diff --git a/F0-nolib/3steppersLB/Makefile b/F0-nolib/3steppersLB/Makefile
index a2093f8..33d49ea 100644
--- a/F0-nolib/3steppersLB/Makefile
+++ b/F0-nolib/3steppersLB/Makefile
@@ -10,6 +10,11 @@ DEFS		+= -DEBUG
 # for example, if you have STM32F103VBT6, you should write:
 LDSCRIPT	?= stm32f072B.ld
 
+# autoincremental version & build date
+VERSION_FILE = version.inc
+NEXTVER := $(shell expr $$(awk '/#define BUILD_NUMBER/' $(VERSION_FILE) | tr -cd "[0-9]") + 1)
+BUILDDATE := $(shell date +%Y-%m-%d)
+
 INDEPENDENT_HEADERS=
 
 FP_FLAGS	?= -msoft-float
@@ -100,7 +105,15 @@ $(OBJDIR):
 $(STARTUP): $(INC_DIR)/startup/vector.c
 	$(CC) $(CFLAGS) $(DEFS) $(INCLUDE) $(ARCH_FLAGS) -o $@ -c $<
 
-$(OBJDIR)/%.o: %.c
+$(VERSION_FILE): *.[ch]
+	@echo "Generate version: $(NEXTVER) for date $(BUILDDATE)"
+	@sed -i "s/#define BUILD_NUMBER.*/#define BUILD_NUMBER \"$(NEXTVER)\"/" $(VERSION_FILE)
+	@sed -i "s/#define BUILD_DATE.*/#define BUILD_DATE \"$(BUILDDATE)\"/" $(VERSION_FILE)
+
+$(OBJDIR)/strfunct.o: strfunct.c $(VERSION_FILE)
+
+$(OBJDIR)/%.o: %.c 
+	@make $(VERSION_FILE)
 	@echo "  CC      $<"
 	$(CC) $(CFLAGS) $(DEFS) $(INCLUDE) $(ARCH_FLAGS) -o $@ -c $<
 
@@ -108,10 +121,7 @@ $(OBJDIR)/%.o: %.c
 	@echo "  ASM      $<"
 	$(CC) $(CFLAGS) $(DEFS) $(INCLUDE) $(ARCH_FLAGS) -S -o $(OBJDIR)/$@ -c $<
 
-#$(OBJDIR)/%.d: %.c $(OBJDIR)
-#	$(CC) -MM -MG $< | sed -e 's,^\([^:]*\)\.o[ ]*:,$(@D)/\1.o $(@D)/\1.d:,' >$@
-
-$(BIN): $(ELF)
+$(BIN): $(ELF) 
 	@echo "  OBJCOPY $(BIN)"
 	$(OBJCOPY) -Obinary $(ELF) $(BIN)
 
diff --git a/F0-nolib/3steppersLB/can.c b/F0-nolib/3steppersLB/can.c
index 965fd7c..d17e9cf 100644
--- a/F0-nolib/3steppersLB/can.c
+++ b/F0-nolib/3steppersLB/can.c
@@ -117,7 +117,6 @@ void CAN_setup(uint16_t speed){
     // Configure CAN
     CAN->MCR |= CAN_MCR_INRQ; // Enter CAN init mode to write the configuration
     while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK){
-        IWDG->KR = IWDG_REFRESH;
         if(--tmout == 0) break;
     }
     CAN->MCR &=~ CAN_MCR_SLEEP;
@@ -126,7 +125,6 @@ void CAN_setup(uint16_t speed){
     CAN->MCR &=~ CAN_MCR_INRQ;
     tmout = 16000000;
     while((CAN->MSR & CAN_MSR_INAK) == CAN_MSR_INAK){ // Wait the init mode leaving
-        IWDG->KR = IWDG_REFRESH;
         if(--tmout == 0) break;
     }
     // accept self ID at filter 0, ALL other at filters 1 and 2
@@ -163,7 +161,6 @@ void can_proc(){
     if(CAN->RF1R & CAN_RF1R_FMP1){
         can_process_fifo(1);
     }
-    IWDG->KR = IWDG_REFRESH;
     if(CAN->ESR & (CAN_ESR_BOFF | CAN_ESR_EPVF | CAN_ESR_EWGF)){ // much errors - restart CAN BUS
         SEND("\nToo much errors, restarting CAN!\n");
         SEND("Receive error counter: ");
@@ -187,7 +184,6 @@ void can_proc(){
         if(CAN->ESR & CAN_ESR_EPVF) SEND("Passive error limit");
         if(CAN->ESR & CAN_ESR_EWGF) SEND("Error counter limit");
         NL();
-        IWDG->KR = IWDG_REFRESH;
         // request abort for all mailboxes
         CAN->TSR |= CAN_TSR_ABRQ0 | CAN_TSR_ABRQ1 | CAN_TSR_ABRQ2;
         // reset CAN bus
diff --git a/F0-nolib/3steppersLB/flash.c b/F0-nolib/3steppersLB/flash.c
index a36bc58..c0aefc4 100644
--- a/F0-nolib/3steppersLB/flash.c
+++ b/F0-nolib/3steppersLB/flash.c
@@ -44,9 +44,9 @@ static uint32_t maxCnum = 1024 / sizeof(user_conf); // can't use blocksize here
     ,.accel = {160, 160, 160}               \
     ,.maxspd = {1000, 1000, 1000}           \
     ,.maxsteps = {50000, 50000, 50000}      \
-    ,.encrev = {800,800,800}                \
-    ,.encperstepmin = {3,3,3}               \
-    ,.encperstepmax = {5,5,5}               \
+    ,.encrev = {4000,4000,4000}             \
+    ,.encperstepmin = {16,16,16}            \
+    ,.encperstepmax = {24,24,24}            \
     ,.motflags = {DEFMF,DEFMF,DEFMF}        \
     ,.ESW_reaction = {ESW_ANYSTOP, ESW_ANYSTOP, ESW_ANYSTOP} \
     }
@@ -220,12 +220,22 @@ void dump_userconf(_U_ char *txt){
         bufputchar('0' + the_conf.motflags[i].reverse);
         PROPNAME("microsteps");
         printu(the_conf.microsteps[i]);
-        PROPNAME("accdecsteps");
+        PROPNAME("accel");
         printu(the_conf.accel[i]);
         PROPNAME("maxspeed");
         printu(the_conf.maxspd[i]);
         PROPNAME("maxsteps");
         printu(the_conf.maxsteps[i]);
+        PROPNAME("encperrev");
+        printu(the_conf.encrev[i]);
+        PROPNAME("encperstepmin");
+        printu(the_conf.encperstepmin[i]);
+        PROPNAME("encperstepmax");
+        printu(the_conf.encperstepmax[i]);
+        PROPNAME("motflags");
+        printuhex(*((uint8_t*)&the_conf.motflags[i]));
+        PROPNAME("eswreaction");
+        printu(the_conf.ESW_reaction[i]);
 #undef PROPNAME
     }
     NL();
diff --git a/F0-nolib/3steppersLB/hardware.c b/F0-nolib/3steppersLB/hardware.c
index b81b2d3..af69647 100644
--- a/F0-nolib/3steppersLB/hardware.c
+++ b/F0-nolib/3steppersLB/hardware.c
@@ -19,6 +19,7 @@
 #include "hardware.h"
 #include "can.h"
 #include "steppers.h"
+#include "strfunct.h"
 
 // Buttons: PA10, PA13, PA14, PA15, pullup (0 active)
 volatile GPIO_TypeDef *BTNports[BTNSNO] = {GPIOA, GPIOA, GPIOA, GPIOA};
@@ -36,9 +37,9 @@ volatile GPIO_TypeDef *DIRports[MOTORSNO] = {GPIOB, GPIOB, GPIOB};
 const uint32_t DIRpins[MOTORSNO] = {1<<1, 1<<10, 1<<12};
 
 // timers for motors
-TIM_TypeDef *mottimers[MOTORSNO] = {TIM15, TIM14, TIM16};
+volatile TIM_TypeDef *mottimers[MOTORSNO] = {TIM15, TIM14, TIM16};
 // timers for encoders
-TIM_TypeDef *enctimers[MOTORSNO] = {TIM1, TIM2, TIM3};
+volatile TIM_TypeDef *enctimers[MOTORSNO] = {TIM1, TIM2, TIM3};
 
 void gpio_setup(void){
     RCC->AHBENR |= RCC_AHBENR_GPIOAEN | RCC_AHBENR_GPIOBEN | RCC_AHBENR_GPIOCEN | RCC_AHBENR_GPIOFEN;
@@ -84,7 +85,7 @@ void iwdg_setup(){
 static IRQn_Type motirqs[MOTORSNO] = {TIM15_IRQn, TIM14_IRQn, TIM16_IRQn};
 // motor's PWM
 static void setup_mpwm(int i){
-    TIM_TypeDef *TIM = mottimers[i];
+    volatile TIM_TypeDef *TIM = mottimers[i];
     TIM->CR1 = 0;
     TIM->PSC = MOTORTIM_PSC - 1; // 64kHz
     // PWM mode 1 (OCxM = 110), preload enable
@@ -92,16 +93,15 @@ static void setup_mpwm(int i){
     TIM->CCER = TIM_CCER_CC1E; // turn it on, active high
     TIM->CCR1 = 1; // 20.8us for pulse duration, according to datasheet 1.9us is enough
     TIM->BDTR |= TIM_BDTR_MOE; // enable main output
-//    TIM->CR1 |= TIM_CR1_CEN; // enable timer
     TIM->EGR |= TIM_EGR_UG; // force update generation
     TIM->DIER = TIM_DIER_CC1IE; // allow CC interrupt (we should count steps)
+    TIM->CNT = 0;
     NVIC_EnableIRQ(motirqs[i]);
 }
 
 static IRQn_Type encirqs[MOTORSNO] = {TIM1_BRK_UP_TRG_COM_IRQn, TIM2_IRQn, TIM3_IRQn};
 static void setup_enc(int i){
-    TIM_TypeDef *TIM = enctimers[i];
-    RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
+    volatile TIM_TypeDef *TIM = enctimers[i];
     /* (1) Configure TI1FP1 on TI1 (CC1S = 01)
            configure TI1FP2 on TI2 (CC2S = 01)
            filters sampling = fDTS/8, N=6 */
@@ -119,6 +119,7 @@ static void setup_enc(int i){
     TIM->ARR = the_conf.encrev[i];
     // enable timer
     TIM->CR1 = TIM_CR1_CKD_1 | TIM_CR1_CEN; /* (4) */
+    TIM->CNT = 0;
     NVIC_EnableIRQ(encirqs[i]);
 }
 
@@ -189,17 +190,26 @@ uint8_t MSB(uint16_t val){
 }
 
 void tim14_isr(){
-    addmicrostep(0);
+    TIM14->SR = 0;
+    TIM14->CR1 &= TIM_CR1_CEN;
+    DBG("UP1");
+    //addmicrostep(1);
 }
 void tim15_isr(){
-    addmicrostep(1);
+    TIM15->SR = 0;
+    TIM15->CR1 &= TIM_CR1_CEN;
+    DBG("UP0");
+    //addmicrostep(0);
 }
 void tim16_isr(){
-    addmicrostep(2);
+    TIM16->SR = 0;
+    TIM16->CR1 &= TIM_CR1_CEN;
+    DBG("UP2");
+    //addmicrostep(2);
 }
 
 
-void tim1_isr(){
+void tim1_brk_up_trg_com_isr(){
     encoders_UPD(0);
 }
 void tim2_isr(){
diff --git a/F0-nolib/3steppersLB/hardware.h b/F0-nolib/3steppersLB/hardware.h
index c40f5fa..9f0405b 100644
--- a/F0-nolib/3steppersLB/hardware.h
+++ b/F0-nolib/3steppersLB/hardware.h
@@ -191,9 +191,9 @@ extern const uint32_t DIRpins[MOTORSNO];
 extern volatile uint32_t Tms;
 
 // timers of motors
-extern TIM_TypeDef *mottimers[];
+extern volatile TIM_TypeDef *mottimers[];
 // timers for encoders
-extern TIM_TypeDef *enctimers[];
+extern volatile TIM_TypeDef *enctimers[];
 
 void gpio_setup();
 void iwdg_setup();
diff --git a/F0-nolib/3steppersLB/main.c b/F0-nolib/3steppersLB/main.c
index 7dddc7e..ee016ff 100644
--- a/F0-nolib/3steppersLB/main.c
+++ b/F0-nolib/3steppersLB/main.c
@@ -70,6 +70,7 @@ static char *get_USB(){
 int main(void){
     uint8_t ctr, len;
     CAN_message *can_mesg;
+    //uint32_t oS = 0;
     char *txt;
     sysreset();
     SysTick_Config(6000, 1);
@@ -84,8 +85,13 @@ int main(void){
 
     while (1){
         IWDG->KR = IWDG_REFRESH; // refresh watchdog
+       /* if(Tms - oS > 1999){
+            oS = Tms;
+            SEND("2s"); NL();
+        }*/
         process_keys();
         custom_buttons_process();
+        IWDG->KR = IWDG_REFRESH;
         can_proc();
         if(CAN_get_status() == CAN_FIFO_OVERRUN){
             SEND("CAN bus fifo overrun occured!\n");
diff --git a/F0-nolib/3steppersLB/stepper_driver/01.jpg b/F0-nolib/3steppersLB/stepper_driver/01.jpg
new file mode 100644
index 0000000..b98d37b
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diff --git a/F0-nolib/3steppersLB/stepper_driver/02.jpg b/F0-nolib/3steppersLB/stepper_driver/02.jpg
new file mode 100644
index 0000000..afb95e4
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diff --git a/F0-nolib/3steppersLB/stepper_driver/03.jpg b/F0-nolib/3steppersLB/stepper_driver/03.jpg
new file mode 100644
index 0000000..a078ca4
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diff --git a/F0-nolib/3steppersLB/stepper_driver/04.jpg b/F0-nolib/3steppersLB/stepper_driver/04.jpg
new file mode 100644
index 0000000..6e9400a
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diff --git a/F0-nolib/3steppersLB/stepper_driver/05.jpg b/F0-nolib/3steppersLB/stepper_driver/05.jpg
new file mode 100644
index 0000000..dbd2afa
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diff --git a/F0-nolib/3steppersLB/stepper_driver/06.jpg b/F0-nolib/3steppersLB/stepper_driver/06.jpg
new file mode 100644
index 0000000..756b651
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diff --git a/F0-nolib/3steppersLB/stepper_driver/07.jpg b/F0-nolib/3steppersLB/stepper_driver/07.jpg
new file mode 100644
index 0000000..839d1d1
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diff --git a/F0-nolib/3steppersLB/stepper_driver/08.jpg b/F0-nolib/3steppersLB/stepper_driver/08.jpg
new file mode 100644
index 0000000..4220fcc
Binary files /dev/null and b/F0-nolib/3steppersLB/stepper_driver/08.jpg differ
diff --git a/F0-nolib/3steppersLB/stepper_driver/09.jpg b/F0-nolib/3steppersLB/stepper_driver/09.jpg
new file mode 100644
index 0000000..955021c
Binary files /dev/null and b/F0-nolib/3steppersLB/stepper_driver/09.jpg differ
diff --git a/F0-nolib/3steppersLB/stepper_driver/10.jpg b/F0-nolib/3steppersLB/stepper_driver/10.jpg
new file mode 100644
index 0000000..e05c52b
Binary files /dev/null and b/F0-nolib/3steppersLB/stepper_driver/10.jpg differ
diff --git a/F0-nolib/3steppersLB/steppers.bin b/F0-nolib/3steppersLB/steppers.bin
index 0f6a3d3..369c484 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 42f070c..0669b65 100644
--- a/F0-nolib/3steppersLB/steppers.c
+++ b/F0-nolib/3steppersLB/steppers.c
@@ -19,6 +19,7 @@
 #include "flash.h"
 #include "hardware.h"
 #include "steppers.h"
+#include "strfunct.h"
 
 // goto zero stages
 typedef enum{
@@ -95,9 +96,9 @@ void init_steppers(){
 
 // get absolute position by encoder
 static int32_t encoder_position(uint8_t i){
-    int32_t pos = encpos[i]*the_conf.encrev[i];
-    if(the_conf.motflags[i].encreverse) pos -= mottimers[i]->CNT;
-    else pos += mottimers[i]->CNT;
+    int32_t pos = encpos[i];
+    if(the_conf.motflags[i].encreverse) pos -= enctimers[i]->CNT;
+    else pos += enctimers[i]->CNT;
     return pos;
 }
 
@@ -121,7 +122,7 @@ errcodes motor_absmove(uint8_t i, int32_t newpos){
     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
     targstppos[i] = newpos;
-    prevencpos[i] = encpos[i];
+    prevencpos[i] = encoder_position(i);
     prevstppos[i] = stppos[i];
     uint8_t inv = the_conf.motflags[i].reverse;
     int32_t delta = newpos - stppos[i];
@@ -170,6 +171,7 @@ stp_state getmotstate(uint8_t i){
 void addmicrostep(uint8_t i){
     static volatile uint16_t microsteps[MOTORSNO] = {0}; // current microsteps position
     if(mottimers[i]->SR & TIM_SR_UIF){
+        DBG("MOTUP");
         if(ESW_state(i)){ // ESW active
             switch(the_conf.ESW_reaction[i]){
                 case ESW_ANYSTOP: // stop motor in any direction
diff --git a/F0-nolib/3steppersLB/strfunct.c b/F0-nolib/3steppersLB/strfunct.c
index ab5ced3..68cd287 100644
--- a/F0-nolib/3steppersLB/strfunct.c
+++ b/F0-nolib/3steppersLB/strfunct.c
@@ -24,6 +24,7 @@
 #include "hardware.h"
 #include "strfunct.h"
 #include "usb.h"
+#include "version.inc"
 
 #include <string.h> // strlen
 
@@ -36,7 +37,6 @@ 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);
@@ -53,7 +53,6 @@ void bufputchar(char ch){
 }
 
 void addtobuf(const char *txt){
-    IWDG->KR = IWDG_REFRESH;
     while(*txt) bufputchar(*txt++);
 }
 
@@ -384,6 +383,20 @@ void bootldr(_U_ char *txt){
     Jump2Boot();
 }
 
+void getcounter(_U_ char *txt){
+    SEND("CR1="); printu(TIM1->CR1);
+    SEND("\nCR2="); printu(TIM2->CR1);
+    SEND("\nCR3="); printu(TIM3->CR1);
+    SEND("\nCNT1="); printu(TIM1->CNT);
+    SEND("\nCNT2="); printu(TIM2->CNT);
+    SEND("\nCNT3="); printu(TIM3->CNT);
+    NL();
+}
+
+void wdcheck(_U_ char *txt){
+    while(1){nop();}
+}
+
 typedef void(*specfpointer)(char *arg);
 
 typedef struct{
@@ -405,11 +418,14 @@ const speccommands scmdlist[] = {
     {"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"},
     {NULL, NULL, NULL}
 };
 
 static void showHelp(){
-    SEND("USAGE. Common commands format is cmd[ N[ = val]]\n\twhere N is command argument (0..127), val is its value\n");
+    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(" - ");
diff --git a/F0-nolib/3steppersLB/strfunct.h b/F0-nolib/3steppersLB/strfunct.h
index 99ffdb7..e90cc66 100644
--- a/F0-nolib/3steppersLB/strfunct.h
+++ b/F0-nolib/3steppersLB/strfunct.h
@@ -29,7 +29,7 @@
 #define SEND(str) do{addtobuf(str);}while(0)
 
 #ifdef EBUG
-#define DBG(str)  do{addtobuf(__FILE__ " (L" STR(__LINE__) "): " str);}while(0)
+#define DBG(str)  do{addtobuf(__FILE__ " (L" STR(__LINE__) "): " str); NL();}while(0)
 #else
 #define DBG(str)
 #endif
diff --git a/F0-nolib/3steppersLB/usb.c b/F0-nolib/3steppersLB/usb.c
index 68c909c..a7b1ee8 100644
--- a/F0-nolib/3steppersLB/usb.c
+++ b/F0-nolib/3steppersLB/usb.c
@@ -71,13 +71,13 @@ void USB_setup(){
 static int usbwr(const uint8_t *buf, uint16_t l){
     uint32_t ctra = 1000000;
     while(--ctra && tx_succesfull == 0){
-        IWDG->KR = IWDG_REFRESH;
+        nop();
     }
     tx_succesfull = 0;
     EP_Write(3, buf, l);
     ctra = 1000000;
     while(--ctra && tx_succesfull == 0){
-        IWDG->KR = IWDG_REFRESH;
+        nop();
     }
     if(tx_succesfull == 0){usbON = 0; return 1;} // usb is OFF?
     return 0;
diff --git a/F0-nolib/3steppersLB/usb_lib.c b/F0-nolib/3steppersLB/usb_lib.c
index 8209288..8d1bf6c 100644
--- a/F0-nolib/3steppersLB/usb_lib.c
+++ b/F0-nolib/3steppersLB/usb_lib.c
@@ -188,7 +188,7 @@ static void wr0(const uint8_t *buf, uint16_t size){
             USB->EPnR[0] = (status & ~(USB_EPnR_CTR_RX|USB_EPnR_CTR_TX|USB_EPnR_STAT_RX))
                             ^ USB_EPnR_STAT_TX;
             uint32_t ctr = 1000000;
-            while(--ctr && (USB->ISTR & USB_ISTR_CTR) == 0){IWDG->KR = IWDG_REFRESH;};
+            while(--ctr && (USB->ISTR & USB_ISTR_CTR) == 0){nop();}
             if((USB->ISTR & USB_ISTR_CTR) == 0){
                 return;
             }
diff --git a/F0-nolib/3steppersLB/version.inc b/F0-nolib/3steppersLB/version.inc
new file mode 100644
index 0000000..38cb263
--- /dev/null
+++ b/F0-nolib/3steppersLB/version.inc
@@ -0,0 +1,2 @@
+#define BUILD_NUMBER "43"
+#define BUILD_DATE "2021-11-14"