diff --git a/F0:F030,F042,F072/3steppersLB/commonproto.c b/F0:F030,F042,F072/3steppersLB/commonproto.c
index 76cbb05..b40d885 100644
--- a/F0:F030,F042,F072/3steppersLB/commonproto.c
+++ b/F0:F030,F042,F072/3steppersLB/commonproto.c
@@ -188,6 +188,7 @@ static errcodes ustepsparser(uint8_t par, int32_t *val){
         if(m != 1<<MSB(m)) return ERR_BADVAL;
         if(the_conf.maxspd[n] * m > PCLK/(MOTORTIM_PSC+1)/(MOTORTIM_ARRMIN+1)) return ERR_BADVAL;
         the_conf.microsteps[n] = m;
+        update_stepper(n);
     }
     *val = the_conf.microsteps[n];
     return ERR_OK;
@@ -218,6 +219,7 @@ static errcodes accparser(uint8_t par, int32_t *val){
     if(ISSETTER(par)){
         if(*val/the_conf.microsteps[n] > ACCELMAXSTEPS || *val < 1) return ERR_BADVAL;
         the_conf.accel[n] = *val;
+        update_stepper(n);
     }
     *val = the_conf.accel[n];
     return ERR_OK;
@@ -238,6 +240,7 @@ static errcodes maxspdparser(uint8_t par, int32_t *val){
     if(ISSETTER(par)){
         if(*val <= the_conf.minspd[n]) return ERR_BADVAL;
         the_conf.maxspd[n] = getSPD(n, *val);
+        update_stepper(n);
     }
     *val = the_conf.maxspd[n];
     return ERR_OK;
@@ -248,6 +251,7 @@ static errcodes minspdparser(uint8_t par, int32_t *val){
     if(ISSETTER(par)){
         if(*val >= the_conf.maxspd[n]) return ERR_BADVAL;
         the_conf.minspd[n] = getSPD(n, *val);
+        update_stepper(n);
     }
     *val = the_conf.minspd[n];
     return ERR_OK;
@@ -274,7 +278,7 @@ static errcodes encrevparser(uint8_t par, int32_t *val){
     if(ISSETTER(par)){
         if(*val < 1 || *val > MAXENCREV) return ERR_BADVAL;
         the_conf.encrev[n] = *val;
-        enctimers[n]->ARR = *val;
+        update_stepper(n);
     }
     *val = the_conf.encrev[n];
     return ERR_OK;
@@ -284,6 +288,7 @@ static errcodes motflagsparser(uint8_t par, int32_t *val){
     uint8_t n; CHECKN(n, par);
     if(ISSETTER(par)){
         the_conf.motflags[n] = *((motflags_t*)val);
+        update_stepper(n);
     }
     *(motflags_t*)val = the_conf.motflags[n];
     return ERR_OK;
@@ -295,6 +300,7 @@ static errcodes eswreactparser(uint8_t par, int32_t *val){
     if(ISSETTER(par)){
         if(*val < 0 || *val > ESW_AMOUNT-1) return ERR_BADVAL;
         the_conf.ESW_reaction[n] = *val;
+        update_stepper(n);
     }
     // *val = the_conf.ESW_reaction[n];
     *val = geteswreact(n);
diff --git a/F0:F030,F042,F072/3steppersLB/flash.c b/F0:F030,F042,F072/3steppersLB/flash.c
index 9f958cf..43a1d20 100644
--- a/F0:F030,F042,F072/3steppersLB/flash.c
+++ b/F0:F030,F042,F072/3steppersLB/flash.c
@@ -123,10 +123,7 @@ static int write2flash(const void *start, const void *wrdata, uint32_t stor_size
         FLASH->KEYR = FLASH_KEY1;
         FLASH->KEYR = FLASH_KEY2;
     }
-    while (FLASH->SR & FLASH_SR_BSY);
-    if(FLASH->SR & FLASH_SR_WRPRTERR){
-        return 1; // write protection
-    }
+    while (FLASH->SR & FLASH_SR_BSY) IWDG->KR = IWDG_REFRESH;
     FLASH->SR = FLASH_SR_EOP | FLASH_SR_PGERR | FLASH_SR_WRPRTERR; // clear all flags
     FLASH->CR |= FLASH_CR_PG;
     const uint16_t *data = (const uint16_t*) wrdata;
@@ -135,14 +132,14 @@ static int write2flash(const void *start, const void *wrdata, uint32_t stor_size
     for (i = 0; i < count; ++i){
         IWDG->KR = IWDG_REFRESH;
         *(volatile uint16_t*)(address + i) = data[i];
-        while (FLASH->SR & FLASH_SR_BSY);
-        if(FLASH->SR &  FLASH_SR_PGERR){
+        while (FLASH->SR & FLASH_SR_BSY) IWDG->KR = IWDG_REFRESH;
+        if(FLASH->SR & FLASH_SR_PGERR){
+            SEND("Prog err\n");
             ret = 1; // program error - meet not 0xffff
             break;
-        }else while (!(FLASH->SR & FLASH_SR_EOP));
+        }
         FLASH->SR = FLASH_SR_EOP | FLASH_SR_PGERR | FLASH_SR_WRPRTERR;
     }
-    FLASH->CR |= FLASH_CR_LOCK; // lock it back
     FLASH->CR &= ~(FLASH_CR_PG);
     return ret;
 }
@@ -166,39 +163,26 @@ static int erase_flash(const void *start, const void *end){
     }
     nblocks = flsz / blocksize;
     if(nblocks == 0 || nblocks >= FLASH_SIZE) return 1;
+    if((FLASH->CR & FLASH_CR_LOCK) != 0){
+        FLASH->KEYR = FLASH_KEY1;
+        FLASH->KEYR = FLASH_KEY2;
+    }
+    while(FLASH->SR & FLASH_SR_BSY) IWDG->KR = IWDG_REFRESH;
+    FLASH->SR = FLASH_SR_EOP | FLASH_SR_PGERR | FLASH_SR_WRPRTERR;
+    FLASH->CR |= FLASH_CR_PER;
     for(uint32_t i = 0; i < nblocks; ++i){
-        IWDG->KR = IWDG_REFRESH;
-        /* (1) Wait till no operation is on going */
-        /* (2) Clear error & EOP bits */
-        /* (3) Check that the Flash is unlocked */
-        /* (4) Perform unlock sequence */
-        while ((FLASH->SR & FLASH_SR_BSY) != 0){} /* (1) */
-        FLASH->SR = FLASH_SR_EOP | FLASH_SR_PGERR | FLASH_SR_WRPRTERR;  /* (2) */
-      /*  if (FLASH->SR & FLASH_SR_EOP){
-            FLASH->SR |= FLASH_SR_EOP;
-        }*/
-        if ((FLASH->CR & FLASH_CR_LOCK) != 0){ /* (3) */
-            FLASH->KEYR = FLASH_KEY1; /* (4) */
-            FLASH->KEYR = FLASH_KEY2;
-        }
-        /* (1) Set the PER bit in the FLASH_CR register to enable page erasing */
-        /* (2) Program the FLASH_AR register to select a page to erase */
-        /* (3) Set the STRT bit in the FLASH_CR register to start the erasing */
-        /* (4) Wait until the  EOP flag in the FLASH_SR register set */
-        /* (5) Clear EOP flag by software by writing EOP at 1 */
-        /* (6) Reset the PER Bit to disable the page erase */
-        FLASH->CR |= FLASH_CR_PER; /* (1) */
-        FLASH->AR = (uint32_t)Flash_Data + i*blocksize; /* (2) */
-        FLASH->CR |= FLASH_CR_STRT; /* (3) */
-        while(!(FLASH->SR & FLASH_SR_EOP));
-        FLASH->SR |= FLASH_SR_EOP; /* (5)*/
-        if(FLASH->SR & FLASH_SR_WRPRTERR){ /* Check Write protection error */
+        SEND("Erase block #"); printu(i); newline();
+        FLASH->AR = (uint32_t)Flash_Data + i * blocksize;
+        FLASH->CR |= FLASH_CR_STRT;
+        while(FLASH->SR & FLASH_SR_BSY) IWDG->KR = IWDG_REFRESH;
+        FLASH->SR |= FLASH_SR_EOP;
+        if(FLASH->SR & FLASH_SR_WRPRTERR){
             ret = 1;
-            FLASH->SR |= FLASH_SR_WRPRTERR; /* Clear the flag by software by writing it at 1*/
+            FLASH->SR |= FLASH_SR_WRPRTERR;
             break;
         }
-        FLASH->CR &= ~FLASH_CR_PER; /* (6) */
     }
+    FLASH->CR &= ~FLASH_CR_PER;
     return ret;
 }
 
diff --git a/F0:F030,F042,F072/3steppersLB/hardware.c b/F0:F030,F042,F072/3steppersLB/hardware.c
index 486ac86..dd38f81 100644
--- a/F0:F030,F042,F072/3steppersLB/hardware.c
+++ b/F0:F030,F042,F072/3steppersLB/hardware.c
@@ -24,7 +24,7 @@
 // Buttons: PA10, PA13, PA14, PA15, pullup (0 active)
 volatile GPIO_TypeDef *BTNports[BTNSNO] = {GPIOA, GPIOA, GPIOA, GPIOA};
 const uint32_t BTNpins[BTNSNO] = {1<<10, 1<<13, 1<<14, 1<<15};
-// Limit switches: PC13, PC14, PC15, pulldown (0 active)
+// Limit switches: PC13, PC14, PC15, pullup (0 active)
 volatile GPIO_TypeDef *ESWports[ESWNO] = {GPIOC, GPIOC, GPIOC};
 const uint32_t ESWpins[ESWNO] = {1<<13, 1<<14, 1<<15};
 // external GPIO
@@ -55,7 +55,7 @@ void gpio_setup(void){
                    GPIO_MODER_MODER10_O | GPIO_MODER_MODER11_O | GPIO_MODER_MODER12_O | GPIO_MODER_MODER13_O |
                    GPIO_MODER_MODER14_O | GPIO_MODER_MODER15_O ;
     GPIOB->AFR[0] = (1 << (4*4)) | (1 << (5*4)) | (1 << (6*4)) | (1 << (7*4));
-    GPIOC->PUPDR = GPIO_PUPDR13_PD | GPIO_PUPDR14_PD | GPIO_PUPDR15_PD;
+    GPIOC->PUPDR = GPIO_PUPDR13_PU | GPIO_PUPDR14_PU | GPIO_PUPDR15_PU;
     GPIOF->MODER = GPIO_MODER_MODER0_O;
 }
 
diff --git a/F0:F030,F042,F072/3steppersLB/hardware.h b/F0:F030,F042,F072/3steppersLB/hardware.h
index 267a895..56dbd8b 100644
--- a/F0:F030,F042,F072/3steppersLB/hardware.h
+++ b/F0:F030,F042,F072/3steppersLB/hardware.h
@@ -22,6 +22,14 @@
 
 #include <stm32f0.h>
 
+#ifndef FALSE
+#define FALSE (0)
+#endif
+
+#ifndef TRUE
+#define TRUE (1)
+#endif
+
 // PCLK frequency
 #ifndef PCLK
 #define PCLK    (48000000)
diff --git a/F0:F030,F042,F072/3steppersLB/main.c b/F0:F030,F042,F072/3steppersLB/main.c
index 5212cc0..36f9286 100644
--- a/F0:F030,F042,F072/3steppersLB/main.c
+++ b/F0:F030,F042,F072/3steppersLB/main.c
@@ -25,7 +25,6 @@
 #include "steppers.h"
 #include "strfunct.h"
 #include "usb.h"
-#include "usb_lib.h"
 
 volatile uint32_t Tms = 0;
 
diff --git a/F0:F030,F042,F072/3steppersLB/steppers.bin b/F0:F030,F042,F072/3steppersLB/steppers.bin
index 97db3a9..320958b 100755
Binary files a/F0:F030,F042,F072/3steppersLB/steppers.bin and b/F0:F030,F042,F072/3steppersLB/steppers.bin differ
diff --git a/F0:F030,F042,F072/3steppersLB/steppers.c b/F0:F030,F042,F072/3steppersLB/steppers.c
index 6c7ab24..fdc5599 100644
--- a/F0:F030,F042,F072/3steppersLB/steppers.c
+++ b/F0:F030,F042,F072/3steppersLB/steppers.c
@@ -92,6 +92,16 @@ TRUE_INLINE void recalcARR(int i){
     curspeed[i] = (((PCLK/(MOTORTIM_PSC+1)) / (ARR+1)) >> ustepsshift[i]); // recalculate speed due to new val
 }
 
+// update stepper's settings
+void update_stepper(uint8_t i){
+    if(i >= MOTORSNO) return;
+    accdecsteps[i] = (the_conf.maxspd[i] * the_conf.maxspd[i]) / the_conf.accel[i] / 2;
+    ustepsshift[i] = MSB(the_conf.microsteps[i]);
+    encperstep[i] = the_conf.encrev[i] / STEPSPERREV;
+    enctimers[i]->ARR = the_conf.encrev[i];
+    ESW_reaction[i] = the_conf.ESW_reaction[i];
+}
+
 // run this function after each steppers parameters changing
 void init_steppers(){
     timers_setup(); // reinit timers & stop them
@@ -101,13 +111,10 @@ void init_steppers(){
         stopflag[i] = 0;
         motdir[i] = 0;
         curspeed[i] = 0;
-        accdecsteps[i] = (the_conf.maxspd[i] * the_conf.maxspd[i]) / the_conf.accel[i] / 2;
         state[i] = STP_RELAX;
-        ustepsshift[i] = MSB(the_conf.microsteps[i]);
-        encperstep[i] = the_conf.encrev[i] / STEPSPERREV;
         if(!the_conf.motflags[i].donthold) MOTOR_EN(i);
         else MOTOR_DIS(i);
-        ESW_reaction[i] = the_conf.ESW_reaction[i];
+        update_stepper(i);
     }
 }
 
diff --git a/F0:F030,F042,F072/3steppersLB/steppers.cflags b/F0:F030,F042,F072/3steppersLB/steppers.cflags
new file mode 100644
index 0000000..68d5165
--- /dev/null
+++ b/F0:F030,F042,F072/3steppersLB/steppers.cflags
@@ -0,0 +1 @@
+-std=c17
\ No newline at end of file
diff --git a/F0:F030,F042,F072/3steppersLB/steppers.config b/F0:F030,F042,F072/3steppersLB/steppers.config
new file mode 100644
index 0000000..ca0621c
--- /dev/null
+++ b/F0:F030,F042,F072/3steppersLB/steppers.config
@@ -0,0 +1,5 @@
+// Add predefined macros for your project here. For example:
+// #define THE_ANSWER 42
+#define EBUG
+#define STM32F0
+#define STM32F072xB
diff --git a/F0:F030,F042,F072/3steppersLB/steppers.creator b/F0:F030,F042,F072/3steppersLB/steppers.creator
new file mode 100644
index 0000000..e94cbbd
--- /dev/null
+++ b/F0:F030,F042,F072/3steppersLB/steppers.creator
@@ -0,0 +1 @@
+[General]
diff --git a/F0:F030,F042,F072/3steppersLB/steppers.creator.user b/F0:F030,F042,F072/3steppersLB/steppers.creator.user
new file mode 100644
index 0000000..819893c
--- /dev/null
+++ b/F0:F030,F042,F072/3steppersLB/steppers.creator.user
@@ -0,0 +1,160 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE QtCreatorProject>
+<!-- Written by QtCreator 6.0.0, 2022-10-28T17:08:49. -->
+<qtcreator>
+ <data>
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+    <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
+    <value type="bool" key="RunConfiguration.UseCppDebugger">false</value>
+    <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
+    <value type="bool" key="RunConfiguration.UseQmlDebugger">false</value>
+    <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
+   </valuemap>
+   <value type="int" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
+  </valuemap>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.TargetCount</variable>
+  <value type="int">1</value>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.Updater.FileVersion</variable>
+  <value type="int">22</value>
+ </data>
+ <data>
+  <variable>Version</variable>
+  <value type="int">22</value>
+ </data>
+</qtcreator>
diff --git a/F0:F030,F042,F072/3steppersLB/steppers.cxxflags b/F0:F030,F042,F072/3steppersLB/steppers.cxxflags
new file mode 100644
index 0000000..6435dfc
--- /dev/null
+++ b/F0:F030,F042,F072/3steppersLB/steppers.cxxflags
@@ -0,0 +1 @@
+-std=c++17
\ No newline at end of file
diff --git a/F0:F030,F042,F072/3steppersLB/steppers.files b/F0:F030,F042,F072/3steppersLB/steppers.files
new file mode 100644
index 0000000..94e04bd
--- /dev/null
+++ b/F0:F030,F042,F072/3steppersLB/steppers.files
@@ -0,0 +1,24 @@
+adc.c
+adc.h
+buttons.c
+buttons.h
+can.c
+can.h
+commonproto.c
+commonproto.h
+custom_buttons.c
+custom_buttons.h
+flash.c
+flash.h
+hardware.c
+hardware.h
+main.c
+steppers.c
+steppers.h
+strfunct.c
+strfunct.h
+usb.c
+usb_defs.h
+usb.h
+usb_lib.c
+usb_lib.h
diff --git a/F0:F030,F042,F072/3steppersLB/steppers.h b/F0:F030,F042,F072/3steppersLB/steppers.h
index 00c5e22..f5c42b0 100644
--- a/F0:F030,F042,F072/3steppersLB/steppers.h
+++ b/F0:F030,F042,F072/3steppersLB/steppers.h
@@ -23,6 +23,14 @@
 #include <stm32f0.h>
 #include "commonproto.h"
 
+#ifndef FALSE
+#define FALSE (0)
+#endif
+
+#ifndef TRUE
+#define TRUE (1)
+#endif
+
 // amount of tries to detect motor stall
 #define NSTALLEDMAX     (5)
 // amount of steps to detect stalled state
@@ -55,6 +63,7 @@ void addmicrostep(uint8_t i);
 void encoders_UPD(uint8_t i);
 
 void init_steppers();
+void update_stepper(uint8_t i);
 int32_t encoder_position(uint8_t i);
 int setencpos(uint8_t i, int32_t position);
 errcodes setmotpos(uint8_t i, int32_t position);
diff --git a/F0:F030,F042,F072/3steppersLB/steppers.includes b/F0:F030,F042,F072/3steppersLB/steppers.includes
new file mode 100644
index 0000000..06d1130
--- /dev/null
+++ b/F0:F030,F042,F072/3steppersLB/steppers.includes
@@ -0,0 +1,6 @@
+.
+../inc
+../inc/Fx
+../inc/cm
+../inc/ld
+../inc/startup
diff --git a/F0:F030,F042,F072/3steppersLB/usb.c b/F0:F030,F042,F072/3steppersLB/usb.c
index a7b1ee8..e592ab4 100644
--- a/F0:F030,F042,F072/3steppersLB/usb.c
+++ b/F0:F030,F042,F072/3steppersLB/usb.c
@@ -84,7 +84,7 @@ static int usbwr(const uint8_t *buf, uint16_t l){
 }
 
 static uint8_t usbbuff[USB_TXBUFSZ-1]; // temporary buffer (63 - to prevent need of ZLP)
-static uint8_t buflen = 0; // amount of symbols in usbbuff
+static volatile uint8_t buflen = 0; // amount of symbols in usbbuff
 
 // send next up to 63 bytes of data in usbbuff
 static void send_next(){
@@ -172,4 +172,3 @@ uint8_t USB_receive(uint8_t *buf){
     rxNE = 0;
     return sz;
 }
-
diff --git a/F0:F030,F042,F072/3steppersLB/usb_lib.c b/F0:F030,F042,F072/3steppersLB/usb_lib.c
index 8d1bf6c..58a4110 100644
--- a/F0:F030,F042,F072/3steppersLB/usb_lib.c
+++ b/F0:F030,F042,F072/3steppersLB/usb_lib.c
@@ -22,11 +22,11 @@
 ep_t endpoints[STM32ENDPOINTS];
 
 usb_dev_t USB_Dev;
-uint8_t usbON = 0;
+volatile uint8_t usbON = 0;
 static usb_LineCoding lineCoding = {115200, 0, 0, 8};
 static config_pack_t setup_packet;
 static uint8_t ep0databuf[EP0DATABUF_SIZE];
-static uint8_t ep0dbuflen = 0;
+static volatile uint8_t ep0dbuflen = 0;
 
 usb_LineCoding getLineCoding(){return lineCoding;}
 
diff --git a/F0:F030,F042,F072/3steppersLB/usb_lib.h b/F0:F030,F042,F072/3steppersLB/usb_lib.h
index d6fc0cc..1555633 100644
--- a/F0:F030,F042,F072/3steppersLB/usb_lib.h
+++ b/F0:F030,F042,F072/3steppersLB/usb_lib.h
@@ -166,7 +166,7 @@ typedef struct {
 
 extern ep_t endpoints[];
 extern usb_dev_t USB_Dev;
-extern uint8_t usbON;
+extern volatile uint8_t usbON;
 
 void USB_Init();
 uint8_t USB_GetState();
diff --git a/F0:F030,F042,F072/3steppersLB/version.inc b/F0:F030,F042,F072/3steppersLB/version.inc
index 338ce6f..7f30586 100644
--- a/F0:F030,F042,F072/3steppersLB/version.inc
+++ b/F0:F030,F042,F072/3steppersLB/version.inc
@@ -1,2 +1,2 @@
-#define BUILD_NUMBER "169"
-#define BUILD_DATE "2023-01-11"
+#define BUILD_NUMBER "173"
+#define BUILD_DATE "2023-02-21"