей, но ни к одной нет прав доступа"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:372
+#, c-format
+msgid "Found %d turrets but have no access rights to any"
+msgstr ""
+
+#. / "Зацикливание, попробуйте еще раз"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:391
+msgid "Cycling detected, try again"
+msgstr ""
+
+#. / "Уже в заданной позиции"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:420
+msgid "Already at position"
+msgstr ""
diff --git a/HSFW_management/locale/ru/ru.po b/HSFW_management/locale/ru/ru.po
new file mode 100644
index 0000000..99ae10f
--- /dev/null
+++ b/HSFW_management/locale/ru/ru.po
@@ -0,0 +1,262 @@
+# SOME DESCRIPTIVE TITLE.
+# Copyright (C) YEAR THE PACKAGE'S COPYRIGHT HOLDER
+# This file is distributed under the same license as the PACKAGE package.
+# FIRST AUTHOR <EMAIL@ADDRESS>, YEAR.
+#
+#, fuzzy
+msgid   ""
+msgstr  "Project-Id-Version: PACKAGE VERSION\n"
+        "Report-Msgid-Bugs-To: \n"
+        "POT-Creation-Date: 2016-05-13 20:47+0300\n"
+        "PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
+        "Last-Translator: FULL NAME <EMAIL@ADDRESS>\n"
+        "Language-Team: LANGUAGE <LL@li.org>\n"
+        "Language: \n"
+        "MIME-Version: 1.0\n"
+        "Content-Type: text/plain; charset=koi8-r\n"
+        "Content-Transfer-Encoding: 8bit\n"
+
+#. / "\nВсе записи EEPROM\n"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:329
+msgid   "\n"
+        "All records from EEPROM\n"
+msgstr  ""
+
+#. / "\nСвойства подключенного колеса\n"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:307
+msgid   "\n"
+        "Connected wheel properties\n"
+msgstr  ""
+
+#. / "%s: необходим аргумент!"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/parseargs.c:485
+#, c-format
+msgid   "%s: argument needed!"
+msgstr  ""
+
+#. / "Уже в заданной позиции"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:420
+msgid   "Already at position"
+msgstr  ""
+
+#: /Big/Data/SAO/edmund_opt/HSFW_management/usefull_macros.c:181
+msgid   "Can't close mmap'ed file"
+msgstr  ""
+
+#. Get settings
+#: /Big/Data/SAO/edmund_opt/HSFW_management/usefull_macros.c:283
+msgid   "Can't get settings"
+msgstr  ""
+
+#: /Big/Data/SAO/edmund_opt/HSFW_management/usefull_macros.c:190
+msgid   "Can't munmap"
+msgstr  ""
+
+#. / "Не могу открыть %s"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hidmanage.c:80
+#, c-format
+msgid   "Can't open %s"
+msgstr  ""
+
+#: /Big/Data/SAO/edmund_opt/HSFW_management/usefull_macros.c:175
+#, c-format
+msgid   "Can't open %s for reading"
+msgstr  ""
+
+#. / "Не могу открыть устройство"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:281
+msgid   "Can't open device"
+msgstr  ""
+
+#: /Big/Data/SAO/edmund_opt/HSFW_management/usefull_macros.c:293
+msgid   "Can't set settings"
+msgstr  ""
+
+#: /Big/Data/SAO/edmund_opt/HSFW_management/usefull_macros.c:214
+msgid   "Can't setup console"
+msgstr  ""
+
+#: /Big/Data/SAO/edmund_opt/HSFW_management/usefull_macros.c:177
+#, c-format
+msgid   "Can't stat %s"
+msgstr  ""
+
+#. / "Зацикливание, попробуйте еще раз"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:391
+msgid   "Cycling detected, try again"
+msgstr  ""
+
+#. / "Произошла ошибка, повторите запуск"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:234
+msgid   "Error ocured, repeat again"
+msgstr  ""
+
+#. / "Ошибка чтения данных"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:168
+msgid   "Error reading data"
+msgstr  ""
+
+#. / "Ошибка отправки данных"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:153
+msgid   "Error sending data"
+msgstr  ""
+
+#. / "Ошибка, количество попыток истекло"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:192
+msgid   "Error, tries amount exceed"
+msgstr  ""
+
+#. / "Фильтр %s не обнаружен"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:125
+#, c-format
+msgid   "Filter %s not found!"
+msgstr  ""
+
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:111
+msgid   "Filter ID is letter (wheel) and number (position)"
+msgstr  ""
+
+#. / "Позиция фильтра должна быть числом от 1 до %d!"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:133
+#, c-format
+msgid   "Filter position should be a number from 1 to %d!"
+msgstr  ""
+
+#. / "Обнаружено %d турелей, но ни к одной нет прав доступа"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:372
+#, c-format
+msgid   "Found %d turrets but have no access rights to any"
+msgstr  ""
+
+#. / "Заданная позиция вне диапазона 1..%d"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:254
+#, c-format
+msgid   "Given position out of range 1..%d"
+msgstr  ""
+
+#. / "Заданное колесо не обнаружено!"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:104
+msgid   "Given wheel not found!"
+msgstr  ""
+
+#. / "Игнорируются параметры: "
+#: /Big/Data/SAO/edmund_opt/HSFW_management/cmdlnopts.c:122
+msgid   "Ignore parameters:"
+msgstr  ""
+
+#. / "Целое вне допустимого диапазона"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/parseargs.c:86
+msgid   "Integer out of range"
+msgstr  ""
+
+#: /Big/Data/SAO/edmund_opt/HSFW_management/usefull_macros.c:180
+msgid   "Mmap error for input"
+msgstr  ""
+
+#. / "Не передано никаких аргументов, вывожу список подключенных устройств!"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/cmdlnopts.c:130
+msgid   "No arguments given, list all devices connected!"
+msgstr  ""
+
+#: /Big/Data/SAO/edmund_opt/HSFW_management/usefull_macros.c:173
+msgid   "No filename given!"
+msgstr  ""
+
+#. / "Турели не обнаружены"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:366
+msgid   "No turrets found"
+msgstr  ""
+
+#. / "Турель не инициализирована, движение в \"дом\""
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:210
+msgid   "Turret isn't initialized, move home..."
+msgstr  ""
+
+#. / "Ожидание окончания движения"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:225
+#, c-format
+msgid   "Wait for end of moving "
+msgstr  ""
+
+#. / "Идентификатор колеса должен быть буквой от \"A\" до \"H\"!"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:77
+msgid   "Wheel ID should be a letter from \"A\" to \"H\"!"
+msgstr  ""
+
+#. / "Неправильный аргумент \"%s\" параметра \"%s\""
+#: /Big/Data/SAO/edmund_opt/HSFW_management/parseargs.c:490
+#, c-format
+msgid   "Wrong argument \"%s\" of parameter \"%s\""
+msgstr  ""
+
+#. / "Неправильный формат числа double!"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/cmdlnopts.c:97
+msgid   "Wrong double number format!"
+msgstr  ""
+
+#. amount of pcount and/or scount wrong
+#. / "Неправильный формат строки помощи"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/parseargs.c:56
+msgid   "Wrong helpstring!"
+msgstr  ""
+
+#. / "Неправильный параметр: %s"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/parseargs.c:480
+#, c-format
+msgid   "Wrong parameter: %s"
+msgstr  ""
+
+#. / "Заданы и идентификатор, и имя колеса; попробуйте что-то одно!"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/hsfw.c:89
+msgid   "You give both wheel ID and wheel name, try something one!"
+msgstr  ""
+
+#. / "идентификатор фильтра, например, \"A3\""
+#: /Big/Data/SAO/edmund_opt/HSFW_management/cmdlnopts.c:71
+msgid   "filter identificator like \"A3\""
+msgstr  ""
+
+#. / "название фильтра"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/cmdlnopts.c:69
+msgid   "filter name"
+msgstr  ""
+
+#. / "номер позиции фильтра"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/cmdlnopts.c:67
+msgid   "filter position number"
+msgstr  ""
+
+#. / "буквенный идентификатор колеса"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/cmdlnopts.c:63
+msgid   "letter wheel identificator"
+msgstr  ""
+
+#. / "список всех сохраненных имен"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/cmdlnopts.c:73
+msgid   "list all stored names"
+msgstr  ""
+
+#. / "список имен только присутствующих устройств"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/cmdlnopts.c:75
+msgid   "list only present devices' names"
+msgstr  ""
+
+#. / "переместиться в стартовую позицию"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/cmdlnopts.c:77
+msgid   "move to home position"
+msgstr  ""
+
+#. / "переименовать сохраненные имена колес/фильтров"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/cmdlnopts.c:79
+msgid   "rename stored wheels/filters names"
+msgstr  ""
+
+#. / "отобразить эту справку"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/cmdlnopts.c:61
+msgid   "show this help"
+msgstr  ""
+
+#. / "название колеса"
+#: /Big/Data/SAO/edmund_opt/HSFW_management/cmdlnopts.c:65
+msgid   "wheel name"
+msgstr  ""
diff --git a/HSFW_management/main.c b/HSFW_management/main.c
new file mode 100644
index 0000000..dd9e807
--- /dev/null
+++ b/HSFW_management/main.c
@@ -0,0 +1,38 @@
+/*
+ * main.c
+ *
+ * Copyright 2016 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+#include <stdio.h>
+#include "usefull_macros.h"
+#include "cmdlnopts.h"
+#include "hsfw.h"
+
+void signals(int signo){
+	exit(signo);
+}
+
+
+int main(int argc, char **argv){
+	initial_setup();
+	parse_args(argc, argv);
+	check_args();
+	process_args();
+	return 0;
+}
+
diff --git a/HSFW_management/parseargs.c b/HSFW_management/parseargs.c
new file mode 100644
index 0000000..2f57be9
--- /dev/null
+++ b/HSFW_management/parseargs.c
@@ -0,0 +1,497 @@
+/*
+ * parseargs.c - parsing command line arguments & print help
+ *
+ * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#include <stdio.h>	// printf
+#include <getopt.h>	// getopt_long
+#include <stdlib.h>	// calloc, exit, strtoll
+#include <assert.h>	// assert
+#include <string.h> // strdup, strchr, strlen
+#include <strings.h>// strcasecmp
+#include <limits.h> // INT_MAX & so on
+#include <libintl.h>// gettext
+#include <ctype.h>	// isalpha
+#include "parseargs.h"
+#include "usefull_macros.h"
+
+char *helpstring = "%s\n";
+
+/**
+ * Change standard help header
+ * MAY consist ONE "%s" for progname
+ * @param str (i) - new format
+ */
+void change_helpstring(char *s){
+	int pcount = 0, scount = 0;
+	char *str = s;
+	// check `helpstring` and set it to default in case of error
+	for(; pcount < 2; str += 2){
+		if(!(str = strchr(str, '%'))) break;
+		if(str[1] != '%') pcount++; // increment '%' counter if it isn't "%%"
+		else{
+			str += 2; // pass next '%'
+			continue;
+		}
+		if(str[1] == 's') scount++; // increment "%s" counter
+	};
+	if(pcount > 1 || pcount != scount){ // amount of pcount and/or scount wrong
+		/// "Неправильный формат строки помощи"
+		ERRX(_("Wrong helpstring!"));
+	}
+	helpstring = s;
+}
+
+/**
+ * Carefull atoll/atoi
+ * @param num (o) - returning value (or NULL if you wish only check number) - allocated by user
+ * @param str (i) - string with number must not be NULL
+ * @param t   (i) - T_INT for integer or T_LLONG for long long (if argtype would be wided, may add more)
+ * @return TRUE if conversion sone without errors, FALSE otherwise
+ */
+static bool myatoll(void *num, char *str, argtype t){
+	long long tmp, *llptr;
+	int *iptr;
+	char *endptr;
+	assert(str);
+	assert(num);
+	tmp = strtoll(str, &endptr, 0);
+	if(endptr == str || *str == '\0' || *endptr != '\0')
+		return FALSE;
+	switch(t){
+		case arg_longlong:
+			llptr = (long long*) num;
+			*llptr = tmp;
+		break;
+		case arg_int:
+		default:
+			if(tmp < INT_MIN || tmp > INT_MAX){
+				/// "Целое вне допустимого диапазона"
+				WARNX(_("Integer out of range"));
+				return FALSE;
+			}
+			iptr = (int*)num;
+			*iptr = (int)tmp;
+	}
+	return TRUE;
+}
+
+// the same as myatoll but for double
+// There's no NAN & INF checking here (what if they would be needed?)
+static bool myatod(void *num, const char *str, argtype t){
+	double tmp, *dptr;
+	float *fptr;
+	char *endptr;
+	assert(str);
+	tmp = strtod(str, &endptr);
+	if(endptr == str || *str == '\0' || *endptr != '\0')
+		return FALSE;
+	switch(t){
+		case arg_double:
+			dptr = (double *) num;
+			*dptr = tmp;
+		break;
+		case arg_float:
+		default:
+			fptr = (float *) num;
+			*fptr = (float)tmp;
+		break;
+	}
+	return TRUE;
+}
+
+/**
+ * Get index of current option in array options
+ * @param opt (i) - returning val of getopt_long
+ * @param options (i) - array of options
+ * @return index in array
+ */
+static int get_optind(int opt, myoption *options){
+	int oind;
+	myoption *opts = options;
+	assert(opts);
+	for(oind = 0; opts->name && opts->val != opt; oind++, opts++);
+	if(!opts->name || opts->val != opt) // no such parameter
+	showhelp(-1, options);
+	return oind;
+}
+
+/**
+ * reallocate new value in array of multiple repeating arguments
+ * @arg paptr - address of pointer to array (**void)
+ * @arg type - its type (for realloc)
+ * @return pointer to new (next) value
+ */
+void *get_aptr(void *paptr, argtype type){
+	int i = 1;
+	void **aptr = *((void***)paptr);
+	if(aptr){ // there's something in array
+		void **p = aptr;
+		while(*p++) ++i;
+	}
+	size_t sz = 0;
+	switch(type){
+		default:
+		case arg_none:
+			/// "Не могу использовать несколько параметров без аргументов!"
+			ERRX("Can't use multiple args with arg_none!");
+		break;
+		case arg_int:
+			sz = sizeof(int);
+		break;
+		case arg_longlong:
+			sz = sizeof(long long);
+		break;
+		case arg_double:
+			sz = sizeof(double);
+		break;
+		case arg_float:
+			sz = sizeof(float);
+		break;
+		case arg_string:
+			sz = 0;
+		break;
+	/*	case arg_function:
+			sz = sizeof(argfn *);
+		break;*/
+	}
+	aptr = realloc(aptr, (i + 1) * sizeof(void*));
+	*((void***)paptr) = aptr;
+	aptr[i] = NULL;
+	if(sz){
+		aptr[i - 1] = malloc(sz);
+	}else
+		aptr[i - 1] = &aptr[i - 1];
+	return aptr[i - 1];
+}
+
+
+/**
+ * Parse command line arguments
+ * ! If arg is string, then value will be strdup'ed!
+ *
+ * @param argc (io) - address of argc of main(), return value of argc stay after `getopt`
+ * @param argv (io) - address of argv of main(), return pointer to argv stay after `getopt`
+ * BE CAREFUL! if you wanna use full argc & argv, save their original values before
+ * 		calling this function
+ * @param options (i) - array of `myoption` for arguments parcing
+ *
+ * @exit: in case of error this function show help & make `exit(-1)`
+  */
+void parseargs(int *argc, char ***argv, myoption *options){
+	char *short_options, *soptr;
+	struct option *long_options, *loptr;
+	size_t optsize, i;
+	myoption *opts = options;
+	// check whether there is at least one options
+	assert(opts);
+	assert(opts[0].name);
+	// first we count how much values are in opts
+	for(optsize = 0; opts->name; optsize++, opts++);
+	// now we can allocate memory
+	short_options = calloc(optsize * 3 + 1, 1); // multiply by three for '::' in case of args in opts
+	long_options = calloc(optsize + 1, sizeof(struct option));
+	opts = options; loptr = long_options; soptr = short_options;
+	// in debug mode check the parameters are not repeated
+#ifdef EBUG
+	char **longlist = MALLOC(char*, optsize);
+	char *shortlist = MALLOC(char, optsize);
+#endif
+	// fill short/long parameters and make a simple checking
+	for(i = 0; i < optsize; i++, loptr++, opts++){
+		// check
+		assert(opts->name); // check name
+#ifdef EBUG
+		longlist[i] = strdup(opts->name);
+#endif
+		if(opts->has_arg){
+			assert(opts->type != arg_none); // check error with arg type
+			assert(opts->argptr);  // check pointer
+		}
+		if(opts->type != arg_none) // if there is a flag without arg, check its pointer
+			assert(opts->argptr);
+		// fill long_options
+		// don't do memcmp: what if there would be different alignment?
+		loptr->name		= opts->name;
+		loptr->has_arg	= (opts->has_arg < MULT_PAR) ? opts->has_arg : 1;
+		loptr->flag		= opts->flag;
+		loptr->val		= opts->val;
+		// fill short options if they are:
+		if(!opts->flag){
+#ifdef EBUG
+			shortlist[i] = (char) opts->val;
+#endif
+			*soptr++ = opts->val;
+			if(loptr->has_arg) // add ':' if option has required argument
+				*soptr++ = ':';
+			if(loptr->has_arg == 2) // add '::' if option has optional argument
+				*soptr++ = ':';
+		}
+	}
+	// sort all lists & check for repeating
+#ifdef EBUG
+	int cmpstringp(const void *p1, const void *p2){
+		return strcmp(* (char * const *) p1, * (char * const *) p2);
+	}
+	int cmpcharp(const void *p1, const void *p2){
+		return (int)(*(char * const)p1 - *(char *const)p2);
+	}
+	qsort(longlist, optsize, sizeof(char *), cmpstringp);
+	qsort(shortlist,optsize, sizeof(char), cmpcharp);
+	char *prevl = longlist[0], prevshrt = shortlist[0];
+	for(i = 1; i < optsize; ++i){
+		if(longlist[i]){
+			if(prevl){
+				if(strcmp(prevl, longlist[i]) == 0) ERRX("double long arguments: --%s", prevl);
+			}
+			prevl = longlist[i];
+		}
+		if(shortlist[i]){
+			if(prevshrt){
+				if(prevshrt == shortlist[i]) ERRX("double short arguments: -%c", prevshrt);
+			}
+			prevshrt = shortlist[i];
+		}
+	}
+#endif
+	// now we have both long_options & short_options and can parse `getopt_long`
+	while(1){
+		int opt;
+		int oindex = 0, optind = 0; // oindex - number of option in argv, optind - number in options[]
+		if((opt = getopt_long(*argc, *argv, short_options, long_options, &oindex)) == -1) break;
+		if(opt == '?'){
+			opt = optopt;
+			optind = get_optind(opt, options);
+			if(options[optind].has_arg == NEED_ARG || options[optind].has_arg == MULT_PAR)
+				showhelp(optind, options); // need argument
+		}
+		else{
+			if(opt == 0 || oindex > 0) optind = oindex;
+			else optind = get_optind(opt, options);
+		}
+		opts = &options[optind];
+		if(opt == 0 && opts->has_arg == NO_ARGS) continue; // only long option changing integer flag
+		// now check option
+		if(opts->has_arg == NEED_ARG || opts->has_arg == MULT_PAR)
+			if(!optarg) showhelp(optind, options); // need argument
+		void *aptr;
+		if(opts->has_arg == MULT_PAR){
+			aptr = get_aptr(opts->argptr, opts->type);
+		}else
+			aptr = opts->argptr;
+		bool result = TRUE;
+		// even if there is no argument, but argptr != NULL, think that optarg = "1"
+		if(!optarg) optarg = "1";
+		switch(opts->type){
+			default:
+			case arg_none:
+				if(opts->argptr) *((int*)aptr) += 1; // increment value
+			break;
+			case arg_int:
+				result = myatoll(aptr, optarg, arg_int);
+			break;
+			case arg_longlong:
+				result = myatoll(aptr, optarg, arg_longlong);
+			break;
+			case arg_double:
+				result = myatod(aptr, optarg, arg_double);
+			break;
+			case arg_float:
+				result = myatod(aptr, optarg, arg_float);
+			break;
+			case arg_string:
+				result = (*((void**)aptr) = (void*)strdup(optarg));
+			break;
+			case arg_function:
+				result = ((argfn)aptr)(optarg);
+			break;
+		}
+		if(!result){
+			showhelp(optind, options);
+		}
+	}
+	*argc -= optind;
+	*argv += optind;
+}
+
+/**
+ * compare function for qsort
+ * first - sort by short options; second - sort arguments without sort opts (by long options)
+ */
+static int argsort(const void *a1, const void *a2){
+	const myoption *o1 = (myoption*)a1, *o2 = (myoption*)a2;
+	const char *l1 = o1->name, *l2 = o2->name;
+	int s1 = o1->val, s2 = o2->val;
+	int *f1 = o1->flag, *f2 = o2->flag;
+	// check if both options has short arg
+	if(f1 == NULL && f2 == NULL){ // both have short arg
+		return (s1 - s2);
+	}else if(f1 != NULL && f2 != NULL){ // both don't have short arg - sort by long
+		return strcmp(l1, l2);
+	}else{ // only one have short arg -- return it
+		if(f2) return -1; // a1 have short - it is 'lesser'
+		else return 1;
+	}
+}
+
+/**
+ * Show help information based on myoption->help values
+ * @param oindex (i)  - if non-negative, show only help by myoption[oindex].help
+ * @param options (i) - array of `myoption`
+ *
+ * @exit:  run `exit(-1)` !!!
+ */
+void showhelp(int oindex, myoption *options){
+	int max_opt_len = 0; // max len of options substring - for right indentation
+	const int bufsz = 255;
+	char buf[bufsz+1];
+	myoption *opts = options;
+	assert(opts);
+	assert(opts[0].name); // check whether there is at least one options
+	if(oindex > -1){ // print only one message
+		opts = &options[oindex];
+		printf("  ");
+		if(!opts->flag && isalpha(opts->val)) printf("-%c, ", opts->val);
+		printf("--%s", opts->name);
+		if(opts->has_arg == 1) printf("=arg");
+		else if(opts->has_arg == 2) printf("[=arg]");
+		printf("  %s\n", _(opts->help));
+		exit(-1);
+	}
+	// header, by default is just "progname\n"
+	printf("\n");
+	if(strstr(helpstring, "%s")) // print progname
+		printf(helpstring, __progname);
+	else // only text
+		printf("%s", helpstring);
+	printf("\n");
+	// count max_opt_len
+	do{
+		int L = strlen(opts->name);
+		if(max_opt_len < L) max_opt_len = L;
+	}while((++opts)->name);
+	max_opt_len += 14; // format: '-S , --long[=arg]' - get addition 13 symbols
+	opts = options;
+	// count amount of options
+	int N; for(N = 0; opts->name; ++N, ++opts);
+	if(N == 0) exit(-2);
+	// Now print all help (sorted)
+	opts = options;
+	qsort(opts, N, sizeof(myoption), argsort);
+	do{
+		int p = sprintf(buf, "  "); // a little indent
+		if(!opts->flag) // .val is short argument
+			p += snprintf(buf+p, bufsz-p, "-%c, ", opts->val);
+		p += snprintf(buf+p, bufsz-p, "--%s", opts->name);
+		if(opts->has_arg == 1) // required argument
+			p += snprintf(buf+p, bufsz-p, "=arg");
+		else if(opts->has_arg == 2) // optional argument
+			p += snprintf(buf+p, bufsz-p, "[=arg]");
+		assert(p < max_opt_len); // there would be magic if p >= max_opt_len
+		printf("%-*s%s\n", max_opt_len+1, buf, _(opts->help)); // write options & at least 2 spaces after
+		++opts;
+	}while(--N);
+	printf("\n\n");
+	exit(-1);
+}
+
+/**
+ * get suboptions from parameter string
+ * @param str - parameter string
+ * @param opt - pointer to suboptions structure
+ * @return TRUE if all OK
+ */
+bool get_suboption(char *str, mysuboption *opt){
+	int findsubopt(char *par, mysuboption *so){
+		int idx = 0;
+		if(!par) return -1;
+		while(so[idx].name){
+			if(strcasecmp(par, so[idx].name) == 0) return idx;
+			++idx;
+		}
+		return -1; // badarg
+	}
+	bool opt_setarg(mysuboption *so, int idx, char *val){
+		mysuboption *soptr = &so[idx];
+		bool result = FALSE;
+		void *aptr = soptr->argptr;
+		switch(soptr->type){
+			default:
+			case arg_none:
+				if(soptr->argptr) *((int*)aptr) += 1; // increment value
+				result = TRUE;
+			break;
+			case arg_int:
+				result = myatoll(aptr, val, arg_int);
+			break;
+			case arg_longlong:
+				result = myatoll(aptr, val, arg_longlong);
+			break;
+			case arg_double:
+				result = myatod(aptr, val, arg_double);
+			break;
+			case arg_float:
+				result = myatod(aptr, val, arg_float);
+			break;
+			case arg_string:
+				result = (*((void**)aptr) = (void*)strdup(val));
+			break;
+			case arg_function:
+				result = ((argfn)aptr)(val);
+			break;
+		}
+		return result;
+	}
+	char *tok;
+	bool ret = FALSE;
+	char *tmpbuf;
+	tok = strtok_r(str, ":,", &tmpbuf);
+	do{
+		char *val = strchr(tok, '=');
+		int noarg = 0;
+		if(val == NULL){ // no args
+			val = "1";
+			noarg = 1;
+		}else{
+			*val++ = '\0';
+			if(!*val || *val == ':' || *val == ','){ // no argument - delimeter after =
+				val = "1"; noarg = 1;
+			}
+		}
+		int idx = findsubopt(tok, opt);
+		if(idx < 0){
+			/// "Неправильный параметр: %s"
+			WARNX(_("Wrong parameter: %s"), tok);
+			goto returning;
+		}
+		if(noarg && opt[idx].has_arg == NEED_ARG){
+			/// "%s: необходим аргумент!"
+			WARNX(_("%s: argument needed!"), tok);
+			goto returning;
+		}
+		if(!opt_setarg(opt, idx, val)){
+			/// "Неправильный аргумент \"%s\" параметра \"%s\""
+			WARNX(_("Wrong argument \"%s\" of parameter \"%s\""), val, tok);
+			goto returning;
+		}
+	}while((tok = strtok_r(NULL, ":,", &tmpbuf)));
+	ret = TRUE;
+returning:
+	return ret;
+}
diff --git a/HSFW_management/parseargs.h b/HSFW_management/parseargs.h
new file mode 100644
index 0000000..b8351d9
--- /dev/null
+++ b/HSFW_management/parseargs.h
@@ -0,0 +1,124 @@
+/*
+ * parseargs.h - headers for parsing command line arguments
+ *
+ * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+#pragma once
+#ifndef __PARSEARGS_H__
+#define __PARSEARGS_H__
+
+#include <stdbool.h>// bool
+#include <stdlib.h>
+
+#ifndef TRUE
+	#define TRUE true
+#endif
+
+#ifndef FALSE
+	#define FALSE false
+#endif
+
+// macro for argptr
+#define APTR(x)   ((void*)x)
+
+// if argptr is a function:
+typedef  bool(*argfn)(void *arg);
+
+/*
+ * type of getopt's argument
+ * WARNING!
+ * My function change value of flags by pointer, so if you want to use another type
+ * make a latter conversion, example:
+ * 		char charg;
+ * 		int iarg;
+ * 		myoption opts[] = {
+ * 		{"value", 1, NULL, 'v', arg_int, &iarg, "char val"}, ..., end_option};
+ * 		..(parse args)..
+ * 		charg = (char) iarg;
+ */
+typedef enum {
+	arg_none = 0,	// no arg
+	arg_int,		// integer
+	arg_longlong,	// long long
+	arg_double,		// double
+	arg_float,		// float
+	arg_string,		// char *
+	arg_function	// parse_args will run function `bool (*fn)(char *optarg, int N)`
+} argtype;
+
+/*
+ * Structure for getopt_long & help
+ * BE CAREFUL: .argptr is pointer to data or pointer to function,
+ * 		conversion depends on .type
+ *
+ * ATTENTION: string `help` prints through macro PRNT(), bu default it is gettext,
+ * but you can redefine it before `#include "parseargs.h"`
+ *
+ * if arg is string, then value wil be strdup'ed like that:
+ * 		char *str;
+ * 		myoption opts[] = {{"string", 1, NULL, 's', arg_string, &str, "string val"}, ..., end_option};
+ *		*(opts[1].str) = strdup(optarg);
+ * in other cases argptr should be address of some variable (or pointer to allocated memory)
+ *
+ * NON-NULL argptr should be written inside macro APTR(argptr) or directly: (void*)argptr
+ *
+ * !!!LAST VALUE OF ARRAY SHOULD BE `end_option` or ZEROS !!!
+ *
+ */
+typedef enum{
+	NO_ARGS  = 0,  // first three are the same as in getopt_long
+	NEED_ARG = 1,
+	OPT_ARG  = 2,
+	MULT_PAR
+} hasarg;
+
+typedef struct{
+	// these are from struct option:
+	const char *name;		// long option's name
+	hasarg      has_arg;	// 0 - no args, 1 - nesessary arg, 2 - optionally arg, 4 - need arg & key can repeat (args are stored in null-terminated array)
+	int        *flag;		// NULL to return val, pointer to int - to set its value of val (function returns 0)
+	int         val;		// short opt name (if flag == NULL) or flag's value
+	// and these are mine:
+	argtype     type;		// type of argument
+	void       *argptr;		// pointer to variable to assign optarg value or function `bool (*fn)(char *optarg, int N)`
+	const char *help;		// help string which would be shown in function `showhelp` or NULL
+} myoption;
+
+/*
+ * Suboptions structure, almost the same like myoption
+ * used in parse_subopts()
+ */
+typedef struct{
+	const char *name;
+	hasarg      has_arg;
+	argtype     type;
+	void       *argptr;
+} mysuboption;
+
+// last string of array (all zeros)
+#define end_option {0,0,0,0,0,0,0}
+#define end_suboption {0,0,0,0}
+
+extern const char *__progname;
+
+void showhelp(int oindex, myoption *options);
+void parseargs(int *argc, char ***argv, myoption *options);
+void change_helpstring(char *s);
+bool get_suboption(char *str, mysuboption *opt);
+
+#endif // __PARSEARGS_H__
diff --git a/HSFW_management/usefull_macros.c b/HSFW_management/usefull_macros.c
new file mode 100644
index 0000000..f97c181
--- /dev/null
+++ b/HSFW_management/usefull_macros.c
@@ -0,0 +1,327 @@
+/*
+ * usefull_macros.h - a set of usefull functions: memory, color etc
+ *
+ * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#include "usefull_macros.h"
+
+/**
+ * function for different purposes that need to know time intervals
+ * @return double value: time in seconds
+ */
+double dtime(){
+	double t;
+	struct timeval tv;
+	gettimeofday(&tv, NULL);
+	t = tv.tv_sec + ((double)tv.tv_usec)/1e6;
+	return t;
+}
+
+/******************************************************************************\
+ *                          Coloured terminal
+\******************************************************************************/
+int globErr = 0; // errno for WARN/ERR
+
+// pointers to coloured output printf
+int (*red)(const char *fmt, ...);
+int (*green)(const char *fmt, ...);
+int (*_WARN)(const char *fmt, ...);
+
+/*
+ * format red / green messages
+ * name: r_pr_, g_pr_
+ * @param fmt ... - printf-like format
+ * @return number of printed symbols
+ */
+int r_pr_(const char *fmt, ...){
+	va_list ar; int i;
+	printf(RED);
+	va_start(ar, fmt);
+	i = vprintf(fmt, ar);
+	va_end(ar);
+	printf(OLDCOLOR);
+	return i;
+}
+int g_pr_(const char *fmt, ...){
+	va_list ar; int i;
+	printf(GREEN);
+	va_start(ar, fmt);
+	i = vprintf(fmt, ar);
+	va_end(ar);
+	printf(OLDCOLOR);
+	return i;
+}
+/*
+ * print red error/warning messages (if output is a tty)
+ * @param fmt ... - printf-like format
+ * @return number of printed symbols
+ */
+int r_WARN(const char *fmt, ...){
+	va_list ar; int i = 1;
+	fprintf(stderr, RED);
+	va_start(ar, fmt);
+	if(globErr){
+		errno = globErr;
+		vwarn(fmt, ar);
+		errno = 0;
+		globErr = 0;
+	}else
+		i = vfprintf(stderr, fmt, ar);
+	va_end(ar);
+	i++;
+	fprintf(stderr, OLDCOLOR "\n");
+	return i;
+}
+
+static const char stars[] = "****************************************";
+/*
+ * notty variants of coloured printf
+ * name: s_WARN, r_pr_notty
+ * @param fmt ... - printf-like format
+ * @return number of printed symbols
+ */
+int s_WARN(const char *fmt, ...){
+	va_list ar; int i;
+	i = fprintf(stderr, "\n%s\n", stars);
+	va_start(ar, fmt);
+	if(globErr){
+		errno = globErr;
+		vwarn(fmt, ar);
+		errno = 0;
+		globErr = 0;
+	}else
+		i = +vfprintf(stderr, fmt, ar);
+	va_end(ar);
+	i += fprintf(stderr, "\n%s\n", stars);
+	i += fprintf(stderr, "\n");
+	return i;
+}
+int r_pr_notty(const char *fmt, ...){
+	va_list ar; int i;
+	i = printf("\n%s\n", stars);
+	va_start(ar, fmt);
+	i += vprintf(fmt, ar);
+	va_end(ar);
+	i += printf("\n%s\n", stars);
+	return i;
+}
+
+/**
+ * Run this function in the beginning of main() to setup locale & coloured output
+ */
+void initial_setup(){
+	// setup coloured output
+	if(isatty(STDOUT_FILENO)){ // make color output in tty
+		red = r_pr_; green = g_pr_;
+	}else{ // no colors in case of pipe
+		red = r_pr_notty; green = printf;
+	}
+	if(isatty(STDERR_FILENO)) _WARN = r_WARN;
+	else _WARN = s_WARN;
+	// Setup locale
+	setlocale(LC_ALL, "");
+	setlocale(LC_NUMERIC, "C");
+#if defined GETTEXT_PACKAGE && defined LOCALEDIR
+	bindtextdomain(GETTEXT_PACKAGE, LOCALEDIR);
+	textdomain(GETTEXT_PACKAGE);
+#endif
+}
+
+/******************************************************************************\
+ *                                  Memory
+\******************************************************************************/
+/*
+ * safe memory allocation for macro ALLOC
+ * @param N - number of elements to allocate
+ * @param S - size of single element (typically sizeof)
+ * @return pointer to allocated memory area
+ */
+void *my_alloc(size_t N, size_t S){
+	void *p = calloc(N, S);
+	if(!p) ERR("malloc");
+	//assert(p);
+	return p;
+}
+
+/**
+ * Mmap file to a memory area
+ *
+ * @param filename (i) - name of file to mmap
+ * @return stuct with mmap'ed file or die
+ */
+mmapbuf *My_mmap(char *filename){
+	int fd;
+	char *ptr;
+	size_t Mlen;
+	struct stat statbuf;
+	if(!filename) ERRX(_("No filename given!"));
+	if((fd = open(filename, O_RDONLY)) < 0)
+		ERR(_("Can't open %s for reading"), filename);
+	if(fstat (fd, &statbuf) < 0)
+		ERR(_("Can't stat %s"), filename);
+	Mlen = statbuf.st_size;
+	if((ptr = mmap (0, Mlen, PROT_READ, MAP_PRIVATE, fd, 0)) == MAP_FAILED)
+		ERR(_("Mmap error for input"));
+	if(close(fd)) ERR(_("Can't close mmap'ed file"));
+	mmapbuf *ret = MALLOC(mmapbuf, 1);
+	ret->data = ptr;
+	ret->len = Mlen;
+	return  ret;
+}
+
+void My_munmap(mmapbuf *b){
+	if(munmap(b->data, b->len))
+		ERR(_("Can't munmap"));
+	FREE(b);
+}
+
+
+/******************************************************************************\
+ *                          Terminal in no-echo mode
+\******************************************************************************/
+static struct termios oldt, newt; // terminal flags
+static int console_changed = 0;
+// run on exit:
+void restore_console(){
+	if(console_changed)
+		tcsetattr(STDIN_FILENO, TCSANOW, &oldt); // return terminal to previous state
+	console_changed = 0;
+}
+
+// initial setup:
+void setup_con(){
+	if(console_changed) return;
+	tcgetattr(STDIN_FILENO, &oldt);
+	newt = oldt;
+	newt.c_lflag &= ~(ICANON | ECHO);
+	if(tcsetattr(STDIN_FILENO, TCSANOW, &newt) < 0){
+		WARN(_("Can't setup console"));
+		tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
+		signals(0); //quit?
+	}
+	console_changed = 1;
+}
+
+/**
+ * Read character from console without echo
+ * @return char readed
+ */
+int read_console(){
+	int rb;
+	struct timeval tv;
+	int retval;
+	fd_set rfds;
+	FD_ZERO(&rfds);
+	FD_SET(STDIN_FILENO, &rfds);
+	tv.tv_sec = 0; tv.tv_usec = 10000;
+	retval = select(1, &rfds, NULL, NULL, &tv);
+	if(!retval) rb = 0;
+	else {
+		if(FD_ISSET(STDIN_FILENO, &rfds)) rb = getchar();
+		else rb = 0;
+	}
+	return rb;
+}
+
+/**
+ * getchar() without echo
+ * wait until at least one character pressed
+ * @return character readed
+ */
+int mygetchar(){ // getchar() without need of pressing ENTER
+	int ret;
+	do ret = read_console();
+	while(ret == 0);
+	return ret;
+}
+
+
+/******************************************************************************\
+ *                              TTY with select()
+\******************************************************************************/
+static struct termio oldtty, tty; // TTY flags
+static int comfd = -1; // TTY fd
+
+// run on exit:
+void restore_tty(){
+	if(comfd == -1) return;
+	ioctl(comfd, TCSANOW, &oldtty ); // return TTY to previous state
+	close(comfd);
+	comfd = -1;
+}
+
+#ifndef BAUD_RATE
+#define BAUD_RATE B9600
+#endif
+// init:
+void tty_init(char *comdev){
+	DBG("\nOpen port...\n");
+	if ((comfd = open(comdev,O_RDWR|O_NOCTTY|O_NONBLOCK)) < 0){
+		WARN("Can't use port %s\n",comdev);
+		ioctl(comfd, TCSANOW, &oldtty); // return TTY to previous state
+		close(comfd);
+		signals(0); // quit?
+	}
+	DBG(" OK\nGet current settings... ");
+	if(ioctl(comfd,TCGETA,&oldtty) < 0){  // Get settings
+		WARN(_("Can't get settings"));
+		signals(0);
+	}
+	tty = oldtty;
+	tty.c_lflag     = 0; // ~(ICANON | ECHO | ECHOE | ISIG)
+	tty.c_oflag     = 0;
+	tty.c_cflag     = BAUD_RATE|CS8|CREAD|CLOCAL; // 9.6k, 8N1, RW, ignore line ctrl
+	tty.c_cc[VMIN]  = 0;  // non-canonical mode
+	tty.c_cc[VTIME] = 5;
+	if(ioctl(comfd,TCSETA,&tty) < 0){
+		WARN(_("Can't set settings"));
+		signals(0);
+	}
+	DBG(" OK\n");
+}
+/**
+ * Read data from TTY
+ * @param buff (o) - buffer for data read
+ * @param length   - buffer len
+ * @return amount of readed bytes
+ */
+size_t read_tty(uint8_t *buff, size_t length){
+	ssize_t L = 0;
+	fd_set rfds;
+	struct timeval tv;
+	int retval;
+	FD_ZERO(&rfds);
+	FD_SET(comfd, &rfds);
+	tv.tv_sec = 0; tv.tv_usec = 50000; // wait for 50ms
+	retval = select(comfd + 1, &rfds, NULL, NULL, &tv);
+	if (!retval) return 0;
+	if(FD_ISSET(comfd, &rfds)){
+		if((L = read(comfd, buff, length)) < 1) return 0;
+	}
+	return (size_t)L;
+}
+
+int write_tty(uint8_t *buff, size_t length){
+	ssize_t L = write(comfd, buff, length);
+	if((size_t)L != length){
+		WARN("Write error!");
+		return 1;
+	}
+	return 0;
+}
diff --git a/HSFW_management/usefull_macros.h b/HSFW_management/usefull_macros.h
new file mode 100644
index 0000000..499aacf
--- /dev/null
+++ b/HSFW_management/usefull_macros.h
@@ -0,0 +1,124 @@
+/*
+ * usefull_macros.h - a set of usefull macros: memory, color etc
+ *
+ * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#pragma once
+#ifndef __USEFULL_MACROS_H__
+#define __USEFULL_MACROS_H__
+
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <sys/mman.h>
+#include <unistd.h>
+#include <string.h>
+#include <stdio.h>
+#include <stdarg.h>
+#include <errno.h>
+#include <err.h>
+#include <locale.h>
+#if defined GETTEXT_PACKAGE && defined LOCALEDIR
+/*
+ * GETTEXT
+ */
+#include <libintl.h>
+#define _(String)				gettext(String)
+#define gettext_noop(String)	String
+#define N_(String)				gettext_noop(String)
+#else
+#define _(String)				(String)
+#define N_(String)				(String)
+#endif
+#include <stdlib.h>
+#include <termios.h>
+#include <termio.h>
+#include <sys/time.h>
+#include <sys/types.h>
+#include <stdint.h>
+
+
+// unused arguments with -Wall -Werror
+#define _U_    __attribute__((__unused__))
+
+/*
+ * Coloured messages output
+ */
+#define RED			"\033[1;31;40m"
+#define GREEN		"\033[1;32;40m"
+#define OLDCOLOR	"\033[0;0;0m"
+
+/*
+ * ERROR/WARNING messages
+ */
+extern int globErr;
+extern void signals(int sig);
+#define ERR(...) do{globErr=errno; _WARN(__VA_ARGS__); signals(9);}while(0)
+#define ERRX(...) do{globErr=0; _WARN(__VA_ARGS__); signals(9);}while(0)
+#define WARN(...) do{globErr=errno; _WARN(__VA_ARGS__);}while(0)
+#define WARNX(...) do{globErr=0; _WARN(__VA_ARGS__);}while(0)
+
+/*
+ * print function name, debug messages
+ * debug mode, -DEBUG
+ */
+#ifdef EBUG
+	#define FNAME() fprintf(stderr, "\n%s (%s, line %d)\n", __func__, __FILE__, __LINE__)
+	#define DBG(...) do{fprintf(stderr, "%s (%s, line %d): ", __func__, __FILE__, __LINE__); \
+					fprintf(stderr, __VA_ARGS__);			\
+					fprintf(stderr, "\n");} while(0)
+#else
+	#define FNAME()	 do{}while(0)
+	#define DBG(...) do{}while(0)
+#endif //EBUG
+
+/*
+ * Memory allocation
+ */
+#define ALLOC(type, var, size)  type * var = ((type *)my_alloc(size, sizeof(type)))
+#define MALLOC(type, size) ((type *)my_alloc(size, sizeof(type)))
+#define FREE(ptr)			do{free(ptr); ptr = NULL;}while(0)
+
+double dtime();
+
+// functions for color output in tty & no-color in pipes
+extern int (*red)(const char *fmt, ...);
+extern int (*_WARN)(const char *fmt, ...);
+extern int (*green)(const char *fmt, ...);
+void * my_alloc(size_t N, size_t S);
+void initial_setup();
+
+// mmap file
+typedef struct{
+	char *data;
+	size_t len;
+} mmapbuf;
+mmapbuf *My_mmap(char *filename);
+void My_munmap(mmapbuf *b);
+
+void restore_console();
+void setup_con();
+int read_console();
+int mygetchar();
+
+void restore_tty();
+void tty_init(char *comdev);
+size_t read_tty(uint8_t *buff, size_t length);
+int write_tty(uint8_t *buff, size_t length);
+
+#endif // __USEFULL_MACROS_H__
diff --git a/getopt/cmdlnopts/cmdlnopts.c b/getopt/cmdlnopts/cmdlnopts.c
index 03eef5a..0d1f1d0 100644
--- a/getopt/cmdlnopts/cmdlnopts.c
+++ b/getopt/cmdlnopts/cmdlnopts.c
@@ -1,5 +1,5 @@
 /*
- * cmdlnopts.c - the only function that parce cmdln args and returns glob parameters
+ * cmdlnopts.c - the only function that parse cmdln args and returns glob parameters
  *
  * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
  *
@@ -85,7 +85,7 @@ myoption cmdlnopts[] = {
 	{"int-size",NEED_ARG,	NULL,	'i',	arg_int,	APTR(&G.S_interp),	"size of interpolated array of surface deviations"},
 	{"image-size",NEED_ARG,NULL,	'I',	arg_int,	APTR(&G.S_image),	"resulting image size"},
 	{"N-photons",NEED_ARG,NULL,	'N',	arg_int,	APTR(&G.N_phot), 	"amount of photons falled to one pixel of matrix by one iteration"},
-	// parameter with suboptions parsed directly in parceargs
+	// parameter with suboptions parsed directly in parseargs
 	{"mir-parameters",NEED_ARG,NULL,'M',	arg_function,APTR(&get_mir_par),MirPar},
 	// another variant of setting parameter without argument
 	{"add-noice",NO_ARGS,	&G.randMask,1,	arg_none,	NULL,				"add random noice to mirror surface deviations"},
@@ -216,7 +216,7 @@ bool get_mirpars(void *arg, suboptions *V){
 }
 
 /**
- * functions of subargs parcing can looks as this
+ * functions of subargs parsing can looks as this
  */
 /**
  * Parse string of mirror parameters (--mir-diam=...)
@@ -236,13 +236,13 @@ bool get_mir_par(void *arg){
 }
 
 /**
- * Parce command line options and return dynamically allocated structure
+ * Parse command line options and return dynamically allocated structure
  * 		to global parameters
  * @param argc - copy of argc from main
  * @param argv - copy of argv from main
  * @return allocated structure with global parameters
  */
-glob_pars *parce_args(int argc, char **argv){
+glob_pars *parse_args(int argc, char **argv){
 	int i;
 	void *ptr;
 	ptr = memcpy(&G, &Gdefault, sizeof(G)); assert(ptr);
@@ -251,7 +251,7 @@ glob_pars *parce_args(int argc, char **argv){
 	// format of help: "Usage: progname [args]\n"
 	change_helpstring("Usage: %s [args]\n\n\tWhere args are:\n");
 	// parse arguments
-	parceargs(&argc, &argv, cmdlnopts);
+	parseargs(&argc, &argv, cmdlnopts);
 	if(help) showhelp(-1, cmdlnopts);
 	if(argc > 0){
 		G.rest_pars_num = argc;
diff --git a/getopt/cmdlnopts/cmdlnopts.h b/getopt/cmdlnopts/cmdlnopts.h
index f4b1719..72b92ab 100644
--- a/getopt/cmdlnopts/cmdlnopts.h
+++ b/getopt/cmdlnopts/cmdlnopts.h
@@ -23,7 +23,7 @@
 #ifndef __CMDLNOPTS_H__
 #define __CMDLNOPTS_H__
 
-#include "parceargs.h"
+#include "parseargs.h"
 
 /*
  * here are some typedef's for global data
@@ -56,6 +56,5 @@ extern glob_pars const Gdefault;
 extern mirPar const Mdefault;
 extern int rewrite_ifexists, verbose;
 
-glob_pars *parce_args(int argc, char **argv);
-
+glob_pars *parse_args(int argc, char **argv);
 #endif // __CMDLNOPTS_H__
diff --git a/getopt/cmdlnopts/main.c b/getopt/cmdlnopts/main.c
index 51cefce..2bdf07e 100644
--- a/getopt/cmdlnopts/main.c
+++ b/getopt/cmdlnopts/main.c
@@ -29,7 +29,11 @@ typedef struct{
 } filterpars;
 
 
-void parce_filter(char *pars){
+void signals(int signo){
+	exit(signo);
+}
+
+void parse_filter(char *pars){
 	filterpars params = { 0, 3, 3};
 	mysuboption filteropts[] = {
 		{"type", NEED_ARG, arg_string, &params.filtertype},
@@ -47,7 +51,7 @@ void parce_filter(char *pars){
 int main(int argc, char **argv){
 	glob_pars *G = NULL; // default parameters see in cmdlnopts.c
 	mirPar *M = NULL;    // default mirror parameters
-	G = parce_args(argc, argv);
+	G = parse_args(argc, argv);
 	M = G->Mirror;
 	printf("Globals:\n");
 	if(!G->S_dev){
@@ -98,7 +102,7 @@ int main(int argc, char **argv){
 		int i = 0;
 		while(*fpars){
 			printf("%d:\n", i++);
-			parce_filter(*fpars);
+			parse_filter(*fpars);
 			++fpars;
 		}
 	}
diff --git a/getopt/cmdlnopts/parseargs.c b/getopt/cmdlnopts/parseargs.c
new file mode 100644
index 0000000..2f57be9
--- /dev/null
+++ b/getopt/cmdlnopts/parseargs.c
@@ -0,0 +1,497 @@
+/*
+ * parseargs.c - parsing command line arguments & print help
+ *
+ * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#include <stdio.h>	// printf
+#include <getopt.h>	// getopt_long
+#include <stdlib.h>	// calloc, exit, strtoll
+#include <assert.h>	// assert
+#include <string.h> // strdup, strchr, strlen
+#include <strings.h>// strcasecmp
+#include <limits.h> // INT_MAX & so on
+#include <libintl.h>// gettext
+#include <ctype.h>	// isalpha
+#include "parseargs.h"
+#include "usefull_macros.h"
+
+char *helpstring = "%s\n";
+
+/**
+ * Change standard help header
+ * MAY consist ONE "%s" for progname
+ * @param str (i) - new format
+ */
+void change_helpstring(char *s){
+	int pcount = 0, scount = 0;
+	char *str = s;
+	// check `helpstring` and set it to default in case of error
+	for(; pcount < 2; str += 2){
+		if(!(str = strchr(str, '%'))) break;
+		if(str[1] != '%') pcount++; // increment '%' counter if it isn't "%%"
+		else{
+			str += 2; // pass next '%'
+			continue;
+		}
+		if(str[1] == 's') scount++; // increment "%s" counter
+	};
+	if(pcount > 1 || pcount != scount){ // amount of pcount and/or scount wrong
+		/// "Неправильный формат строки помощи"
+		ERRX(_("Wrong helpstring!"));
+	}
+	helpstring = s;
+}
+
+/**
+ * Carefull atoll/atoi
+ * @param num (o) - returning value (or NULL if you wish only check number) - allocated by user
+ * @param str (i) - string with number must not be NULL
+ * @param t   (i) - T_INT for integer or T_LLONG for long long (if argtype would be wided, may add more)
+ * @return TRUE if conversion sone without errors, FALSE otherwise
+ */
+static bool myatoll(void *num, char *str, argtype t){
+	long long tmp, *llptr;
+	int *iptr;
+	char *endptr;
+	assert(str);
+	assert(num);
+	tmp = strtoll(str, &endptr, 0);
+	if(endptr == str || *str == '\0' || *endptr != '\0')
+		return FALSE;
+	switch(t){
+		case arg_longlong:
+			llptr = (long long*) num;
+			*llptr = tmp;
+		break;
+		case arg_int:
+		default:
+			if(tmp < INT_MIN || tmp > INT_MAX){
+				/// "Целое вне допустимого диапазона"
+				WARNX(_("Integer out of range"));
+				return FALSE;
+			}
+			iptr = (int*)num;
+			*iptr = (int)tmp;
+	}
+	return TRUE;
+}
+
+// the same as myatoll but for double
+// There's no NAN & INF checking here (what if they would be needed?)
+static bool myatod(void *num, const char *str, argtype t){
+	double tmp, *dptr;
+	float *fptr;
+	char *endptr;
+	assert(str);
+	tmp = strtod(str, &endptr);
+	if(endptr == str || *str == '\0' || *endptr != '\0')
+		return FALSE;
+	switch(t){
+		case arg_double:
+			dptr = (double *) num;
+			*dptr = tmp;
+		break;
+		case arg_float:
+		default:
+			fptr = (float *) num;
+			*fptr = (float)tmp;
+		break;
+	}
+	return TRUE;
+}
+
+/**
+ * Get index of current option in array options
+ * @param opt (i) - returning val of getopt_long
+ * @param options (i) - array of options
+ * @return index in array
+ */
+static int get_optind(int opt, myoption *options){
+	int oind;
+	myoption *opts = options;
+	assert(opts);
+	for(oind = 0; opts->name && opts->val != opt; oind++, opts++);
+	if(!opts->name || opts->val != opt) // no such parameter
+	showhelp(-1, options);
+	return oind;
+}
+
+/**
+ * reallocate new value in array of multiple repeating arguments
+ * @arg paptr - address of pointer to array (**void)
+ * @arg type - its type (for realloc)
+ * @return pointer to new (next) value
+ */
+void *get_aptr(void *paptr, argtype type){
+	int i = 1;
+	void **aptr = *((void***)paptr);
+	if(aptr){ // there's something in array
+		void **p = aptr;
+		while(*p++) ++i;
+	}
+	size_t sz = 0;
+	switch(type){
+		default:
+		case arg_none:
+			/// "Не могу использовать несколько параметров без аргументов!"
+			ERRX("Can't use multiple args with arg_none!");
+		break;
+		case arg_int:
+			sz = sizeof(int);
+		break;
+		case arg_longlong:
+			sz = sizeof(long long);
+		break;
+		case arg_double:
+			sz = sizeof(double);
+		break;
+		case arg_float:
+			sz = sizeof(float);
+		break;
+		case arg_string:
+			sz = 0;
+		break;
+	/*	case arg_function:
+			sz = sizeof(argfn *);
+		break;*/
+	}
+	aptr = realloc(aptr, (i + 1) * sizeof(void*));
+	*((void***)paptr) = aptr;
+	aptr[i] = NULL;
+	if(sz){
+		aptr[i - 1] = malloc(sz);
+	}else
+		aptr[i - 1] = &aptr[i - 1];
+	return aptr[i - 1];
+}
+
+
+/**
+ * Parse command line arguments
+ * ! If arg is string, then value will be strdup'ed!
+ *
+ * @param argc (io) - address of argc of main(), return value of argc stay after `getopt`
+ * @param argv (io) - address of argv of main(), return pointer to argv stay after `getopt`
+ * BE CAREFUL! if you wanna use full argc & argv, save their original values before
+ * 		calling this function
+ * @param options (i) - array of `myoption` for arguments parcing
+ *
+ * @exit: in case of error this function show help & make `exit(-1)`
+  */
+void parseargs(int *argc, char ***argv, myoption *options){
+	char *short_options, *soptr;
+	struct option *long_options, *loptr;
+	size_t optsize, i;
+	myoption *opts = options;
+	// check whether there is at least one options
+	assert(opts);
+	assert(opts[0].name);
+	// first we count how much values are in opts
+	for(optsize = 0; opts->name; optsize++, opts++);
+	// now we can allocate memory
+	short_options = calloc(optsize * 3 + 1, 1); // multiply by three for '::' in case of args in opts
+	long_options = calloc(optsize + 1, sizeof(struct option));
+	opts = options; loptr = long_options; soptr = short_options;
+	// in debug mode check the parameters are not repeated
+#ifdef EBUG
+	char **longlist = MALLOC(char*, optsize);
+	char *shortlist = MALLOC(char, optsize);
+#endif
+	// fill short/long parameters and make a simple checking
+	for(i = 0; i < optsize; i++, loptr++, opts++){
+		// check
+		assert(opts->name); // check name
+#ifdef EBUG
+		longlist[i] = strdup(opts->name);
+#endif
+		if(opts->has_arg){
+			assert(opts->type != arg_none); // check error with arg type
+			assert(opts->argptr);  // check pointer
+		}
+		if(opts->type != arg_none) // if there is a flag without arg, check its pointer
+			assert(opts->argptr);
+		// fill long_options
+		// don't do memcmp: what if there would be different alignment?
+		loptr->name		= opts->name;
+		loptr->has_arg	= (opts->has_arg < MULT_PAR) ? opts->has_arg : 1;
+		loptr->flag		= opts->flag;
+		loptr->val		= opts->val;
+		// fill short options if they are:
+		if(!opts->flag){
+#ifdef EBUG
+			shortlist[i] = (char) opts->val;
+#endif
+			*soptr++ = opts->val;
+			if(loptr->has_arg) // add ':' if option has required argument
+				*soptr++ = ':';
+			if(loptr->has_arg == 2) // add '::' if option has optional argument
+				*soptr++ = ':';
+		}
+	}
+	// sort all lists & check for repeating
+#ifdef EBUG
+	int cmpstringp(const void *p1, const void *p2){
+		return strcmp(* (char * const *) p1, * (char * const *) p2);
+	}
+	int cmpcharp(const void *p1, const void *p2){
+		return (int)(*(char * const)p1 - *(char *const)p2);
+	}
+	qsort(longlist, optsize, sizeof(char *), cmpstringp);
+	qsort(shortlist,optsize, sizeof(char), cmpcharp);
+	char *prevl = longlist[0], prevshrt = shortlist[0];
+	for(i = 1; i < optsize; ++i){
+		if(longlist[i]){
+			if(prevl){
+				if(strcmp(prevl, longlist[i]) == 0) ERRX("double long arguments: --%s", prevl);
+			}
+			prevl = longlist[i];
+		}
+		if(shortlist[i]){
+			if(prevshrt){
+				if(prevshrt == shortlist[i]) ERRX("double short arguments: -%c", prevshrt);
+			}
+			prevshrt = shortlist[i];
+		}
+	}
+#endif
+	// now we have both long_options & short_options and can parse `getopt_long`
+	while(1){
+		int opt;
+		int oindex = 0, optind = 0; // oindex - number of option in argv, optind - number in options[]
+		if((opt = getopt_long(*argc, *argv, short_options, long_options, &oindex)) == -1) break;
+		if(opt == '?'){
+			opt = optopt;
+			optind = get_optind(opt, options);
+			if(options[optind].has_arg == NEED_ARG || options[optind].has_arg == MULT_PAR)
+				showhelp(optind, options); // need argument
+		}
+		else{
+			if(opt == 0 || oindex > 0) optind = oindex;
+			else optind = get_optind(opt, options);
+		}
+		opts = &options[optind];
+		if(opt == 0 && opts->has_arg == NO_ARGS) continue; // only long option changing integer flag
+		// now check option
+		if(opts->has_arg == NEED_ARG || opts->has_arg == MULT_PAR)
+			if(!optarg) showhelp(optind, options); // need argument
+		void *aptr;
+		if(opts->has_arg == MULT_PAR){
+			aptr = get_aptr(opts->argptr, opts->type);
+		}else
+			aptr = opts->argptr;
+		bool result = TRUE;
+		// even if there is no argument, but argptr != NULL, think that optarg = "1"
+		if(!optarg) optarg = "1";
+		switch(opts->type){
+			default:
+			case arg_none:
+				if(opts->argptr) *((int*)aptr) += 1; // increment value
+			break;
+			case arg_int:
+				result = myatoll(aptr, optarg, arg_int);
+			break;
+			case arg_longlong:
+				result = myatoll(aptr, optarg, arg_longlong);
+			break;
+			case arg_double:
+				result = myatod(aptr, optarg, arg_double);
+			break;
+			case arg_float:
+				result = myatod(aptr, optarg, arg_float);
+			break;
+			case arg_string:
+				result = (*((void**)aptr) = (void*)strdup(optarg));
+			break;
+			case arg_function:
+				result = ((argfn)aptr)(optarg);
+			break;
+		}
+		if(!result){
+			showhelp(optind, options);
+		}
+	}
+	*argc -= optind;
+	*argv += optind;
+}
+
+/**
+ * compare function for qsort
+ * first - sort by short options; second - sort arguments without sort opts (by long options)
+ */
+static int argsort(const void *a1, const void *a2){
+	const myoption *o1 = (myoption*)a1, *o2 = (myoption*)a2;
+	const char *l1 = o1->name, *l2 = o2->name;
+	int s1 = o1->val, s2 = o2->val;
+	int *f1 = o1->flag, *f2 = o2->flag;
+	// check if both options has short arg
+	if(f1 == NULL && f2 == NULL){ // both have short arg
+		return (s1 - s2);
+	}else if(f1 != NULL && f2 != NULL){ // both don't have short arg - sort by long
+		return strcmp(l1, l2);
+	}else{ // only one have short arg -- return it
+		if(f2) return -1; // a1 have short - it is 'lesser'
+		else return 1;
+	}
+}
+
+/**
+ * Show help information based on myoption->help values
+ * @param oindex (i)  - if non-negative, show only help by myoption[oindex].help
+ * @param options (i) - array of `myoption`
+ *
+ * @exit:  run `exit(-1)` !!!
+ */
+void showhelp(int oindex, myoption *options){
+	int max_opt_len = 0; // max len of options substring - for right indentation
+	const int bufsz = 255;
+	char buf[bufsz+1];
+	myoption *opts = options;
+	assert(opts);
+	assert(opts[0].name); // check whether there is at least one options
+	if(oindex > -1){ // print only one message
+		opts = &options[oindex];
+		printf("  ");
+		if(!opts->flag && isalpha(opts->val)) printf("-%c, ", opts->val);
+		printf("--%s", opts->name);
+		if(opts->has_arg == 1) printf("=arg");
+		else if(opts->has_arg == 2) printf("[=arg]");
+		printf("  %s\n", _(opts->help));
+		exit(-1);
+	}
+	// header, by default is just "progname\n"
+	printf("\n");
+	if(strstr(helpstring, "%s")) // print progname
+		printf(helpstring, __progname);
+	else // only text
+		printf("%s", helpstring);
+	printf("\n");
+	// count max_opt_len
+	do{
+		int L = strlen(opts->name);
+		if(max_opt_len < L) max_opt_len = L;
+	}while((++opts)->name);
+	max_opt_len += 14; // format: '-S , --long[=arg]' - get addition 13 symbols
+	opts = options;
+	// count amount of options
+	int N; for(N = 0; opts->name; ++N, ++opts);
+	if(N == 0) exit(-2);
+	// Now print all help (sorted)
+	opts = options;
+	qsort(opts, N, sizeof(myoption), argsort);
+	do{
+		int p = sprintf(buf, "  "); // a little indent
+		if(!opts->flag) // .val is short argument
+			p += snprintf(buf+p, bufsz-p, "-%c, ", opts->val);
+		p += snprintf(buf+p, bufsz-p, "--%s", opts->name);
+		if(opts->has_arg == 1) // required argument
+			p += snprintf(buf+p, bufsz-p, "=arg");
+		else if(opts->has_arg == 2) // optional argument
+			p += snprintf(buf+p, bufsz-p, "[=arg]");
+		assert(p < max_opt_len); // there would be magic if p >= max_opt_len
+		printf("%-*s%s\n", max_opt_len+1, buf, _(opts->help)); // write options & at least 2 spaces after
+		++opts;
+	}while(--N);
+	printf("\n\n");
+	exit(-1);
+}
+
+/**
+ * get suboptions from parameter string
+ * @param str - parameter string
+ * @param opt - pointer to suboptions structure
+ * @return TRUE if all OK
+ */
+bool get_suboption(char *str, mysuboption *opt){
+	int findsubopt(char *par, mysuboption *so){
+		int idx = 0;
+		if(!par) return -1;
+		while(so[idx].name){
+			if(strcasecmp(par, so[idx].name) == 0) return idx;
+			++idx;
+		}
+		return -1; // badarg
+	}
+	bool opt_setarg(mysuboption *so, int idx, char *val){
+		mysuboption *soptr = &so[idx];
+		bool result = FALSE;
+		void *aptr = soptr->argptr;
+		switch(soptr->type){
+			default:
+			case arg_none:
+				if(soptr->argptr) *((int*)aptr) += 1; // increment value
+				result = TRUE;
+			break;
+			case arg_int:
+				result = myatoll(aptr, val, arg_int);
+			break;
+			case arg_longlong:
+				result = myatoll(aptr, val, arg_longlong);
+			break;
+			case arg_double:
+				result = myatod(aptr, val, arg_double);
+			break;
+			case arg_float:
+				result = myatod(aptr, val, arg_float);
+			break;
+			case arg_string:
+				result = (*((void**)aptr) = (void*)strdup(val));
+			break;
+			case arg_function:
+				result = ((argfn)aptr)(val);
+			break;
+		}
+		return result;
+	}
+	char *tok;
+	bool ret = FALSE;
+	char *tmpbuf;
+	tok = strtok_r(str, ":,", &tmpbuf);
+	do{
+		char *val = strchr(tok, '=');
+		int noarg = 0;
+		if(val == NULL){ // no args
+			val = "1";
+			noarg = 1;
+		}else{
+			*val++ = '\0';
+			if(!*val || *val == ':' || *val == ','){ // no argument - delimeter after =
+				val = "1"; noarg = 1;
+			}
+		}
+		int idx = findsubopt(tok, opt);
+		if(idx < 0){
+			/// "Неправильный параметр: %s"
+			WARNX(_("Wrong parameter: %s"), tok);
+			goto returning;
+		}
+		if(noarg && opt[idx].has_arg == NEED_ARG){
+			/// "%s: необходим аргумент!"
+			WARNX(_("%s: argument needed!"), tok);
+			goto returning;
+		}
+		if(!opt_setarg(opt, idx, val)){
+			/// "Неправильный аргумент \"%s\" параметра \"%s\""
+			WARNX(_("Wrong argument \"%s\" of parameter \"%s\""), val, tok);
+			goto returning;
+		}
+	}while((tok = strtok_r(NULL, ":,", &tmpbuf)));
+	ret = TRUE;
+returning:
+	return ret;
+}
diff --git a/getopt/cmdlnopts/parseargs.h b/getopt/cmdlnopts/parseargs.h
new file mode 100644
index 0000000..b8351d9
--- /dev/null
+++ b/getopt/cmdlnopts/parseargs.h
@@ -0,0 +1,124 @@
+/*
+ * parseargs.h - headers for parsing command line arguments
+ *
+ * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+#pragma once
+#ifndef __PARSEARGS_H__
+#define __PARSEARGS_H__
+
+#include <stdbool.h>// bool
+#include <stdlib.h>
+
+#ifndef TRUE
+	#define TRUE true
+#endif
+
+#ifndef FALSE
+	#define FALSE false
+#endif
+
+// macro for argptr
+#define APTR(x)   ((void*)x)
+
+// if argptr is a function:
+typedef  bool(*argfn)(void *arg);
+
+/*
+ * type of getopt's argument
+ * WARNING!
+ * My function change value of flags by pointer, so if you want to use another type
+ * make a latter conversion, example:
+ * 		char charg;
+ * 		int iarg;
+ * 		myoption opts[] = {
+ * 		{"value", 1, NULL, 'v', arg_int, &iarg, "char val"}, ..., end_option};
+ * 		..(parse args)..
+ * 		charg = (char) iarg;
+ */
+typedef enum {
+	arg_none = 0,	// no arg
+	arg_int,		// integer
+	arg_longlong,	// long long
+	arg_double,		// double
+	arg_float,		// float
+	arg_string,		// char *
+	arg_function	// parse_args will run function `bool (*fn)(char *optarg, int N)`
+} argtype;
+
+/*
+ * Structure for getopt_long & help
+ * BE CAREFUL: .argptr is pointer to data or pointer to function,
+ * 		conversion depends on .type
+ *
+ * ATTENTION: string `help` prints through macro PRNT(), bu default it is gettext,
+ * but you can redefine it before `#include "parseargs.h"`
+ *
+ * if arg is string, then value wil be strdup'ed like that:
+ * 		char *str;
+ * 		myoption opts[] = {{"string", 1, NULL, 's', arg_string, &str, "string val"}, ..., end_option};
+ *		*(opts[1].str) = strdup(optarg);
+ * in other cases argptr should be address of some variable (or pointer to allocated memory)
+ *
+ * NON-NULL argptr should be written inside macro APTR(argptr) or directly: (void*)argptr
+ *
+ * !!!LAST VALUE OF ARRAY SHOULD BE `end_option` or ZEROS !!!
+ *
+ */
+typedef enum{
+	NO_ARGS  = 0,  // first three are the same as in getopt_long
+	NEED_ARG = 1,
+	OPT_ARG  = 2,
+	MULT_PAR
+} hasarg;
+
+typedef struct{
+	// these are from struct option:
+	const char *name;		// long option's name
+	hasarg      has_arg;	// 0 - no args, 1 - nesessary arg, 2 - optionally arg, 4 - need arg & key can repeat (args are stored in null-terminated array)
+	int        *flag;		// NULL to return val, pointer to int - to set its value of val (function returns 0)
+	int         val;		// short opt name (if flag == NULL) or flag's value
+	// and these are mine:
+	argtype     type;		// type of argument
+	void       *argptr;		// pointer to variable to assign optarg value or function `bool (*fn)(char *optarg, int N)`
+	const char *help;		// help string which would be shown in function `showhelp` or NULL
+} myoption;
+
+/*
+ * Suboptions structure, almost the same like myoption
+ * used in parse_subopts()
+ */
+typedef struct{
+	const char *name;
+	hasarg      has_arg;
+	argtype     type;
+	void       *argptr;
+} mysuboption;
+
+// last string of array (all zeros)
+#define end_option {0,0,0,0,0,0,0}
+#define end_suboption {0,0,0,0}
+
+extern const char *__progname;
+
+void showhelp(int oindex, myoption *options);
+void parseargs(int *argc, char ***argv, myoption *options);
+void change_helpstring(char *s);
+bool get_suboption(char *str, mysuboption *opt);
+
+#endif // __PARSEARGS_H__
diff --git a/getopt/cmdlnopts/usefull_macros.c b/getopt/cmdlnopts/usefull_macros.c
new file mode 100644
index 0000000..f97c181
--- /dev/null
+++ b/getopt/cmdlnopts/usefull_macros.c
@@ -0,0 +1,327 @@
+/*
+ * usefull_macros.h - a set of usefull functions: memory, color etc
+ *
+ * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#include "usefull_macros.h"
+
+/**
+ * function for different purposes that need to know time intervals
+ * @return double value: time in seconds
+ */
+double dtime(){
+	double t;
+	struct timeval tv;
+	gettimeofday(&tv, NULL);
+	t = tv.tv_sec + ((double)tv.tv_usec)/1e6;
+	return t;
+}
+
+/******************************************************************************\
+ *                          Coloured terminal
+\******************************************************************************/
+int globErr = 0; // errno for WARN/ERR
+
+// pointers to coloured output printf
+int (*red)(const char *fmt, ...);
+int (*green)(const char *fmt, ...);
+int (*_WARN)(const char *fmt, ...);
+
+/*
+ * format red / green messages
+ * name: r_pr_, g_pr_
+ * @param fmt ... - printf-like format
+ * @return number of printed symbols
+ */
+int r_pr_(const char *fmt, ...){
+	va_list ar; int i;
+	printf(RED);
+	va_start(ar, fmt);
+	i = vprintf(fmt, ar);
+	va_end(ar);
+	printf(OLDCOLOR);
+	return i;
+}
+int g_pr_(const char *fmt, ...){
+	va_list ar; int i;
+	printf(GREEN);
+	va_start(ar, fmt);
+	i = vprintf(fmt, ar);
+	va_end(ar);
+	printf(OLDCOLOR);
+	return i;
+}
+/*
+ * print red error/warning messages (if output is a tty)
+ * @param fmt ... - printf-like format
+ * @return number of printed symbols
+ */
+int r_WARN(const char *fmt, ...){
+	va_list ar; int i = 1;
+	fprintf(stderr, RED);
+	va_start(ar, fmt);
+	if(globErr){
+		errno = globErr;
+		vwarn(fmt, ar);
+		errno = 0;
+		globErr = 0;
+	}else
+		i = vfprintf(stderr, fmt, ar);
+	va_end(ar);
+	i++;
+	fprintf(stderr, OLDCOLOR "\n");
+	return i;
+}
+
+static const char stars[] = "****************************************";
+/*
+ * notty variants of coloured printf
+ * name: s_WARN, r_pr_notty
+ * @param fmt ... - printf-like format
+ * @return number of printed symbols
+ */
+int s_WARN(const char *fmt, ...){
+	va_list ar; int i;
+	i = fprintf(stderr, "\n%s\n", stars);
+	va_start(ar, fmt);
+	if(globErr){
+		errno = globErr;
+		vwarn(fmt, ar);
+		errno = 0;
+		globErr = 0;
+	}else
+		i = +vfprintf(stderr, fmt, ar);
+	va_end(ar);
+	i += fprintf(stderr, "\n%s\n", stars);
+	i += fprintf(stderr, "\n");
+	return i;
+}
+int r_pr_notty(const char *fmt, ...){
+	va_list ar; int i;
+	i = printf("\n%s\n", stars);
+	va_start(ar, fmt);
+	i += vprintf(fmt, ar);
+	va_end(ar);
+	i += printf("\n%s\n", stars);
+	return i;
+}
+
+/**
+ * Run this function in the beginning of main() to setup locale & coloured output
+ */
+void initial_setup(){
+	// setup coloured output
+	if(isatty(STDOUT_FILENO)){ // make color output in tty
+		red = r_pr_; green = g_pr_;
+	}else{ // no colors in case of pipe
+		red = r_pr_notty; green = printf;
+	}
+	if(isatty(STDERR_FILENO)) _WARN = r_WARN;
+	else _WARN = s_WARN;
+	// Setup locale
+	setlocale(LC_ALL, "");
+	setlocale(LC_NUMERIC, "C");
+#if defined GETTEXT_PACKAGE && defined LOCALEDIR
+	bindtextdomain(GETTEXT_PACKAGE, LOCALEDIR);
+	textdomain(GETTEXT_PACKAGE);
+#endif
+}
+
+/******************************************************************************\
+ *                                  Memory
+\******************************************************************************/
+/*
+ * safe memory allocation for macro ALLOC
+ * @param N - number of elements to allocate
+ * @param S - size of single element (typically sizeof)
+ * @return pointer to allocated memory area
+ */
+void *my_alloc(size_t N, size_t S){
+	void *p = calloc(N, S);
+	if(!p) ERR("malloc");
+	//assert(p);
+	return p;
+}
+
+/**
+ * Mmap file to a memory area
+ *
+ * @param filename (i) - name of file to mmap
+ * @return stuct with mmap'ed file or die
+ */
+mmapbuf *My_mmap(char *filename){
+	int fd;
+	char *ptr;
+	size_t Mlen;
+	struct stat statbuf;
+	if(!filename) ERRX(_("No filename given!"));
+	if((fd = open(filename, O_RDONLY)) < 0)
+		ERR(_("Can't open %s for reading"), filename);
+	if(fstat (fd, &statbuf) < 0)
+		ERR(_("Can't stat %s"), filename);
+	Mlen = statbuf.st_size;
+	if((ptr = mmap (0, Mlen, PROT_READ, MAP_PRIVATE, fd, 0)) == MAP_FAILED)
+		ERR(_("Mmap error for input"));
+	if(close(fd)) ERR(_("Can't close mmap'ed file"));
+	mmapbuf *ret = MALLOC(mmapbuf, 1);
+	ret->data = ptr;
+	ret->len = Mlen;
+	return  ret;
+}
+
+void My_munmap(mmapbuf *b){
+	if(munmap(b->data, b->len))
+		ERR(_("Can't munmap"));
+	FREE(b);
+}
+
+
+/******************************************************************************\
+ *                          Terminal in no-echo mode
+\******************************************************************************/
+static struct termios oldt, newt; // terminal flags
+static int console_changed = 0;
+// run on exit:
+void restore_console(){
+	if(console_changed)
+		tcsetattr(STDIN_FILENO, TCSANOW, &oldt); // return terminal to previous state
+	console_changed = 0;
+}
+
+// initial setup:
+void setup_con(){
+	if(console_changed) return;
+	tcgetattr(STDIN_FILENO, &oldt);
+	newt = oldt;
+	newt.c_lflag &= ~(ICANON | ECHO);
+	if(tcsetattr(STDIN_FILENO, TCSANOW, &newt) < 0){
+		WARN(_("Can't setup console"));
+		tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
+		signals(0); //quit?
+	}
+	console_changed = 1;
+}
+
+/**
+ * Read character from console without echo
+ * @return char readed
+ */
+int read_console(){
+	int rb;
+	struct timeval tv;
+	int retval;
+	fd_set rfds;
+	FD_ZERO(&rfds);
+	FD_SET(STDIN_FILENO, &rfds);
+	tv.tv_sec = 0; tv.tv_usec = 10000;
+	retval = select(1, &rfds, NULL, NULL, &tv);
+	if(!retval) rb = 0;
+	else {
+		if(FD_ISSET(STDIN_FILENO, &rfds)) rb = getchar();
+		else rb = 0;
+	}
+	return rb;
+}
+
+/**
+ * getchar() without echo
+ * wait until at least one character pressed
+ * @return character readed
+ */
+int mygetchar(){ // getchar() without need of pressing ENTER
+	int ret;
+	do ret = read_console();
+	while(ret == 0);
+	return ret;
+}
+
+
+/******************************************************************************\
+ *                              TTY with select()
+\******************************************************************************/
+static struct termio oldtty, tty; // TTY flags
+static int comfd = -1; // TTY fd
+
+// run on exit:
+void restore_tty(){
+	if(comfd == -1) return;
+	ioctl(comfd, TCSANOW, &oldtty ); // return TTY to previous state
+	close(comfd);
+	comfd = -1;
+}
+
+#ifndef BAUD_RATE
+#define BAUD_RATE B9600
+#endif
+// init:
+void tty_init(char *comdev){
+	DBG("\nOpen port...\n");
+	if ((comfd = open(comdev,O_RDWR|O_NOCTTY|O_NONBLOCK)) < 0){
+		WARN("Can't use port %s\n",comdev);
+		ioctl(comfd, TCSANOW, &oldtty); // return TTY to previous state
+		close(comfd);
+		signals(0); // quit?
+	}
+	DBG(" OK\nGet current settings... ");
+	if(ioctl(comfd,TCGETA,&oldtty) < 0){  // Get settings
+		WARN(_("Can't get settings"));
+		signals(0);
+	}
+	tty = oldtty;
+	tty.c_lflag     = 0; // ~(ICANON | ECHO | ECHOE | ISIG)
+	tty.c_oflag     = 0;
+	tty.c_cflag     = BAUD_RATE|CS8|CREAD|CLOCAL; // 9.6k, 8N1, RW, ignore line ctrl
+	tty.c_cc[VMIN]  = 0;  // non-canonical mode
+	tty.c_cc[VTIME] = 5;
+	if(ioctl(comfd,TCSETA,&tty) < 0){
+		WARN(_("Can't set settings"));
+		signals(0);
+	}
+	DBG(" OK\n");
+}
+/**
+ * Read data from TTY
+ * @param buff (o) - buffer for data read
+ * @param length   - buffer len
+ * @return amount of readed bytes
+ */
+size_t read_tty(uint8_t *buff, size_t length){
+	ssize_t L = 0;
+	fd_set rfds;
+	struct timeval tv;
+	int retval;
+	FD_ZERO(&rfds);
+	FD_SET(comfd, &rfds);
+	tv.tv_sec = 0; tv.tv_usec = 50000; // wait for 50ms
+	retval = select(comfd + 1, &rfds, NULL, NULL, &tv);
+	if (!retval) return 0;
+	if(FD_ISSET(comfd, &rfds)){
+		if((L = read(comfd, buff, length)) < 1) return 0;
+	}
+	return (size_t)L;
+}
+
+int write_tty(uint8_t *buff, size_t length){
+	ssize_t L = write(comfd, buff, length);
+	if((size_t)L != length){
+		WARN("Write error!");
+		return 1;
+	}
+	return 0;
+}
diff --git a/getopt/cmdlnopts/usefull_macros.h b/getopt/cmdlnopts/usefull_macros.h
new file mode 100644
index 0000000..499aacf
--- /dev/null
+++ b/getopt/cmdlnopts/usefull_macros.h
@@ -0,0 +1,124 @@
+/*
+ * usefull_macros.h - a set of usefull macros: memory, color etc
+ *
+ * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#pragma once
+#ifndef __USEFULL_MACROS_H__
+#define __USEFULL_MACROS_H__
+
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <sys/mman.h>
+#include <unistd.h>
+#include <string.h>
+#include <stdio.h>
+#include <stdarg.h>
+#include <errno.h>
+#include <err.h>
+#include <locale.h>
+#if defined GETTEXT_PACKAGE && defined LOCALEDIR
+/*
+ * GETTEXT
+ */
+#include <libintl.h>
+#define _(String)				gettext(String)
+#define gettext_noop(String)	String
+#define N_(String)				gettext_noop(String)
+#else
+#define _(String)				(String)
+#define N_(String)				(String)
+#endif
+#include <stdlib.h>
+#include <termios.h>
+#include <termio.h>
+#include <sys/time.h>
+#include <sys/types.h>
+#include <stdint.h>
+
+
+// unused arguments with -Wall -Werror
+#define _U_    __attribute__((__unused__))
+
+/*
+ * Coloured messages output
+ */
+#define RED			"\033[1;31;40m"
+#define GREEN		"\033[1;32;40m"
+#define OLDCOLOR	"\033[0;0;0m"
+
+/*
+ * ERROR/WARNING messages
+ */
+extern int globErr;
+extern void signals(int sig);
+#define ERR(...) do{globErr=errno; _WARN(__VA_ARGS__); signals(9);}while(0)
+#define ERRX(...) do{globErr=0; _WARN(__VA_ARGS__); signals(9);}while(0)
+#define WARN(...) do{globErr=errno; _WARN(__VA_ARGS__);}while(0)
+#define WARNX(...) do{globErr=0; _WARN(__VA_ARGS__);}while(0)
+
+/*
+ * print function name, debug messages
+ * debug mode, -DEBUG
+ */
+#ifdef EBUG
+	#define FNAME() fprintf(stderr, "\n%s (%s, line %d)\n", __func__, __FILE__, __LINE__)
+	#define DBG(...) do{fprintf(stderr, "%s (%s, line %d): ", __func__, __FILE__, __LINE__); \
+					fprintf(stderr, __VA_ARGS__);			\
+					fprintf(stderr, "\n");} while(0)
+#else
+	#define FNAME()	 do{}while(0)
+	#define DBG(...) do{}while(0)
+#endif //EBUG
+
+/*
+ * Memory allocation
+ */
+#define ALLOC(type, var, size)  type * var = ((type *)my_alloc(size, sizeof(type)))
+#define MALLOC(type, size) ((type *)my_alloc(size, sizeof(type)))
+#define FREE(ptr)			do{free(ptr); ptr = NULL;}while(0)
+
+double dtime();
+
+// functions for color output in tty & no-color in pipes
+extern int (*red)(const char *fmt, ...);
+extern int (*_WARN)(const char *fmt, ...);
+extern int (*green)(const char *fmt, ...);
+void * my_alloc(size_t N, size_t S);
+void initial_setup();
+
+// mmap file
+typedef struct{
+	char *data;
+	size_t len;
+} mmapbuf;
+mmapbuf *My_mmap(char *filename);
+void My_munmap(mmapbuf *b);
+
+void restore_console();
+void setup_con();
+int read_console();
+int mygetchar();
+
+void restore_tty();
+void tty_init(char *comdev);
+size_t read_tty(uint8_t *buff, size_t length);
+int write_tty(uint8_t *buff, size_t length);
+
+#endif // __USEFULL_MACROS_H__