From 6f29257a28daea933859b090f03e97d84edb545b Mon Sep 17 00:00:00 2001
From: Edward Emelianov <eddy@sao.ru>
Date: Fri, 17 Jun 2022 12:12:47 +0300
Subject: [PATCH] 3steppers: fix some bugs, add commands eraseflash and setpos

---
 F0:F030,F042,F072/3steppersLB/Makefile      |   2 +-
 F0:F030,F042,F072/3steppersLB/Readme.md     | 103 ++++++++++---------
 F0:F030,F042,F072/3steppersLB/commonproto.c |  63 ++++++------
 F0:F030,F042,F072/3steppersLB/flash.c       |   6 +-
 F0:F030,F042,F072/3steppersLB/flash.h       |   1 +
 F0:F030,F042,F072/3steppersLB/steppers.bin  | Bin 25296 -> 23644 bytes
 F0:F030,F042,F072/3steppersLB/steppers.c    | 108 +++++++++++++++-----
 F0:F030,F042,F072/3steppersLB/steppers.h    |  16 +--
 F0:F030,F042,F072/3steppersLB/strfunct.c    |  17 ++-
 F0:F030,F042,F072/3steppersLB/version.inc   |   4 +-
 10 files changed, 195 insertions(+), 125 deletions(-)

diff --git a/F0:F030,F042,F072/3steppersLB/Makefile b/F0:F030,F042,F072/3steppersLB/Makefile
index 57ff91c..0427056 100644
--- a/F0:F030,F042,F072/3steppersLB/Makefile
+++ b/F0:F030,F042,F072/3steppersLB/Makefile
@@ -5,7 +5,7 @@ BOOTSPEED	?= 57600
 FAMILY		?= F0
 # MCU code
 MCU			?= F072xB
-DEFS		+= -DEBUG
+#DEFS		+= -DEBUG
 # change this linking script depending on particular MCU model,
 # for example, if you have STM32F103VBT6, you should write:
 LDSCRIPT	?= stm32f072B.ld
diff --git a/F0:F030,F042,F072/3steppersLB/Readme.md b/F0:F030,F042,F072/3steppersLB/Readme.md
index 7f457d9..022f240 100644
--- a/F0:F030,F042,F072/3steppersLB/Readme.md
+++ b/F0:F030,F042,F072/3steppersLB/Readme.md
@@ -142,10 +142,10 @@ Common commands format is cmd[ N[ = val]]
         where N is command argument (0..127), val is its value
 Different commands:
         adc - get ADC values
-        button - get buttons state
+        button - get buttons state (return time of last event & ERRCODE == buttonstate)
         buzzer - change buzzer state (1/0)
-        esw - get end switches state
-        ext - external outputs
+        esw - get end switches state (without number - all, by bytes)
+        ext - external outputs (without number - all, by bytes; value= 0-off, 1-on, other-toggle)
         mcut - get MCU T
         mcuvdd - get MCU Vdd
         ping - echo given command back
@@ -175,6 +175,7 @@ Motors' commands:
         motreinit - re-init motors after configuration changed
         relpos - set relative steps, get remaining
         relslow - set relative steps @ lowest speed
+	setpos - set/get absolute position (in steps)
         state - get motor state
         stop - smooth motor stopping
 USB-only commands:
@@ -185,6 +186,7 @@ USB-only commands:
         dumperr - dump error codes
         dumpcmd - dump command codes
         dumpconf - dump current configuration
+	eraseflash - erase flash data storage
         filter - add/modify filter, format: bank# FIFO# mode(M/I) num0 [num1 [num2 [num3]]]
         getctr - get TIM1/2/3 counters
         ignbuf - print ignore buffer
@@ -208,7 +210,6 @@ bytes   descr
 7       Hdata
 
 dumperr
-Find known command: dumperr
 Error codes:
 0 - all OK
 1 - wrong parameter's value
@@ -219,82 +220,82 @@ Error codes:
 
 
 dumpcmd
-Find known command: dumpcmd
 Commands list:
-0 - Different commands:
-1 - change relay state (1/0)
-2 - change buzzer state (1/0)
-3 - get ADC values
-4 - get buttons state
-5 - get end switches state
-6 - get MCU T
-7 - get MCU Vdd
-8 - reset MCU
-9 - get time from start
-10 - pwm value
-11 - external outputs
-12 - save current configuration
-13 - minimal encoder ticks per step
-14 - maximal encoder ticks per step
-15 - set/get microsteps settings
-16 - set/get accel/decel (steps/s^2)
-17 - set/get max speed (steps per sec)
-18 - set/get min speed (steps per sec)
-19 - get limiting speed for current microsteps
-20 - set/get max steps (from zero)
-21 - set/get max encoder's pulses per revolution
-22 - set/get motorN flags
-23 - end-switches reaction
-24 - re-init motors after configuration changed
-25 - set/get position (in steps)
-26 - set relative steps, get remaining
-27 - set relative steps @ lowest speed
-28 - emergency stop motor (right now)
-29 - smooth motor stopping
-30 - emergency stop all motors
-31 - find zero position & refresh counters
-32 - get motor state
-33 - set/get encoder's position
+1 - echo given command back
+2 - change relay state (1/0)
+3 - change buzzer state (1/0)
+4 - get ADC values
+5 - get buttons state
+6 - get end switches state
+7 - get MCU T
+8 - get MCU Vdd
+9 - reset MCU
+10 - get time from start
+11 - pwm value
+12 - external outputs
+13 - save current configuration
+14 - minimal encoder ticks per step
+15 - maximal encoder ticks per step
+16 - set/get microsteps settings
+17 - set/get accel/decel (steps/s^2)
+18 - set/get max speed (steps per sec)
+19 - set/get min speed (steps per sec)
+20 - get limiting speed for current microsteps
+21 - set/get max steps (from zero)
+22 - set/get max encoder's pulses per revolution
+23 - set/get motorN flags
+24 - end-switches reaction
+25 - re-init motors after configuration changed
+26 - move to/get absolute position (in steps)
+27 - set relative steps, get remaining
+28 - set relative steps @ lowest speed
+29 - emergency stop motor (right now)
+30 - smooth motor stopping
+31 - emergency stop all motors
+32 - find zero position & refresh counters
+33 - get motor state
+34 - set/get encoder's position
+35 - set/get absolute position (in steps)
+
 
 dumpconf
-Find known command: dumpconf
-flashsize=64*2048=131072 
-userconf_addr=0x08006800
-userconf_idx=-1		// "index of stored conf"
+userconf_addr=0x08006000// address from which userconf started
+userconf_idx=5 		// "index of stored conf"
 userconf_sz=68		// "magick number"
 canspeed=100		// default CAN speed
 canid=170		// identifier (0xaa)
 microsteps0=32		// microsteps amount per step
-accel0=500		// acceleration/deceleration (steps/s^2)
-maxspeed0=2000		// max motor speed (steps per second)
+accel0=1500		// acceleration/deceleration (steps/s^2)
+maxspeed0=1501		// max motor speed (steps per second)
 minspeed0=20		// min motor speed (steps per second)
 maxsteps0=500000	// maximal amount of steps
 encperrev0=4000		// encoders' counts per revolution
 encperstepmin0=17	// min amount of encoder ticks per one step
 encperstepmax0=23	// max amount of encoder ticks per one step
-motflags0=0x3c		// motor's flags
+motflags0=0x2f		// motor's flags
 eswreaction0=0		// end-switches reaction (esw_react)
 microsteps1=32
-accel1=500
+accel1=1500
 maxspeed1=2000
 minspeed1=20
 maxsteps1=500000
 encperrev1=4000
 encperstepmin1=17
 encperstepmax1=23
-motflags1=0x3c
+motflags1=0x2f
 eswreaction1=0
 microsteps2=32
-accel2=500
-maxspeed2=2000
+accel2=1500
+maxspeed2=2500
 minspeed2=20
 maxsteps2=500000
 encperrev2=4000
 encperstepmin2=17
 encperstepmax2=23
-motflags2=0x3c
+motflags2=0x2f
 eswreaction2=0
 
+
 Motor flags:
 bit0 - reversing motor rotation
 bit1 - reversing encoder rotation
diff --git a/F0:F030,F042,F072/3steppersLB/commonproto.c b/F0:F030,F042,F072/3steppersLB/commonproto.c
index da8b3ac..76cbb05 100644
--- a/F0:F030,F042,F072/3steppersLB/commonproto.c
+++ b/F0:F030,F042,F072/3steppersLB/commonproto.c
@@ -27,6 +27,11 @@
 #include "strfunct.h"
 #endif
 
+#define NOPARCHK() do{uint8_t n = PARBASE(par); if(n != CANMESG_NOPAR) return ERR_BADPAR;}while(0)
+
+#define CHECKN(val, par) do{val = PARBASE(par); \
+    if(val > MOTORSNO-1) return ERR_BADPAR;}while(0)
+
 /******* All functions from cmdlist[i].function *******/
 
 static errcodes pingparser(uint8_t _U_ par, int32_t _U_ *val){
@@ -34,6 +39,7 @@ static errcodes pingparser(uint8_t _U_ par, int32_t _U_ *val){
 }
 
 static errcodes relayparser(uint8_t par, int32_t *val){
+    NOPARCHK();
     if(ISSETTER(par)){
         if(*val) ON(RELAY);
         else OFF(RELAY);
@@ -43,6 +49,7 @@ static errcodes relayparser(uint8_t par, int32_t *val){
 }
 
 static errcodes buzzerparser(uint8_t par, int32_t *val){
+    NOPARCHK();
     if(ISSETTER(par)){
         if(*val) ON(BUZZER);
         else OFF(BUZZER);
@@ -63,7 +70,7 @@ static errcodes adcparser(uint8_t par, int32_t *val){
 static errcodes buttonsparser(uint8_t par, int32_t *val){
     uint8_t n = PARBASE(par);
     if(n > BTNSNO-1){
-        par = CANMESG_NOPAR; // the only chance to understand error
+        *val = CANMESG_NOPAR; // the only chance to understand error
         return ERR_BADPAR;
     }
     return (uint8_t) keystate(n, (uint32_t*)val);
@@ -75,39 +82,43 @@ static errcodes eswparser(uint8_t par, int32_t *val){
 #error "change the code!!!"
 #endif
     uint8_t n = PARBASE(par);
-    if(n > ESWNO-1){ // all
+    if(n == CANMESG_NOPAR){ // all
         *val = 0;
         uint8_t *arr = (uint8_t*)val;
         for(int i = 0; i < ESWNO; ++i)
             *arr++ = ESW_state(i);
         return ERR_OK;
-    }
+    }else if(n > ESWNO - 1) return ERR_BADPAR;
     *val = (int32_t)ESW_state(n);
     return ERR_OK;
 }
 
 static errcodes mcutparser(uint8_t _U_ par, int32_t *val){
+    NOPARCHK();
     *val = getMCUtemp();
     return ERR_OK;
 }
 
 static errcodes mcuvddparser(uint8_t _U_ par, int32_t *val){
+    NOPARCHK();
     *val = getVdd();
     return ERR_OK;
 }
 
 static errcodes resetparser(uint8_t _U_ par, int32_t _U_ *val){
+    NOPARCHK();
     NVIC_SystemReset();
     return ERR_OK;
 }
 
 static errcodes timeparser(uint8_t _U_ par, int32_t *val){
+    NOPARCHK();
     *val = Tms;
     return ERR_OK;
 }
 
 static errcodes pwmparser(uint8_t par, int32_t *val){
-    if(PARBASE(par) > PWMCHMAX && par != CANMESG_NOPAR) return ERR_BADPAR;
+    NOPARCHK();
 #if PWMCHMAX != 0
 #error "change the code!!!"
 #endif
@@ -144,7 +155,7 @@ static errcodes extparser(uint8_t par, int32_t *val){
     SEND("par="); printu(par);
     SEND(", n="); bufputchar('0'+n); newline();
 #endif
-    if(n > EXTNO-1){ // all
+    if(n == CANMESG_NOPAR){ // all
 #ifdef EBUG
         SEND("ALL\n");
 #endif
@@ -157,7 +168,7 @@ static errcodes extparser(uint8_t par, int32_t *val){
             arr[i] = EXT_CHK(i);
         }
         return ERR_OK;
-    }
+    }else if(n > EXTNO-1) return ERR_BADPAR;
     if(ISSETTER(par))
         setextpar((uint8_t)*val, n);
     *val = (int32_t) EXT_CHK(n);
@@ -166,8 +177,7 @@ static errcodes extparser(uint8_t par, int32_t *val){
 
 /******************* START of config parsers *******************/
 static errcodes ustepsparser(uint8_t par, int32_t *val){
-    uint8_t n = PARBASE(par);
-    if(n > MOTORSNO-1) return ERR_BADPAR;
+    uint8_t n; CHECKN(n, par);
     if(ISSETTER(par)){
 #if MICROSTEPSMAX > 512
 #error "Change the code anywhere!"
@@ -184,8 +194,7 @@ static errcodes ustepsparser(uint8_t par, int32_t *val){
 }
 
 static errcodes encstepsminparser(uint8_t par, int32_t *val){
-    uint8_t n = PARBASE(par);
-    if(n > MOTORSNO-1) return ERR_BADPAR;
+    uint8_t n; CHECKN(n, par);
     if(ISSETTER(par)){
         if(*val < 1 || *val > MAXENCTICKSPERSTEP - 1) return ERR_BADVAL;
         the_conf.encperstepmin[n] = *val;
@@ -195,8 +204,7 @@ static errcodes encstepsminparser(uint8_t par, int32_t *val){
 }
 
 static errcodes encstepsmaxparser(uint8_t par, int32_t *val){
-    uint8_t n = PARBASE(par);
-    if(n > MOTORSNO-1) return ERR_BADPAR;
+    uint8_t n; CHECKN(n, par);
     if(ISSETTER(par)){
         if(*val < 1 || *val > MAXENCTICKSPERSTEP) return ERR_BADVAL;
         the_conf.encperstepmax[n] = *val;
@@ -206,8 +214,7 @@ static errcodes encstepsmaxparser(uint8_t par, int32_t *val){
 }
 
 static errcodes accparser(uint8_t par, int32_t *val){
-    uint8_t n = PARBASE(par);
-    if(n > MOTORSNO-1) return ERR_BADPAR;
+    uint8_t n; CHECKN(n, par);
     if(ISSETTER(par)){
         if(*val/the_conf.microsteps[n] > ACCELMAXSTEPS || *val < 1) return ERR_BADVAL;
         the_conf.accel[n] = *val;
@@ -227,8 +234,7 @@ static uint16_t getSPD(uint8_t n, int32_t speed){
 }
 
 static errcodes maxspdparser(uint8_t par, int32_t *val){
-    uint8_t n = PARBASE(par);
-    if(n > MOTORSNO-1) return ERR_BADPAR;
+    uint8_t n; CHECKN(n, par);
     if(ISSETTER(par)){
         if(*val <= the_conf.minspd[n]) return ERR_BADVAL;
         the_conf.maxspd[n] = getSPD(n, *val);
@@ -238,8 +244,7 @@ static errcodes maxspdparser(uint8_t par, int32_t *val){
 }
 
 static errcodes minspdparser(uint8_t par, int32_t *val){
-    uint8_t n = PARBASE(par);
-    if(n > MOTORSNO-1) return ERR_BADPAR;
+    uint8_t n; CHECKN(n, par);
     if(ISSETTER(par)){
         if(*val >= the_conf.maxspd[n]) return ERR_BADVAL;
         the_conf.minspd[n] = getSPD(n, *val);
@@ -249,15 +254,13 @@ static errcodes minspdparser(uint8_t par, int32_t *val){
 }
 
 static errcodes spdlimparser(uint8_t par, int32_t *val){
-    uint8_t n = PARBASE(par);
-    if(n > MOTORSNO-1) return ERR_BADPAR;
+    uint8_t n; CHECKN(n, par);
     *val = getSPD(n, 0xffff);
     return ERR_OK;
 }
 
 static errcodes maxstepsparser(uint8_t par, int32_t *val){
-    uint8_t n = PARBASE(par);
-    if(n > MOTORSNO-1) return ERR_BADPAR;
+    uint8_t n; CHECKN(n, par);
     if(ISSETTER(par)){
         if(*val < 1) return ERR_BADVAL;
         the_conf.maxsteps[n] = *val;
@@ -267,8 +270,7 @@ static errcodes maxstepsparser(uint8_t par, int32_t *val){
 }
 
 static errcodes encrevparser(uint8_t par, int32_t *val){
-    uint8_t n = PARBASE(par);
-    if(n > MOTORSNO-1) return ERR_BADPAR;
+    uint8_t n; CHECKN(n, par);
     if(ISSETTER(par)){
         if(*val < 1 || *val > MAXENCREV) return ERR_BADVAL;
         the_conf.encrev[n] = *val;
@@ -279,8 +281,7 @@ static errcodes encrevparser(uint8_t par, int32_t *val){
 }
 
 static errcodes motflagsparser(uint8_t par, int32_t *val){
-    uint8_t n = PARBASE(par);
-    if(n > MOTORSNO-1) return ERR_BADPAR;
+    uint8_t n; CHECKN(n, par);
     if(ISSETTER(par)){
         the_conf.motflags[n] = *((motflags_t*)val);
     }
@@ -290,8 +291,7 @@ static errcodes motflagsparser(uint8_t par, int32_t *val){
 
 // setter of GLOBAL reaction, getter of LOCAL!
 static errcodes eswreactparser(uint8_t par, int32_t *val){
-    uint8_t n = PARBASE(par);
-    if(n > MOTORSNO-1) return ERR_BADPAR;
+    uint8_t n; CHECKN(n, par);
     if(ISSETTER(par)){
         if(*val < 0 || *val > ESW_AMOUNT-1) return ERR_BADVAL;
         the_conf.ESW_reaction[n] = *val;
@@ -302,6 +302,7 @@ static errcodes eswreactparser(uint8_t par, int32_t *val){
 }
 
 static errcodes saveconfparser(uint8_t _U_ par, int32_t _U_ *val){
+    NOPARCHK();
     if(store_userconf()) return ERR_CANTRUN;
     return ERR_OK;
 }
@@ -310,13 +311,11 @@ static errcodes saveconfparser(uint8_t _U_ par, int32_t _U_ *val){
 
 /******************* START of motors' parsers *******************/
 static errcodes reinitmparser(uint8_t _U_ par, int32_t _U_ *val){
+    NOPARCHK();
     init_steppers();
     return ERR_OK;
 }
 
-#define CHECKN(val, par) do{val = PARBASE(par); \
-    if(val > MOTORSNO-1) return ERR_BADPAR;}while(0)
-
 static errcodes emstopparser(uint8_t par, int32_t _U_ *val){
     uint8_t n; CHECKN(n, par);
     emstopmotor(n);
@@ -324,6 +323,7 @@ static errcodes emstopparser(uint8_t par, int32_t _U_ *val){
 }
 
 static errcodes emstopallparser(uint8_t _U_ par, int32_t _U_ *val){
+    NOPARCHK();
     for(int i = 0; i < MOTORSNO; ++i)
         emstopmotor(i);
     return ERR_OK;
@@ -384,7 +384,6 @@ static errcodes gotozeroparser(uint8_t par, _U_ int32_t *val){
     return motor_goto0(n);
 }
 
-#undef CHECKN
 /******************* END of motors' parsers *******************/
 
 /*
diff --git a/F0:F030,F042,F072/3steppersLB/flash.c b/F0:F030,F042,F072/3steppersLB/flash.c
index 84de13b..9f958cf 100644
--- a/F0:F030,F042,F072/3steppersLB/flash.c
+++ b/F0:F030,F042,F072/3steppersLB/flash.c
@@ -112,7 +112,7 @@ int store_userconf(){
     // for binarySearch() checking that there's nothing more after it!
     if(currentconfidx > (int)maxCnum - 3){ // there's no more place
         currentconfidx = 0;
-        if(erase_flash(Flash_Data, (&__varsstart))) return 1;
+        if(erase_flash(Flash_Data, NULL)) return 1;
     }else ++currentconfidx; // take next data position (0 - within first run after firmware flashing)
     return write2flash((const void*)&Flash_Data[currentconfidx], &the_conf, sizeof(the_conf));
 }
@@ -241,3 +241,7 @@ void dump_userconf(_U_ char *txt){
     }
     NL();
 }
+
+int erase_storage(){
+    return erase_flash(Flash_Data, NULL);
+}
diff --git a/F0:F030,F042,F072/3steppersLB/flash.h b/F0:F030,F042,F072/3steppersLB/flash.h
index 5794a20..07dfd1f 100644
--- a/F0:F030,F042,F072/3steppersLB/flash.h
+++ b/F0:F030,F042,F072/3steppersLB/flash.h
@@ -79,5 +79,6 @@ extern user_conf the_conf; // global user config (read from FLASH to RAM)
 void flashstorage_init();
 int store_userconf();
 void dump_userconf(_U_ char *txt);
+int erase_storage();
 
 #endif // __FLASH_H__
diff --git a/F0:F030,F042,F072/3steppersLB/steppers.bin b/F0:F030,F042,F072/3steppersLB/steppers.bin
index e50adaf4660a7e70fc004397ff2ac3ffb5670c01..9eb447ed533f1dc4921179faef343922a229bacd 100755
GIT binary patch
delta 10809
zcmb7qdt6gjw*NjS0m4I!fEp6e13?W26agtdsxiSMa700*CW4)yI1ST>spZ#8UpHy(
zgIcFmPw!kLcE;X1QyuGEip_62R;Ju(d#y9J_oQkEL_4vy9_O~bO<Ow&;gR2WA7a~?
z-|wFvpU?NKwb$Cuwb$Nz?H#0dm`krST4EvGkd0_A00Cg%G=qoG1d0Dq{)&E5Ni+Qa
zpg&&j4CsX))bS|ze*upEK=ysTS%2Tii^)WjXMOee^I7(h5%Is-`RwJ0I79W(j6)3J
zihvRz4cJHs*H$a0sDH*(iZ7~nu<el(83`$j$L$Xma6((c3$8iVG->u)pX)I1V|-H$
z%(f~`VacGOZVxGPyv(zlyPp(1`9Oub+{Qmp!Opd*ADC-<r?WWm@y-JE99vaq0b67v
zof{I=wu8=(oDL_Gmts?KdgsS7nM>yUkMg~a?^PfulY(LS?FR}xi5HM8C&<)BEZ*(J
za%v6H+*KR$uj5zqAMu;`y}XJE`n#+6S-q?75Y%%I@)m2N<;PWJuBUo^Nv+a0p>6#E
zzD-cQ(!*~Pe0&+<`EH&V?{%p~mH4MVMx1KQwv@T@b~aDh_9!WAkiK@2{e3P?;mpCG
z63;8VliyTlvOmR>Zjv6n7vHo)^qb<um%CS+9&~Hd4!N}{PItchWS3~QN&>I%Y~&4{
z&3!#qqeRT?MPh8=Q{4?Yf9gBP3w$e|?QSGKT|V)V<|^YKjc;w^HD)$IjJ15G+s1SG
z23Mxd%4a$=JuY9;(EyMBmN}DpL#N*0`}m{$AwJYkoBCrQI_Ef12bo(*@!L|~gD1N<
z5)03Zv8HdOQ?jwkXf7Be96KlI-oEKjCn+u+))Y>W*uo-7RhTNJ8JTXCl?|x#G|P-T
zRmM-;f0n)ZT3b%7kNE8BqupzW$&((?7>zqMc_+Kh$bVlzjRJ4Vc@L@z*+I2YooCz`
z#Q6WW?BPE8hnx&@{#qX3dog`!n8w9$I4v9wtAwirAH<Yq)eudk;Pww=z{!CM!O-qY
zN(&@;3d-t^wdYu;2H;*?EUb<#R8(I}Nd?7q3?!oyRR5(kznTr57@^<Zkt6LSoejM{
zG7qVvG{w?%???gCFOD2*Hzem+nB|E@g@bv*VG^{np`VS+hE5#O3BLB`q<QCOfclbV
zpZ8>e8BUscK80gL=_A_OnZiC7;Zkj))0;nC*ssoRPqFD+_3fE8DHeTeEZjT(Yk6Ar
zhX5P8YvdDI3+fsfmZyTYjhurOs3U8tiKYms0-Qhu=m5N4FCkji5{t#g)kt@H@Od0~
z7|`Y$gdtaoH9;D3?XwLzbwb)wy<3ZJpc9a0x9_uMw`M9*b-q?`Ag@7kAg{yO<H|@<
zUGV1hxKeCA&SU}U1oZ`P{sC78OC@S5QN<-{Dsiu&9rcuBehBAYGhnkNG7<ys&2QE}
zrxH}P7oC)wpd<Q%1l1&(@Rp6?niEw4xSU{crJ{-f{t(KC{2t@`{2E?m@%laHc@k?j
z4h|%z2P)ub-S&#w9=obtZ)u#>vns_&xPeo@<9p%YDV=0~jYneU-zpU;8H;MG+I#Go
zWI8cg4C-In%(h*vAIl7PO&&-tl?v*N>(1t+5)&yUhxwdNQgn;N6fKgnTz9k|;?=I@
zmIC#Qpr>r}$Xb56Z4G~_l_^t~s7tr4mIEaJg#C!!(5^03S?sfRtx9z>i_+%b2v~nB
zPf;45f?ht>dQ48OOI~+fPKGS0y2q}wXR3F#9+I<MNv@Y$|12lDvRo_GFSmXGt8~G;
zyK9L?JfGUbM#n^V+JoGwu~mE$QH5R~^BPypYGw~uxevA#W}T}f%pz6DI3}h{nLlF+
zl+A3n^{>NU%1JeoD%F@+JLPt6OT4_}yYjP8J|kZK?NRaFDRXD^j!u^UY&axq;^lue
zDyq}V>!*)p*Ce3*Y2TICp?umolhXdf@q+9{4)fsdPp^*3+wvxL_r!Hy4S$15CuMD;
zVpsaut@|P+#NE%4WET?}k0g?BWM=NSFo4_dDVRdk7Pd%>=}rugxg23a&WOqReg323
ze@xBud@w>A)b<bX9;4Q;vM?NLW(Rf1{ZCPC|MxPLB0D<rk9jBMPedo>D&pa^ew~Fi
zX$FUr*#HxIKcelYy?byZ3V(^9Z-19(y^`rvJk#y}?@UUb^mv}vA~!2~%ck{HuP2hW
zpM-uKBV1G#2ekR@igEF(mS+Y;^Ry+N$y{k<GG8p5tPFTW{zv(z5o(AL`C)1Xs|xE)
zRhH_cCeT@8;m(l}bp2tY+n-C)NP-2Mx5Ugb!T72&s;@%nu>1#`iZI-U#N<G8-|#e@
zH8GIv5eTPmXN;K^x+qg!IFcl_(B1kq_Ip;?!1lC$fr?2Mss6tU6HbF2*N`+k^=4U>
zq{&waJ*{7%G$UlFdRjl1iTeApY4L{DQmQLvP8?L%dK$M8P9-$oNvmMFG1^!)W4UR&
zWb7DB=>7<U?|l&#Uw4E~<xTyhZR<yDR{JWo(PHhkC6rJH^S}}+OB(T*lVK^=OorV3
zIzmFKF>1w#OpIhss`Gju@r0tI&L(EDsyKqCK9@uO5Bc>x&ld>;e!Z(m$ad|v=14Rc
ziG}|XVNHerV{Eqe@X5=%`8fiabAX?-?#sSP5(`TaHBp(SORPyRF^kLHOogiWt3dG7
zN&Z#-2sSMh7YqMB!k9ji7$eG;b@Ly|Wu4Qph|O6N6Z#@@RR$l*j1bdb#8)$?dq`+y
z>;stzv5=?(tN2Rve=v3ixk%_*>>Z4fhG^Y@mJseBXym)lXQ2@E=XNcqy>phYkC`i4
zYX*yiZa#;2jfRAS{9U%TssjBgp2K?oZRF7ErGrmcD~HPS_wj2>$y}!3d7hn@=Mi#U
zd5DVggdSis-@s3EUUX$y#{#toQ!YC7?bG0fIklUe6qY=F`%)ZtTX5jfV~<;M(KXFF
zCgE$-<_|gP>69LTr&XMUc6C*+^}-;TTSC5%TO$2KE@p0u?V|G=`D{2go13)`Q2+vF
zHAY8Dh~?M6Mw(+SM&^#y$DaQ3JyD(Y<1AAoQP4R*kTta_)tSz!d^Yr6O#J7p*&ZiO
zMP$D@pNncsYcgD^E_UgFzsI`nGE=5!Qk@Idp40hAaczNXT6=Qhit|j~{94JyV2qM$
zAhGIvIVU-_?aVyJHm$WPubg|DSI_0<JjUnO<kxoL`-yH3KdWY6m4$EP)lO}f&ik$_
z38mk4ZA!Gx14)1h>Up;GT_;<%Z}n$zF>hXmFli!vyJyL67~^{vnOf7}q<91VnY1?5
z$+=?Tp$Yh^={UUjzp+96MNFD8#}o0>@Ro+T_f!Y{Oz4);y9F{=hiz>4*qzl(XyNFc
z0!{tX*iVo$jkaU%bzM~MLYf=3@phz4quY_nMyeaBywPpK8s5im6;|^-_%6TY0AEg0
zxRUa#eN1R?)Xp;@)hOMjcYC6@Vj(^iy^dmuqbcAYjn+ebBTCf|Dca8Hk*AqZI7+oU
zqt(!Us%Y<0wCz#XZYFeH(Qb=YqZ=P8+AWH9bJX+<6B<&q8>6eBJ*{ZhDOw@wIg#rl
zwkqAz7rTgBYhyxhD_K`YE0MKN$+|?zS`l^qlnMD2ZAo+yv@a>z`HFU4)buP9`jw*1
zi<+T*UeOv9tuA^U+J9BF8PNi0pHQ@E(OW$jQ*yMjlL?(yMz4y_g8F_%Jw8Hh6CGhH
zBG7k6*~QE)ss%*aEK^JT&&Ut`{V)Ps>fEn^!q2(4L8;H42Mq$(fg8XWph38h1#lEa
z_$&w30(L;_XEEQguzy_JPb)m()eSQ2>$T!$y`FuoR=i*TBzw44oY0qg_R#FeLXRdA
z;>QT~X?-gWD2`aPetbjAzn57U$XLiqzn4`}8O?WijGoGq_53`})4bgZ&(>zTn6k|8
z0zD=#M4eXrcf%Wo(y>@rGr@$qV|NSpth0Abgzp`j2tO1hp??vd$XRUPGa3sQjo#v%
z2rrwM2+tl<n@Hfv;4MxzbZdl!UL6A$G<Op7vcN=GKc=1)3E22soH`d9dL;5FPfQmi
z8?SQ-{M#EDT%A;%9`l_N8%m9c8M#$<5?UQQE<53z2cpFEducO@8XwfU7?FhDjxDYx
zA%Bc&Q$`pcF>57aJir?f79QXiLich^;B{M=&}f7yXL>%tE$*Aa6byP!O#Dr5QU0va
zHaQpBys-{hCv;oMV2f<ynM$2gm8XM`IAh{iZl&iC_UcnC;a<T+&|R$;^e|+XFgYy<
z=TCtKfr!7NHnWA8S4)oBOrdqCtmY|l)=^gTzGDynqJb1Hy}YRI3&%a=S?k8(HvX!k
zMw^^ny!J{%aZR$Wa#8XFXOdQ2FxQ-Qm}|~BlGQJ^s?3PfjhUW}rn)Lp*lZF^)!B_E
zLGLmN7aL3hqR!B@QHCs9<ux)(Xb3vzTtQ8NFuQu#F|?Ig#D?ldLl#qGq(8H!!f?h>
zM_P4$Yr=3V|DNNksn2HLuRUr=NAv05H9v46ttM^l8OK$}p4I_*TjAgb+wwk?>sk%3
z;PiSJ7I+@$0><bm21;GC4d}q=HAr^=q~HcQ1pVj0A*5q5LJlF1*008~J0LzYyD<AI
zbQb6oCsTIDpnq3yEc}l6-t1+w){i#xB;TUdIp+%3yYx-5@YeBn^D4crpR%FfM#Z_@
z?Tct*Zd6J;LL12eXlK0W$X(zc2WSJd)9WF>D*8DyV-l}$%h-3K;;g*+9urj0Lq&_y
zF}eLSgal$}Nh6Q-5_5ilC7D82=?2{HZ^vbP5n)3QkCMWy;dJ3Q<Quz*IJQm^TJ>Mm
zrwL!xGe=|LqcKE1zLeS%^%QKcyZ`BIyn-MGoU|S79&L}dyOAZy-x*W1<X0Gu#5hEM
zY{96UP=Kfrd1!vxuN-kv!AuY3sP!ZMHT?U$*S}=_ljIEtf^x#-9kY^Qc1Z<J4a1fM
zvqnlZr{JwZBPGOdV3Gb3!LaEW>))h>!oTGn;P;c-s?4XQE`wTSJ7(pFo2|#Jwo7j~
zj#(|zJb@$Gu=w2*#PkssDr#J|+1lt?m6_jc6>WL7nN77kCuC&nnmD1d^o53u2WAUC
z$Nr=_=V#UKcWn5HPnTO;!;1|k9XSFsr>DV4(#o32na$b4Rub5NClQj1>U+m$Ad>BI
z;CAjXsKwUlLXRWUWwvEHe<`!vOLFRDUHU<p4*X%(LpVCE)FyOVuVdQj6jO_sD1{t0
z<(z;9a3f7!VbbqZ!eiu|-Jy$xTVvXOT4ACh(fS=a>XWy{hzT1H0%(2Hq@LP8QCZ7s
zDPbA5C2{-QsU9k&tulhHh2Ds1I^w7IVXxxb|22+!BqqNY^%U1^CB@Z^o1f4zWnXmp
z`WiR9fbeVbMjYuU#>Nfvgn4xb_!|D-@I+I*=`-Ck^`yA?vT^;h_I~^C?BC4%V(PQj
zJ68?&>FXA3DYIRXW_biA&u2f#8(h!WTKQBbS-|3f%4dJ09wA4zxv8>5^?)HsePOyV
zy~bzXZSQH#67*Zx`Dqf#&qS97<h1oaMb)28eShXr>wTy?Ad`H3Q<{)as&9G~Zb}DN
z3EXr&YHDg?YDPCnpR}nP0y=WBdtQsOh}`~k;j!HPSSZ;z;*-_WY&BMD)`un%W+esK
z{3Nu^C|`QPq3>Gfv6X)t2%|;X65R}{P~pwkZ@@pVPEE`$tT}l|g%g3vFA($_zYn{J
zIU?;M-Mp2b?Ga|L^VxfN8#%z&^0~q<HXCy*Ni+FIcc81&#)j^RWD6FpVG}XWy!;ZP
zkiY55p8gtsUtg7J+ht`hTloy3yIzggx>dZnNh|zfgBIJXR@hvBT5jZZ`X83bv^86I
zS+8Hbs;o|GsxIo5bOhApZrZ8?{2`2pZh!P`lZJk)`Jn$j;r-eJ{4^J4ueVvBY$k)F
zK>>4lW__mfj6e!{_%n#!Z|BePC;8I?Bc2vifEr-MPx`v~Hw8m>Wtskg#w2q7)8Jde
zFG;gwzXyqH!T+e;Ko_2Vpk|=D)?slx&-dsP_y4{&VgCk4^8T56a$zW#zK~o>y&^Ou
zAIl~dK1qy)RpZINgr3HR6Sa*Ec;kFFvF9P1Xq|egksp5cN4AsJluIQ4H<-GzPBrdh
zPX%AWOUXI=FZiRinOm5$=Dy4(wb?^1pA2r`8K3qULszp#pR>zKK45bgpM}?ZW8uA{
zO#UII3dXFK$l&=aDlDe0gUxtSWzE|I79RJok+M!a^+?YJ3G&dzMutATQsNeCUut2>
zhWlRHm|(6S+ABO&qu;Vu_;@49e~E0af1+k{{gX9+^wjSGvkUOn{K>v~YcsERFAe^Z
z2)w$-;F{T`>WSuMxSl3HJ#4}6ecF!b^U_2kpZ&~AJ>yIM*XOL{(vd5(y(`sA(jF4F
zl837QyqO6##Tc^WyF-<H@Yt36Ywj01s+*N#l?lBu5wS2nowu3y7&_74!0sSxK7gb8
zAT04o6<fxLEO?cVDOZ=NM758pV9V4Z>-)HhDPu)d5s_xfsektdOpW~K!Q0~|uA7`t
z-Awr@efq*hm$&jCU_$d`g0}9H6YzD*r*Y|M^i*dykx+hgF=CpdBMk^;a-tT#q-3Cv
z;Cb{`NPj*;b-ocA^>mN0`L|*^s<ABq%FMnn$j2Kc`4w@QIB1Q_7$e)0>88_VlFe|r
z1aXP*$!+MyrR%{2-)4triO}rmv671q%4%booAJTyU722iSHb+5&NSSZky-jYm?OX=
z$V(((j~adCAm3UQ3-1^srlf$%xS2=EWtr}oLU7|2IZ;UyW2T$#URjv&M(h)GMMVI*
z+UQ<EHz2G!kFw0@lB4U<1pM$M=t7#F6cL;Rbl36%N-zMKvaKOaqm`QxN}514SCKaa
z(B(`|91gN_fJQq_iUlSIm*I-$`ShMd#jTzu)Uo=;sbg7mj@`+78DE$6!QpH#3#-(?
zv1$~@GEe-_v2H(CRkK>Ke&<&E$EjO+`*dClj%#AxdYPJdMcl%Fyhbgo_NjVwurIal
z?bnh$$CAXP19Ta2qX`F+djyAQB~ooesj^uZ9`GfS^S`-Pvi<?bZYv2Ky|zHGJ07*J
zz=7asD1vEe$>XC~egWULWZy##-PdT7`IAjv-gj-f%*AVJ#<LL#bX_}*u#lX4@Y=S#
z&THEWJ-<MN_=4h*Q{_jmO}fh?*K}T@X3}=a*<Ka;+@w@GC0^+r*L-q%wNY8y#*NA5
z{-FmO+OE;5It2W1I_MPK3^M6-RRiU~&Eps6##T<b5V_rJPEiHD9L4#Y@?Swdz>mvr
zKPgD4OI&Amm5>}a6FMGI3k#e%ZZ|GPufeGXkgp%WYn@<#(=t*l{3)V^ez9=jJf>f4
zSU4{^8|iBJLcjRv!d)3H;7$PrYjL}?<C?ctoKdolF^k(v-k4PhAt_=k7SL+StBIu^
z)DAe;iYpe~W_E!+wTYI4$NB%0w{gTjdo5FrXQv4cTjEF{7XcJrf!5`UZ!VhYSw^gU
zS{a$2C}q2j;uk!9J55CbxTr3Ug?$qR#UBT}r(Va?RR-SMzmyKTXf0n#w8lO08YlBU
zfxKq}*X2&MyceK7pd)BR3_MfmK}S6Q^mQe;r+$fR-OHY_1UxTfDC+HTHC0}jNa14P
zmI+d<kydl5ioPkXclWR7k`&3>xa3>;c{D~>^C8ezfY$(A4Q8o^X=HG6Lfc<uEk=!H
z6MvIKxD+sZOSo**p^Am)i|b1lt(`W32kN5qp-m;Ra4KF~zL2@(UlfIqUT%qnSw$Nf
zEP-}xoESfnUq=JfzQnIzU&AfK+!jbWrBk1ei)Tx9X{{4g{8EmZ>EgH;D%BUA9mnqi
zN{-XxlQS`C*8!e-(|OeA#;xxN_)}}ein7XOJ@ITM7{QE*BJL+j;pgJgCyZ^%b~+nN
za8Ga%#`f4a$8A;eJR%+~GcY^Ecgp5$ZyDc<y)kGfX>TR60ZVc$oEPJeyMBBh<e%8P
z`-bE4>59Bck^eA%a*WPJ<@ntiroux=@!r7AfU}NUs<a0amM>&7L{E7xqY_^zH*EZN
z>|S}++L{tN{x8QShr1U65k2f_i`h~UH|Z3?ztc)eKUEU#;kmKbWZK^sCTQyHn3%R$
zr@sn2eGc3J#sF;{(c}PJow#E0`~+&sBjVkQ|AG}$S5fB~4>yejWLw-{#z!Z6aylL(
z+EH*~Dj_D&P(0*Tb*jlTxT>iGw+FX%GUdd)S>ntiL&i?_cp)KXyEK=~C$lOvL3oeb
z*vXVmgS1Y1&8n8NN$V0V$u9hAh@LbHI*DfiFB#z*>OexgGDfLvgK&Va=2h)!CB(c~
z%I?IzQueC#j=+Hyru5%ierMepAcc{Dzz^do-ZY%w$?PNZ7f5(m!;O%^y@CWD4nB^F
ze<aBG{@GkNWaCyU6Y<md08`+nPmQMbdT#z$MvSSnKMVd4h=pGs{aP-sZMOQbG5YM?
zYv}CWJ9=F%fj{}|c-O)&yB=c_V&M`(H-T-Vv?P6B@!)p>y18E(y%l9PjWXTv%yF{t
zvXsK*D;=ndcYwZypBW7#%8&BT$iw1^%7xZ_6OUU{B`=3(85<p0iqafyEQ$DK3x7lQ
z7&$b09<-Ye$aL>;Vq$J!H>1D)K3*r5E-^7JV)K&4%&@p`iGg`fJia8iWjt)goBX%Z
z6?r{3P3eU{IyujS@@j61B6%e)`7e1Lm!e4U2&im_{|R4Es|dFjP0=G;vyNzb!Jh>_
zuM_7k&G&pd{<yVBV!9WZxXaV=prg55&1ET-?2K2E5u8@%?Q?m@!f(X3aZ?ptTU_Vr
ziiLxCL5zi)qpIGL{<WM&(Ql0FZ^&%jRr&Q)LdwxJ4MplfbAY%@il>*(HvDY-5a#=A
zP<0RofMh6|dbxz#t<+-_nPqdPX`?1(I5A_6g>HGf#aot@G5;gpxvYUTkBh%w_UpnO
zBa<UGLH*eX$CXTWGcH{T%M>e;W^vzg15+m+U%rwl7Qa|t?3oeI^VPMx(5=G&{q1)E
z^f~ezsb5btZ9ogs5-<iJBGQ!j&Gg3AxvMwDtO}F{IkRezDW}U}Brxg9^<$4)7fJcG
zjBkHek9D!+&Cg&&>+FlGxcQyU2@N@g?wpzpq}ekiXKmvKx|MtonH&Ojymg2^C%2H(
zajB^@7PgI08`s1g;bdHM1A|Lf2KQ=Q@|o<2JHnB;<YSp`9@PGH4}J{;7y!C~L^nPU
zuNRlD*vU*2kFWR<Q*~m>%Bf6pl^O-$J6Yl!%eEh+_F0bQZiGC0Dbf5dpb5B{_jNRo
zB|26uOQ4czCl0Kd$|NiY+aeyf{u%E5gzX`w<pfi8n%O|>c<xO?sQOJ%k0%yufou%0
z1H?%zr%)fQiBS<!(o8fe&;n2`z=C&yJ`a=w*EgTg^Z863t%KG{%f-U@XM!(dv6HCh
z%1WZ4ZH|ds*8B)v>0eWZ?^kP98Qh~cf5?9u`3TUB`Y2z0qOMw0)&4w@XehkElfWKe
zFYr824RlkQL^Sw$TVn-Q084=ipahr?6aedXh`(9;wdWNag|E>^P+$O%fFN)cK<gws
zg=khyBbrBmJRkum%pjUCwD@l*AeZWa-$CvGO@^*175{<-v_l^Nos&j1p8_vV0iO;z
z&<`xqBI?LRrje<r40siI6gU9<6&2nM+5qGNU!cH=hu2vc&*}{uZ0oC5-%7iea$iSl
z$96(i%qN-+g@B1@dgc;M6mZVNn>}P}<FW{3G@k|OAL0@%_YY;)?BLq(>Da+l@lD*_
zJKDCVpe<KNhx@*z3&p=QR8Os_<SbliNoi?uNk#FZTf~YDAI@uS+eR8YT6cDEtsNZg
zTVux#cbs3nbLWnosARp6BBnMT6$cv&`Zj*fh`QU_PIzy7H(~Dfovrt6|M6X|_qhmB
zcuq-hZLJ-x+<hH8cDCMuVV>YyCKyj8Hfjb9SU_1&J188Gbb#Uq3DO0c0NM?TjrP00
znk7W@EevqC8S_<v`2+%`F#ST98MqAHUxDJqM00#P{=2OR?I3ScG12&ex&?|)c*rYt
zlW{X`j7Fg6*H1Qh74&m}c81jBO&Lf8TL5YT(!g6ltAHf%c2FlkJ?$>g4uB5K3)%%>
zt0sp)4+C_dy`Znxd*EeAoJZmkK&R$9Xb1qSbWYtsG>8@m{XHiO{0#8rpvwV-A;bmR
z0i=U}9`q2P13v(I7RUfke+Rk>emZ#iTaadha%hn29w<ymWI{oID5?TK6FmKW$OV21
zcrWN4APf8v(ANO4O6P*$_26%Sjsdg5n;Nk?fn4xwK{o>V;5$LR00;gc=wZN<jl@|n
zgMb0NdLv8=<bW>$tptqVTR_`@Jn#`r%O3Evz#jxX41iTSbP9YFo09}O2#kWi4tfKa
z0IzPs$boV21x>`GF(L6463aoWfDm{)s1vvWz5~<?V7H4M1U&+bfqxtHEbt9@-E9~Z
z5CLBaY5~B;HiEVQBjCNDdjPs~9tM2{_*)D=NxTb20=|VJ1R4Rp244V=H*FHvwZ6qT
c#f+`L(jCTCWhI75?}rSr5b_7=UmEg%0N8VEGynhq

delta 12298
zcmb7qdwf$>w*NjSX`4QvrR9+(P)?fyX;Vu2pq589P0FF|>AMvB04JpsQ$-qEbP94O
zMHp{UM}ebbA2>Rq_lL^dsX!ecpv>sZILa^yRHsnTAPzxCe;&t2(<V*scb}%<+}~fn
zem>u>wf9>4wbtHiKTa;a#yJ1T#1RwWCf5?xIPg7iV3yWFXo7_PDBq`@5>kc#AKVuz
zw;S{qKdNH|_;R56M|n5vo&E2P^hFWX8vd2H(pmO#pZEov&VD^1&Q*Lo_j!hJ8GsRp
z0oD=1t*#WKl)q$Fi@#R3vky!hj}MDt9NwX``~lvbvX;*mW{^HxO;|YT9%8v!W`*nY
z$=CTo-g|1mmR&r+48->Gtn?3m6vs+i{h7tA^od_jSn0Yy1N;SlF{EEirh`B4CrhK8
zBvoIT5BV9taU+w<N|z>&ntvFjrOW-gQVahCuVq>sMXIICM!1rf$iwwd@g!w%2T`&X
z`wqg!S+aM;S-$Ct3_sQtubgG+=!$2fELmMqmVRp~&m`A`MOj9y8?6dXV|~d(Qa<w#
z?jIqLWSXM?|Ft7Nd>A}Su6R!KWHT|j1)}l-q>QLy${a+cEGMe&R$`is3~6YWu!gVT
zKjv@e5Ap7y9YQ#>Ch16_a?zHeL%hixW@;@m*nU1Z5K-;y6quv^e5WwL6J3Xm6&W!$
zC&83$({<F$*tDA%<~YY}uh>+EStEBB50H22pW#={yn64dn8Ww3ifXxc$-U7tuiB#>
zF^BEZQ7!gldy6p8Bbt{vYk5sq6R+)RI@WJab`k@7k?0!uXnXbi4~`w;Yx!nA(OygX
z)%C(bGN4W&d*0vkP7ALxur8vj;S=m!ioup(F<1?@frw+sGg!k0rIT;+$M_fdXL;$A
z00${$CqClS?R1b7Vu*9T2tUsui;1y|m7*p&_~<_%WR^2|Pn*9R<@s`+`mNKKypyEO
za!u$4$Ps=4QMj1`vNXb(yfateNPkao>|%h`f9G7oAM)sWvWw|_`J2y#|06zHzSd{q
zbq3uC(OtD4?n>U-$FmOI)%C=XIjTxaaI$GjoQgD~YY}>Q0;;K{1EiQAsApg7T}$+{
zTq>O^S=VveQ_6SiG?oMW7oOyuiZpgasZ%0fiAs<CTaMfQlE<Oz<3IA;)MB9Z%#YFz
z1u~xU48s30m>kQoRIs+Wt(XgObjcu{555Z601RWU*oQ1-IvX*}aG8Zs7+LEw3EH-S
zh$L4;YC-wSZS&2^F8is~7(|Uc>I)N`jg{(U{`>^d>8!bOxvNgX1s!AW1&nfWw=*I&
zvz+0AV{Zp&C6}FaS!Ma?|4iSJHZqfy@_cDXEukrvrZatukzVL~xlJ26-^8pA&qy25
z3C|OEJuA)jB||pLmnaOhHAO5Lo(DP*v2b_}=xD^eVd{`aCmgd%6NLjd!bMv|Yj?^#
z;h-|HEy|*4*0jwji85)LgJb!Vy`F^Pj{vOiiL0J?&}$Q;o>`!uPMpWG%BNO?^`3x*
z2C0>RF98*-^(-(S=<e<&B#t!&gTcxDkeQH|QBEAHR4{QVNx}tNlsU|K!FIrM!KxKv
zR%+~VDQW?oL2hE(0ZU@@Tsc>nk{~odSL1AeZiBVo79XMbusgZmMk7OvfOMGh!|s$m
z8;uwJ)(D!TP!5L){cYib#%f<H%am01oyRd16mqGb=_ok++S8F?&S>~I(#fQR3;oSu
z0^u}mj4r_xEf;2l8n(arTMwB{if`(wZs=;;v=O7R)4K5rSyxGl-~P7paaK^2UbIp!
z;2~cTx6(o;!dNt*wb25nc^bDB#2l`0GMvK@;k2)PCsK*-1P$RM%F@~v1$3M4j<){G
z!*UXhXvK_4To>KXo(YIj^iJ-vKp`JN6w<?iZe3wg6WeFz&b6e?KA%sREQR#_r1)@5
z`rJ<@yLC-$ule)QuRReZQ=$(i#rI?G;Fg8T8*Y?OLizYm`Cm?o#WNPqeK1u1pQDmT
z6)N8~Dej$-TjiNdED1yVSD`Z1z8d9Y&g<p&D?$a?i<}jvJ~gv=!qbvGB{PL&-;92X
zN~iMjCPmduf5CCDk=RdhB+|x6w~vRDZ#~T7?=g7$kRx>lQJUC{xRKM5;V!b6BaHN*
zS8u(k|AAN-o9rm_(FWsAo#q|7xFLm!;aCGZqK5XQFYZ*_5aAd}?_=<Pk&ngy6d%>T
zsjHB6=gGN0u45{HER?Sx4lZs;ZDRGRk<m!j#YkU{$DKm271H$yQHs?>U7SiwXXIp3
zs#g|E=f)>I4Clp=&=qNSaH^}KF)oGuG9a#t<C$S`AZ~?&N}nFLnClCbI+MBA5@w7$
zMK|!ZydyOX+qTkFSUeMhS`&o*q>A9J#f)@YkRwJTBmFTDg@OGcz-H)1zKWdb%14~|
zv_4<BS|8t*U}{Vf3v*zi=`BB}ix^6sjNw*irmUAKRJC1o)F+bpgfT@b_ga!I2bw?i
zq@jV>;8&5^&c(&4W#7-wAq+N@qx^y{vh)@wvoy;&$JX9<gr8w6FfCQS2ztu0jFj^Q
zmbLt;W+q3OrOa+w<8hIc!}YuCwQb7mXj4PdBZWD3CNC!aJJ+k8Sh@L`=%(20c*zq}
z99?$Z6OGKs(yR5))h8+sG(Y2+V~e%@w)yX#Slb-iZOY#^pYxnVRCyQZA(&^CM0JKn
znV}dG9MgNJr@~ZPbtA1HyHXf9P=lk-&x~qQaO@ELbDH0!vkxsGF(gb(n-%K_jM;*m
zbqqU;9j=~1Sbg*bq9du%R`)R?d42jiCRdT+b<z1vB*~|@j(faA^gvO;ui=e?dq`tj
zCM4P(HYYjh*(Er(%ggGMT#T;C+|Ng@>gCe}vZ#;O3uzSt{MX0w(dWCpN}|xub+US`
z!^teqg>@85zj58%*1e|`TyU)3%jid)j1JZ0^zx&goGz?wL!uKC0&yF>bmutHf9!gB
z!2l78F7_nutK}ncw8|$97DlpoiQeg~=P~;OXFQBl4PB+Hkf-IAjK3q7Up_wfZ4W(D
z9s=kFxw!%%9=xcYy~R;95iY2$=RB&?sNw``QHnzPeEf6InX%x)qzVE95>5#Og9N89
z#9DfcwoUD`Hx0C2SYM*GMcLR@?jg}!cX^$_WG}QOFj3Zi^+8gN4Iwgo%`lT(DU8?{
zv)?shI~|@koXd?^)sD6|)C~5CqU2m|AI~gNF6I_J$nzz<(1ZVdMUV345);3fS6bCQ
zaoz9PB2fH2Tez7x+uiTk!pweW70>3pXJxbd)_ei~btmTun$TwGSn)76MTPsKZI0!#
zmEnGDdSgk0mBMktLv+zry^vYF(3UBzCcXS=ZLj(I`9uW7-;EoDy}Y)k*X%yWq-^0y
z@&TUZPVz}OKQ0vdd9BdM*YR_#<vf}&`&_vx-HR?-u?w3OPIYOcmBO@0)5fA38?Za4
zgK`B_*YCV&OSi-=LQG93pV(HK3d~1c3)+~hpIa6*7Zp8bJ~whF--7t^l=z=>7CETN
zsp+X(ZkioO-SVAS%-8(-9!C1wpN?2@m;e5<sgUaN7a+X}GAkyE8>dG`YVzBmf7ahF
zsBMh&@#Hq7{_Ni-r#_gx2dUHktwJxa?xFd2BmJ7+!q+>HJngq3`3jP~NWJdgBCO>H
z_*R^}`|*GEEq#10iQ<g8pB+O~_R|?T;HQy2MefEz|8<o5mE4I$e-)&U%F+Z`8s|T<
zkC7girBS$(Fw%d>Ql%_q{0`g0jMOcQeLex**d~j=_t6pl%cp;Yk?xhHU;2t5{fR8S
zCQGmSj$`3iiq!iq_7G(pEU`h>{JU=zG)rYom#lf#XZr<%YYw&3d%j#qSIN>p_zE1z
zdfTUejFE1Y#jpD^A<mG+$K}F<zUz=Klcg{DmO#2dmOd{_f9=cff>kDI)dM)<G15#~
z`lKv9=wtG{kjMGi<;*RLOyX?xP|b&Y(-XG-SzPF-@9kK*bRO&irOWbBP`WG+fzp+I
z6!bOVG;jtO2He1xfEQ3As?G*d0V8nyy?G-{(tdE{3UNPy8fY!McN3yOwG2zhqm|-Y
zi4U>6Dn(wC?br-Wsu4HDa7223lB6(#raA5u0)vTe$VBSDnP*~<$0Be4&AcL-NA+d~
zXq29+M-}3!E-UkFX@ZT(Nw{&kVv;2qjm0s|o7ywJ;Fv1FN)_Yx2-_;^djex~{DHBB
z6GR#i|EgWS+6Z~J?-pxdtS}H5d&j5L6W2rTTdb_~?KqKE1;Dut*eO@J0%LFalu2Hf
zg}=qBwy{#qgm~+G4g33Xv2lJ;JtKYM{f)<piTSmU=-+ZSLQA(Z&c=w0bjSE|II(h^
zO05&j0KJY8+*)*`jPK)@K~^{}@al~S$P-L1(|;BB!f!{YQ{VQAKg`ca+3w%$SpYT7
z_;!z4=rxm(4IT^6<g2ZUWHrv{bH~M^1^EtovK(aLSJ?cemk1dIJ%YRw@B_U9KLPq0
z;2l~atSJ9aq9hj^t~VrTh@s+gUddk?ib=0IZ}f|XrnmuhPU-pT96_6ypQGI|8j<^9
zmT<8lOBij?D#d1_pxLNMXK;Ad)Mb`$CTUHX2#AS}+Dt)%sCcnDQ^2`YdTx>-S%uv?
zW(7T@CZ10(Nf#Csk2YM`#ALBj<fLTM*LqLYY7)^@;*F->$2DeN>1e~bhW_UFJuPXU
zooh+{6la8P&1gddIj`PrR*t?Ct5$#BV2X>@M4@a{sBFV%#L*8`f+|$_D9&0vu*NO`
zcPVZ*KxgA-pbS>9BOL?S0FwG0q1KatCy=Ha*t5`!8&YC#enb3oQW|qz{3dB0^R^hd
za8**!--MS8Q=HnmSh(J!sSA#6n0zlezuWc;R=U$KZd!Op7OmQjDrnQRN)DjS*Q04G
z_%6T%&~8*BAJs23Fd5<kZWVi<Uu@*k9T^bORYr@_QAk5;`LlfYkU>xq?S@#gXOI}m
zT`bWHv$JdPQn0ZnpQI61N}HUSblYgE@B-=M|5>jqy<^jx+Lx>L^U0;miyV2mDmeCh
zkQrE5y0G}=s)eO5R}m>&K0%(w>E?HV`Nc#^58_DRkd}EhNTddhgpty`YVb)x0ae!D
zMWjW+IY`e9TKMaj{2Ff*mSbOl;S_^Y2TbWyMdB$u%ltr3@#s7qI~@!iR53tZa}u_o
z1A7<L30wj`1MEX_!u$<le6rDDN6+l1*i@e<EOp#7T@furts)Io@*nX$e|o64Qb|^+
z^K&#i9vrNV==iWo_&I56I2d6Yt|+Z(sJUxEU0zaAT-vZ3k5c`b{d`%eso@}B)4&{@
ztJyR>GxN^NLNzv^7lUI=u!d&_YO726+G?GHsB@agL}Q1=yheG+rylL;v{=@xzgU2=
z?+MUjH#M3nuoCG90w$hF-NAhD_XUiENIwhYfo~7wRkRX&6Orx@<d!CEWOAC0CDer(
z@-L;3nC#A`8uD6WlPYok9y2+|%;(6xwZXBUP8v|MCg7mOnsBZs(npg_$`XO$G<9Ka
z&D5AQPttd<LHEfw_*eKNc=>rqGc!|hc@uvQBYX-kW?Fi&t@{exT$#J>VUn@DiWBRI
zE}@R#7)Wb=agt4m6If`*V`T$%!yf7`xawBfXVhQo0BUyXvoC?~06!3eyf3kA)Kx^a
z89bfWD)4k}Tg8pZ^BlAk^|n`@zV&cSFW=OFs|<-HO!Av%GRm%~6_Pgg@nM;<&hX4x
zP6Aqm@xPBfkVw^&VT+Aq`r0B0+S?y7?{bz_Jh$K=Ii^n7=j_oc6_z*6t)ormH_e+a
zSy20%<~y8byjUgH;r(UfB+=jP5_s*#uvLxb+QNjCCbMW+U7Aq0TF6dR*R2xrvwu?E
z$H(tjDbP7nGQ1)*XYxxqQd@1|8yoV3#%djj!DRTRF<00`Ts6V5r~NtTWY^^MG??@o
zk+x3?e0>9vwg;9X)i&u^Dv-rAV{3r=w0Y7X&{Uf|w$J=bvR-Ix(4%1*T9<%Nuti%E
ztPgn>LAzAea{1ZCKl98EIsJrZAtVK|<XwLUb_OEl$*EKRu*G*_y-|zPrLq}*usXm{
zZ&HU)M^Oh+chH4M7v!{asUxX#&!EsHfX2%&K?$fGdNgp+nAn57T;M2xi?;9}IbYwP
z4vx(V#+{-Khs!x}Lk(&gJHvysh@N#RQdmr@DFwTDC1s(5_K$Xj5!4&#vj|Ol<#4;x
zj}q8ia!?|tWE06Lu5J9en#uX9XW-agzP9FR9Ou2Kh%U3DwkEUm1=86NfBSiLXEjM*
zec4cXZ^O=pu7(fhor~QKSC1Y`E}gY8+H%cF(imrF!vobs$0R4zr8s0mKLSIy@an{T
zqhg0PLiynWA*r;fp$1#e0;~i!J;_Pekfu%x6YszwY-+g&d^8l^>$k&=_sfR=-uJ2}
zrm~}92bw+~`<Hq9%>tVKJ=UG3E?Nl7*3@10(81;d)EB$h#ZwNUj-W=JHZWa5)DqMY
zei&GcN!<`ZJry?;CAO!|aV!iFeVB_)QJ_}}fmun7N^86h&lW*X8d@ViZCBuF`<8Mg
zF>Kf~$Qq(ADDZmBq~r>kb&7v`D<*~?oXbidA_sXh+0WPTg?vq8h7d;v_<;sPB_rw<
zG!dV=ucr#Hv8;5`;awt_;<UFDL-u86;1GWp$K{}U)xHU=L2FThWsjM;%n7~KN?i$W
z<_&d8LQ-*GO%l!pNkV@$4uQUDBc}PNQ4jf=_+FUtSwA)DlfGJ%>TRU?bmh<U9q}*&
zYR%1799m_9rOCX<eD>l8p^b&wmCju{_oyZ4Jf~*00o07s`?|6k^A(VWZij{FP2D|o
zPB>rM&(E@HZTkkBG?4}}@}Rqx*V@ijCRoo3B(;w}E0prR{9lE$<&1b%IP1WL-NIks
zU*ko7Au)6*4Fx0b;}QEj-u|y1Q{w?4ICd}QFL7zE{83PdhY2gbE6@jUa!I(N7-0Jv
z>whma)#KrRRH-xASM@OcZxttW({XEU308tf-LT%NY1TLKI&2c-L#h7WdLqU8UoCbJ
zN$Jb)A<_)lKs^&VU5vr#WDRp&?qk8RySzB7>WTBTn;4YNuvLtKT)6*=-u|L+r1a_r
zCTH~6;dNoii@l=M9l|bmwTR7OM5PW_aeVy1*%O}w*jug?DKZYYBL8ik&@(XO409Mh
zbv=b%{bAxU!F^0a4ii^B{Z?>@Z!QXs;j0iDKj>CqWX!4@`y+yT-TNNevFpB<Jk&lc
z?DHuO$cJ5ykX7!!vP<|iX{=X>y9DKd4`7)mZ&;@5-z?KJ!S*_)OfzGm6P@UuPz)&h
zJ3MWn17K4G`A~U<T7)?7_q=?g!I#h=ao**r#q8GF@L1R1q$%Nh_Dv+m_tabV5ye5=
z;Q|7$=+{0Hr-|5)1NJ4umEFe<lNH^pxIx%N&Npr-R^TLmn<K~&#X#bXQ!P37wtIaE
z+rM5|S3FQpPqvJ7IG`99G39q>d*F4K*#m<+i#;Vm@sC|Fa+{~ZU5Y^@O@zZ*M3-Y<
zi;%Nc_;g)1I!b3lylo<RKvT-^-?xv{<0|@7bkULcNYlfG>WBk<*fzg)XA1j{(Md-8
znIrczyI6^Sei>kh@<-k5IKLE~Tq+oDbh0|2L?;&t`Q7s5ynOuH)a2C4lapK?zV^yB
zx&i%doG!%m<D8%?(QM=#=pWHNM{29MlG>`7C683$!<99u<l*|-O*!_Du1!5}`w@)j
zQJOA8x-{uhq*0A7Pa32Ku?*>QrAw7=Gjy3wFVF2r+aZ4flpf2ckK)fGuaY>XB3%y>
zG%6MYbPsDuBj*e7&b$g2hDUH=*ymwV>d@84uF**s@gkjeACA`u&k=>FJlJ0!G2qgK
z9q2cAx++TJ6Z5m<cN`2S!%f#3`FLBunYh+pE5X=n#@PX5&Ik^8fA{i8mySm`dWlpy
zQG`U%cq1QYBU14MHPD~EjXc{s%N874M<<&r?^+Wd(XX*)Ut1oU-T9%}O)l%N9k{lt
zTcI-+!|xI|&W6_e3toDBP><_N4-;oSD-uZ~*WKq`(eoBcu)5S@2Q3mYJ{=++^`@do
z&^sR^>%|gc4-$z?aLD`KOQS?UK9=u51>anw$Mr9~(~Y&u$N5jaVHl8Sd@f{{yjV?r
z^$0Ydj3*#H?2Ulzg6#i#Z^VG2U)fi?rRq+ET^e$y!!7ll3GOHZs4uOc>i`;R)c^<N
z1JnCF-KgY;0K0wdAoLmfC=lYO^ZUig^m%E2@hXK(>wLQ%SN{`m@(F0a0?<Q;Rt`tO
zv47yu@rqbrSi-y_wi=d1Iws>zy^Gdf5uY^di65bD*WlO!oV<gm4%LY185PW0aYx3R
zNhgp=G8ofI(03`XB&IW<!@#8)v1aLd$7f(oayhzf{E4@4WJp`a<Oavy3UCOt<E}(J
z<l+IWBC%4B!_M+xF5x&T|L>5TBwP5EMCsPF#pICmSZAW`7iO<3zKf)P?>uCqb%Z&o
z{x3uNxb!a%jy)boUHXx$d-ciJaHjtbotWx8QR&ywGnX<+G0LI20A4?e%u6|37Xm+c
zq@g{7%zh)6D0gt1_|MF&>^fXgA~R-QxZM~Ws|*m`R~|0%nG6Z()u!MWFH5BnBcvus
zKla4biWSS$i;bb)tb&!3owMaJ&aR*%d?8T8uarla6c8U>rpbs4T=zuEEk=h5b<4dz
z&G*Aq`dUl^ygVGDZmSi~Ez6(x@#K`{jHs<Kkip$07d|g08xxoO3E!nR$?4yRw07&7
z<lS|lxyZSptjtJlbsR4cixQum+>d?7T~A`(31?lV$lzFVkb^0n5T7y5OYE6E@V}&y
z!6-;~iGMR{85qa7j9D*gvld`7tjN-4teCvllT=nB*Pjz=d%v!fr#pM^vC;5EX9hP<
z?pf-j*qx;|&zn5qp^ZKrppC{&{zgvyGH^wv2Lo?lna~fW`LKWqC<dy4%>X{`tG3sQ
z7qimCsF4ndk=dUx?c(Rz<qrSY;h@W7;UeU=3jI^I`ZFq{vGXVj24eA`2P(-Qg}R3n
zT}tu@9s<H#Z@F8#m|VK&yzb@<-V3@e_BUySreAe0Cg~(8FVc+<7j|72lRZn$f60Bq
ztaK)l<`r=yF-^Ka9J&O1W*5mMuETB}oUe3+g(_v7oMHUJ{X!pK%q!YrjI`PV?!+!E
z*_>B!Ab-K#w}Hw2?S|LEKjS88W3H_N&-L;Q&KYhT4KCqpzZ%p12bU2)ESS!9-N>b_
zshxsV$oNsAKim*=UC;7Fufms)sp^JqNT^r;+b8g&_@3K3itZdt!RlJ;suY`Z=QZ{E
z=y2$xox{L7O+2nCcqI;wJ?dk6gJThxZ-ug@_xh$RO><R~Y0!AUN0vo7qqvo_e0xYv
zKh;P$df|hOn3bC#5NE3=IQFpb8_(3^!2>v+o1J?xTbV;Y%b0z^!s+Gm<)QLXSZZs1
z7d^Xq!IM(jWF9~;9H{SId)9MRd_8wr6(87Zj&^o)FqVamDH^kXpq|0cBO=HSkBP_U
zY#oRD^Dt;H@4~#Gq2UDP!x@17cEJxy5GF=IyY3Lvm+P4*v3B`#=C9(u<yyzv6H^17
zNd5d+R>$-72Og_Q#^=tgokr5J&p);VKkxY7dBs!7&5}F*e?s~ro;BPIIp<fQoWFT0
zxF|X2$xzOp&>b%(bPSrO+xA}244@dW0mdPPsLNZxh+<)0;)czkQt|Ft<=w|@-TtxP
zO}22ca*gXlG8=wyat@ndaIAbnF=#wh#;IgEACiCPVaq@BycUhOPSj7A$QjVyb>gde
zdZtMHBrlPfBaY`Sn#E4&<#-*`%{S4|xl3GjOAg}}TW+alFZjh*Z+R)Ld3?$;G|XKd
z=Q!h3PeQpku5nA{oN{qrzLvR7d?EifW}*0x{G|?6Navet*U>sx2M1u~uLgabJWkGl
zx`7eM%0Rn-Lx6E8i{8(=_6$ZD6s}w>S;YvGOV`1;YicqDe0$9WPJJmeaImM}T<Gjh
ziDyK!;bI||-qjRVJwMH!Qc^>j95YhNYHMg@eAjz(7MrkfFOWO@dMH=lg&k^~nz1t!
z%Z`R5bXNYC_Zv?M7cZB1Hk5xIgPwB8Q=yzsJPlm5tn*kX=Oa%F4Pw;xG|F#S4_^ac
zVuU78HITYqoV&7v2^06N{0WnP{PUHuOk}<ip9&RtDiWF1Ek8=#v-;%)#mFzX6~DU!
zb^z15ub~Z<xV&Ih7|jVgeqTW>6J`WkCGNZR?@X20eA@#|)$z->{h6tubv*tyAyoV}
zsKXHqRv}LU$^c>|rjw|T*2E|XdA^yb6rjDJdjS^wB~aBSqB;V)q51d^g(*xjt%KG{
z%LT{qQ<txU!8cG(SP|wqtzTSW`3btxXUW0;zgh~lZ;S`%UVxv1ybC=7#Gp>fuRfku
zBq|&&&D%0t5GS&Yd1))T+SYBGxy{Ynn@L&gwgRY=3~qb#oo$;#JQabBz$62{3n!}o
z3w!}w13m?g029D;y*b%N)VsEI`&6~0WZUM}F0O!fh1A@)t&(eLzvrIjZJVQL#&f9j
zS>O=R3p@cF1Ret(1|9+`+6kGiJZpItDqqvl(cY24t*NakAYyp&zZ~lji8cV60UOW-
z^Z<_n_U4YzSf<8TSXL%CO`A`SCaOh1HE<!GsD2NO1FrzT2L1#2PXaFhJ7y78EAS!s
zSuxOyLpjhFV#r2S>kOhwo{0qTIZzOb%Aha=902YCN`OQl3&2l7RbN5J1w0Mh17M6x
zwsZHi-`^TVwrp+gv~{-aY(>|PKVM>E9OaekDr?Z?49?!(*|xo{9iz$MI$G~(Zj;BA
z!C5NSL0guCaz(A%TI6(5=XN{Q?X<VHPPvuimM&e&akcAUi)7RpO4~bHmv(M%-nun|
z+t&Kikb39#R=d5m!_hf4X|h(p{^jT+x4oT{m0K}?+B#ZWXqRYZp#mZO>|E#<ZvAQV
zj!rtXwrzJp<$vqsLuXxkJ9p20EjCozYVZ7ibR0Q3P%>|AZ@HV>v;(fconW4J+=;Ql
z9vCMb`R3M^)~)DN$99^L!8NzEAWN>0TBLJ(yPY%9(ca1xt+A{rGeKv)ToyyvvISfQ
z*J5klc4sSeX}#Q*j`n*v)Wtb4Tu|Ko?(4YO;5ON!a)srU>(`hdr<IqluPv**9VtS}
zjeKG4x|JCF_Vy0B2liGv^~;S^WhK{%bu#TxYEmO)mLE-oBm-7h8c{|4DV?a^0`d$Z
zFSN!k&*My7wlO<<sWES9mQj2|_(*)M>_`gVhV^{+w)UTHn_g!tIob~x1ID7fct`nS
z1*a#+_mqFd7&^CiY`Je+%XZnjS$Wi3C3kLX?`Y*V-M3{+YX{c`Biy%jE2<FND_a%K
zn_G^bul!5c@ptR|jN{}+Ol64P1;zJRatRcXjCetnpfNZtgn`Zn#SVSrueyM!u4EEb
z!!j(Bl|+>WEYBmV6**Wk*+lgh$UX#?uRz{hqS|f5azVN<3+ob~72$H?kgr;_p<Rgk
z-2iQDKWHyNJ8~5C1P~712|5hmXCvfGPzi_tue=?30IgLG$^mpx8KAiUwtG?rS_RNS
zZUEg3MB;gXbc5*uXh?Yi^bi1+_D(ej9w%QyKX#u6KNq|k^g4iJHJM$H#(<gNO`v6f
z8vIt!E+8H}{Ybta{2cJ~L-`5t*!&3nh(7E<A^{2d6<q>94?O*PKD&XaW`NHC%?D<K
zUk7Rhz{;I_6ubufv!F+Sh2V!lF98d{dqGJfQKf)S1<e3B@Wr52Kq7cY7nr?(7KuU7
z*MRxpFM)mr=)kL*&|`qchUa1OeDF!&i$SXZuyTiN;3u%d?E>8k_`p8_`YaFtKL~mf
zm;~<x9d3gEzd_<U5)uV?<p%f?_zpY=ngRI17lT#---15``aIwTe-iXv0Bmps)D4V-
zS7HLk0d&jNgBpP!z?Xrp1HK2peItVSE+qbi#1YV=8^w!_?=Uv;S55z=KEe?0HVlnE
PBQV57$RFsOQjz}w?If3U

diff --git a/F0:F030,F042,F072/3steppersLB/steppers.c b/F0:F030,F042,F072/3steppersLB/steppers.c
index 98348cb..6c7ab24 100644
--- a/F0:F030,F042,F072/3steppersLB/steppers.c
+++ b/F0:F030,F042,F072/3steppersLB/steppers.c
@@ -34,6 +34,10 @@ typedef enum{
     STALL_STOP      // Nstalled >= limit
 } t_stalled;
 
+#ifdef EBUG
+static uint8_t stp[MOTORSNO] = {0};
+#endif
+
 static t_stalled stallflags[MOTORSNO];
 
 // motors' direction: 1 for positive, -1 for negative (we need it as could be reverse)
@@ -162,6 +166,15 @@ errcodes getremainsteps(uint8_t i, int32_t *position){
 
 // calculate acceleration/deceleration parameters for motor i
 static void calcacceleration(uint8_t i){
+    switch(state[i]){ // do nothing in case of error/stopping
+        case STP_ERR:
+        case STP_RELAX:
+        case STP_STALL:
+            return;
+        break;
+        default:
+        break;
+    }
     int32_t delta = targstppos[i] - stppos[i];
     if(delta > 0){ // positive direction
         if(delta > 2*(int32_t)accdecsteps[i]){ // can move by trapezoid
@@ -181,7 +194,10 @@ static void calcacceleration(uint8_t i){
         if(the_conf.motflags[i].reverse) MOTOR_CW(i);
         else MOTOR_CCW(i);
     }
-    if(state[i] != STP_MVSLOW) state[i] = STP_ACCEL;
+    if(state[i] != STP_MVSLOW){
+        DBG("->accel");
+        state[i] = STP_ACCEL;
+    }
     startspeed[i] = curspeed[i];
     Taccel[i] = Tms;
     recalcARR(i);
@@ -215,20 +231,21 @@ errcodes motor_absmove(uint8_t i, int32_t newpos){
         case STP_RELAX:
         break;
         case STP_STALL:
+            DBG("Move from STALL");
             if(dir == stalleddir[i]){
                 DBG("Move to stalled direction!");
                 return ERR_CANTRUN; // can't run into stalled direction
             }
         break;
         default: // moving state
-            DBG("Always moving");
+            DBG("Is moving");
             return ERR_CANTRUN;
     }
     if(newpos > (int32_t)the_conf.maxsteps[i] || newpos < -(int32_t)the_conf.maxsteps[i] || newpos == stppos[i]){
         DBG("Too much steps");
         return ERR_BADVAL; // too big position or zero
     }
-    motdir[i] = dir;
+    motdir[i] = dir; // should be before limit switch check
     if(esw_block(i)){
         DBG("Block by ESW");
         return ERR_CANTRUN; // on end-switch
@@ -239,6 +256,7 @@ errcodes motor_absmove(uint8_t i, int32_t newpos){
     prevencpos[i] = encoder_position(i);
     prevstppos[i] = stppos[i];
     curspeed[i] = the_conf.minspd[i];
+    state[i] = STP_ACCEL;
     calcacceleration(i);
 #ifdef EBUG
     SEND("MOTOR"); bufputchar('0'+i);
@@ -259,6 +277,7 @@ errcodes motor_relmove(uint8_t i, int32_t relsteps){
 errcodes motor_relslow(uint8_t i, int32_t relsteps){
     errcodes e = motor_absmove(i, stppos[i] + relsteps);
     if(ERR_OK == e){
+        DBG("-> MVSLOW");
         state[i] = STP_MVSLOW;
     }
     return e;
@@ -269,6 +288,7 @@ void emstopmotor(uint8_t i){
     switch(state[i]){
         case STP_ERR:   // clear error state
         case STP_STALL:
+            DBG("-> RELAX");
             state[i] = STP_RELAX;
         // fallthrough
         case STP_RELAX: // do nothing in stopping state
@@ -301,18 +321,19 @@ void addmicrostep(uint8_t i){
             }
         }
         if(stopflag[i] || stop_at_pos){ // stop NOW
+            mottimers[i]->CR1 &= ~TIM_CR1_CEN; // stop timer
             if(stopflag[i]) targstppos[i] = stppos[i]; // keep position (for keep flag)
             stopflag[i] = 0;
-            mottimers[i]->CR1 &= ~TIM_CR1_CEN; // stop timer
             if(the_conf.motflags[i].donthold)
                 MOTOR_DIS(i); // turn off power
             if(stallflags[i] == STALL_STOP){
                 stallflags[i] = STALL_NO;
                 state[i] = STP_STALL;
-            }else
+            }else{
                 state[i] = STP_RELAX;
+            }
 #ifdef EBUG
-            SEND("MOTOR"); bufputchar('0'+i); SEND(" stop @"); printi(stppos[i]); newline();
+            stp[i] = 1;
 #endif
         }
     }
@@ -361,15 +382,14 @@ static t_stalled chkSTALL(uint8_t i){
         SEND("MOTOR"); bufputchar('0'+i); SEND(" Denc="); printi(Denc); SEND(", Dstp="); printu(Dstp);
         SEND(", speed="); printu(curspeed[i]);
 #endif
-        if(++Nstalled[i] > NSTALLEDMAX){
-            stopflag[i] = 1;
+        if(++Nstalled[i] >= NSTALLEDMAX){
             Nstalled[i] = 0;
 #ifdef EBUG
             SEND("  ---  STALL!");
 #else
             SEND("ERRCODE="); bufputchar(ERR_CANTRUN+'0');
             SEND("\nstate"); bufputchar(i+'0'); bufputchar('=');
-            bufputchar(STP_STALL);
+            bufputchar(STP_STALL + '0');
 #endif
             NL();
             stallflags[i] = STALL_STOP;
@@ -408,7 +428,19 @@ static t_stalled chkSTALL(uint8_t i){
 // check state of i`th stepper
 static void chkstepper(int i){
     int32_t i32;
+    t_stalled s = chkSTALL(i);
+    static int32_t oldtargpos[3] = {0}; // target position of previous `keep` call
+    static uint8_t keepposctr[3] = {0};  // counter of tries to keep current position
     static uint8_t stopctr[3] = {0}; // counters for encoders/position zeroing after stopping @ esw
+#ifdef EBUG
+    if(stp[i]){
+        stp[i] = 0;
+        // motor state could be changed outside of interrupt, so return it to relax or leave in STALL
+        if(state[i] != STP_STALL) state[i] = STP_RELAX;
+        SEND("MOTOR"); bufputchar('0'+i); SEND(" stop @"); printi(stppos[i]);
+        SEND(", curstate="); printu(state[i]); newline();
+    }
+#endif
     switch(state[i]){
         case STP_RELAX: // check if need to keep current position
             if(the_conf.motflags[i].haveencoder){
@@ -425,18 +457,30 @@ static void chkstepper(int i){
                 if(the_conf.motflags[i].keeppos){ // keep old position
                     diff = targstppos[i] - i32; // check whether we need to change position
                     if(diff){ // try to correct position
+                        if(oldtargpos[i] == targstppos[i]){
+                            if(++keepposctr[i] >= KEEPPOSMAX){
+                                DBG("Can't keep position");
+                                targstppos[i] = i32;
+                                return; // can't keep position for
+                            }
+                        }else{
+                            oldtargpos[i] = targstppos[i];
+                            keepposctr[i] = 0;
+                        }
 #ifdef EBUG
                         SEND("MOTOR"); bufputchar('0'+i);
                         SEND(" curpos="); printi(i32); SEND(", need="); printi(targstppos[i]); NL();
 #endif
-                        if(ERR_OK != motor_absmove(i, targstppos[i]))
+                        if(ERR_OK != motor_absmove(i, targstppos[i])){
+                            DBG("Can't move to target position for keeping");
                             targstppos[i] = i32; // can't move to target position - forget it
+                        }
                     }
                 }
             }
         break;
         case STP_ACCEL: // acceleration to max speed
-            if(STALL_NO == chkSTALL(i)){
+            if(s == STALL_NO){
                 //newspeed = curspeed[i] + dV[i];
                 i32 = the_conf.minspd[i] + (the_conf.accel[i] * (Tms - Taccel[i])) / 1000;
                 if(i32 >= the_conf.maxspd[i]){ // max speed reached -> move with it
@@ -450,20 +494,22 @@ static void chkstepper(int i){
                     curspeed[i] = i32;
                 }
                 recalcARR(i);
-            }
-            // check position for triangle profile
-            if(motdir[i] > 0){
-                if(stppos[i] >= decelstartpos[i]){ // reached end of acceleration
-                    TODECEL();
-                }
-            }else{
-                if(stppos[i] <= decelstartpos[i]){
-                    TODECEL();
+                // check position for triangle profile
+                if(motdir[i] > 0){
+                    if(stppos[i] >= decelstartpos[i]){ // reached end of acceleration
+                        TODECEL();
+                    }
+                }else{
+                    if(stppos[i] <= decelstartpos[i]){
+                        TODECEL();
+                    }
                 }
+            }else if(s == STALL_STOP){
+                stopflag[i] = 1;
             }
         break;
         case STP_MOVE: // move @ constant speed until need to decelerate
-            if(STALL_NO == chkSTALL(i)){
+            if(s == STALL_NO){
                 // check position
                 if(motdir[i] > 0){
                     if(stppos[i] >= decelstartpos[i]){ // reached start of deceleration
@@ -474,10 +520,12 @@ static void chkstepper(int i){
                         TODECEL();
                     }
                 }
+            }else if(s == STALL_STOP){
+                stopflag[i] = 1;
             }
         break;
         case STP_DECEL:
-            if(STALL_NO == chkSTALL(i)){
+            if(s == STALL_NO){
                 //newspeed = curspeed[i] - dV[i];
                 i32 = startspeed[i] - (the_conf.accel[i] * (Tms - Taccel[i])) / 1000;
                 if(i32 > the_conf.minspd[i]){
@@ -492,10 +540,12 @@ static void chkstepper(int i){
                 }
                 recalcARR(i);
                 //SEND("spd="); printu(curspeed[i]); SEND(", pos="); printi(stppos[i]); newline();
+            }else if(s == STALL_STOP){
+                stopflag[i] = 1;
             }
         break;
         case STP_MVSLOW:
-            chkSTALL(i);
+            if(s == STALL_STOP) stopflag[i] = 1;
         break;
         default: // STALL, ERR -> do nothing, check mvzerostate
         break;
@@ -504,12 +554,13 @@ static void chkstepper(int i){
         case M0FAST:
             if(state[i] == STP_RELAX || state[i] == STP_STALL){ // stopped -> move to +
 #ifdef EBUG
-                SEND("M0FAST: motor stopped\n");
+                bufputchar('M'); bufputchar('0'+i); SEND("FAST: motor stopped\n");
 #endif
                 if(ERR_OK != motor_relslow(i, 1000)){
 #ifdef EBUG
                     SEND("Can't move\n");
 #endif
+                    DBG("->ERR");
                     state[i] = STP_ERR;
                     mvzerostate[i] = M0RELAX;
                     ESW_reaction[i] = the_conf.ESW_reaction[i];
@@ -525,11 +576,11 @@ static void chkstepper(int i){
             }
             if((state[i] == STP_RELAX || state[i] == STP_STALL) && ++stopctr[i] > 5){ // wait at least 50ms
 #ifdef EBUG
-                SEND("M0SLOW: set position to 0\n"); NL();
+                bufputchar('M'); bufputchar('0'+i); SEND("SLOW: motor stopped\n");
 #endif
                 ESW_reaction[i] = the_conf.ESW_reaction[i];
                 prevencpos[i] = encpos[i] = 0;
-                targstppos[i] = stppos[i] = 0;
+                prevstppos[i] = targstppos[i] = stppos[i] = 0;
                 enctimers[i]->CNT = 0; // set encoder counter to zero
                 mvzerostate[i] = M0RELAX;
             }
@@ -541,8 +592,9 @@ static void chkstepper(int i){
 
 errcodes motor_goto0(uint8_t i){
     errcodes e = motor_absmove(i, -the_conf.maxsteps[i]);
-    if(ERR_OK != e) return e;
-    ESW_reaction[i] = ESW_STOPMINUS;
+    if(ERR_OK != e){
+        if(!ESW_state(i)) return e; // not @ limit switch -> error
+    }else  ESW_reaction[i] = ESW_STOPMINUS;
     mvzerostate[i] = M0FAST;
     return e;
 }
diff --git a/F0:F030,F042,F072/3steppersLB/steppers.h b/F0:F030,F042,F072/3steppersLB/steppers.h
index c6391ab..00c5e22 100644
--- a/F0:F030,F042,F072/3steppersLB/steppers.h
+++ b/F0:F030,F042,F072/3steppersLB/steppers.h
@@ -27,16 +27,18 @@
 #define NSTALLEDMAX     (5)
 // amount of steps to detect stalled state
 #define STALLEDSTEPS    (15)
+// amount of tries to keep current position (need for states near problem places)
+#define KEEPPOSMAX      (10)
 
 // stepper states
 typedef enum{
-    STP_RELAX,      // no moving
-    STP_ACCEL,      // start moving with acceleration
-    STP_MOVE,       // moving with constant speed
-    STP_MVSLOW,     // moving with slowest constant speed (end of moving)
-    STP_DECEL,      // moving with deceleration
-    STP_STALL,      // stalled
-    STP_ERR         // wrong/error state
+    STP_RELAX,      // 0 - no moving
+    STP_ACCEL,      // 1 - start moving with acceleration
+    STP_MOVE,       // 2 - moving with constant speed
+    STP_MVSLOW,     // 3 - moving with slowest constant speed (end of moving)
+    STP_DECEL,      // 4 - moving with deceleration
+    STP_STALL,      // 5 - stalled
+    STP_ERR         // 6 - wrong/error state
 } stp_state;
 
 // end-switches reaction
diff --git a/F0:F030,F042,F072/3steppersLB/strfunct.c b/F0:F030,F042,F072/3steppersLB/strfunct.c
index 11b7d4d..fee64b4 100644
--- a/F0:F030,F042,F072/3steppersLB/strfunct.c
+++ b/F0:F030,F042,F072/3steppersLB/strfunct.c
@@ -423,6 +423,14 @@ void dumperrcodes(_U_ char *txt){
     }
 }
 
+static void eraseflash(_U_ char *txt){
+    SEND("Start at "); printu(Tms);
+    int e = erase_storage();
+    SEND("\nStop at "); printu(Tms); newline();
+    if(e) SEND("Error\n");
+    else SEND("OK\n");
+}
+
 typedef void(*specfpointer)(char *arg);
 
 enum{
@@ -443,7 +451,7 @@ enum{
     SCMD_WD,
     SCMD_DUMPERR,
     SCMD_DUMPCMD,
-    //SCMD_ST,
+    SCMD_ERASEFLASH,
     SCMD_AMOUNT
 };
 
@@ -466,7 +474,7 @@ static specfpointer speccmdlist[SCMD_AMOUNT] = {
     [SCMD_WD] = wdcheck,
     [SCMD_DUMPCMD] = dumpcmdcodes,
     [SCMD_DUMPERR] = dumperrcodes,
-    //[SCMD_ST] = stp_check,
+    [SCMD_ERASEFLASH] = eraseflash,
 };
 
 typedef struct{
@@ -526,6 +534,7 @@ static const commands textcommands[] = {
     {-SCMD_DUMPERR, "dumperr", "dump error codes"},
     {-SCMD_DUMPCMD, "dumpcmd", "dump command codes"},
     {-SCMD_DUMPCONF, "dumpconf", "dump current configuration"},
+    {-SCMD_ERASEFLASH, "eraseflash", "erase flash data storage"},
     {-SCMD_FILTER, "filter", "add/modify filter, format: bank# FIFO# mode(M/I) num0 [num1 [num2 [num3]]]"},
     {-SCMD_GETCTR, "getctr", "get TIM1/2/3 counters"},
     {-SCMD_IGNBUF, "ignbuf", "print ignore buffer"},
@@ -542,7 +551,7 @@ static const commands textcommands[] = {
 // dump base commands codes (for CAN protocol)
 void dumpcmdcodes(_U_ char *txt){
     SEND("CANbus commands list:\n");
-    for(uint16_t i = 0; i < CMD_AMOUNT; ++i){
+    for(uint16_t i = 1; i < CMD_AMOUNT; ++i){
         printu(i);
         SEND(" - ");
         const commands *c = textcommands;
@@ -656,7 +665,9 @@ void cmd_parser(char *txt){
                 par &= 0x7f;
                 if(par != CANMESG_NOPAR) printu(par);
                 bufputchar('='); printi(val);
+#ifdef EBUG
                 SEND(" ("); printuhex((uint32_t)val); bufputchar(')');
+#endif
                 if(ERR_OK != retcode){
                     SEND("\nERRCODE=");
                     printu(retcode);
diff --git a/F0:F030,F042,F072/3steppersLB/version.inc b/F0:F030,F042,F072/3steppersLB/version.inc
index 5e39d96..a2f289a 100644
--- a/F0:F030,F042,F072/3steppersLB/version.inc
+++ b/F0:F030,F042,F072/3steppersLB/version.inc
@@ -1,2 +1,2 @@
-#define BUILD_NUMBER "156"
-#define BUILD_DATE "2022-06-10"
+#define BUILD_NUMBER "168"
+#define BUILD_DATE "2022-06-17"