diff --git a/F0-nolib/3steppersLB/can.c b/F0-nolib/3steppersLB/can.c
index d17e9cf..d506da3 100644
--- a/F0-nolib/3steppersLB/can.c
+++ b/F0-nolib/3steppersLB/can.c
@@ -338,7 +338,7 @@ TRUE_INLINE void parseCANcommand(CAN_message *msg){
         formerr(msg, ERR_WRONGLEN);
         goto sendmessage;
     }
-    errcodes ec = cmdlist[Index].function(par, val);
+    errcodes ec = cmdlist[Index](par, val);
     if(ec != ERR_OK){
         formerr(msg, ec);
     }
diff --git a/F0-nolib/3steppersLB/commonproto.c b/F0-nolib/3steppersLB/commonproto.c
index bd8a57e..4793f2a 100644
--- a/F0-nolib/3steppersLB/commonproto.c
+++ b/F0-nolib/3steppersLB/commonproto.c
@@ -76,6 +76,7 @@ static errcodes eswparser(uint8_t par, int32_t *val){
 #endif
     uint8_t n = PARBASE(par);
     if(n > ESWNO-1){ // all
+        *val = 0;
         uint8_t *arr = (uint8_t*)val;
         for(int i = 0; i < ESWNO; ++i)
             *arr++ = ESW_state(i);
@@ -283,6 +284,19 @@ static errcodes motflagsparser(uint8_t par, int32_t *val){
     return ERR_OK;
 }
 
+// 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;
+    if(ISSETTER(par)){
+        if(*val < 0 || *val > ESW_AMOUNT-1) return ERR_BADVAL;
+        the_conf.ESW_reaction[n] = *val;
+    }
+    // *val = the_conf.ESW_reaction[n];
+    *val = geteswreact(n);
+    return ERR_OK;
+}
+
 static errcodes saveconfparser(uint8_t _U_ par, int32_t _U_ *val){
     if(store_userconf()) return ERR_CANTRUN;
     return ERR_OK;
@@ -296,7 +310,20 @@ static errcodes reinitmparser(uint8_t _U_ par, int32_t _U_ *val){
     return ERR_OK;
 }
 
-static errcodes mstopparser(uint8_t par, int32_t _U_ *val){
+static errcodes emstopparser(uint8_t par, int32_t _U_ *val){
+    uint8_t n = PARBASE(par);
+    if(n > MOTORSNO-1) return ERR_BADPAR;
+    emstopmotor(n);
+    return ERR_OK;
+}
+
+static errcodes emstopallparser(uint8_t _U_ par, int32_t _U_ *val){
+    for(int i = 0; i < MOTORSNO; ++i)
+        emstopmotor(i);
+    return ERR_OK;
+}
+
+static errcodes stopparser(uint8_t par, int32_t _U_ *val){
     uint8_t n = PARBASE(par);
     if(n > MOTORSNO-1) return ERR_BADPAR;
     stopmotor(n);
@@ -317,6 +344,13 @@ static errcodes relstepsparser(uint8_t par, int32_t *val){
     return getremainsteps(n, val);
 }
 
+static errcodes relslowparser(uint8_t par, int32_t *val){
+    uint8_t n = PARBASE(par);
+    if(n > MOTORSNO-1) return ERR_BADPAR;
+    if(ISSETTER(par)) return motor_relslow(n, *val);
+    return getremainsteps(n, val);
+}
+
 static errcodes motstateparser(uint8_t par, int32_t *val){
     uint8_t n = PARBASE(par);
     if(n > MOTORSNO-1) return ERR_BADPAR;
@@ -334,6 +368,12 @@ static errcodes encposparser(uint8_t par, int32_t *val){
     *val = encoder_position(n);
     return ret;
 }
+
+static errcodes gotozeroparser(uint8_t par, _U_ int32_t *val){
+    uint8_t n = PARBASE(par);
+    if(n > MOTORSNO-1) return ERR_BADPAR;
+    return motor_goto0(n);
+}
 /******************* END of motors' parsers *******************/
 
 /*
@@ -342,39 +382,44 @@ static errcodes parser(uint8_t _U_ par, int32_t _U_ *val){
 }
 */
 
-// the main commands list, index is CAN command code
-const commands cmdlist[CMD_AMOUNT] = {
+const fpointer cmdlist[CMD_AMOUNT] = {
     // different commands
-    [CMD_PING] = {"ping", pingparser, "echo given command back"},
-    [CMD_RELAY] = {"relay", relayparser, "change relay state (1/0)"},
-    [CMD_BUZZER] = {"buzzer", buzzerparser, "change buzzer state (1/0)"},
-    [CMD_ADC] = {"adc", adcparser, "get ADC values"},
-    [CMD_BUTTONS] = {"button", buttonsparser, "get buttons state"},
-    [CMD_ESWSTATE] = {"esw", eswparser, "get end switches state"},
-    [CMD_MCUT] = {"mcut", mcutparser, "get MCU T"},
-    [CMD_MCUVDD] = {"mcuvdd", mcuvddparser, "get MCU Vdd"},
-    [CMD_RESET] = {"reset", resetparser, "reset MCU"},
-    [CMD_TIMEFROMSTART] = {"time", timeparser, "get time from start"},
-    [CMD_PWM] = {"pwm", pwmparser, "pwm value"},
-    [CMD_EXT] = {"ext", extparser, "external outputs"},
+    [CMD_PING] = pingparser,
+    [CMD_RELAY] = relayparser,
+    [CMD_BUZZER] = buzzerparser,
+    [CMD_ADC] = adcparser,
+    [CMD_BUTTONS] = buttonsparser,
+    [CMD_ESWSTATE] = eswparser,
+    [CMD_MCUT] = mcutparser,
+    [CMD_MCUVDD] = mcuvddparser,
+    [CMD_RESET] = resetparser,
+    [CMD_TIMEFROMSTART] = timeparser,
+    [CMD_PWM] = pwmparser,
+    [CMD_EXT] = extparser,
     // configuration
-    [CMD_SAVECONF] = {"saveconf", saveconfparser, "save current configuration"},
-    [CMD_ENCSTEPMIN] = {"encstepmin", encstepsminparser, "minimal encoder ticks per step"},
-    [CMD_ENCSTEPMAX] = {"encstepmax", encstepsmaxparser, "maximal encoder ticks per step"},
-    [CMD_MICROSTEPS] = {"microsteps", ustepsparser, "set/get microsteps settings"},
-    [CMD_ACCEL] = {"accel", accparser, "set/get accel/decel (steps/s^2)"},
-    [CMD_MAXSPEED] = {"maxspeed", maxspdparser, "set/get max speed (steps per sec)"},
-    [CMD_MINSPEED] = {"minspeed", minspdparser, "set/get min speed (steps per sec)"},
-    [CMD_SPEEDLIMIT] = {"speedlimit", spdlimparser, "get limiting speed for current microsteps"},
-    [CMD_MAXSTEPS] = {"maxsteps", maxstepsparser, "set/get max steps (from zero)"},
-    [CMD_ENCREV] = {"encrev", encrevparser, "set/get max encoder's pulses per revolution"},
-    [CMD_MOTFLAGS] = {"motflags", motflagsparser, "set/get motorN flags"},
+    [CMD_SAVECONF] = saveconfparser,
+    [CMD_ENCSTEPMIN] = encstepsminparser,
+    [CMD_ENCSTEPMAX] = encstepsmaxparser,
+    [CMD_MICROSTEPS] = ustepsparser,
+    [CMD_ACCEL] = accparser,
+    [CMD_MAXSPEED] = maxspdparser,
+    [CMD_MINSPEED] = minspdparser,
+    [CMD_SPEEDLIMIT] = spdlimparser,
+    [CMD_MAXSTEPS] = maxstepsparser,
+    [CMD_ENCREV] = encrevparser,
+    [CMD_MOTFLAGS] = motflagsparser,
+    [CMD_ESWREACT] = eswreactparser,
     // motor's commands
-    [CMD_ABSPOS] = {"abspos", curposparser, "set/get position (in steps)"},
-    [CMD_RELPOS] = {"relpos", relstepsparser, "set relative steps, get remaining"},
-    [CMD_STOPMOTOR] = {"stop", mstopparser, "stop motor now"},
-    [CMD_REINITMOTORS] = {"motreinit", reinitmparser, "re-init motors after configuration changed"},
-    [CMD_MOTORSTATE] = {"state", motstateparser, "get motor state"},
-    [CMD_ENCPOS] = {"encpos", encposparser, "set/get encoder's position"},
+    [CMD_ABSPOS] = curposparser,
+    [CMD_RELPOS] = relstepsparser,
+    [CMD_RELSLOW] = relslowparser,
+    [CMD_EMERGSTOP] = emstopparser,
+    [CMD_EMERGSTOPALL] = emstopallparser,
+    [CMD_STOP] = stopparser,
+    [CMD_REINITMOTORS] = reinitmparser,
+    [CMD_MOTORSTATE] = motstateparser,
+    [CMD_ENCPOS] = encposparser,
+    [CMD_GOTOZERO] = gotozeroparser,
 };
 
+
diff --git a/F0-nolib/3steppersLB/commonproto.h b/F0-nolib/3steppersLB/commonproto.h
index 524f252..efb5756 100644
--- a/F0-nolib/3steppersLB/commonproto.h
+++ b/F0-nolib/3steppersLB/commonproto.h
@@ -51,12 +51,6 @@ typedef enum{
 // @return CANERR_OK (0) if OK or error code
 typedef errcodes (*fpointer)(uint8_t par, int32_t *val);
 
-typedef struct{
-    const char *command;    // text command (up to 65536 commands)
-    fpointer function;      // function to execute: function(&par, &val)
-    const char *help;       // help message for text protocol
-} commands;
-
 enum{
      CMD_PING               // ping device
     ,CMD_RELAY              // relay on/off
@@ -81,21 +75,23 @@ enum{
     ,CMD_MAXSTEPS           // max steps (-max..+max)
     ,CMD_ENCREV             // encoder's pulses per revolution
     ,CMD_MOTFLAGS           // motor flags
+    ,CMD_ESWREACT           // ESW reaction flags
     ,CMD_REINITMOTORS       // re-init motors after configuration changing
     ,CMD_ABSPOS             // current position (set/get)
     ,CMD_RELPOS             // set relative steps or get steps left
-    ,CMD_STOPMOTOR          // stop moving NOW
+    ,CMD_RELSLOW            // change relative position at lowest speed
+    ,CMD_EMERGSTOP          // stop moving NOW
+    ,CMD_STOP               // smooth motor stop
+    ,CMD_EMERGSTOPALL       // emergency stop for all motors
+    ,CMD_GOTOZERO           // go to zero's ESW
     ,CMD_MOTORSTATE         // motor state
     ,CMD_ENCPOS             // position of encoder (independing on settings)
     //,CMD_STOPDECEL
-    //,CMD_RELMOVE
-    //,CMD_ABSMOVE
-    //,CMD_MOVE  // @max speed infty
     //,CMD_FINDZERO
     // should be the last:
     ,CMD_AMOUNT             // amount of common commands
 };
 
-extern const commands cmdlist[CMD_AMOUNT];
+extern const fpointer cmdlist[CMD_AMOUNT];
 
 #endif // COMMONPROTO_H__
diff --git a/F0-nolib/3steppersLB/flash.c b/F0-nolib/3steppersLB/flash.c
index b9ff680..84de13b 100644
--- a/F0-nolib/3steppersLB/flash.c
+++ b/F0-nolib/3steppersLB/flash.c
@@ -49,7 +49,7 @@ static uint32_t maxCnum = 1024 / sizeof(user_conf); // can't use blocksize here
     ,.encperstepmin = {17,17,17}            \
     ,.encperstepmax = {23,23,23}            \
     ,.motflags = {DEFMF,DEFMF,DEFMF}        \
-    ,.ESW_reaction = {ESW_ANYSTOP, ESW_ANYSTOP, ESW_ANYSTOP} \
+    ,.ESW_reaction = {ESW_IGNORE, ESW_IGNORE, ESW_IGNORE} \
     }
 static int erase_flash(const void*, const void*);
 static int write2flash(const void*, const void*, uint32_t);
@@ -217,8 +217,6 @@ void dump_userconf(_U_ char *txt){
     for(int i = 0; i < MOTORSNO; ++i){
         char cur = '0' + i;
 #define PROPNAME(nm)    do{newline(); SEND(nm); bufputchar(cur); bufputchar('=');}while(0)
-        PROPNAME("reverse");
-        bufputchar('0' + the_conf.motflags[i].reverse);
         PROPNAME("microsteps");
         printu(the_conf.microsteps[i]);
         PROPNAME("accel");
diff --git a/F0-nolib/3steppersLB/flash.h b/F0-nolib/3steppersLB/flash.h
index 7eccc72..a557426 100644
--- a/F0-nolib/3steppersLB/flash.h
+++ b/F0-nolib/3steppersLB/flash.h
@@ -39,7 +39,7 @@
 
 // register with flash size (in blocks)
 #ifndef FLASH_SIZE_REG
-blocksizeASH_SIZE_REG      ((uint32_t)0x1FFFF7CC)
+#define FLASH_SIZE_REG      ((uint32_t)0x1FFFF7CC)
 #endif
 
 #define FLASH_SIZE          *((uint16_t*)FLASH_SIZE_REG)
diff --git a/F0-nolib/3steppersLB/hardware.c b/F0-nolib/3steppersLB/hardware.c
index 91c19e5..a27179e 100644
--- a/F0-nolib/3steppersLB/hardware.c
+++ b/F0-nolib/3steppersLB/hardware.c
@@ -87,7 +87,7 @@ static IRQn_Type motirqs[MOTORSNO] = {TIM15_IRQn, TIM14_IRQn, TIM16_IRQn};
 static void setup_mpwm(int i){
     volatile TIM_TypeDef *TIM = mottimers[i];
     TIM->CR1 = TIM_CR1_ARPE; // buffered ARR
-    TIM->PSC = MOTORTIM_PSC; // 64kHz
+    TIM->PSC = MOTORTIM_PSC; // 16MHz
     // PWM mode 1 (active -> inactive)
     TIM->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1;
 #if MOTORTIM_ARRMIN < 5
diff --git a/F0-nolib/3steppersLB/proto.c b/F0-nolib/3steppersLB/proto.c
deleted file mode 100644
index 9803e51..0000000
--- a/F0-nolib/3steppersLB/proto.c
+++ /dev/null
@@ -1,626 +0,0 @@
-/*
- * This file is part of the canrelay project.
- * Copyright 2021 Edward V. Emelianov <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 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/>.
- */
-
-#include "adc.h"
-#include "buttons.h"
-#include "can.h"
-#include "hardware.h"
-#include "proto.h"
-#include "usb.h"
-
-#include <string.h> // strlen
-
-extern volatile uint8_t canerror;
-
-uint8_t ShowMsgs = 0;
-uint16_t Ignore_IDs[IGN_SIZE];
-uint8_t IgnSz = 0;
-static char buff[BUFSZ+1], *bptr = buff;
-static uint8_t blen = 0;
-
-void sendbuf(){
-    IWDG->KR = IWDG_REFRESH;
-    if(blen == 0) return;
-    *bptr = 0;
-    USB_sendstr(buff);
-    bptr = buff;
-    blen = 0;
-}
-
-void bufputchar(char ch){
-    if(blen > BUFSZ-1){
-        sendbuf();
-    }
-    *bptr++ = ch;
-    ++blen;
-}
-
-void addtobuf(const char *txt){
-    IWDG->KR = IWDG_REFRESH;
-    while(*txt) bufputchar(*txt++);
-}
-
-char *omit_spaces(const char *buf){
-    while(*buf){
-        if(*buf > ' ') break;
-        ++buf;
-    }
-    return (char*) buf;
-}
-
-// THERE'S NO OVERFLOW PROTECTION IN NUMBER READ PROCEDURES!
-// read decimal number
-static char *getdec(const char *buf, uint32_t *N){
-    uint32_t num = 0;
-    while(*buf){
-        char c = *buf;
-        if(c < '0' || c > '9'){
-            break;
-        }
-        num *= 10;
-        num += c - '0';
-        ++buf;
-    }
-    *N = num;
-    return (char *)buf;
-}
-// read hexadecimal number (without 0x prefix!)
-static char *gethex(const char *buf, uint32_t *N){
-    uint32_t num = 0;
-    while(*buf){
-        char c = *buf;
-        uint8_t M = 0;
-        if(c >= '0' && c <= '9'){
-            M = '0';
-        }else if(c >= 'A' && c <= 'F'){
-            M = 'A' - 10;
-        }else if(c >= 'a' && c <= 'f'){
-            M = 'a' - 10;
-        }
-        if(M){
-            num <<= 4;
-            num += c - M;
-        }else{
-            break;
-        }
-        ++buf;
-    }
-    *N = num;
-    return (char *)buf;
-}
-// read binary number (without 0b prefix!)
-static char *getbin(const char *buf, uint32_t *N){
-    uint32_t num = 0;
-    while(*buf){
-        char c = *buf;
-        if(c < '0' || c > '1'){
-            break;
-        }
-        num <<= 1;
-        if(c == '1') num |= 1;
-        ++buf;
-    }
-    *N = num;
-    return (char *)buf;
-}
-
-/**
- * @brief getnum - read uint32_t from string (dec, hex or bin: 127, 0x7f, 0b1111111)
- * @param buf - buffer with number and so on
- * @param N   - the number read
- * @return pointer to first non-number symbol in buf (if it is == buf, there's no number)
- */
-char *getnum(const char *txt, uint32_t *N){
-    if(*txt == '0'){
-        if(txt[1] == 'x' || txt[1] == 'X') return gethex(txt+2, N);
-        if(txt[1] == 'b' || txt[1] == 'B') return getbin(txt+2, N);
-    }
-    return getdec(txt, N);
-}
-
-// parse `txt` to CAN_message
-static CAN_message *parseCANmsg(char *txt){
-    static CAN_message canmsg;
-    //SEND("CAN command with arguments:\n");
-    uint32_t N;
-    char *n;
-    int ctr = -1;
-    canmsg.ID = 0xffff;
-    do{
-        txt = omit_spaces(txt);
-        n = getnum(txt, &N);
-        if(txt == n) break;
-        txt = n;
-        if(ctr == -1){
-            if(N > 0x7ff){
-                SEND("ID should be 11-bit number!\n");
-                return NULL;
-            }
-            canmsg.ID = (uint16_t)(N&0x7ff);
-            //SEND("ID="); printuhex(canmsg.ID); newline();
-            ctr = 0;
-            continue;
-        }
-        if(ctr > 7){
-            SEND("ONLY 8 data bytes allowed!\n");
-            return NULL;
-        }
-        if(N > 0xff){
-            SEND("Every data portion is a byte!\n");
-            return NULL;
-        }
-        canmsg.data[ctr++] = (uint8_t)(N&0xff);
-    }while(1);
-    if(canmsg.ID == 0xffff){
-        SEND("NO ID given, send nothing!\n");
-        return NULL;
-    }
-    SEND("Message parsed OK\n");
-    sendbuf();
-    canmsg.length = (uint8_t) ctr;
-    return &canmsg;
-}
-
-// send command, format: ID (hex/bin/dec) data bytes (up to 8 bytes, space-delimeted)
-TRUE_INLINE void sendCANcommand(char *txt){
-    CAN_message *msg = parseCANmsg(txt);
-    if(!msg) return;
-    uint32_t N = 1000;
-    while(CAN_BUSY == can_send(msg->data, msg->length, msg->ID)){
-        if(--N == 0) break;
-    }
-}
-
-TRUE_INLINE void CANini(char *txt){
-    txt = omit_spaces(txt);
-    uint32_t N;
-    char *n = getnum(txt, &N);
-    if(txt == n){
-        SEND("No speed given");
-        return;
-    }
-    if(N < 50){
-        SEND("Lowest speed is 50kbps");
-        return;
-    }else if(N > 3000){
-        SEND("Highest speed is 3000kbps");
-        return;
-    }
-    CAN_reinit((uint16_t)N);
-    SEND("Reinit CAN bus with speed ");
-    printu(N); SEND("kbps");
-}
-
-TRUE_INLINE void addIGN(char *txt){
-    if(IgnSz == IGN_SIZE){
-        MSG("Ignore buffer is full");
-        return;
-    }
-    txt = omit_spaces(txt);
-    uint32_t N;
-    char *n = getnum(txt, &N);
-    if(txt == n){
-        SEND("No ID given");
-        return;
-    }
-    if(N == CANID){
-        SEND("You can't ignore self ID!");
-        return;
-    }
-    if(N > 0x7ff){
-        SEND("ID should be 11-bit number!");
-        return;
-    }
-    Ignore_IDs[IgnSz++] = (uint16_t)(N & 0x7ff);
-    SEND("Added ID "); printu(N);
-    SEND("\nIgn buffer size: "); printu(IgnSz);
-}
-
-TRUE_INLINE void print_ign_buf(){
-    if(IgnSz == 0){
-        SEND("Ignore buffer is empty");
-        return;
-    }
-    SEND("Ignored IDs:\n");
-    for(int i = 0; i < IgnSz; ++i){
-        printu(i);
-        SEND(": ");
-        printuhex(Ignore_IDs[i]);
-        newline();
-    }
-}
-
-// print ID/mask of CAN->sFilterRegister[x] half
-static void printID(uint16_t FRn){
-    if(FRn & 0x1f) return; // trash
-    printuhex(FRn >> 5);
-}
-/*
-Can filtering: FSCx=0 (CAN->FS1R) -> 16-bit identifiers
-CAN->FMR = (sb)<<8 | FINIT - init filter in starting bank sb
-CAN->FFA1R FFAx = 1 -> FIFO1, 0 -> FIFO0
-CAN->FA1R FACTx=1 - filter active
-MASK: FBMx=0 (CAN->FM1R), two filters (n in FR1 and n+1 in FR2)
-    ID:   CAN->sFilterRegister[x].FRn[0..15]
-    MASK: CAN->sFilterRegister[x].FRn[16..31]
-    FR bits:  STID[10:0] RTR IDE EXID[17:15]
-LIST: FBMx=1, four filters (n&n+1 in FR1, n+2&n+3 in FR2)
-    IDn:   CAN->sFilterRegister[x].FRn[0..15]
-    IDn+1: CAN->sFilterRegister[x].FRn[16..31]
-*/
-TRUE_INLINE void list_filters(){
-    uint32_t fa = CAN->FA1R, ctr = 0, mask = 1;
-    while(fa){
-        if(fa & 1){
-            SEND("Filter "); printu(ctr); SEND(", FIFO");
-            if(CAN->FFA1R & mask) SEND("1");
-            else SEND("0");
-            SEND(" in ");
-            if(CAN->FM1R & mask){ // up to 4 filters in LIST mode
-                SEND("LIST mode, IDs: ");
-                printID(CAN->sFilterRegister[ctr].FR1 & 0xffff);
-                SEND(" ");
-                printID(CAN->sFilterRegister[ctr].FR1 >> 16);
-                SEND(" ");
-                printID(CAN->sFilterRegister[ctr].FR2 & 0xffff);
-                SEND(" ");
-                printID(CAN->sFilterRegister[ctr].FR2 >> 16);
-            }else{ // up to 2 filters in MASK mode
-                SEND("MASK mode: ");
-                if(!(CAN->sFilterRegister[ctr].FR1&0x1f)){
-                    SEND("ID="); printID(CAN->sFilterRegister[ctr].FR1 & 0xffff);
-                    SEND(", MASK="); printID(CAN->sFilterRegister[ctr].FR1 >> 16);
-                    SEND(" ");
-                }
-                if(!(CAN->sFilterRegister[ctr].FR2&0x1f)){
-                    SEND("ID="); printID(CAN->sFilterRegister[ctr].FR2 & 0xffff);
-                    SEND(", MASK="); printID(CAN->sFilterRegister[ctr].FR2 >> 16);
-                }
-            }
-            newline();
-        }
-        fa >>= 1;
-        ++ctr;
-        mask <<= 1;
-    }
-    sendbuf();
-}
-
-/**
- * @brief add_filter - add/modify filter
- * @param str - string in format "bank# FIFO# mode num0 .. num3"
- * where bank# - 0..27
- * if there's nothing after bank# - delete filter
- * FIFO# - 0,1
- * mode - 'I' for ID, 'M' for mask
- * num0..num3 - IDs in ID mode, ID/MASK for mask mode
- */
-static void add_filter(char *str){
-    uint32_t N;
-    str = omit_spaces(str);
-    char *n = getnum(str, &N);
-    if(n == str){
-        SEND("No bank# given");
-        return;
-    }
-    if(N == 0 || N > STM32F0FBANKNO-1){
-        SEND("0 (reserved for self) < bank# < 28 (max bank# is 27)!!!");
-        return;
-    }
-    uint8_t bankno = (uint8_t)N;
-    str = omit_spaces(n);
-    if(!*str){ // deactivate filter
-        SEND("Deactivate filters in bank ");
-        printu(bankno);
-        CAN->FMR = CAN_FMR_FINIT;
-        CAN->FA1R &= ~(1<<bankno);
-        CAN->FMR &=~ CAN_FMR_FINIT;
-        return;
-    }
-    uint8_t fifono = 0;
-    if(*str == '1') fifono = 1;
-    else if(*str != '0'){
-        SEND("FIFO# is 0 or 1");
-        return;
-    }
-    str = omit_spaces(str + 1);
-    char c = *str;
-    uint8_t mode = 0; // ID
-    if(c == 'M' || c == 'm') mode = 1;
-    else if(c != 'I' && c != 'i'){
-        SEND("mode is 'M/m' for MASK and 'I/i' for IDLIST");
-        return;
-    }
-    str = omit_spaces(str + 1);
-    uint32_t filters[4];
-    uint32_t nfilt;
-    for(nfilt = 0; nfilt < 4; ++nfilt){
-        n = getnum(str, &N);
-        if(n == str) break;
-        filters[nfilt] = N;
-        str = omit_spaces(n);
-    }
-    if(nfilt == 0){
-        SEND("You should add at least one filter!");
-        return;
-    }
-    if(mode && (nfilt&1)){
-        SEND("In MASK mode you should point pairs of ID/MASK");
-        return;
-    }
-    CAN->FMR = CAN_FMR_FINIT;
-    uint32_t mask = 1<<bankno;
-    CAN->FA1R |= mask; // activate given filter
-    if(fifono) CAN->FFA1R |= mask; // set FIFO number
-    else CAN->FFA1R &= ~mask;
-    if(mode) CAN->FM1R &= ~mask; // MASK
-    else CAN->FM1R |= mask; // LIST
-    uint32_t F1 = (0x8f<<16);
-    uint32_t F2 = (0x8f<<16);
-    // reset filter registers to wrong value
-    CAN->sFilterRegister[bankno].FR1 = (0x8f<<16) | 0x8f;
-    CAN->sFilterRegister[bankno].FR2 = (0x8f<<16) | 0x8f;
-    switch(nfilt){
-        case 4:
-            F2 = filters[3] << 21;
-            // fallthrough
-        case 3:
-            CAN->sFilterRegister[bankno].FR2 = (F2 & 0xffff0000) | (filters[2] << 5);
-            // fallthrough
-        case 2:
-            F1 = filters[1] << 21;
-            // fallthrough
-        case 1:
-            CAN->sFilterRegister[bankno].FR1 = (F1 & 0xffff0000) | (filters[0] << 5);
-    }
-    CAN->FMR &=~ CAN_FMR_FINIT;
-    SEND("Added filter with ");
-    printu(nfilt); SEND(" parameters");
-}
-
-// print current buttons state
-TRUE_INLINE void getBtnState(){
-    const char *states[] = {[EVT_NONE] = NULL, [EVT_PRESS] = "pressed", [EVT_HOLD] = "holded", [EVT_RELEASE] = "released"};
-    for(int i = 0; i < BTNSNO; ++i){
-        uint32_t T;
-        keyevent e = keystate(i, &T);
-        if(e != EVT_NONE){
-            SEND("The key "); printu(i);
-            SEND(" is "); addtobuf(states[e]); SEND(" at ");
-            printu(T); NL();
-        }
-    }
-}
-
-TRUE_INLINE void getPWM(){
-    volatile uint32_t *reg = &TIM1->CCR1;
-    for(int n = 0; n < 3; ++n){
-        SEND("PWM");
-        bufputchar('0' + n);
-        bufputchar('=');
-        printu(*reg++);
-        bufputchar('\n');
-    }
-    sendbuf();
-}
-
-TRUE_INLINE void changePWM(char *str){
-    str = omit_spaces(str);
-    uint32_t N, pwm;
-    char *nxt = getnum(str, &N);
-    if(nxt == str || N > 2){
-        SEND("Nch = 0..2");
-        return;
-    }
-    str = omit_spaces(nxt);
-    nxt = getnum(str, &pwm);
-    if(nxt == str || pwm > 255){
-        SEND("PWM should be from 0 to 255");
-        return;
-    }
-    volatile uint32_t *reg = &TIM1->CCR1;
-    reg[N] = pwm;
-    SEND("OK, changed");
-}
-
-TRUE_INLINE void printADC(){ // show all 4 channels ADC
-    for(int i = 0; i < NUMBER_OF_ADC_CHANNELS; ++i){
-        SEND("ADC"); bufputchar('0' + i); bufputchar('=');
-        printu(getADCval(i)); bufputchar('\n');
-    }
-    sendbuf();
-}
-
-TRUE_INLINE void printVT(){ // show T and Vdd
-    int32_t t = getMCUtemp();
-    SEND("T=");
-    if(t < 0){ bufputchar('-'); t = -t; }
-    printu(t); SEND("/10degC\nVDD=");
-    printu(getVdd()); SEND("/100V");
-}
-
-// set or check relay state
-TRUE_INLINE void relay(const char *txt){
-    txt = omit_spaces(txt);
-    uint32_t sr;
-    char *b = getnum(txt, &sr);
-    if(b && b != txt && sr < 2){
-        if(sr) Relay_ON(); else Relay_OFF();
-    }
-    SEND("Relay"); bufputchar('=');
-    bufputchar('0' + Relay_chk());
-}
-
-/**
- * @brief cmd_parser - command parsing
- * @param txt   - buffer with commands & data
- * @param isUSB - == 1 if data got from USB
- */
-void cmd_parser(char *txt){
-    char _1st = txt[0];
-    /*
-     * parse long commands here
-     */
-    switch(_1st){
-        case '0':
-            relay(txt + 1);
-            goto eof;
-        break;
-        case 'a':
-            addIGN(txt + 1);
-            goto eof;
-        break;
-        case 'C':
-            CANini(txt + 1);
-            goto eof;
-        break;
-        case 'f':
-            add_filter(txt + 1);
-            goto eof;
-        break;
-        case 'F':
-            set_flood(parseCANmsg(txt + 1));
-            goto eof;
-        break;
-        case 's':
-        case 'S':
-            sendCANcommand(txt + 1);
-            goto eof;
-        break;
-        case 'W':
-            changePWM(txt + 1);
-            goto eof;
-        break;
-    }
-    if(txt[1] != '\n') *txt = '?'; // help for wrong message length
-    switch(_1st){
-        case 'A':
-            printADC();
-            return;
-        break;
-        case 'b':
-            getBtnState();
-        break;
-        case 'd':
-            IgnSz = 0;
-        break;
-        case 'D':
-            SEND("Go into DFU mode\n");
-            sendbuf();
-            Jump2Boot();
-        break;
-        case 'I':
-            SEND("CAN ID: "); printuhex(CANID);
-        break;
-        case 'l':
-            list_filters();
-        break;
-        case 'm':
-            printVT();
-        break;
-        case 'p':
-            print_ign_buf();
-        break;
-        case 'P':
-            ShowMsgs = !ShowMsgs;
-            if(ShowMsgs) SEND("Resume\n");
-            else SEND("Pause\n");
-        break;
-        case 'R':
-            SEND("Soft reset\n");
-            sendbuf();
-            pause_ms(5); // a little pause to transmit data
-            NVIC_SystemReset();
-        break;
-        case 'T':
-            SEND("Time (ms): ");
-            printu(Tms);
-        break;
-        case 'w':
-            getPWM();
-            return;
-        break;
-        default: // help
-            SEND(
-            "'0' - turn relay on(1) or off(0)\n"
-            "'a' - add ID to ignore list (max 10 IDs)\n"
-            "'A' - get ADC values @ all 4 channels\n"
-            "'b' - get buttons' state\n"
-            "'C' - reinit CAN with given baudrate\n"
-            "'d' - delete ignore list\n"
-            "'D' - activate DFU mode\n"
-            "'f' - add/delete filter, format: bank# FIFO# mode(M/I) num0 [num1 [num2 [num3]]]\n"
-            "'F' - send/clear flood message: F ID byte0 ... byteN\n"
-            "'I' - read CAN ID\n"
-            "'l' - list all active filters\n"
-            "'m' - get MCU temp & Vdd\n"
-            "'p' - print ignore buffer\n"
-            "'P' - pause/resume in packets displaying\n"
-            "'R' - software reset\n"
-            "'s/S' - send data over CAN: s ID byte0 .. byteN\n"
-            "'T' - get time from start (ms)\n"
-            "'w' - get PWM settings\n"
-            "'W' - set PWM @nth channel (ch: 0..2, PWM: 0..255)\n"
-            );
-        break;
-    }
-eof:
-    newline();
-    sendbuf();
-}
-
-// print 32bit unsigned int
-void printu(uint32_t val){
-    char buf[11], *bufptr = &buf[10];
-    *bufptr = 0;
-    if(!val){
-        *(--bufptr) = '0';
-    }else{
-        while(val){
-            *(--bufptr) = val % 10 + '0';
-            val /= 10;
-        }
-    }
-    addtobuf(bufptr);
-}
-
-// print 32bit unsigned int as hex
-void printuhex(uint32_t val){
-    addtobuf("0x");
-    uint8_t *ptr = (uint8_t*)&val + 3;
-    int8_t i, j, z=1;
-    for(i = 0; i < 4; ++i, --ptr){
-        if(*ptr == 0){ // omit leading zeros
-            if(i == 3) z = 0;
-            if(z) continue;
-        }
-        else z = 0;
-        for(j = 1; j > -1; --j){
-            uint8_t half = (*ptr >> (4*j)) & 0x0f;
-            if(half < 10) bufputchar(half + '0');
-            else bufputchar(half - 10 + 'a');
-        }
-    }
-}
-
-// check Ignore_IDs & return 1 if ID isn't in list
-uint8_t isgood(uint16_t ID){
-    for(int i = 0; i < IgnSz; ++i)
-        if(Ignore_IDs[i] == ID) return 0;
-    return 1;
-}
diff --git a/F0-nolib/3steppersLB/proto.h b/F0-nolib/3steppersLB/proto.h
deleted file mode 100644
index 57d99b0..0000000
--- a/F0-nolib/3steppersLB/proto.h
+++ /dev/null
@@ -1,57 +0,0 @@
-/*
- * This file is part of the canrelay project.
- * Copyright 2021 Edward V. Emelianov <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 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/>.
- */
-#pragma once
-#ifndef __PROTO_H__
-#define __PROTO_H__
-
-#include "stm32f0.h"
-#include "hardware.h"
-
-#define BUFSZ   (64)
-
-// macro for static strings
-#define SEND(str) do{addtobuf(str);}while(0)
-
-#ifdef EBUG
-#define MSG(str)  do{addtobuf(__FILE__ " (L" STR(__LINE__) "): " str);}while(0)
-#else
-#define MSG(str)
-#endif
-
-#define newline() do{bufputchar('\n');}while(0)
-// newline with buffer sending over USART
-#define NL() do{bufputchar('\n'); sendbuf();}while(0)
-
-#define IGN_SIZE 10
-extern uint16_t Ignore_IDs[IGN_SIZE];
-extern uint8_t IgnSz;
-extern uint8_t ShowMsgs;
-
-void cmd_parser(char *buf);
-void addtobuf(const char *txt);
-void bufputchar(char ch);
-void printu(uint32_t val);
-void printuhex(uint32_t val);
-void sendbuf();
-
-char *omit_spaces(const char *buf);
-char *getnum(const char *buf, uint32_t *N);
-
-uint8_t isgood(uint16_t ID);
-
-#endif // __PROTO_H__
diff --git a/F0-nolib/3steppersLB/steppers.bin b/F0-nolib/3steppersLB/steppers.bin
index a22fdee..b5dbaae 100755
Binary files a/F0-nolib/3steppersLB/steppers.bin and b/F0-nolib/3steppersLB/steppers.bin differ
diff --git a/F0-nolib/3steppersLB/steppers.c b/F0-nolib/3steppersLB/steppers.c
index c765262..4f8b211 100644
--- a/F0-nolib/3steppersLB/steppers.c
+++ b/F0-nolib/3steppersLB/steppers.c
@@ -23,10 +23,9 @@
 
 // goto zero stages
 typedef enum{
-    M0RELAX,      // normal moving
-    M0FAST,  // fast move to zero
-    M0PLUS,   // move 200 steps +
-    M0SLOW   // slowest move to zero
+    M0RELAX,        // normal moving
+    M0FAST,         // fast move to zero
+    M0SLOW          // slowest move from ESW
 } mvto0state;
 
 typedef enum{
@@ -35,6 +34,8 @@ typedef enum{
     STALL_STOP      // Nstalled >= limit
 } t_stalled;
 
+static t_stalled stallflags[MOTORSNO];
+
 // motors' direction: 1 for positive, -1 for negative (we need it as could be reverse)
 static int8_t motdir[MOTORSNO];
 // current position (in steps) by STP counter
@@ -51,6 +52,8 @@ static volatile int32_t encpos[MOTORSNO] = {0};
 static int32_t prevencpos[MOTORSNO] = {0};
 // encoders' ticks per step (calculates @ init)
 static int32_t encperstep[MOTORSNO];
+// ESW reaction - local copy
+static uint8_t ESW_reaction[MOTORSNO];
 
 // current speed
 static uint16_t curspeed[MOTORSNO];
@@ -62,7 +65,7 @@ static stp_state state[MOTORSNO];
 // move to zero state
 static mvto0state mvzerostate[MOTORSNO];
 
-static uint8_t Nstalled = 0; // counter of STALL
+static int8_t Nstalled[MOTORSNO] = {0}; // counter of STALL
 
 // lowest ARR value (highest speed), highest (lowest speed)
 //static uint16_t stphighARR[MOTORSNO];
@@ -97,6 +100,7 @@ void init_steppers(){
         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];
     }
 }
 
@@ -161,7 +165,7 @@ static void calcacceleration(uint8_t i){
         if(the_conf.motflags[i].reverse) MOTOR_CW(i);
         else MOTOR_CCW(i);
     }
-    state[i] = STP_ACCEL;
+    if(state[i] != STP_MVSLOW) state[i] = STP_ACCEL;
     startspeed[i] = curspeed[i];
     Taccel[i] = Tms;
     recalcARR(i);
@@ -170,10 +174,18 @@ static void calcacceleration(uint8_t i){
 // move to absolute position
 errcodes motor_absmove(uint8_t i, int32_t newpos){
     //if(i >= MOTORSNO) return ERR_BADPAR; // bad motor number
-    if(state[i] != STP_RELAX) return ERR_CANTRUN; // can't move: motor isn't stopping
+    switch(state[i]){
+        case STP_ERR:
+        case STP_STALL:
+        case STP_RELAX:
+        break;
+        default: // moving state
+            return ERR_CANTRUN;
+    }
     if(newpos > (int32_t)the_conf.maxsteps[i] || newpos < -(int32_t)the_conf.maxsteps[i] || newpos == stppos[i])
         return ERR_BADVAL; // too big position or zero
-    Nstalled = 0;
+    Nstalled[i] = (state[i] == STP_STALL) ? -(NSTALLEDMAX*5) : 0; // give some more chances to go out of stall state
+    stopflag[i] = 0;
     targstppos[i] = newpos;
     prevencpos[i] = encoder_position(i);
     prevstppos[i] = stppos[i];
@@ -193,7 +205,26 @@ errcodes motor_relmove(uint8_t i, int32_t relsteps){
     return motor_absmove(i, stppos[i] + relsteps);
 }
 
-void stopmotor(uint8_t i){
+errcodes motor_relslow(uint8_t i, int32_t relsteps){
+    errcodes e = motor_absmove(i, stppos[i] + relsteps);
+    if(ERR_OK == e){
+        state[i] = STP_MVSLOW;
+    }
+    return e;
+}
+
+// emergency stop and clear errors
+void emstopmotor(uint8_t i){
+    switch(state[i]){
+        case STP_ERR:   // clear error state
+        case STP_STALL:
+            state[i] = STP_RELAX;
+        // fallthrough
+        case STP_RELAX: // do nothing in stopping state
+            return;
+        default:
+        break;
+    }
     stopflag[i] = 1;
 }
 
@@ -205,7 +236,7 @@ stp_state getmotstate(uint8_t i){
 void addmicrostep(uint8_t i){
     static volatile uint16_t microsteps[MOTORSNO] = {0}; // current microsteps position
     if(ESW_state(i)){ // ESW active
-        switch(the_conf.ESW_reaction[i]){
+        switch(ESW_reaction[i]){
             case ESW_ANYSTOP: // stop motor in any direction
                 stopflag[i] = 1;
             break;
@@ -235,7 +266,11 @@ void addmicrostep(uint8_t i){
             mottimers[i]->CR1 &= ~TIM_CR1_CEN; // stop timer
             if(the_conf.motflags[i].donthold)
                 MOTOR_DIS(i); // turn off power
-            state[i] = STP_RELAX;
+            if(stallflags[i] == STALL_STOP){
+                stallflags[i] = STALL_NO;
+                state[i] = STP_STALL;
+            }else
+                state[i] = STP_RELAX;
             SEND("MOTOR"); bufputchar('0'+i); SEND(" stop @"); printi(stppos[i]); newline();
         }
     }
@@ -264,26 +299,29 @@ static t_stalled chkSTALL(uint8_t i){
         difsign = -difsign;
     }
     if(Dstp < 10){ // didn't move even @ 10 steps
+        stallflags[i] = STALL_NO;
         return STALL_NO;
     }
     if(Denc < 0){
         Denc = -Denc;
         difsign = -difsign;
     }
-    if(difsign == -1){ // motor and encoder moves to different sides!!!
+    if(difsign == -1){ // motor and encĪder moves to different sides!!!
         Denc = -Denc; // init STALL state
     }
     prevencpos[i] = curencpos;
+    // TODO: check if it should be here
     getpos(i, &curstppos); // recalculate current position
     stppos[i] = curstppos;
     prevstppos[i] = curstppos;
     if(Denc < the_conf.encperstepmin[i]*Dstp || the_conf.encperstepmax[i]*Dstp < Denc){ // stall?
         SEND("MOTOR"); bufputchar('0'+i); SEND(" Denc="); printi(Denc); SEND(", Dstp="); printu(Dstp);
         SEND(", speed="); printu(curspeed[i]);
-        if(++Nstalled > NSTALLEDMAX){
+        if(++Nstalled[i] > NSTALLEDMAX){
             stopflag[i] = 1;
-            Nstalled = 0;
+            Nstalled[i] = 0;
             SEND("  ---  STALL!"); NL();
+            stallflags[i] = STALL_STOP;
             return STALL_STOP;
         }else{
             uint16_t spd = curspeed[i] >> 1; // speed / 2
@@ -291,11 +329,11 @@ static t_stalled chkSTALL(uint8_t i){
             // now recalculate acc/dec parameters
             calcacceleration(i);
             SEND("  ---  pre-stall, newspeed="); printu(curspeed[i]); NL();
+            stallflags[i] = STALL_ONCE;
             return STALL_ONCE;
         }
     }
-    prevstppos[i] = curstppos;
-    Nstalled = 0;
+    Nstalled[i] = 0;
     return STALL_NO;
 }
 
@@ -311,20 +349,22 @@ static void chkstepper(int i){
     int32_t newspeed;
     switch(state[i]){
         case STP_RELAX: // check if need to keep current position
-            if(the_conf.motflags[i].haveencoder && the_conf.motflags[i].keeppos){
+            if(the_conf.motflags[i].haveencoder){
                 getpos(i, &newspeed);
                 int32_t diff = stppos[i] - newspeed; // correct `curpos` counter by encoder
-                if(diff){
+                if(diff){ // correct current stppos by encoder
                     SEND("MOTOR"); bufputchar('0'+i);
                     SEND(" diff="); printi(diff);
                     SEND(", change stppos from "); printi(stppos[i]); SEND(" to "); printi(newspeed); NL();
                     stppos[i] = newspeed;
                 }
-                diff = targstppos[i] - newspeed; // check whether we need to change position
-                if(diff){ // try to correct position
-                    SEND("MOTOR"); bufputchar('0'+i);
-                    SEND(" curpos="); printi(newspeed); SEND(", need="); printi(targstppos[i]); NL();
-                    motor_absmove(i, targstppos[i]);
+                if(the_conf.motflags[i].keeppos){ // keep old position
+                    diff = targstppos[i] - newspeed; // check whether we need to change position
+                    if(diff){ // try to correct position
+                        SEND("MOTOR"); bufputchar('0'+i);
+                        SEND(" curpos="); printi(newspeed); SEND(", need="); printi(targstppos[i]); NL();
+                        motor_absmove(i, targstppos[i]);
+                    }
                 }
             }
         break;
@@ -383,43 +423,76 @@ static void chkstepper(int i){
                 //SEND("spd="); printu(curspeed[i]); SEND(", pos="); printi(stppos[i]); newline();
             }
         break;
-        default: // STP_MVSLOW, STALL, ERR -> do nothing
-            return;
+        case STP_MVSLOW:
+            chkSTALL(i);
+        break;
+        default: // STALL, ERR -> do nothing, check mvzerostate
+        break;
     }
     switch(mvzerostate[i]){
         case M0FAST:
-            if(state[i] == STP_RELAX){ // stopped -> move to +
-                if(ERR_OK != motor_relmove(i, 50)){
+            if(state[i] == STP_RELAX || state[i] == STP_STALL){ // stopped -> move to +
+                SEND("M0FAST: motor stopped\n");
+                if(ERR_OK != motor_relslow(i, 1000)){
+                    SEND("Can't move\n");
                     state[i] = STP_ERR;
                     mvzerostate[i] = M0RELAX;
+                    ESW_reaction[i] = the_conf.ESW_reaction[i];
                 }else
-                    mvzerostate[i] = M0PLUS;
-            }
-        break;
-        case M0PLUS:
-            if(state[i] == STP_RELAX){ // stopped -> move
-                if(ERR_OK != motor_relmove(i, -100)){
-                    state[i] = STP_ERR;
-                    mvzerostate[i] = M0RELAX;
-                }else{
-                    state[i] = STP_MVSLOW;
                     mvzerostate[i] = M0SLOW;
-                }
             }
         break;
         case M0SLOW:
-            if(state[i] == STP_RELAX){
-                encpos[i] = 0;
+            if(0 == ESW_state(i)){ // moved out of limit switch - can stop
+                emstopmotor(i);
+            }
+            if(state[i] == STP_RELAX || state[i] == STP_STALL){
+                SEND("M0SLOW: motor stopped @ 0\n"); NL();
+                ESW_reaction[i] = the_conf.ESW_reaction[i];
+                prevencpos[i] = encpos[i] = 0;
                 stppos[i] = 0;
-                mottimers[i]->CNT = 0; // set encoder counter to zero
+                enctimers[i]->CNT = 0; // set encoder counter to zero
                 mvzerostate[i] = M0RELAX;
             }
         break;
-        default: // RELAX: do nothing
+        default: // RELAX, STALL: do nothing
         break;
     }
 }
 
+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;
+    mvzerostate[i] = M0FAST;
+    return e;
+}
+
+// smooth motor stopping
+void stopmotor(uint8_t i){
+    switch(state[i]){
+        case STP_MVSLOW: // immeditially stop on slowest speed
+            stopflag[i] = 1;
+            return;
+        break;
+        case STP_MOVE:  // stop only in moving states
+        case STP_ACCEL:
+        break;
+        default: // do nothing in other states
+            return;
+    }
+    int32_t newstoppos = stppos[i]; // calculate steps need for stop (we can be @acceleration phase!)
+    int32_t add = (curspeed[i] * curspeed[i]) / the_conf.accel[i] / 2;
+    if(motdir[i] > 0){
+        newstoppos += add;
+        if(newstoppos < (int32_t)the_conf.maxsteps[i]) targstppos[i] = newstoppos;
+    }else{
+        newstoppos -= add;
+        if(newstoppos > -((int32_t)the_conf.maxsteps[i])) targstppos[i] = newstoppos;
+    }
+    TODECEL();
+}
+
 void process_steppers(){
     static uint32_t Tlast = 0;
     if(Tms - Tlast < MOTCHKINTERVAL) return; // hit every 10ms
@@ -428,3 +501,7 @@ void process_steppers(){
         chkstepper(i);
     }
 }
+
+uint8_t geteswreact(uint8_t i){
+    return ESW_reaction[i];
+}
diff --git a/F0-nolib/3steppersLB/steppers.h b/F0-nolib/3steppersLB/steppers.h
index a710191..d9aa116 100644
--- a/F0-nolib/3steppersLB/steppers.h
+++ b/F0-nolib/3steppersLB/steppers.h
@@ -38,11 +38,12 @@ typedef enum{
 } stp_state;
 
 // end-switches reaction
-typedef enum{
+enum{
     ESW_IGNORE,     // don't stop @ end-switch
     ESW_ANYSTOP,    // stop @ esw in any moving direction
-    ESW_STOPMINUS   // stop only in negative moving
-} esw_react;
+    ESW_STOPMINUS,  // stop only in negative moving
+    ESW_AMOUNT      // number of records
+};
 
 // find zero stages: fast -> 0, slow -> +, slow -> 0
 
@@ -57,7 +58,12 @@ errcodes getpos(uint8_t i, int32_t *position);
 errcodes getremainsteps(uint8_t i, int32_t *position);
 errcodes motor_absmove(uint8_t i, int32_t abssteps);
 errcodes motor_relmove(uint8_t i, int32_t relsteps);
+errcodes motor_relslow(uint8_t i, int32_t relsteps);
+errcodes motor_goto0(uint8_t i);
 
+uint8_t geteswreact(uint8_t i);
+
+void emstopmotor(uint8_t i);
 void stopmotor(uint8_t i);
 stp_state getmotstate(uint8_t i);
 void process_steppers();
diff --git a/F0-nolib/3steppersLB/strfunct.c b/F0-nolib/3steppersLB/strfunct.c
index afc3f95..aa22dc4 100644
--- a/F0-nolib/3steppersLB/strfunct.c
+++ b/F0-nolib/3steppersLB/strfunct.c
@@ -396,7 +396,7 @@ void getcounter(_U_ char *txt){
 void wdcheck(_U_ char *txt){
     while(1){nop();}
 }
-
+/*
 void stp_check(char *txt){
     uint8_t N = *txt - '0';
     if(N < 3){
@@ -411,51 +411,135 @@ void stp_check(char *txt){
             mottimers[N]->CR1 &= ~TIM_CR1_CEN;
         }
     }
-}
+}*/
+
 
 typedef void(*specfpointer)(char *arg);
 
-typedef struct{
-    const char *command;
-    specfpointer function;
-    const char *help;
-} speccommands;
+enum{
+    SCMD_IGNORE,
+    SCMD_DELIGNLIST,
+    SCMD_DFU,
+    SCMD_FILTER,
+    SCMD_CANSPEED,
+    SCMD_CANID,
+    SCMD_LISTFILTERS,
+    SCMD_IGNBUF,
+    SCMD_PAUSE,
+    SCMD_RESUME,
+    SCMD_SEND,
+    SCMD_DUMPCONF,
+    SCMD_GETCTR,
+    SCMD_WD,
+    //SCMD_ST,
+    SCMD_AMOUNT
+};
 
-const speccommands scmdlist[] = {
-    {"ignore", addIGN, "add ID to ignore list (max 10 IDs)"},
-    {"delignlist", delignlist, "delete ignore list"},
-    {"dfu", bootldr, "activate DFU mode"},
-    {"filter", add_filter, "add/modify filter, format: bank# FIFO# mode(M/I) num0 [num1 [num2 [num3]]]"},
-    {"canspeed", CANini, "CAN bus speed"},
-    {"canid", canid, "get/set CAN ID"},
-    {"listfilters", list_filters, "list all active filters"},
-    {"ignbuf", print_ign_buf, "print ignore buffer"},
-    {"pause", inpause, "pause IN packets displaying"},
-    {"resume", inresume, "resume IN packets displaying"},
-    {"send", sendCANcommand, "send data over CAN: send ID byte0 .. byteN"},
-    {"dumpconf", dump_userconf, "dump current configuration"},
-    {"getctr", getcounter, "get TIM1/2/3 counters"},
-    {"wd", wdcheck, "check watchdog"},
-    {"st", stp_check, "check steppers"},
-    {NULL, NULL, NULL}
+typedef struct{
+    int cmd_code;           // CMD_... or <0 for usb-only commands
+    const char *command;    // text command (up to 65536 commands)
+    const char *help;       // help message for text protocol
+} commands;
+
+// the main commands list, index is CAN command code
+static const commands textcommands[] = {
+    // different commands
+    {0, "", "Different commands:"}, // DELIMETERS
+    {CMD_ADC, "adc", "get ADC values"},
+    {CMD_BUTTONS, "button", "get buttons state"},
+    {CMD_BUZZER, "buzzer", "change buzzer state (1/0)"},
+    {CMD_ESWSTATE, "esw", "get end switches state"},
+    {CMD_EXT, "ext", "external outputs"},
+    {CMD_MCUT, "mcut", "get MCU T"},
+    {CMD_MCUVDD, "mcuvdd", "get MCU Vdd"},
+    {CMD_PING, "ping", "echo given command back"},
+    {CMD_PWM, "pwm", "pwm value"},
+    {CMD_RELAY, "relay", "change relay state (1/0)"},
+    {CMD_RESET, "reset", "reset MCU"},
+    {CMD_TIMEFROMSTART, "time", "get time from start"},
+    // configuration
+    {0, "", "Confuguration:"},
+    {CMD_ACCEL, "accel", "set/get accel/decel (steps/s^2)"},
+    {CMD_ENCREV, "encrev", "set/get max encoder's pulses per revolution"},
+    {CMD_ENCSTEPMAX, "encstepmax", "maximal encoder ticks per step"},
+    {CMD_ENCSTEPMIN, "encstepmin", "minimal encoder ticks per step"},
+    {CMD_ESWREACT, "eswreact", "end-switches reaction"},
+    {CMD_MAXSPEED, "maxspeed", "set/get max speed (steps per sec)"},
+    {CMD_MAXSTEPS, "maxsteps", "set/get max steps (from zero)"},
+    {CMD_MICROSTEPS, "microsteps", "set/get microsteps settings"},
+    {CMD_MINSPEED, "minspeed", "set/get min speed (steps per sec)"},
+    {CMD_MOTFLAGS, "motflags", "set/get motorN flags"},
+    {CMD_SAVECONF, "saveconf", "save current configuration"},
+    {CMD_SPEEDLIMIT, "speedlimit", "get limiting speed for current microsteps"},
+    // motors' commands
+    {0, "", "Motors' commands:"},
+    {CMD_ABSPOS, "abspos", "set/get position (in steps)"},
+    {CMD_EMERGSTOPALL, "emerg", "emergency stop all motors"},
+    {CMD_EMERGSTOP, "emstop", "emergency stop motor (right now)"},
+    {CMD_ENCPOS, "encpos", "set/get encoder's position"},
+    {CMD_GOTOZERO, "gotoz", "find zero position & refresh counters"},
+    {CMD_REINITMOTORS, "motreinit", "re-init motors after configuration changed"},
+    {CMD_RELPOS, "relpos", "set relative steps, get remaining"},
+    {CMD_RELSLOW, "relslow", "set relative steps @ lowest speed"},
+    {CMD_MOTORSTATE, "state", "get motor state"},
+    {CMD_STOP, "stop", "smooth motor stopping"},
+    // USB-only commands
+    {0, "", "USB-only commands:"},
+    {-SCMD_CANID, "canid", "get/set CAN ID"},
+    {-SCMD_CANSPEED, "canspeed", "CAN bus speed"},
+    {-SCMD_DELIGNLIST, "delignlist", "delete ignore list"},
+    {-SCMD_DFU, "dfu", "activate DFU mode"},
+    {-SCMD_DUMPCONF, "dumpconf", "dump current configuration"},
+    {-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"},
+    {-SCMD_IGNORE, "ignore", "add ID to ignore list (max 10 IDs)"},
+    {-SCMD_LISTFILTERS, "listfilters", "list all active filters"},
+    {-SCMD_PAUSE, "pause", "pause IN packets displaying"},
+    {-SCMD_RESUME, "resume", "resume IN packets displaying"},
+    {-SCMD_SEND, "send", "send data over CAN: send ID byte0 .. byteN"},
+    //{-SCMD_ST, "st", "check steppers"},
+    {-SCMD_WD, "wd", "check watchdog"},
+    {0, NULL, NULL}
+};
+
+
+static specfpointer speccmdlist[SCMD_AMOUNT] = {
+    [SCMD_IGNORE] = addIGN,
+    [SCMD_DELIGNLIST] =  delignlist,
+    [SCMD_DFU] =  bootldr,
+    [SCMD_FILTER] =  add_filter,
+    [SCMD_CANSPEED] =  CANini,
+    [SCMD_CANID] =  canid,
+    [SCMD_LISTFILTERS] =  list_filters,
+    [SCMD_IGNBUF] =  print_ign_buf,
+    [SCMD_PAUSE] =  inpause,
+    [SCMD_RESUME] =  inresume,
+    [SCMD_SEND] =  sendCANcommand,
+    [SCMD_DUMPCONF] =  dump_userconf,
+    [SCMD_GETCTR] =  getcounter,
+    [SCMD_WD] = wdcheck,
+    //[SCMD_ST] = stp_check,
 };
 
 static void showHelp(){
     SEND("https://github.com/eddyem/stm32samples/tree/master/F0-nolib/3steppersLB build#" BUILD_NUMBER " @ " BUILD_DATE "\n");
     SEND("Common commands format is cmd[ N[ = val]]\n\twhere N is command argument (0..127), val is its value\n");
-    SEND("Common commands:\n");
-    for(int i = 0; i < CMD_AMOUNT; ++i){
-        bufputchar('\t'); SEND(cmdlist[i].command); SEND(" - ");
-        SEND(cmdlist[i].help); newline();
-    }
-    SEND("USB-only commands:\n");
-    const speccommands *cmd = scmdlist;
+    //SEND("Commands list:\n");
+    const commands *cmd = textcommands;
     while(cmd->command){
-        bufputchar('\t'); SEND(cmd->command); SEND(" - ");
+        if(*cmd->command){
+            bufputchar('\t');
+            SEND(cmd->command); /*SEND(" (");
+            if(cmd->cmd_code < 0) bufputchar('u');
+            else bufputchar('c');
+            SEND(") - ");*/
+            SEND(" - ");
+        }
         SEND(cmd->help); newline();
         ++cmd;
     }
-    NL();
+    sendbuf();
 }
 
 /**
@@ -474,7 +558,6 @@ static void showHelp(){
 void cmd_parser(char *txt){
     char cmd[32], *pcmd = cmd;
     int i = 0;
-    // first try to find command in `cmdlist`
     char *eptr = omit_spaces(txt);
     if(!*eptr) return;
     while(*eptr && i < 30){
@@ -483,59 +566,57 @@ void cmd_parser(char *txt){
         ++i;
     }
     *pcmd = 0;
+    if(cmd[0] == 0){ // empty command
+        showHelp();
+        return;
+    }
     if(eptr && *eptr){
         eptr = omit_spaces(eptr);
     }
     // find command
-    int idx = 0;
-    do{
-        if(0 == cmpstr(cmdlist[idx].command, cmd)) break;
-    }while(++idx < CMD_AMOUNT);
-    if(idx < CMD_AMOUNT){
+    const commands *c = textcommands;
+    while(c->command){
+        if(0 == cmpstr(c->command, cmd)){
 #ifdef EBUG
         SEND("Find known command: "); SEND(cmd);
         if(eptr && *eptr) SEND(", args: "); SEND(eptr);
         NL();
 #endif
-        uint8_t par = CANMESG_NOPAR;
-        int32_t val = 0;
-        if(eptr && *eptr){
-            char *nxt = getnum(eptr, &val);
-            if(nxt && nxt != eptr){ // command has parameter?
-                if(val < 0 || val >= CANMESG_NOPAR){
-                    SEND("Command parameter should be 0..126!"); NL();
-                    return;
+            if(c->cmd_code < 0){ // USB-only command
+                speccmdlist[-(c->cmd_code)](eptr);
+            }else{ // common command
+                uint8_t par = CANMESG_NOPAR;
+                int32_t val = 0;
+                if(eptr && *eptr){
+                    char *nxt = getnum(eptr, &val);
+                    if(nxt && nxt != eptr){ // command has parameter?
+                        if(val < 0 || val >= CANMESG_NOPAR){
+                            SEND("Command parameter should be 0..126!"); NL();
+                            return;
+                        }
+                        par = (uint8_t)val;
+                    }else nxt = eptr;
+                    eptr = getchr(nxt, '=');
+                    if(eptr){ // command has value?
+                        eptr = omit_spaces(eptr + 1);
+                        nxt = getnum(eptr, &val);
+                        if(nxt != eptr){
+                            par |= 0x80; // setter
+                        }
+                    }
                 }
-                par = (uint8_t)val;
-            }else nxt = eptr;
-            eptr = getchr(nxt, '=');
-            if(eptr){ // command has value?
-                eptr = omit_spaces(eptr + 1);
-                nxt = getnum(eptr, &val);
-                if(nxt != eptr){
-                    par |= 0x80; // setter
+                // here we got command & ppar/pval -> call CMD
+                errcodes retcode = cmdlist[c->cmd_code](par, &val);
+                SEND(cmd);
+                par &= 0x7f;
+                if(par != CANMESG_NOPAR) printu(par);
+                bufputchar('='); printi(val);
+                SEND(" ("); printuhex((uint32_t)val); bufputchar(')');
+                if(ERR_OK != retcode){
+                    SEND("\nERRCODE=");
+                    printu(retcode);
                 }
             }
-        }
-        // here we got command & ppar/pval -> call CMD
-        errcodes retcode = cmdlist[idx].function(par, &val);
-        SEND(cmd);
-        par &= 0x7f;
-        if(par != CANMESG_NOPAR) printu(par);
-        bufputchar('='); printi(val);
-        SEND(" ("); printuhex((uint32_t)val); bufputchar(')');
-        if(ERR_OK != retcode){
-            SEND("\nERRCODE=");
-            printu(retcode);
-        }
-        NL();
-        return;
-    }
-    /*-> find USB-only commands here and show help if not found <-*/
-    const speccommands *c = scmdlist;
-    while(c->command){
-        if(0 == cmpstr(c->command, cmd)){
-            c->function(eptr);
             NL();
             return;
         }
diff --git a/F0-nolib/3steppersLB/version.inc b/F0-nolib/3steppersLB/version.inc
index 66444c1..3a5ed44 100644
--- a/F0-nolib/3steppersLB/version.inc
+++ b/F0-nolib/3steppersLB/version.inc
@@ -1,2 +1,2 @@
-#define BUILD_NUMBER "114"
-#define BUILD_DATE "2021-11-17"
+#define BUILD_NUMBER "129"
+#define BUILD_DATE "2021-12-01"
diff --git a/F0-nolib/CANbus_stepper/src/canstepper.bin b/F0-nolib/CANbus_stepper/src/canstepper.bin
old mode 100755
new mode 100644
diff --git a/F0-nolib/Chiller/chiller.bin b/F0-nolib/Chiller/chiller.bin
old mode 100755
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diff --git a/F0-nolib/F0_testbrd/pl2303.bin b/F0-nolib/F0_testbrd/pl2303.bin
old mode 100755
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diff --git a/F0-nolib/QuadEncoder/encoder.bin b/F0-nolib/QuadEncoder/encoder.bin
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diff --git a/F0-nolib/Servo/servo.bin b/F0-nolib/Servo/servo.bin
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diff --git a/F0-nolib/Socket_fans/sockfans.bin b/F0-nolib/Socket_fans/sockfans.bin
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diff --git a/F0-nolib/TM1637/tm1637.bin b/F0-nolib/TM1637/tm1637.bin
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diff --git a/F0-nolib/USBHID/usbhid.bin b/F0-nolib/USBHID/usbhid.bin
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diff --git a/F0-nolib/USB_pl2303_snippet/usb.bin b/F0-nolib/USB_pl2303_snippet/usb.bin
old mode 100755
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diff --git a/F0-nolib/blink/blink.bin b/F0-nolib/blink/blink.bin
old mode 100644
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diff --git a/F0-nolib/canbus/src/canbus.bin b/F0-nolib/canbus/src/canbus.bin
old mode 100755
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diff --git a/F0-nolib/htu21d_nucleo/usart.bin b/F0-nolib/htu21d_nucleo/usart.bin
old mode 100755
new mode 100644
diff --git a/F0-nolib/inc/F0 b/F0-nolib/inc/F0
index ba957c0..0be4819 120000
--- a/F0-nolib/inc/F0
+++ b/F0-nolib/inc/F0
@@ -1 +1 @@
-/home/eddy/Yandex.Disk/Projects/stm32samples/F0-nolib/inc/Fx
\ No newline at end of file
+Fx
\ No newline at end of file
diff --git a/F0-nolib/morze/morze.bin b/F0-nolib/morze/morze.bin
old mode 100755
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diff --git a/F0-nolib/pl2303/pl2303.bin b/F0-nolib/pl2303/pl2303.bin
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diff --git a/F0-nolib/tsys01_nucleo/tsys01.bin b/F0-nolib/tsys01_nucleo/tsys01.bin
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diff --git a/F0-nolib/uart_blink/uartblink.bin b/F0-nolib/uart_blink/uartblink.bin
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diff --git a/F0-nolib/uart_blink_dma/uartblink.bin b/F0-nolib/uart_blink_dma/uartblink.bin
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diff --git a/F0-nolib/uart_nucleo/usart.bin b/F0-nolib/uart_nucleo/usart.bin
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diff --git a/F0-nolib/usbcan/usbcan.bin b/F0-nolib/usbcan/usbcan.bin
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diff --git a/F0-nolib/usbcan_relay/usbcan.bin b/F0-nolib/usbcan_relay/usbcan.bin
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diff --git a/F0/blink/blink.bin b/F0/blink/blink.bin
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diff --git a/F0/uart/uart.bin b/F0/uart/uart.bin
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diff --git a/F1-nolib/BMP180/BMP180.bin b/F1-nolib/BMP180/BMP180.bin
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diff --git a/F1-nolib/BMP280/BMP280.bin b/F1-nolib/BMP280/BMP280.bin
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diff --git a/F1-nolib/CDC_ACM/cdcacm.bin b/F1-nolib/CDC_ACM/cdcacm.bin
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diff --git a/F1-nolib/DHT22_DHT11/DHT22.bin b/F1-nolib/DHT22_DHT11/DHT22.bin
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diff --git a/F1-nolib/DS18/DS18.bin b/F1-nolib/DS18/DS18.bin
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diff --git a/F1-nolib/F1_testbrd/pl2303.bin b/F1-nolib/F1_testbrd/pl2303.bin
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diff --git a/F1-nolib/I2Cscan/I2Cscan.bin b/F1-nolib/I2Cscan/I2Cscan.bin
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diff --git a/F1-nolib/LED_Screen/LEDscreen.bin b/F1-nolib/LED_Screen/LEDscreen.bin
old mode 100755
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diff --git a/F1-nolib/LED_Screen/genlist b/F1-nolib/LED_Screen/genlist
old mode 100755
new mode 100644
diff --git a/F1-nolib/LED_Screen/scrtest/scrtest b/F1-nolib/LED_Screen/scrtest/scrtest
old mode 100755
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diff --git a/F1-nolib/MAX7219_screen/MAX7219.bin b/F1-nolib/MAX7219_screen/MAX7219.bin
old mode 100755
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diff --git a/F1-nolib/PL2303/pl2303.bin b/F1-nolib/PL2303/pl2303.bin
old mode 100755
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diff --git a/F1-nolib/RGB_LED_Screen/RGBLEDscreen.bin b/F1-nolib/RGB_LED_Screen/RGBLEDscreen.bin
old mode 100755
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diff --git a/F1-nolib/RGB_LED_Screen/getrand b/F1-nolib/RGB_LED_Screen/getrand
old mode 100755
new mode 100644
diff --git a/F1-nolib/RGB_LED_Screen/proto.c b/F1-nolib/RGB_LED_Screen/proto.c
deleted file mode 100644
index 63ffb0f..0000000
--- a/F1-nolib/RGB_LED_Screen/proto.c
+++ /dev/null
@@ -1,301 +0,0 @@
-/*
- * This file is part of the RGBLEDscreen project.
- * Copyright 2020 Edward V. Emelianov <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 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/>.
- */
-
-#include "adcrandom.h"
-#include "balls.h"
-#include "fonts.h"
-#include "proto.h"
-#include "screen.h"
-#include "usb.h"
-
-extern uint8_t countms, rainbow, balls;
-extern uint32_t Tms;
-
-char *omit_spaces(const char *buf){
-    while(*buf){
-        if(*buf > ' ') break;
-        ++buf;
-    }
-    return (char*)buf;
-}
-
-// In case of overflow return `buf` and N==0xffffffff
-// read decimal number & return pointer to next non-number symbol
-static char *getdec(const char *buf, uint32_t *N){
-    char *start = (char*)buf;
-    uint32_t num = 0;
-    while(*buf){
-        char c = *buf;
-        if(c < '0' || c > '9'){
-            break;
-        }
-        if(num > 429496729 || (num == 429496729 && c > '5')){ // overflow
-            *N = 0xffffff;
-            return start;
-        }
-        num *= 10;
-        num += c - '0';
-        ++buf;
-    }
-    *N = num;
-    return (char*)buf;
-}
-// read hexadecimal number (without 0x prefix!)
-static char *gethex(const char *buf, uint32_t *N){
-    char *start = (char*)buf;
-    uint32_t num = 0;
-    while(*buf){
-        char c = *buf;
-        uint8_t M = 0;
-        if(c >= '0' && c <= '9'){
-            M = '0';
-        }else if(c >= 'A' && c <= 'F'){
-            M = 'A' - 10;
-        }else if(c >= 'a' && c <= 'f'){
-            M = 'a' - 10;
-        }
-        if(M){
-            if(num & 0xf0000000){ // overflow
-                *N = 0xffffff;
-                return start;
-            }
-            num <<= 4;
-            num += c - M;
-        }else{
-            break;
-        }
-        ++buf;
-    }
-    *N = num;
-    return (char*)buf;
-}
-// read octal number (without 0 prefix!)
-static char *getoct(const char *buf, uint32_t *N){
-    char *start = (char*)buf;
-    uint32_t num = 0;
-    while(*buf){
-        char c = *buf;
-        if(c < '0' || c > '7'){
-            break;
-        }
-        if(num & 0xe0000000){ // overflow
-            *N = 0xffffff;
-            return start;
-        }
-        num <<= 3;
-        num += c - '0';
-        ++buf;
-    }
-    *N = num;
-    return (char*)buf;
-}
-// read binary number (without b prefix!)
-static char *getbin(const char *buf, uint32_t *N){
-    char *start = (char*)buf;
-    uint32_t num = 0;
-    while(*buf){
-        char c = *buf;
-        if(c < '0' || c > '1'){
-            break;
-        }
-        if(num & 0x80000000){ // overflow
-            *N = 0xffffff;
-            return start;
-        }
-        num <<= 1;
-        if(c == '1') num |= 1;
-        ++buf;
-    }
-    *N = num;
-    return (char*)buf;
-}
-
-/**
- * @brief getnum - read uint32_t from string (dec, hex or bin: 127, 0x7f, 0b1111111)
- * @param buf - buffer with number and so on
- * @param N   - the number read
- * @return pointer to first non-number symbol in buf
- *      (if it is == buf, there's no number or if *N==0xffffffff there was overflow)
- */
-char *getnum(const char *txt, uint32_t *N){
-    char *nxt = NULL;
-    char *s = omit_spaces(txt);
-    if(*s == '0'){ // hex, oct or 0
-        if(s[1] == 'x' || s[1] == 'X'){ // hex
-            nxt = gethex(s+2, N);
-            if(nxt == s+2) nxt = (char*)txt;
-        }else if(s[1] > '0'-1 && s[1] < '8'){ // oct
-            nxt = getoct(s+1, N);
-            if(nxt == s+1) nxt = (char*)txt;
-        }else{ // 0
-            nxt = s+1;
-            *N = 0;
-        }
-    }else if(*s == 'b' || *s == 'B'){
-        nxt = getbin(s+1, N);
-        if(nxt == s+1) nxt = (char*)txt;
-    }else{
-        nxt = getdec(s, N);
-        if(nxt == s) nxt = (char*)txt;
-    }
-    return nxt;
-}
-
-const char* helpmsg =
-    "'0/1' - screen off/on\n"
-    "'2,3' - select font\n"
-    "'A' - get ADC values\n"
-    "'B' - start/stop rainBow\n"
-    "'b' - start/stop Balls\n"
-    "'C' - clear screen with given color\n"
-    "'F' - set foreground color\n"
-    "'G' - get 100 random numbers\n"
-    "'f' - get FPS\n"
-    "'R' - software reset\n"
-    "'W' - test watchdog\n"
-    "'Zz' -start/stop counting ms\n"
-    "Any text - put text @ screen\n"
-;
-
-const char *parse_cmd(const char *buf){
-    uint32_t N;
-    if(buf[1] == '\n'){ // one symbol commands
-        switch(*buf){
-            case '0':
-                ScreenOFF();
-                return "OFF\n";
-            break;
-            case '1':
-                ScreenON();
-                return "ON\n";
-            break;
-            case '2':
-                if(choose_font(FONT14)) return "Font14\n";
-                return "err\n";
-            break;
-            case '3':
-                if(choose_font(FONT16)) return "Font16\n";
-                return "err\n";
-            break;
-            case 'A':
-                USB_send("Tsens="); USB_send(u2str(getADCval(0)));
-                USB_send("\nVref="); USB_send(u2str(getADCval(1)));
-                USB_send("\nRand="); USB_send(u2str(getRand()));
-                USB_send("\n");
-                return NULL;
-            break;
-            case 'B':
-                if(rainbow){
-                    rainbow = 0;
-                    return "Stop rainbow\n";
-                }else{
-                    rainbow = 1;
-                    return "Start rainbow\n";
-                }
-            break;
-            case 'b':
-                if(balls){
-                    balls = 0;
-                    return "Stop balls\n";
-                }else{
-                    balls_init();
-                    balls = 1;
-                    return "Start balls\n";
-                }
-            case 'f':
-                if(SCREEN_RELAX == getScreenState()) return "Screen is inactive\n";
-                USB_send("FPS=");
-                USB_send(u2str(getFPS()));
-                USB_send("\n");
-                return NULL;
-            break;
-            case 'G':
-                /*USB_send(u2str(Tms)); USB_send("\n");
-                for(int i=0; i < 1000; ++i) getRand();
-                USB_send(u2str(Tms)); USB_send("\n");*/
-                for(int i = 0; i < 100; ++i){
-                    USB_send(u2str(getRand()));
-                    USB_send("\n");
-                }
-                return NULL;
-            break;
-            case 'R':
-                USB_send("Soft reset\n");
-                NVIC_SystemReset();
-            break;
-            case 'W':
-                USB_send("Wait for reboot\n");
-                while(1){nop();};
-            break;
-            case 'Z':
-                countms = 1;
-                return "Start\n";
-            break;
-            case 'z':
-                countms = 0;
-                return "Stop\n";
-            break;
-            default:
-                return helpmsg;
-        }
-        return NULL;
-    }else{
-        switch(*buf){
-            case 'C':
-                if(getnum(buf+1, &N)){
-                    ScreenOFF();
-                    setBGcolor(N);
-                    ClearScreen();
-                    ScreenON();
-                    return "Background color\n";
-                }
-                return "Wrong color\n";
-            break;
-            case 'F':
-                if(getnum(buf+1, &N)){
-                    setFGcolor(N);
-                    return "Foreground color\n";
-                }
-                return "Wrong color\n";
-            break;
-            default:
-                ScreenOFF();
-                ClearScreen();
-                PutStringAt(1, curfont->height + 3, buf);
-                ScreenON();
-        }
-        return buf;
-    }
-    return NULL;
-}
-
-// return string with number `val`
-char *u2str(uint32_t val){
-    static char strbuf[11];
-    char *bufptr = &strbuf[10];
-    *bufptr = 0;
-    if(!val){
-        *(--bufptr) = '0';
-    }else{
-        while(val){
-            *(--bufptr) = val % 10 + '0';
-            val /= 10;
-        }
-    }
-    return bufptr;
-}
diff --git a/F1-nolib/RGB_LED_Screen/proto.c b/F1-nolib/RGB_LED_Screen/proto.c
new file mode 120000
index 0000000..ef1f2e9
--- /dev/null
+++ b/F1-nolib/RGB_LED_Screen/proto.c
@@ -0,0 +1 @@
+/home/eddy/Yandex.Disk/Projects/mytakepic/.hg/wcache/checklink-target
\ No newline at end of file
diff --git a/F1-nolib/SI7005_HTU21D/si7005.bin b/F1-nolib/SI7005_HTU21D/si7005.bin
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diff --git a/F1-nolib/SPI/SPI.bin b/F1-nolib/SPI/SPI.bin
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diff --git a/F1-nolib/SevenCDCs/cdcacmcore.bin b/F1-nolib/SevenCDCs/cdcacmcore.bin
old mode 100755
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diff --git a/F1-nolib/Tetris/TETRIS.bin b/F1-nolib/Tetris/TETRIS.bin
old mode 100755
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diff --git a/F1-nolib/Tetris/getrand b/F1-nolib/Tetris/getrand
old mode 100755
new mode 100644
diff --git a/F1-nolib/Tetris/main.c b/F1-nolib/Tetris/main.c
deleted file mode 100644
index 0513d46..0000000
--- a/F1-nolib/Tetris/main.c
+++ /dev/null
@@ -1,193 +0,0 @@
-/*
- * This file is part of the TETRIS project.
- * Copyright 2021 Edward V. Emelianov <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 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/>.
- */
-
-#include "adcrandom.h"
-#include "arkanoid.h"
-#include "balls.h"
-#include "buttons.h"
-#include "fonts.h"
-#include "hardware.h"
-#include "menu.h"
-#include "proto.h"
-#include "screen.h"
-#include "snake.h"
-#include "tetris.h"
-#include "usb.h"
-#include "usb_lib.h"
-
-// timeout for autosleep (30s)
-#define AUTOSLEEP_TMOUT     (30000)
-
-volatile uint32_t Tms = 0;
-uint8_t balls = 0;
-
-enum{
-    STATE_MENU,
-    STATE_SNAKE,
-    STATE_TETRIS,
-    STATE_ARKANOID,
-    STATE_SLEEP,
-    STATE_GAMEOVER
-} curstate = STATE_SLEEP;
-
-/* Called when systick fires */
-void sys_tick_handler(void){
-    ++Tms;
-}
-
-#define USBBUFSZ    (127)
-// usb getline
-static char *get_USB(){
-    static char tmpbuf[USBBUFSZ+1], *curptr = tmpbuf;
-    static int rest = USBBUFSZ;
-    int x = USB_receive(curptr);
-    curptr[x] = 0;
-    if(!x) return NULL;
-    if(curptr[x-1] == '\n'){
-        curptr = tmpbuf;
-        rest = USBBUFSZ;
-        return tmpbuf;
-    }
-    curptr += x; rest -= x;
-    if(rest <= 0){ // buffer overflow
-        curptr = tmpbuf;
-        rest = USBBUFSZ;
-        USB_send("USB buffer overflow\n");
-    }
-    return NULL;
-}
-
-static void process_menu(){
-    switch(menu_activated()){
-        case MENU_SLEEP:
-            USB_send("Select 'Sleep'\n");
-            ScreenOFF();
-            curstate = STATE_SLEEP;
-        break;
-        case MENU_BALLS:
-            USB_send("Select 'Balls'\n");
-            if(balls){
-                balls = 0;
-            }else{
-                curstate = STATE_SLEEP;
-                balls_init();
-                balls = 1;
-            }
-        break;
-        case MENU_SNAKE:
-            USB_send("Select 'Snake'\n");
-            snake_init();
-            curstate = STATE_SNAKE;
-        break;
-        case MENU_TETRIS:
-            USB_send("Select 'Tetris'\n");
-            tetris_init();
-            curstate = STATE_TETRIS;
-        break;
-        case MENU_ARKANOID:
-            USB_send("Select 'Arkanoid'\n");
-            arkanoid_init();
-            curstate = STATE_ARKANOID;
-        default:
-        break;
-    }
-}
-
-static void gotomenu(){
-    curstate = STATE_MENU;
-    clear_events();
-    show_menu();
-}
-
-int main(void){
-    uint32_t lastT = 0;
-    sysreset();
-    StartHSE();
-    SysTick_Config(72000);
-    RCC->CSR |= RCC_CSR_RMVF; // remove reset flags
-
-    hw_setup();
-    USBPU_OFF();
-    adc_setup();
-    USB_setup();
-    //iwdg_setup();
-    USBPU_ON();
-
-    keyevent evt;
-    while(1){
-        if(Tms - lastT > 499){
-            LED_blink(LED0);
-            lastT = Tms;
-        }
-        IWDG->KR = IWDG_REFRESH;
-        if(balls) process_balls();
-        process_keys();
-        switch(curstate){
-            case STATE_SLEEP:
-                if(keystate(KEY_M, &evt) && evt == EVT_RELEASE){
-                    USB_send("Activate menu\n");
-                    gotomenu();
-                }
-            break;
-            case STATE_MENU:
-                process_menu();
-                if(Tms - lastUnsleep > AUTOSLEEP_TMOUT){
-                    USB_send("Autosleep\n");
-                    ScreenOFF();
-                    curstate = STATE_SLEEP;
-                }
-            break;
-            case STATE_SNAKE:
-                if(!snake_proces()){
-                    show_gameover();
-                    curstate = STATE_GAMEOVER;
-                }
-            break;
-            case STATE_TETRIS:
-                if(!tetris_process()){
-                    show_gameover();
-                    curstate = STATE_GAMEOVER;
-                }
-            break;
-            case STATE_ARKANOID:
-                if(!arkanoid_process()){
-                    show_gameover();
-                    curstate = STATE_GAMEOVER;
-                }
-            break;
-            case STATE_GAMEOVER: // show gameover screen
-                if(keystate(KEY_M, &evt) && evt == EVT_RELEASE){
-                    gotomenu();
-                }else if(Tms - lastUnsleep > AUTOSLEEP_TMOUT){
-                    USB_send("Autosleep\n");
-                    ScreenOFF();
-                    curstate = STATE_SLEEP;
-                }
-            break;
-        }
-
-        usb_proc();
-        char *txt; const char *ans;
-        if((txt = get_USB())){
-            ans = parse_cmd(txt);
-            if(ans) USB_send(ans);
-        }
-    }
-    return 0;
-}
-
diff --git a/F1-nolib/Tetris/main.c b/F1-nolib/Tetris/main.c
new file mode 120000
index 0000000..ef1f2e9
--- /dev/null
+++ b/F1-nolib/Tetris/main.c
@@ -0,0 +1 @@
+/home/eddy/Yandex.Disk/Projects/mytakepic/.hg/wcache/checklink-target
\ No newline at end of file
diff --git a/F1-nolib/USB_HID/usbhid103.bin b/F1-nolib/USB_HID/usbhid103.bin
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diff --git a/F1-nolib/pl2303_snippet/pl2303.bin b/F1-nolib/pl2303_snippet/pl2303.bin
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diff --git a/F1-nolib/ws2815/ws2815.bin b/F1-nolib/ws2815/ws2815.bin
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