diff --git a/Makefile b/Makefile
index 4ccedb3..8608e34 100644
--- a/Makefile
+++ b/Makefile
@@ -10,29 +10,29 @@ DEFS    = -DBAUD=9600
 DEFS   += -DEBUG
 LIBS    =
 
-SRC=$(wildcard *.c)
-HEX     = $(NAME).hex
-ELF     = $(NAME).elf
-OBJECTS = $(SRC:%.c=%.o)
-
 # controller
-DEVICE  = atmega328p
-#atmega8535
+DEVICE  = atmega8535
+#Тактовая частота 8 МГц
+CLOCK   = 8000000
+# partno (for avrdude)
+PARTNO  = m8535
 
 CFLAGS  = -g -Wall $(OPTIMIZE) $(DEFS)
 LDFLAGS = -Wl,-Map,$(NAME).map
 
 # programmer (for avrdude)
-PROGRAMMER = arduino
-# partno (for avrdude)
-PARTNO  = m328p
+PROGRAMMER = avrisp
+
 # serial port device (for avrdude)
 SERPORT = /dev/ttyUSB0
-#Тактовая частота 16 МГц
-CLOCK   = 16000000
+
+SRC=$(wildcard *.c)
+HEX     = $(NAME).hex
+ELF     = $(NAME).elf
+OBJECTS = $(SRC:%.c=%.o)
 
 # avrdude command from arduino IDE
-AVRDUDE = avrdude -C/usr/share/arduino/hardware/tools/avrdude.conf -v -p$(PARTNO) -c$(PROGRAMMER) -P$(SERPORT) -b115200 -D
+AVRDUDE = avrdude -C/usr/share/arduino/hardware/tools/avrdude.conf -v -p$(PARTNO) -c$(PROGRAMMER) -P$(SERPORT) -b19200 -D
 
 COMPILE = $(CC) $(CFLAGS) -mmcu=$(DEVICE) -DF_CPU=$(CLOCK)
 
@@ -40,7 +40,7 @@ all:	$(HEX) lst
 
 $(ELF): $(OBJECTS)
 	@echo "ELF"
-	@$(COMPILE) -o $(ELF) $(OBJECTS) $(LIBS)
+	@$(COMPILE) $(LDFLAGS) -o $(ELF) $(OBJECTS) $(LIBS)
 
 $(HEX): $(ELF)
 	@echo "HEX"
@@ -65,7 +65,7 @@ lst:  $(NAME).lst
 
 flash:	all
 	@echo "Flash"
-	@$(AVRDUDE) -U flash:w:$(HEX):i
+	$(AVRDUDE) -U flash:w:$(HEX):i
 
 clean:
 	@echo "Clean"
diff --git a/includes.h b/includes.h
index be6ec1f..84814d6 100644
--- a/includes.h
+++ b/includes.h
@@ -48,6 +48,27 @@
     #define STPRS_OFF() do{PORTD |= 0xfc; PORTC |= 0x0f;}while(0)
     #define DDRAB       DDRA
     #define PORTAB      PORTA
+    // 8535 have common irq register for all timers
+    #define TIMSK0      TIMSK
+    #define TIMSK1      TIMSK
+    #define UCSR0A      UCSRA
+    #define UCSR0B      UCSRB
+    #define UCSR0C      UCSRC
+    #define UDRIE0      UDRIE
+    #define FE0         FE
+    #define UPE0        PE
+    #define DOR0        DOR
+    #define UDRIE0      UDRIE
+    #define UDR0        UDR
+    #define UBRR0H      UBRRH
+    #define UBRR0L      UBRRL
+    #define U2X0        U2X
+    #define UCSZ01      UCSZ1
+    #define UCSZ00      UCSZ0
+    #define RXEN0       RXEN
+    #define TXEN0       TXEN
+    #define RXCIE0      RXCIE
+
     #define LED1_PIN    (_BV(0))
     #define LED2_PIN    (_BV(1))
     #define LED3_PIN    (_BV(2))
diff --git a/main.c b/main.c
index 08b9711..4fc0b4a 100644
--- a/main.c
+++ b/main.c
@@ -45,6 +45,7 @@ int main() {
 
     /** USART config **/
     // set baudrate (using macros from util/setbaud.h)
+    #if !defined (__AVR_ATmega8535__)
     UBRR0H = UBRRH_VALUE;
     UBRR0L = UBRRL_VALUE;
 
@@ -53,6 +54,11 @@ int main() {
     #else
     UCSR0A &= ~(_BV(U2X0));
     #endif
+    #else // __AVR_ATmega8535__
+    UCSRA &= ~(_BV(U2X0));
+    UBRRH = 0;
+    UBRRL = 51;
+    #endif
     UCSR0C = _BV(UCSZ01) | _BV(UCSZ00); // 8-bit data
     UCSR0B = _BV(RXEN0) | _BV(TXEN0) | _BV(RXCIE0);   // Enable RX and TX, enable RX interrupt
 
@@ -70,7 +76,9 @@ int main() {
     stepper_setup();
 
     sei(); // enable interrupts
+
     wdt_enable(WDTO_2S); // start watchdog
+    usart_send("Scorpio platform ready\n");
 
     while(1){
         wdt_reset();
@@ -104,4 +112,7 @@ ISR(TIMER0_OVF_vect){
     if(shi_counter == LEDs[1]) PORTAB &= ~LED2_PIN;
     if(shi_counter == LEDs[2]) PORTAB &= ~LED3_PIN;
     ++shi_counter;
+//    #if defined (__AVR_ATmega8535__)
+//    TCNT0 += 128;
+//    #endif
 }
diff --git a/proto.c b/proto.c
index b095fcf..31e8d0a 100644
--- a/proto.c
+++ b/proto.c
@@ -95,8 +95,9 @@ uint8_t process_commands(char *cmd){
     char s = *cmd;
     cmd = omit_whitespace(cmd + 1);
     switch(s){
-        case '0':
+        case '0': // stop motors
             DBG("restart");
+            stop_motors();
         break;
         case '7':
             DBG("Shutter");
@@ -145,9 +146,14 @@ void process_string(){
         noerr = 0;
     }
     if(rx_bufsize < 3 || rx_buffer[0] != '[' || rx_buffer[rx_bufsize - 2] != ']'){
+        #ifdef EBUG
+        usart_send(rx_buffer);
+        #endif
+        if(!chk_stpr_cmd(rx_buffer[0])){
+            DBG("Enter \"[cmd]\"\n");
+        }
         //if(rx_buffer[0] == 't'){ print_time(); return; }
         rx_bufsize = 0;
-        DBG("Enter \"[cmd]\"\n");
         noerr = 0;
     }
     if(noerr){ // echo back given string
diff --git a/scorpio.hex b/scorpio.hex
index abca6d4..2c4ce44 100644
--- a/scorpio.hex
+++ b/scorpio.hex
@@ -1,201 +1,192 @@
-:100000000C9434000C9451000C9451000C94510049
-:100010000C9451000C9451000C9451000C9451001C
-:100020000C9451000C9451000C9451000C94B601A6
-:100030000C9451000C9451000C9451000C945100FC
-:100040000C9498030C9451000C942D030C946203AF
-:100050000C9451000C9451000C9451000C945100DC
-:100060000C9451000C94510011241FBECFEFD8E026
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diff --git a/stepper.c b/stepper.c
index c09975b..c957346 100644
--- a/stepper.c
+++ b/stepper.c
@@ -57,8 +57,21 @@
 // [1324] = 1000, 1010, 0010, 0110, 0100, 0101, 0001, 1001 - bipolar
 // 1000, 1010, 0010, 0110, 0100, 0101, 0001, 1001 - half-step
 // 1010, 0110, 0101, 1001 - full step
-static const uint8_t usteps[8] = {8, 12, 4, 6, 2, 3, 1, 9}; // ULN - unipolar, active 1
+//static const uint8_t usteps[8] = {8, 12, 4, 6, 2, 3, 1, 9}; // ULN - unipolar, active 1
 //static const uint8_t usteps[8] = {7, 3, 11, 9, 13, 12, 14, 6}; // unipolar, active is 0
+static const uint8_t usteps_matrix[8][8] = {
+    {0b1000, 0b1100, 0b0100, 0b0110, 0b0010, 0b0011, 0b0001, 0b1001}, // [1234]
+    {0b0010, 0b0110, 0b0100, 0b1100, 0b1000, 0b1001, 0b0001, 0b0011}, // [3214]
+    {0b1000, 0b1001, 0b0001, 0b0011, 0b0010, 0b0110, 0b0100, 0b1100}, // [1432]
+    {0b1000, 0b1010, 0b0010, 0b0110, 0b0100, 0b0101, 0b0001, 0b1001}, // [1324]
+    // inversion: cat | sed -e 's/0b/x/g' -e 's/0/y/g' -e 's/1/0/g' -e 's/y/1/g' -e s'/x/0b/g'
+    {0b0111, 0b0011, 0b1011, 0b1001, 0b1101, 0b1100, 0b1110, 0b0110}, // [1234]
+    {0b1101, 0b1001, 0b1011, 0b0011, 0b0111, 0b0110, 0b1110, 0b1100}, // [3214]
+    {0b0111, 0b0110, 0b1110, 0b1100, 0b1101, 0b1001, 0b1011, 0b0011}, // [1432]
+    {0b0111, 0b0101, 0b1101, 0b1001, 0b1011, 0b1010, 0b1110, 0b0110}, // [1324]
+};
+
+uint8_t const *usteps = usteps_matrix[0];
 
 static int8_t Ustep = 0; // current microstep count
 uint16_t Steps_left; // steps left to proceed (absolute value)
@@ -67,8 +80,6 @@ static uint8_t cur_motor = 0; // current motor number
 
 volatile uint8_t stepper_pulse = 0; // interrupt flag, used in main.c
 
-static void stop_motors();
-
 void stepper_setup(){
     TCCR1B |= _BV(WGM12); // configure timer1 for CTC mode, TOP is OCR1A
     OCR1A   = 2000; // set the CTC compare value - 1kHz
@@ -145,7 +156,7 @@ uint8_t stepper_move(uint8_t Nmotor, int16_t Nsteps){
     return 1;
 }
 
-static void stop_motors(){
+void stop_motors(){
     stepper_get_esw(cur_motor);
     // turn off all pulses to place motor in free state & prevent undesirable behaviour
     STPRS_OFF();
@@ -202,9 +213,21 @@ void stepper_get_esw(uint8_t Nmotor){
     usart_send(str);
 }
 
+/**
+ * User can change current stepper phases table
+ * N - position in table from 'a' (0) to 'h' (7)
+ * return 1 if all OK
+ */
+uint8_t chk_stpr_cmd(char N){
+    if(N < 'a' || N > 'h') return 0;
+    usteps = usteps_matrix[N-'a'];
+    return 1;
+}
+
 /**
  * Timer 1 used to generate stepper pulses
  */
 ISR(TIMER1_COMPA_vect){
     stepper_pulse = 1; // say that we can generate next microstep
 }
+
diff --git a/stepper.h b/stepper.h
index 26a4410..0c4ff0e 100644
--- a/stepper.h
+++ b/stepper.h
@@ -36,7 +36,9 @@ void stepper_process();
 
 uint8_t stepper_ch_speed(char *spd);
 uint8_t stepper_move(uint8_t Nmotor, int16_t Nsteps);
+void stop_motors();
 
 void stepper_get_esw(uint8_t Nmotor);
+uint8_t chk_stpr_cmd(char N);
 
 #endif // __STEPPER_H__