fixed USBDP pullup in Multistepper (it works always, so you can use DFU)

2026-02-28 11:54:30 +03:00 · 2023-02-06 20:05:45 +03:00
parent 756ed4be08
commit daf17a651e
54 changed files with 12332 additions and 9328 deletions
--- a/F3:F303/Multistepper/canusb.bin
+++ b/F3:F303/Multistepper/canusb.bin
--- a/F3:F303/Multistepper/hashgen/Readme
+++ b/F3:F303/Multistepper/hashgen/Readme
@@ -0,0 +1 @@
+file helpcmds.in includes into proto.c as help list
--- a/F3:F303/Multistepper/hashgen/hashgen.c
+++ b/F3:F303/Multistepper/hashgen/hashgen.c
@@ -0,0 +1,318 @@
+/*
+ * Copyright 2022 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 <stdio.h>
+#include <string.h>
+#include <usefull_macros.h>
+#include <ctype.h>
+
+#define ALLOCSZ     (5000)
+
+typedef struct{
+    char *dict;
+    char *headerfile;
+    char *sourcefile;
+    int genfunc;
+} glob_pars;
+
+static glob_pars G = {.headerfile = "hash.h", .sourcefile = "hash.c"};
+static int help = 0;
+static myoption cmdlnopts[] = {
+    {"help",    NO_ARGS,    NULL,   'h',    arg_int,    APTR(&help),        "show this help"},
+    {"dict",    NEED_ARG,   NULL,   'd',    arg_string, APTR(&G.dict),      "dictionary file"},
+    {"header",  NEED_ARG,   NULL,   'H',    arg_string, APTR(&G.headerfile),"output header filename"},
+    {"source",  NEED_ARG,   NULL,   'S',    arg_string, APTR(&G.sourcefile),"output source filename"},
+    {"genfunc", NO_ARGS,    NULL,   'F',    arg_int,    APTR(&G.genfunc),   "generate function bodys"},
+    end_option
+};
+static void parse_args(int argc, char **argv){
+    parseargs(&argc, &argv, cmdlnopts);
+    if(help) showhelp(-1, cmdlnopts);
+    if(argc > 0){
+        red("Unused arguments:\n");
+        for(int i = 0; i < argc; ++i)
+            printf("%s ", argv[i]);
+        printf("\n");
+        showhelp(-1, cmdlnopts);
+    }
+}
+
+#define HASHFNO (3)
+// djb2 & sdbm: http://www.cse.yorku.ca/~oz/hash.html
+static uint32_t djb2(const char *str){
+    uint32_t hash = 5381;
+    uint32_t c;
+    while((c = (uint32_t)*str++))
+        hash = ((hash << 7) + hash) + c;
+        //hash = hash * 31 + c;
+        //hash = hash * 33 + c;
+    return hash;
+}
+static uint32_t sdbm(const char *str){
+    uint32_t hash = 5381;
+    uint32_t c;
+    while((c = (uint32_t)*str++))
+        hash = c + (hash << 6) + (hash << 16) - hash;
+    return hash;
+}
+// jenkins: https://en.wikipedia.org/wiki/Jenkins_hash_function
+static uint32_t jenkins(const char *str){
+    uint32_t hash = 0, c;
+    while((c = (uint32_t)*str++)){
+        hash += c;
+        hash += (hash << 10);
+        hash ^= (hash >> 6);
+    }
+    hash += (hash << 3);
+    hash ^= (hash >> 11);
+    hash += (hash << 15);
+    return hash;
+}
+
+static const char *hashsources[HASHFNO] = {
+"static uint32_t hashf(const char *str){\n\
+    uint32_t hash = 5381;\n\
+    uint32_t c;\n\
+    while((c = (uint32_t)*str++))\n\
+        hash = ((hash << 7) + hash) + c;\n\
+    return hash;\n\
+}\n",
+"static uint32_t hashf(const char *str){\n\
+    uint32_t hash = 5381;\n\
+    uint32_t c;\n\
+    while((c = (uint32_t)*str++))\n\
+        hash = c + (hash << 6) + (hash << 16) - hash;\n\
+    return hash;\n\
+}\n",
+"static uint32_t hashf(const char *str){\n\
+    uint32_t hash = 0, c;\n\
+    while((c = (uint32_t)*str++)){\n\
+        hash += c;\n\
+        hash += (hash << 10);\n\
+        hash ^= (hash >> 6);\n\
+    }\n\
+    hash += (hash << 3);\n\
+    hash ^= (hash >> 11);\n\
+    hash += (hash << 15);\n\
+    return hash;\n\
+}\n"
+};
+
+static uint32_t (*hash[HASHFNO])(const char *str) = {djb2, sdbm, jenkins};
+static const char *hashnames[HASHFNO] = {"DJB2", "SDBM", "Jenkins"};
+
+typedef struct{
+    char str[32];       // string command
+    char fname[32];     // function namee
+    uint32_t hash;      // command hash
+} strhash;
+
+static int sorthashesH(const void *a, const void *b){ // sort by hash
+    register uint32_t h1 = ((strhash*)a)->hash, h2 = ((strhash*)b)->hash;
+    if(h1 > h2) return 1;
+    else if(h1 < h2) return -1;
+    return 0;
+}
+static int sorthashesS(const void *a, const void *b){ // sort by string
+    char *s1 = ((strhash*)a)->str, *s2 = ((strhash*)b)->str;
+    return strcmp(s1, s2);
+}
+static int sorthashesF(const void *a, const void *b){ // sort by fname
+    char *s1 = ((strhash*)a)->fname, *s2 = ((strhash*)b)->fname;
+    return strcmp(s1, s2);
+}
+
+static FILE *openoutp(const char *name){
+    FILE *f = fopen(name, "w");
+    if(!f) ERR("Can't open file %s", name);
+    return f;
+}
+
+static char *macroname(const char *cmd){
+    static char macro[32];
+    int i = 0;
+    while(i < 31 && *cmd){
+        char c = *cmd++;
+        if(!isalnum(c)) c = '_';
+        if(islower(c)) c = toupper(c);
+        macro[i++] = c;
+    }
+    macro[i] = 0;
+    return macro;
+}
+
+static char *fnname(const char *cmd){
+    static char fn[32];
+    int i = 0;
+    while(i < 31 && *cmd){
+        char c = *cmd++;
+        if(!isalpha(c)) c = '_';
+        if(isupper(c)) c = tolower(c);
+        fn[i++] = c;
+    }
+    fn[i] = 0;
+    return fn;
+}
+
+static const char *fhdr =
+"int parsecmd(const char *str){\n\
+        char cmd[CMD_MAXLEN + 1];\n\
+        if(!str || !*str) return RET_CMDNOTFOUND;\n\
+        int i = 0;\n\
+        while(*str > '@' && i < CMD_MAXLEN){ cmd[i++] = *str++; }\n\
+        cmd[i] = 0;\n\
+        if(*str){\n\
+            while(*str <= ' ') ++str;\n\
+        }\n\
+        char *args = (char*) str;\n\
+        uint32_t h = hashf(cmd);\n\
+        switch(h){\n\n"
+;
+static const char *ffooter =
+"        default: break;\n\
+    }\n\
+    return RET_CMDNOTFOUND;\n\
+}\n\n"
+;
+static const char *fns =
+"int fn_%s(_U_ uint32_t hash,  _U_ char *args) WAL; // \"%s\" (%u)\n\n"
+;
+static const char *headercontent =
+"#ifndef _U_\n\
+#define _U_ __attribute__((__unused__))\n\
+#endif\n\n\
+#define CMD_MAXLEN  (32)\n\n\
+enum{\n\
+   RET_CMDNOTFOUND = -2,\n\
+   RET_WRONGCMD = -1,\n\
+   RET_BAD = 0,\n\
+   RET_GOOD = 1\n\
+};\n\n\
+int parsecmd(const char *cmdwargs);\n\n";
+static const char *sw =
+"        case CMD_%s:\n\
+            return fn_%s(h, args);\n\
+        break;\n";
+static const char *srchdr =
+"// Generated by HASHGEN (https://github.com/eddyem/eddys_snippets/tree/master/stringHash4MCU_)\n\
+// Licensed by GPLv3\n\
+#include <stdint.h>\n\
+#include <stddef.h>\n\
+#include \"%s\"\n\n\
+#ifndef WAL\n\
+#define WAL __attribute__ ((weak, alias (\"__f1\")))\n\
+#endif\n\nstatic int __f1(_U_ uint32_t h, _U_ char *a){return 1;}\n\n"
+;
+
+static void build(strhash *H, int hno, int hlen){
+    green("Generate files for hash function '%s'\n", hashnames[hno]);
+    int lmax = 1;
+    for(int i = 0; i < hlen; ++i){
+        int l = strlen(H[i].str);
+        if(l > lmax){
+            lmax = l;
+        }
+    }
+    lmax = (lmax + 3)/4;
+    lmax *= 4;
+    // resort H by strings
+    qsort(H, hlen, sizeof(strhash), sorthashesS);
+    FILE *source = openoutp(G.sourcefile), *header = openoutp(G.headerfile);
+    fprintf(source, srchdr, G.headerfile);
+    if(G.genfunc){
+        for(int i = 0; i < hlen; ++i){
+            fprintf(source, fns, H[i].fname, H[i].str, H[i].hash);
+        }
+    }
+    fprintf(header, "%s", headercontent);
+    fprintf(source, "%s\n", hashsources[hno]);
+    fprintf(source, "%s", fhdr);
+    for(int i = 0; i < hlen; ++i){
+        char *m = macroname(H[i].str);
+        fprintf(source, sw, m, H[i].fname);
+        fprintf(header, "#define CMD_%-*s    (%u)\n", lmax, m, H[i].hash);
+    }
+    fprintf(source, "%s", ffooter);
+    fclose(source);
+    fclose(header);
+}
+
+int main(int argc, char **argv){
+    initial_setup();
+    parse_args(argc, argv);
+    if(!G.dict) ERRX("point dictionary file");
+    if(!G.headerfile) ERRX("point header source file");
+    if(!G.sourcefile) ERRX("point c source file");
+    mmapbuf *b = My_mmap(G.dict);
+    if(!b) ERRX("Can't open %s", G.dict);
+    char *word = b->data;
+    strhash *H = MALLOC(strhash, ALLOCSZ);
+    int l = ALLOCSZ, idx = 0;
+    while(*word){
+        if(idx >= l){
+            l += ALLOCSZ;
+            H = realloc(H, sizeof(strhash) * l);
+            if(!H) ERR("realloc()");
+        }
+        while(*word && *word < 33) ++word;
+        if(!*word) break;
+        char *nxt = strchr(word, '\n');
+        if(nxt){
+            int len = nxt - word;
+            if(len > 31) len = 31;
+            strncpy(H[idx].str, word, len);
+            H[idx].str[len] = 0;
+        }else{
+            snprintf(H[idx].str, 31, "%s", word);
+        }
+        snprintf(H[idx].fname, 31, "%s", fnname(H[idx].str));
+        ++idx;
+        if(!nxt) break;
+        word = nxt + 1;
+    }
+    // test fname matches
+    qsort(H, idx, sizeof(strhash), sorthashesF);
+    int mflag = 0;
+    int imax1 = idx - 1, hno = 0;
+    for(int i = 0; i < imax1; ++i){ // test hash matches
+        if(0 == strcmp(H[i].fname, H[i+1].fname)){
+            mflag = 1;
+            WARNX("Have two similar function names for '%s' and '%s': 'fn_%s'",
+                  H[i].str, H[i+1].str, H[i].fname);
+        }
+    }
+    if(mflag) ERRX("Can't generate code when names of some functions matches");
+    for(; hno < HASHFNO; ++hno){
+        for(int i = 0; i < idx; ++i)
+            H[i].hash = hash[hno](H[i].str);
+        qsort(H, idx, sizeof(strhash), sorthashesH);
+        strhash *p = H;
+        int nmatches = 0;
+        for(int i = 0; i < imax1; ++i, ++p){ // test hash matches
+            if(p->hash == p[1].hash) ++nmatches;
+        }
+        if(nmatches == 0){
+            build(H, hno, idx);
+            break;
+        }
+        WARNX("Function '%s' have %d matches", hashnames[hno], nmatches);
+    }
+    if(hno == HASHFNO) WARNX("Can't find proper hash function");
+    FREE(H);
+    My_munmap(b);
+    return 0;
+}
--- a/F3:F303/Multistepper/hashgen/hdr.c
+++ b/F3:F303/Multistepper/hashgen/hdr.c
@@ -0,0 +1,318 @@
+// Generated by HASHGEN (https://github.com/eddyem/eddys_snippets/tree/master/stringHash4MCU_)
+// Licensed by GPLv3
+#include <stdint.h>
+#include <stddef.h>
+#include "hdr.h"
+
+#ifndef WAL
+#define WAL __attribute__ ((weak, alias ("__f1")))
+#endif
+
+static int __f1(_U_ uint32_t h, _U_ char *a){return 1;}
+
+int fn_abspos(_U_ uint32_t hash,  _U_ char *args) WAL; // "abspos" (3056382221)
+
+int fn_accel(_U_ uint32_t hash,  _U_ char *args) WAL; // "accel" (1490521981)
+
+int fn_adc(_U_ uint32_t hash,  _U_ char *args) WAL; // "adc" (2963026093)
+
+int fn_button(_U_ uint32_t hash,  _U_ char *args) WAL; // "button" (1093508897)
+
+int fn_canerrcodes(_U_ uint32_t hash,  _U_ char *args) WAL; // "canerrcodes" (1736697870)
+
+int fn_canfilter(_U_ uint32_t hash,  _U_ char *args) WAL; // "canfilter" (3964416573)
+
+int fn_canflood(_U_ uint32_t hash,  _U_ char *args) WAL; // "canflood" (1235816779)
+
+int fn_canfloodt(_U_ uint32_t hash,  _U_ char *args) WAL; // "canfloodT" (506574623)
+
+int fn_canid(_U_ uint32_t hash,  _U_ char *args) WAL; // "canid" (2040257924)
+
+int fn_canignore(_U_ uint32_t hash,  _U_ char *args) WAL; // "canignore" (3209755195)
+
+int fn_canincrflood(_U_ uint32_t hash,  _U_ char *args) WAL; // "canincrflood" (3987155959)
+
+int fn_canpause(_U_ uint32_t hash,  _U_ char *args) WAL; // "canpause" (3981532373)
+
+int fn_canreinit(_U_ uint32_t hash,  _U_ char *args) WAL; // "canreinit" (2030075842)
+
+int fn_canresume(_U_ uint32_t hash,  _U_ char *args) WAL; // "canresume" (2051659720)
+
+int fn_cansend(_U_ uint32_t hash,  _U_ char *args) WAL; // "cansend" (237136225)
+
+int fn_canspeed(_U_ uint32_t hash,  _U_ char *args) WAL; // "canspeed" (549265992)
+
+int fn_canstat(_U_ uint32_t hash,  _U_ char *args) WAL; // "canstat" (237384179)
+
+int fn_delignlist(_U_ uint32_t hash,  _U_ char *args) WAL; // "delignlist" (2235834164)
+
+int fn_diagn(_U_ uint32_t hash,  _U_ char *args) WAL; // "diagn" (2334137736)
+
+int fn_dumpcmd(_U_ uint32_t hash,  _U_ char *args) WAL; // "dumpcmd" (1223955823)
+
+int fn_dumpconf(_U_ uint32_t hash,  _U_ char *args) WAL; // "dumpconf" (3271513185)
+
+int fn_dumperr(_U_ uint32_t hash,  _U_ char *args) WAL; // "dumperr" (1223989764)
+
+int fn_emstop(_U_ uint32_t hash,  _U_ char *args) WAL; // "emstop" (2965919005)
+
+int fn_encpos(_U_ uint32_t hash,  _U_ char *args) WAL; // "encpos" (3208428301)
+
+int fn_encrev(_U_ uint32_t hash,  _U_ char *args) WAL; // "encrev" (3208460296)
+
+int fn_encstepmax(_U_ uint32_t hash,  _U_ char *args) WAL; // "encstepmax" (1022989757)
+
+int fn_encstepmin(_U_ uint32_t hash,  _U_ char *args) WAL; // "encstepmin" (1022990779)
+
+int fn_eraseflash(_U_ uint32_t hash,  _U_ char *args) WAL; // "eraseflash" (3177247267)
+
+int fn_esw(_U_ uint32_t hash,  _U_ char *args) WAL; // "esw" (2963094612)
+
+int fn_eswreact(_U_ uint32_t hash,  _U_ char *args) WAL; // "eswreact" (1614224995)
+
+int fn_goto(_U_ uint32_t hash,  _U_ char *args) WAL; // "goto" (4286309438)
+
+int fn_gotoz(_U_ uint32_t hash,  _U_ char *args) WAL; // "gotoz" (3178103736)
+
+int fn_gpio(_U_ uint32_t hash,  _U_ char *args) WAL; // "gpio" (4286324660)
+
+int fn_gpioconf(_U_ uint32_t hash,  _U_ char *args) WAL; // "gpioconf" (1309721562)
+
+int fn_maxspeed(_U_ uint32_t hash,  _U_ char *args) WAL; // "maxspeed" (1498078812)
+
+int fn_maxsteps(_U_ uint32_t hash,  _U_ char *args) WAL; // "maxsteps" (1506667002)
+
+int fn_mcut(_U_ uint32_t hash,  _U_ char *args) WAL; // "mcut" (4022718)
+
+int fn_mcuvdd(_U_ uint32_t hash,  _U_ char *args) WAL; // "mcuvdd" (2517587080)
+
+int fn_microsteps(_U_ uint32_t hash,  _U_ char *args) WAL; // "microsteps" (3974395854)
+
+int fn_minspeed(_U_ uint32_t hash,  _U_ char *args) WAL; // "minspeed" (3234848090)
+
+int fn_motflags(_U_ uint32_t hash,  _U_ char *args) WAL; // "motflags" (2153634658)
+
+int fn_motmul(_U_ uint32_t hash,  _U_ char *args) WAL; // "motmul" (1543400099)
+
+int fn_motreinit(_U_ uint32_t hash,  _U_ char *args) WAL; // "motreinit" (199682784)
+
+int fn_ping(_U_ uint32_t hash,  _U_ char *args) WAL; // "ping" (10561715)
+
+int fn_relpos(_U_ uint32_t hash,  _U_ char *args) WAL; // "relpos" (1278646042)
+
+int fn_relslow(_U_ uint32_t hash,  _U_ char *args) WAL; // "relslow" (1742971917)
+
+int fn_reset(_U_ uint32_t hash,  _U_ char *args) WAL; // "reset" (1907803304)
+
+int fn_saveconf(_U_ uint32_t hash,  _U_ char *args) WAL; // "saveconf" (141102426)
+
+int fn_screen(_U_ uint32_t hash,  _U_ char *args) WAL; // "screen" (2100809349)
+
+int fn_speedlimit(_U_ uint32_t hash,  _U_ char *args) WAL; // "speedlimit" (1654184245)
+
+int fn_state(_U_ uint32_t hash,  _U_ char *args) WAL; // "state" (2216628902)
+
+int fn_stop(_U_ uint32_t hash,  _U_ char *args) WAL; // "stop" (17184971)
+
+int fn_time(_U_ uint32_t hash,  _U_ char *args) WAL; // "time" (19148340)
+
+int fn_tmcbus(_U_ uint32_t hash,  _U_ char *args) WAL; // "tmcbus" (1906135955)
+
+int fn_udata(_U_ uint32_t hash,  _U_ char *args) WAL; // "udata" (2736127636)
+
+int fn_usartstatus(_U_ uint32_t hash,  _U_ char *args) WAL; // "usartstatus" (4007098968)
+
+static uint32_t hashf(const char *str){
+    uint32_t hash = 5381;
+    uint32_t c;
+    while((c = (uint32_t)*str++))
+        hash = ((hash << 7) + hash) + c;
+    return hash;
+}
+
+int parsecmd(const char *str){
+        char cmd[CMD_MAXLEN + 1];
+        if(!str || !*str) return RET_CMDNOTFOUND;
+        int i = 0;
+        while(*str > '@' && i < CMD_MAXLEN){ cmd[i++] = *str++; }
+        cmd[i] = 0;
+        if(*str){
+            while(*str <= ' ') ++str;
+        }
+        char *args = (char*) str;
+        uint32_t h = hashf(cmd);
+        switch(h){
+
+        case CMD_ABSPOS:
+            return fn_abspos(h, args);
+        break;
+        case CMD_ACCEL:
+            return fn_accel(h, args);
+        break;
+        case CMD_ADC:
+            return fn_adc(h, args);
+        break;
+        case CMD_BUTTON:
+            return fn_button(h, args);
+        break;
+        case CMD_CANERRCODES:
+            return fn_canerrcodes(h, args);
+        break;
+        case CMD_CANFILTER:
+            return fn_canfilter(h, args);
+        break;
+        case CMD_CANFLOOD:
+            return fn_canflood(h, args);
+        break;
+        case CMD_CANFLOODT:
+            return fn_canfloodt(h, args);
+        break;
+        case CMD_CANID:
+            return fn_canid(h, args);
+        break;
+        case CMD_CANIGNORE:
+            return fn_canignore(h, args);
+        break;
+        case CMD_CANINCRFLOOD:
+            return fn_canincrflood(h, args);
+        break;
+        case CMD_CANPAUSE:
+            return fn_canpause(h, args);
+        break;
+        case CMD_CANREINIT:
+            return fn_canreinit(h, args);
+        break;
+        case CMD_CANRESUME:
+            return fn_canresume(h, args);
+        break;
+        case CMD_CANSEND:
+            return fn_cansend(h, args);
+        break;
+        case CMD_CANSPEED:
+            return fn_canspeed(h, args);
+        break;
+        case CMD_CANSTAT:
+            return fn_canstat(h, args);
+        break;
+        case CMD_DELIGNLIST:
+            return fn_delignlist(h, args);
+        break;
+        case CMD_DIAGN:
+            return fn_diagn(h, args);
+        break;
+        case CMD_DUMPCMD:
+            return fn_dumpcmd(h, args);
+        break;
+        case CMD_DUMPCONF:
+            return fn_dumpconf(h, args);
+        break;
+        case CMD_DUMPERR:
+            return fn_dumperr(h, args);
+        break;
+        case CMD_EMSTOP:
+            return fn_emstop(h, args);
+        break;
+        case CMD_ENCPOS:
+            return fn_encpos(h, args);
+        break;
+        case CMD_ENCREV:
+            return fn_encrev(h, args);
+        break;
+        case CMD_ENCSTEPMAX:
+            return fn_encstepmax(h, args);
+        break;
+        case CMD_ENCSTEPMIN:
+            return fn_encstepmin(h, args);
+        break;
+        case CMD_ERASEFLASH:
+            return fn_eraseflash(h, args);
+        break;
+        case CMD_ESW:
+            return fn_esw(h, args);
+        break;
+        case CMD_ESWREACT:
+            return fn_eswreact(h, args);
+        break;
+        case CMD_GOTO:
+            return fn_goto(h, args);
+        break;
+        case CMD_GOTOZ:
+            return fn_gotoz(h, args);
+        break;
+        case CMD_GPIO:
+            return fn_gpio(h, args);
+        break;
+        case CMD_GPIOCONF:
+            return fn_gpioconf(h, args);
+        break;
+        case CMD_MAXSPEED:
+            return fn_maxspeed(h, args);
+        break;
+        case CMD_MAXSTEPS:
+            return fn_maxsteps(h, args);
+        break;
+        case CMD_MCUT:
+            return fn_mcut(h, args);
+        break;
+        case CMD_MCUVDD:
+            return fn_mcuvdd(h, args);
+        break;
+        case CMD_MICROSTEPS:
+            return fn_microsteps(h, args);
+        break;
+        case CMD_MINSPEED:
+            return fn_minspeed(h, args);
+        break;
+        case CMD_MOTFLAGS:
+            return fn_motflags(h, args);
+        break;
+        case CMD_MOTMUL:
+            return fn_motmul(h, args);
+        break;
+        case CMD_MOTREINIT:
+            return fn_motreinit(h, args);
+        break;
+        case CMD_PING:
+            return fn_ping(h, args);
+        break;
+        case CMD_RELPOS:
+            return fn_relpos(h, args);
+        break;
+        case CMD_RELSLOW:
+            return fn_relslow(h, args);
+        break;
+        case CMD_RESET:
+            return fn_reset(h, args);
+        break;
+        case CMD_SAVECONF:
+            return fn_saveconf(h, args);
+        break;
+        case CMD_SCREEN:
+            return fn_screen(h, args);
+        break;
+        case CMD_SPEEDLIMIT:
+            return fn_speedlimit(h, args);
+        break;
+        case CMD_STATE:
+            return fn_state(h, args);
+        break;
+        case CMD_STOP:
+            return fn_stop(h, args);
+        break;
+        case CMD_TIME:
+            return fn_time(h, args);
+        break;
+        case CMD_TMCBUS:
+            return fn_tmcbus(h, args);
+        break;
+        case CMD_UDATA:
+            return fn_udata(h, args);
+        break;
+        case CMD_USARTSTATUS:
+            return fn_usartstatus(h, args);
+        break;
+        default: break;
+    }
+    return RET_CMDNOTFOUND;
+}
+
--- a/F3:F303/Multistepper/hashgen/hdr.h
+++ b/F3:F303/Multistepper/hashgen/hdr.h
@@ -0,0 +1,71 @@
+#ifndef _U_
+#define _U_ __attribute__((__unused__))
+#endif
+
+#define CMD_MAXLEN  (32)
+
+enum{
+   RET_CMDNOTFOUND = -2,
+   RET_WRONGCMD = -1,
+   RET_BAD = 0,
+   RET_GOOD = 1
+};
+
+int parsecmd(const char *cmdwargs);
+
+#define CMD_ABSPOS          (3056382221)
+#define CMD_ACCEL           (1490521981)
+#define CMD_ADC             (2963026093)
+#define CMD_BUTTON          (1093508897)
+#define CMD_CANERRCODES     (1736697870)
+#define CMD_CANFILTER       (3964416573)
+#define CMD_CANFLOOD        (1235816779)
+#define CMD_CANFLOODT       (506574623)
+#define CMD_CANID           (2040257924)
+#define CMD_CANIGNORE       (3209755195)
+#define CMD_CANINCRFLOOD    (3987155959)
+#define CMD_CANPAUSE        (3981532373)
+#define CMD_CANREINIT       (2030075842)
+#define CMD_CANRESUME       (2051659720)
+#define CMD_CANSEND         (237136225)
+#define CMD_CANSPEED        (549265992)
+#define CMD_CANSTAT         (237384179)
+#define CMD_DELIGNLIST      (2235834164)
+#define CMD_DIAGN           (2334137736)
+#define CMD_DUMPCMD         (1223955823)
+#define CMD_DUMPCONF        (3271513185)
+#define CMD_DUMPERR         (1223989764)
+#define CMD_EMSTOP          (2965919005)
+#define CMD_ENCPOS          (3208428301)
+#define CMD_ENCREV          (3208460296)
+#define CMD_ENCSTEPMAX      (1022989757)
+#define CMD_ENCSTEPMIN      (1022990779)
+#define CMD_ERASEFLASH      (3177247267)
+#define CMD_ESW             (2963094612)
+#define CMD_ESWREACT        (1614224995)
+#define CMD_GOTO            (4286309438)
+#define CMD_GOTOZ           (3178103736)
+#define CMD_GPIO            (4286324660)
+#define CMD_GPIOCONF        (1309721562)
+#define CMD_MAXSPEED        (1498078812)
+#define CMD_MAXSTEPS        (1506667002)
+#define CMD_MCUT            (4022718)
+#define CMD_MCUVDD          (2517587080)
+#define CMD_MICROSTEPS      (3974395854)
+#define CMD_MINSPEED        (3234848090)
+#define CMD_MOTFLAGS        (2153634658)
+#define CMD_MOTMUL          (1543400099)
+#define CMD_MOTREINIT       (199682784)
+#define CMD_PING            (10561715)
+#define CMD_RELPOS          (1278646042)
+#define CMD_RELSLOW         (1742971917)
+#define CMD_RESET           (1907803304)
+#define CMD_SAVECONF        (141102426)
+#define CMD_SCREEN          (2100809349)
+#define CMD_SPEEDLIMIT      (1654184245)
+#define CMD_STATE           (2216628902)
+#define CMD_STOP            (17184971)
+#define CMD_TIME            (19148340)
+#define CMD_TMCBUS          (1906135955)
+#define CMD_UDATA           (2736127636)
+#define CMD_USARTSTATUS     (4007098968)
--- a/F3:F303/Multistepper/hashgen/helpcmds.in
+++ b/F3:F303/Multistepper/hashgen/helpcmds.in
@@ -0,0 +1,56 @@
+    "absposN* - GS absolute position (in steps, setter just changes current value)\n"
+    "accelN* - GS accel/decel (steps/s^2)\n"
+    "adcN* - G ADC value (N=0..3)\n"
+    "button[N]* - G all or given (N=0..6) buttons' state\n"
+    "canerrcodes - G print last CAN errcodes\n"
+    "canfilter - GS can filters, format: bank# FIFO# mode(M/I) num0 [num1 [num2 [num3]]]\n"
+    "canflood - send/clear flood message: ID byte0 ... byteN\n"
+    "canfloodT - GS flood period (>=0ms)\n"
+    "canid* - GS CAN ID of device\n"
+    "canignore - GS ignore list (max 10 IDs), negative to delete\n"
+    "canincrflood - send incremental flood message (ID is last for 'flood', stop by 'flood')\n"
+    "canpause - pause IN packets displaying\n"
+    "canreinit - reinit CAN\n"
+    "canresume - resume IN packets displaying\n"
+    "cansend - send data over CAN: send ID byte0 .. byteN (N<8)\n"
+    "canspeed - GS CAN speed (reinit if setter)\n"
+    "canstat - G CAN status\n"
+    "delignlist* - delete ignore list\n"
+    "diagn[N] - G DIAG state of motor N (or all)\n"
+    "dumperr* - dump error codes\n"
+    "dumpcmd* - dump command codes\n"
+    "dumpconf* - dump current configuration\n"
+    "emstop[N]* - emergency stop motor N or all\n"
+    "encposN* - GS encoder's position\n"
+    "encrevN* - GS max encoder's pulses per revolution\n"
+    "encstepmaxN* - GS maximal encoder ticks per step\n"
+    "encstepminN* - GS minimal encoder ticks per step\n"
+    "eraseflash* - erase flash data storage\n"
+    "esw[N]* - G end-switches state\n"
+    "eswreactN* - GS end-switches reaction (0 - ignore, 1 - stop@any, 2 - stop@zero)\n"
+    "gotoN* - GS move motor to given absolute position\n"
+    "gotozN* - find zero position & refresh counters\n"
+    "gpioconfN* - GS GPIO configuration (0 - PUin, 1 - PPout, 2 - ODout), N=0..2\n"
+    "gpioN* - GS GPIO values, N=0..2\n"
+    "maxspeedN* - GS max speed (steps per sec)\n"
+    "maxstepsN* - GS max steps (from zero ESW)\n"
+    "mcut* - G MCU T\n"
+    "mcuvdd* - G MCU Vdd\n"
+    "microstepsN* - GS microsteps settings (2^0..2^9)\n"
+    "minspeedN* -  min speed (steps per sec)\n"
+    "motflagsN* - motorN flags\n"
+    "motmul* - GS external multiplexer status (<0 - disable, 0..7 - enable and set address)\n"
+    "motreinit* - re-init motors after configuration changed\n"
+    "ping* - echo given command back\n"
+    "relposN* - GS relative move (get remaining)\n"
+    "relslowN* - GS like 'relpos' but with slowest speed\n"
+    "reset* - software reset\n"
+    "saveconf* - save current configuration\n"
+    "screen* - GS screen enable (1) or disable (0)\n"
+    "speedlimit* - G limiting speed for current microsteps setting\n"
+    "stateN* - G motor state (0-relax, 1-accel, 2-move, 3-mvslow, 4-decel, 5-stall, 6-err)\n"
+    "stopN* - stop motor with deceleration\n"
+    "time* - G time from start (ms)\n"
+    "tmcbus* - GS TMC control bus (0 - USART, 1 - SPI)\n"
+    "udata - GS data by usart in slave mode (text strings, '\\n'-terminated)\n"
+    "usartstatus* - GS status of USART1 (0 - off, 1 - master, 2 - slave)\n"
--- a/F3:F303/Multistepper/hashgen/mktestdic
+++ b/F3:F303/Multistepper/hashgen/mktestdic
@@ -0,0 +1,4 @@
+#!/bin/bash
+
+awk '{print $1}' helpcmds.in |sed -e 's/"//' -e 's/\*//' -e 's/\[.*//' -e 's/N//' > testdic
+./hashgen -d testdic -H hdr.h -S hdr.c -F
--- a/F3:F303/Multistepper/hashgen/run
+++ b/F3:F303/Multistepper/hashgen/run
@@ -0,0 +1,10 @@
+#!/bin/bash
+
+gcc hashgen.c -o hashgen -lusefull_macros
+./hashgen -d testdic -H hdr.h -S hdr.c -F
+gcc hdr.c test.c strfunc.c  -o test
+./test "time 54 =    some"
+./test "voltage12 more"
+./test "esw45 =   some text"
+./test "goto 55 = "
+./test "stop 3256"
--- a/F3:F303/Multistepper/hashgen/strfunc.c
+++ b/F3:F303/Multistepper/hashgen/strfunc.c
@@ -0,0 +1,256 @@
+#include "strfunc.h"
+
+/**
+ * @brief hexdump - dump hex array by 16 bytes in string
+ * @param sendfun - function to send data
+ * @param arr - array to dump
+ * @param len - length of `arr`
+ */
+void hexdump(int (*sendfun)(const char *s), uint8_t *arr, uint16_t len){
+    char buf[52], *bptr = buf;
+    for(uint16_t l = 0; l < len; ++l, ++arr){
+        for(int16_t j = 1; j > -1; --j){
+            register uint8_t half = (*arr >> (4*j)) & 0x0f;
+            if(half < 10) *bptr++ = half + '0';
+            else *bptr++ = half - 10 + 'a';
+        }
+        if(l % 16 == 15){
+            *bptr++ = '\n';
+            *bptr = 0;
+            sendfun(buf);
+            bptr = buf;
+        }else *bptr++ = ' ';
+    }
+    if(bptr != buf){
+        *bptr++ = '\n';
+        *bptr = 0;
+        sendfun(buf);
+    }
+}
+
+/**
+ * @brief _2str - convert value into string buffer
+ * @param val - |value|
+ * @param minus - ==0 if value > 0
+ * @return buffer with number
+ */
+static char *_2str(uint32_t  val, uint8_t minus){
+    static char strbuf[12];
+    char *bufptr = &strbuf[11];
+    *bufptr = 0;
+    if(!val){
+        *(--bufptr) = '0';
+    }else{
+        while(val){
+            uint32_t x = val / 10;
+            *(--bufptr) = (val - 10*x) + '0';
+            val = x;
+            //*(--bufptr) = val % 10 + '0';
+            //val /= 10;
+        }
+    }
+    if(minus) *(--bufptr) = '-';
+    return bufptr;
+}
+
+// return string with number `val`
+char *u2str(uint32_t val){
+    return _2str(val, 0);
+}
+char *i2str(int32_t i){
+    uint8_t minus = 0;
+    uint32_t val;
+    if(i < 0){
+        minus = 1;
+        val = -i;
+    }else val = i;
+    return _2str(val, minus);
+}
+
+/**
+ * @brief uhex2str - print 32bit unsigned int as hex
+ * @param val - value
+ * @return string with number
+ */
+char *uhex2str(uint32_t val){
+    static char buf[12] = "0x";
+    int npos = 2;
+    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) buf[npos++] = half + '0';
+            else buf[npos++] = half - 10 + 'a';
+        }
+    }
+    buf[npos] = 0;
+    return buf;
+}
+
+/**
+ * @brief omit_spaces - eliminate leading spaces and other trash in string
+ * @param buf - string
+ * @return - pointer to first character in `buf` > ' '
+ */
+const char *omit_spaces(const char *buf){
+    while(*buf){
+        if(*buf > ' ') break;
+        ++buf;
+    }
+    return buf;
+}
+
+/**
+ * @brief getdec - read decimal number & return pointer to next non-number symbol
+ * @param buf - string
+ * @param N - number read
+ * @return Next non-number symbol. In case of overflow return `buf` and N==0xffffffff
+ */
+static const 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 buf;
+}
+// read hexadecimal number (without 0x prefix!)
+static const char *gethex(const char *buf, uint32_t *N){
+    const char *start = 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 buf;
+}
+// read octal number (without 0 prefix!)
+static const char *getoct(const char *buf, uint32_t *N){
+    const 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 buf;
+}
+// read binary number (without b prefix!)
+static const char *getbin(const char *buf, uint32_t *N){
+    const 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 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)
+ */
+const char *getnum(const char *txt, uint32_t *N){
+    const char *nxt = NULL;
+    const 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;
+}
+
+// get signed integer
+const char *getint(const char *txt, int32_t *I){
+    const char *s = omit_spaces(txt);
+    int32_t sign = 1;
+    uint32_t U;
+    if(*s == '-'){
+    	sign = -1;
+    	++s;
+    }
+    const char *nxt = getnum(s, &U);
+    if(nxt == s) return txt;
+    if(U & 0x80000000) return txt; // overfull
+    *I = sign * (int32_t)U;
+    return nxt;
+}
+
+/*
+void mymemcpy(char *dest, const char *src, int len){
+    if(len < 1) return;
+    while(len--) *dest++ = *src++;
+}
+*/
--- a/F3:F303/Multistepper/hashgen/strfunc.h
+++ b/F3:F303/Multistepper/hashgen/strfunc.h
@@ -0,0 +1,13 @@
+#pragma once
+
+#include <stdint.h>
+#include <string.h>
+
+void hexdump(int (*sendfun)(const char *s), uint8_t *arr, uint16_t len);
+char *u2str(uint32_t val);
+char *i2str(int32_t i);
+char *uhex2str(uint32_t val);
+const char *getnum(const char *txt, uint32_t *N);
+const char *omit_spaces(const char *buf);
+const char *getint(const char *txt, int32_t *I);
+//void mymemcpy(char *dest, const char *src, int len);
--- a/F3:F303/Multistepper/hashgen/test.c
+++ b/F3:F303/Multistepper/hashgen/test.c
@@ -0,0 +1,62 @@
+#include <stdio.h>
+#include <string.h>
+#include <stdint.h>
+
+#include "hdr.h"
+#include "strfunc.h"
+
+static int noargs(uint32_t hash){
+    switch(hash){
+        case CMD_REBOOT: printf("REBOOT\n"); break;
+        case CMD_TIME: printf("TIME!\n"); break;
+        case CMD_TEMP: printf("Temp\n"); break;
+        default: printf("Unknown hash 0x%x\n", hash); return 0;
+    }
+    return 1;
+}
+static int withparno(uint32_t hash, char *args){
+    uint32_t N;
+    //printf("args=%s\n", args);
+    const char *nxt = getnum((const char*)args, &N);
+    if(nxt == args){ printf("need arg\n");  return RET_WRONGCMD; }
+    args = (char*)omit_spaces(nxt);
+    if(*args){
+        if(*args != '='){ printf("need nothing or '=' after par\n"); return RET_WRONGCMD; }
+        args = (char*)omit_spaces(args+1);
+        // we can check in next functions what if `args` will be an empty string
+    }
+    else args = NULL;
+    const char *fname = NULL;
+    switch(hash){
+        case CMD_ESW: fname = "ESW"; break;
+        case CMD_GOTO: fname = "GOTO"; break;
+        case CMD_POS: fname = "POS"; break;
+        case CMD_STOP: fname = "STOP"; break;
+        default: fname = "unknown";
+    }
+    if(!args) printf("We want a getter '%s' with par %u\n", fname, N);
+    else printf("We want a setter '%s' with par %u and arg '%s'\n", fname, N, args);
+    if(N > 255){ printf("N should be 0..255\n"); return RET_BAD;}
+    return RET_GOOD;
+}
+// these functions should be global to substitute weak aliases
+int fn_esw(uint32_t hash,  char *args){return withparno(hash, args);}
+int fn_goto(uint32_t hash,  char *args){return withparno(hash, args);}
+int fn_pos(uint32_t hash,  char *args){return withparno(hash, args);}
+int fn_stop(uint32_t hash,  char *args){return withparno(hash, args);}
+int fn_voltage(uint32_t hash,  char *args){return withparno(hash, args);}
+int fn_reboot(uint32_t hash,  _U_ char *args){return noargs(hash);}
+int fn_time(uint32_t hash,  _U_ char *args){return noargs(hash);}
+int fn_temp(uint32_t hash,  _U_ char *args){return noargs(hash);}
+
+int main(int argc, char **argv){
+    if(argc != 2) return 1;
+    int ret = parsecmd(argv[1]);
+    switch(ret){
+        case RET_CMDNOTFOUND: printf("'%s' not found\n", argv[1]); break;
+        case RET_WRONGCMD: printf("Wrong sintax of '%s'\n", argv[1]); break;
+        case RET_GOOD: printf("'%s' - OK\n", argv[1]); break;
+        default: printf("'%s' - bad\n", argv[1]);
+    }
+    return 0;
+}
--- a/F3:F303/Multistepper/hashgen/testdic
+++ b/F3:F303/Multistepper/hashgen/testdic
@@ -0,0 +1,56 @@
+abspos
+accel
+adc
+button
+canerrcodes
+canfilter
+canflood
+canfloodT
+canid
+canignore
+canincrflood
+canpause
+canreinit
+canresume
+cansend
+canspeed
+canstat
+delignlist
+diagn
+dumperr
+dumpcmd
+dumpconf
+emstop
+encpos
+encrev
+encstepmax
+encstepmin
+eraseflash
+esw
+eswreact
+goto
+gotoz
+gpioconf
+gpio
+maxspeed
+maxsteps
+mcut
+mcuvdd
+microsteps
+minspeed
+motflags
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+ping
+relpos
+relslow
+reset
+saveconf
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--- a/F3:F303/Multistepper/hdr.c
+++ b/F3:F303/Multistepper/hdr.c
@@ -0,0 +1 @@
+hashgen/hdr.c
--- a/F3:F303/Multistepper/hdr.h
+++ b/F3:F303/Multistepper/hdr.h
@@ -0,0 +1 @@
+hashgen/hdr.h
--- a/F3:F303/Multistepper/kicad/ADC.kicad_sch
+++ b/F3:F303/Multistepper/kicad/ADC.kicad_sch
@@ -398,7 +398,7 @@
  (symbol (lib_id "power:+3.3VADC") (at 64.008 48.514 0) (unit 1)
    (in_bom yes) (on_board yes) (fields_autoplaced)
    (uuid 13cf6375-898d-4635-8ef8-cb8b9e301a19)
-    (property "Reference" "#PWR?" (id 0) (at 67.818 49.784 0)
+    (property "Reference" "#PWR065" (id 0) (at 67.818 49.784 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (property "Value" "+3.3VADC" (id 1) (at 64.008 44.9382 0))
--- a/F3:F303/Multistepper/kicad/BOM_full.ods
+++ b/F3:F303/Multistepper/kicad/BOM_full.ods
--- a/F3:F303/Multistepper/kicad/back.jpg
+++ b/F3:F303/Multistepper/kicad/back.jpg
--- a/F3:F303/Multistepper/kicad/fp-info-cache
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--- a/F3:F303/Multistepper/kicad/front.jpg
+++ b/F3:F303/Multistepper/kicad/front.jpg
--- a/F3:F303/Multistepper/kicad/gerbers/multistepper-B_Cu.gbr
+++ b/F3:F303/Multistepper/kicad/gerbers/multistepper-B_Cu.gbr
--- a/F3:F303/Multistepper/kicad/gerbers/multistepper-B_Mask.gbr
+++ b/F3:F303/Multistepper/kicad/gerbers/multistepper-B_Mask.gbr
@@ -1,12 +1,12 @@
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--- a/F3:F303/Multistepper/kicad/gerbers/multistepper-B_Paste.gbr
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--- a/F3:F303/Multistepper/kicad/gerbers/multistepper-B_Silkscreen.gbr
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--- a/F3:F303/Multistepper/kicad/gerbers/multistepper-Edge_Cuts.gbr
+++ b/F3:F303/Multistepper/kicad/gerbers/multistepper-Edge_Cuts.gbr
@@ -1,11 +1,11 @@
 %TF.GenerationSoftware,KiCad,Pcbnew,6.0.10*%
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--- a/F3:F303/Multistepper/kicad/gerbers/multistepper-F_Cu.gbr
+++ b/F3:F303/Multistepper/kicad/gerbers/multistepper-F_Cu.gbr
--- a/F3:F303/Multistepper/kicad/gerbers/multistepper-F_Mask.gbr
+++ b/F3:F303/Multistepper/kicad/gerbers/multistepper-F_Mask.gbr
@@ -1,12 +1,12 @@
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--- a/F3:F303/Multistepper/kicad/gerbers/multistepper-F_Paste.gbr
+++ b/F3:F303/Multistepper/kicad/gerbers/multistepper-F_Paste.gbr
@@ -1,12 +1,12 @@
 %TF.GenerationSoftware,KiCad,Pcbnew,6.0.10*%
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-G04 Created by KiCad (PCBNEW 6.0.10) date 2023-01-16 16:43:20*
+G04 Created by KiCad (PCBNEW 6.0.10) date 2023-02-06 19:48:01*
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+%TD*%
+D18*
+%TO.C,Q3*%
+X155107600Y-83897600D03*
+X157007600Y-83897600D03*
+X156057600Y-80897600D03*
+%TD*%
+D19*
 %TO.C,U1*%
 X111705000Y-83662000D03*
 X111705000Y-84162000D03*
@@ -120,7 +132,7 @@ X111705000Y-94162000D03*
 X111705000Y-94662000D03*
 X111705000Y-95162000D03*
 X111705000Y-95662000D03*
-D18*
+D20*
 X113380000Y-97337000D03*
 X113880000Y-97337000D03*
 X114380000Y-97337000D03*
@@ -146,7 +158,7 @@ X123880000Y-97337000D03*
 X124380000Y-97337000D03*
 X124880000Y-97337000D03*
 X125380000Y-97337000D03*
-D17*
+D19*
 X127055000Y-95662000D03*
 X127055000Y-95162000D03*
 X127055000Y-94662000D03*
@@ -172,7 +184,7 @@ X127055000Y-85162000D03*
 X127055000Y-84662000D03*
 X127055000Y-84162000D03*
 X127055000Y-83662000D03*
-D18*
+D20*
 X125380000Y-81987000D03*
 X124880000Y-81987000D03*
 X124380000Y-81987000D03*
@@ -199,32 +211,37 @@ X114380000Y-81987000D03*
 X113880000Y-81987000D03*
 X113380000Y-81987000D03*
 %TD*%
-D19*
+D21*
 %TO.C,C4*%
 X100417350Y-91997700D03*
 X100417350Y-90272700D03*
 %TD*%
-D20*
+D22*
+%TO.C,R35*%
+X137466700Y-85801200D03*
+X139291700Y-85801200D03*
+%TD*%
+D23*
 %TO.C,Y1*%
 X103225600Y-87558000D03*
 X103225600Y-91258000D03*
 %TD*%
-D12*
+D13*
 %TO.C,RN6*%
 X104210000Y-95896000D03*
-D13*
+D14*
 X105010000Y-95896000D03*
 X105810000Y-95896000D03*
-D12*
+D13*
 X106610000Y-95896000D03*
 X106610000Y-94096000D03*
-D13*
+D14*
 X105810000Y-94096000D03*
 X105010000Y-94096000D03*
-D12*
+D13*
 X104210000Y-94096000D03*
 %TD*%
-D21*
+D24*
 %TO.C,R2*%
 X147218400Y-93012900D03*
 X147218400Y-91187900D03*
@@ -234,46 +251,46 @@ D10*
 X127889000Y-81661000D03*
 X129614000Y-81661000D03*
 %TD*%
-D22*
+D25*
 %TO.C,C2*%
 X94284800Y-87528400D03*
 X94284800Y-89253400D03*
 %TD*%
-D12*
+D13*
 %TO.C,RN10*%
 X100165075Y-60621827D03*
-D13*
+D14*
 X99365075Y-60621827D03*
 X98565075Y-60621827D03*
-D12*
+D13*
 X97765075Y-60621827D03*
 X97765075Y-62421827D03*
-D13*
+D14*
 X98565075Y-62421827D03*
 X99365075Y-62421827D03*
-D12*
+D13*
 X100165075Y-62421827D03*
 %TD*%
 %TO.C,RN5*%
 X107004000Y-100722000D03*
-D13*
+D14*
 X107804000Y-100722000D03*
 X108604000Y-100722000D03*
-D12*
+D13*
 X109404000Y-100722000D03*
 X109404000Y-98922000D03*
-D13*
+D14*
 X108604000Y-98922000D03*
 X107804000Y-98922000D03*
-D12*
+D13*
 X107004000Y-98922000D03*
 %TD*%
-D22*
+D25*
 %TO.C,C1*%
 X100417350Y-86917700D03*
 X100417350Y-88642700D03*
 %TD*%
-D23*
+D26*
 %TO.C,U2*%
 X142033000Y-58420000D03*
 X142033000Y-60960000D03*
@@ -284,51 +301,51 @@ X151083000Y-63500000D03*
 X151083000Y-60960000D03*
 X151083000Y-58420000D03*
 %TD*%
-D12*
+D13*
 %TO.C,RN13*%
 X97696000Y-121940000D03*
-D13*
+D14*
 X98496000Y-121940000D03*
 X99296000Y-121940000D03*
-D12*
+D13*
 X100096000Y-121940000D03*
 X100096000Y-120140000D03*
-D13*
+D14*
 X99296000Y-120140000D03*
 X98496000Y-120140000D03*
-D12*
+D13*
 X97696000Y-120140000D03*
 %TD*%
 %TO.C,RN9*%
 X72744000Y-60683654D03*
-D13*
+D14*
 X71944000Y-60683654D03*
 X71144000Y-60683654D03*
-D12*
+D13*
 X70344000Y-60683654D03*
 X70344000Y-62483654D03*
-D13*
+D14*
 X71144000Y-62483654D03*
 X71944000Y-62483654D03*
-D12*
+D13*
 X72744000Y-62483654D03*
 %TD*%
-D14*
+D15*
 %TO.C,RN15*%
 X77466000Y-103917600D03*
-D15*
+D16*
 X77466000Y-104717600D03*
 X77466000Y-105517600D03*
-D14*
+D15*
 X77466000Y-106317600D03*
 X79266000Y-106317600D03*
-D15*
+D16*
 X79266000Y-105517600D03*
 X79266000Y-104717600D03*
-D14*
+D15*
 X79266000Y-103917600D03*
 %TD*%
-D24*
+D27*
 %TO.C,C6*%
 X127709000Y-99822000D03*
 X125984000Y-99822000D03*
@@ -338,80 +355,74 @@ D11*
 X97282000Y-83479200D03*
 X97282000Y-92659200D03*
 %TD*%
-D25*
+D17*
 %TO.C,R11*%
 X152552400Y-108102400D03*
 X150727400Y-108102400D03*
 %TD*%
-D12*
+D13*
 %TO.C,RN14*%
 X67834925Y-121940000D03*
-D13*
+D14*
 X68634925Y-121940000D03*
 X69434925Y-121940000D03*
-D12*
+D13*
 X70234925Y-121940000D03*
 X70234925Y-120140000D03*
-D13*
+D14*
 X69434925Y-120140000D03*
 X68634925Y-120140000D03*
-D12*
+D13*
 X67834925Y-120140000D03*
 %TD*%
-D16*
+D22*
 %TO.C,R10*%
 X150727400Y-106527600D03*
 X152552400Y-106527600D03*
 %TD*%
-D24*
+D27*
 %TO.C,C7*%
 X113638500Y-100584000D03*
 X111913500Y-100584000D03*
 %TD*%
-D26*
+D28*
 %TO.C,C14*%
 X155397200Y-111546800D03*
 X155397200Y-116646800D03*
 %TD*%
-D16*
+D22*
 %TO.C,R9*%
 X102109900Y-100736400D03*
 X103934900Y-100736400D03*
 %TD*%
-D12*
+D13*
 %TO.C,RN12*%
 X127756000Y-121880000D03*
-D13*
+D14*
 X128556000Y-121880000D03*
 X129356000Y-121880000D03*
-D12*
+D13*
 X130156000Y-121880000D03*
 X130156000Y-120080000D03*
-D13*
+D14*
 X129356000Y-120080000D03*
 X128556000Y-120080000D03*
-D12*
+D13*
 X127756000Y-120080000D03*
 %TD*%
-D14*
+D15*
 %TO.C,RN8*%
 X77494000Y-76730000D03*
-D15*
+D16*
 X77494000Y-77530000D03*
 X77494000Y-78330000D03*
-D14*
+D15*
 X77494000Y-79130000D03*
 X79294000Y-79130000D03*
-D15*
+D16*
 X79294000Y-78330000D03*
 X79294000Y-77530000D03*
-D14*
+D15*
 X79294000Y-76730000D03*
 %TD*%
-D27*
-%TO.C,Q3*%
-X138116000Y-78852000D03*
-X138116000Y-80152000D03*
-X140776000Y-79502000D03*
-%TD*%
 M02*
--- a/F3:F303/Multistepper/kicad/gerbers/multistepper-F_Silkscreen.gbr
+++ b/F3:F303/Multistepper/kicad/gerbers/multistepper-F_Silkscreen.gbr
--- a/F3:F303/Multistepper/kicad/gerbers/multistepper-Ground_Cu.gbr
+++ b/F3:F303/Multistepper/kicad/gerbers/multistepper-Ground_Cu.gbr
--- a/F3:F303/Multistepper/kicad/gerbers/multistepper-Power_Cu.gbr
+++ b/F3:F303/Multistepper/kicad/gerbers/multistepper-Power_Cu.gbr
@@ -1,12 +1,12 @@
 %TF.GenerationSoftware,KiCad,Pcbnew,6.0.10*%
-%TF.CreationDate,2023-01-16T16:43:20+03:00*%
+%TF.CreationDate,2023-02-06T19:48:00+03:00*%
 %TF.ProjectId,multistepper,6d756c74-6973-4746-9570-7065722e6b69,rev?*%
 %TF.SameCoordinates,Original*%
 %TF.FileFunction,Copper,L3,Inr*%
 %TF.FilePolarity,Positive*%
 %FSLAX46Y46*%
 G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
-G04 Created by KiCad (PCBNEW 6.0.10) date 2023-01-16 16:43:20*
+G04 Created by KiCad (PCBNEW 6.0.10) date 2023-02-06 19:48:00*
 %MOMM*%
 %LPD*%
 G01*
@@ -120,13 +120,13 @@ G04 Aperture macros list end*
 %ADD39C,0.800000*%
 %TD*%
 %TA.AperFunction,Conductor*%
-%ADD40C,0.300000*%
+%ADD40C,1.000000*%
 %TD*%
 %TA.AperFunction,Conductor*%
-%ADD41C,1.000000*%
+%ADD41C,0.500000*%
 %TD*%
 %TA.AperFunction,Conductor*%
-%ADD42C,0.500000*%
+%ADD42C,0.300000*%
 %TD*%
 %TA.AperFunction,Conductor*%
 %ADD43C,2.000000*%
@@ -964,16 +964,9 @@ D19*
 X158167500Y-89348000D03*
 %TD*%
 D38*
-%TO.N,+3.3VADC*%
-X101092000Y-101549200D03*
-D39*
-%TO.N,MCU3v3*%
-X100584000Y-100056000D03*
-D38*
 %TO.N,GND*%
 X149910800Y-137749000D03*
 D39*
-X133756400Y-78699500D03*
 X99669600Y-72034400D03*
 X121412000Y-121909100D03*
 X88493600Y-74930000D03*
@@ -1045,8 +1038,6 @@ X129133600Y-100431600D03*
 D38*
 X150600000Y-81200000D03*
 D39*
-%TO.N,/MCU base/BTN0*%
-X134400000Y-84900000D03*
 %TO.N,/MCU base/BTN1*%
 X133432503Y-84836000D03*
 X136652000Y-80975189D03*
@@ -1059,7 +1050,7 @@ X132130800Y-81280000D03*
 D38*
 %TO.N,/MCU base/SWCLK*%
 X128879600Y-76504800D03*
-X132425423Y-79925423D03*
+X131792223Y-79925423D03*
 D39*
 %TO.N,M4_L0*%
 X132435600Y-88900000D03*
@@ -1140,6 +1131,7 @@ X149098000Y-120548400D03*
 X137972800Y-104648000D03*
 X155197900Y-90973600D03*
 X120446800Y-94202100D03*
+X143446500Y-67576700D03*
 X123494800Y-83667600D03*
 D39*
 %TO.N,ADC0*%
@@ -1174,6 +1166,7 @@ X71944000Y-62483654D03*
 X77774800Y-64047900D03*
 D38*
 %TO.N,+3.3VADC*%
+X101092000Y-101549200D03*
 X110134400Y-93675200D03*
 D39*
 %TO.N,USART3_TX*%
@@ -1379,6 +1372,7 @@ X109169200Y-79400400D03*
 X125222000Y-95046800D03*
 X150164800Y-92728000D03*
 D39*
+X100584000Y-100056000D03*
 %TO.N,/Motors/stepper_M2/U*%
 X70020000Y-57468854D03*
 X74846000Y-50915654D03*
@@ -1435,33 +1429,6 @@ X152450000Y-134874000D03*
 X113233200Y-122123200D03*
 %TD*%
 D40*
-%TO.N,+3.3VADC*%
-X111404400Y-93675200D02*
-X111963200Y-94234000D01*
-X111963200Y-94234000D02*
-X111963200Y-95910400D01*
-X110134400Y-93675200D02*
-X111404400Y-93675200D01*
-X111963200Y-95910400D02*
-X119253000Y-103200200D01*
-X101092000Y-104343200D02*
-X101092000Y-101549200D01*
-X101708000Y-104959200D02*
-X101092000Y-104343200D01*
-X103022400Y-106273600D02*
-X101708000Y-104959200D01*
-X119253000Y-103200200D02*
-X121513600Y-105460800D01*
-X119253000Y-103200200D02*
-X116179600Y-106273600D01*
-X116179600Y-106273600D02*
-X103022400Y-106273600D01*
-%TO.N,MCU3v3*%
-X100584000Y-100056000D02*
-X100597170Y-100056000D01*
-X100597170Y-100056000D02*
-X102109900Y-98543270D01*
-D41*
 %TO.N,+3V3*%
 X151739600Y-93624400D02*
 X150825200Y-94538800D01*
@@ -1473,10 +1440,10 @@ X144932400Y-95300800D02*
 X150063200Y-95300800D01*
 X151739600Y-93624400D02*
 X151739600Y-82339600D01*
-D42*
+D41*
 X152603200Y-94538800D02*
 X150825200Y-94538800D01*
-D41*
+D40*
 X129946400Y-101244400D02*
 X129133600Y-100431600D01*
 X138988800Y-101244400D02*
@@ -1487,16 +1454,14 @@ X130810000Y-101244400D02*
 X138988800Y-101244400D01*
 X150825200Y-94538800D02*
 X150063200Y-95300800D01*
-D40*
+D42*
 %TO.N,/MCU base/BTN1*%
-X135902478Y-81724711D02*
-X133946689Y-81724711D01*
-X136652000Y-80975189D02*
-X135902478Y-81724711D01*
-X133432503Y-82238897D02*
-X133432503Y-84836000D01*
-X133946689Y-81724711D02*
-X133432503Y-82238897D01*
+X133432503Y-84836000D02*
+X133432503Y-82315097D01*
+X133432503Y-82315097D02*
+X134772411Y-80975189D01*
+X134772411Y-80975189D02*
+X136652000Y-80975189D01*
 %TO.N,/MCU base/SWDIO*%
 X145821000Y-83947000D02*
 X144821002Y-83947000D01*
@@ -1505,12 +1470,10 @@ X134333000Y-82561000D01*
 X144821002Y-83947000D02*
 X143435002Y-82561000D01*
 %TO.N,/MCU base/SWCLK*%
-X143369689Y-80225689D02*
+X131792223Y-79925423D02*
+X143069423Y-79925423D01*
+X143069423Y-79925423D02*
 X145821000Y-82677000D01*
-X132725689Y-80225689D02*
-X143369689Y-80225689D01*
-X132425423Y-79925423D02*
-X132725689Y-80225689D01*
 %TO.N,ADC4*%
 X146253200Y-106527600D02*
 X141224000Y-111556800D01*
@@ -1532,10 +1495,10 @@ X140833600Y-77200000D02*
 X153795800Y-77200000D01*
 X123901200Y-82143600D02*
 X123901200Y-81534000D01*
-D41*
+D40*
 X140309600Y-110236000D02*
 X136804400Y-110236000D01*
-D42*
+D41*
 X122783600Y-83261200D02*
 X123901200Y-82143600D01*
 X123494800Y-82550000D02*
@@ -1543,33 +1506,34 @@ X123901200Y-82143600D01*
 D43*
 X149098000Y-120548400D02*
 X148082000Y-120548400D01*
-D41*
+D40*
 X141757400Y-108788200D02*
 X140309600Y-110236000D01*
-D40*
+D42*
 X129752048Y-104648000D02*
 X137972800Y-104648000D01*
-D42*
+D41*
 X123494800Y-83667600D02*
 X123494800Y-82550000D01*
 D43*
 X161544000Y-101142800D02*
 X161544000Y-91948000D01*
-D42*
+D41*
 X123494800Y-83667600D02*
 X122783600Y-84378800D01*
 D43*
 X155197900Y-78602100D02*
 X155197900Y-90973600D01*
-D41*
-X140833600Y-70189600D02*
-X144627600Y-66395600D01*
-D40*
+D42*
 X120446800Y-94202100D02*
 X120446800Y-97434400D01*
-D41*
+D40*
 X141757400Y-105029000D02*
 X138353800Y-105029000D01*
+X143446500Y-67576700D02*
+X144627600Y-66395600D01*
+X140833600Y-70189600D02*
+X143446500Y-67576700D01*
 X138353800Y-105029000D02*
 X137972800Y-104648000D01*
 D43*
@@ -1587,19 +1551,19 @@ X123901200Y-81534000D02*
 X127166000Y-81534000D01*
 X146202400Y-118668800D02*
 X146202400Y-110947200D01*
-D41*
+D40*
 X141757400Y-105029000D02*
 X141757400Y-108788200D01*
-D40*
+D42*
 X125407911Y-102395511D02*
 X127499559Y-102395511D01*
 D43*
 X157276800Y-91948000D02*
 X156172300Y-91948000D01*
-D40*
+D42*
 X127499559Y-102395511D02*
 X129752048Y-104648000D01*
-D41*
+D40*
 X144627600Y-66395600D02*
 X144627600Y-60401200D01*
 D43*
@@ -1609,21 +1573,21 @@ X146202400Y-110947200D02*
 X152120600Y-105029000D01*
 X153822400Y-103327200D02*
 X159359600Y-103327200D01*
-D41*
+D40*
 X152120600Y-105029000D02*
 X141757400Y-105029000D01*
 X140833600Y-77200000D02*
 X140833600Y-70189600D01*
-D42*
+D41*
 X122783600Y-84378800D02*
 X122783600Y-83261200D01*
 D43*
 X152120600Y-105029000D02*
 X153822400Y-103327200D01*
-D40*
+D42*
 X120446800Y-97434400D02*
 X125407911Y-102395511D01*
-D41*
+D40*
 %TO.N,Vdrive*%
 X167132000Y-95250000D02*
 X164541200Y-97840800D01*
@@ -1644,7 +1608,7 @@ X155956000Y-117551200D02*
 X157988000Y-119583200D01*
 X145989328Y-138724928D02*
 X144834728Y-138724928D01*
-D41*
+D40*
 X164541200Y-97840800D02*
 X164541200Y-102971600D01*
 X156794200Y-105587800D02*
@@ -1654,7 +1618,7 @@ X154905000Y-108839000D01*
 D43*
 X154889200Y-116738400D02*
 X155702000Y-117551200D01*
-D41*
+D40*
 X156794200Y-105587800D02*
 X154905000Y-107477000D01*
 D43*
@@ -1662,7 +1626,7 @@ X154889200Y-112268000D02*
 X154889200Y-116738400D01*
 X149088128Y-140655328D02*
 X147157728Y-138724928D01*
-D41*
+D40*
 X161925000Y-105587800D02*
 X164541200Y-102971600D01*
 D43*
@@ -1670,19 +1634,39 @@ X154905000Y-108839000D02*
 X154905000Y-110109000D01*
 X155844528Y-140655328D02*
 X149088128Y-140655328D01*
-D40*
+D42*
 %TO.N,+3.3VADC*%
+X119253000Y-103200200D02*
+X121513600Y-105460800D01*
+X111404400Y-93675200D02*
+X111963200Y-94234000D01*
+X101092000Y-104343200D02*
+X101092000Y-101549200D01*
+X103022400Y-106273600D02*
+X101708000Y-104959200D01*
 X122123200Y-105460800D02*
 X122986800Y-106324400D01*
 X121513600Y-105460800D02*
 X122123200Y-105460800D01*
+X111963200Y-94234000D02*
+X111963200Y-95910400D01*
+X111963200Y-95910400D02*
+X119253000Y-103200200D01*
 X122986800Y-106324400D02*
 X122986800Y-106730800D01*
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    (property "Reference" "R3" (id 0) (at 50.292 156.718 90))
-    (property "Value" "22" (id 1) (at 50.292 158.75 90))
+    (property "Value" "7.5" (id 1) (at 50.292 158.75 90))
    (property "Footprint" "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder" (id 2) (at 50.292 160.528 90)
      (effects (font (size 1.27 1.27)) hide)
    )
@@ -4201,15 +4219,35 @@
    (pin "6" (uuid 1fbb7ced-58dc-4798-a2e7-bb9304458e44))
  )

-  (symbol (lib_id "Device:R_Pack04") (at 56.388 166.37 90) (mirror x) (unit 1)
-    (in_bom yes) (on_board yes)
-    (uuid 4b11cc55-c6db-4a6b-8c07-496e85eff810)
-    (property "Reference" "RN3" (id 0) (at 56.388 158.75 90))
-    (property "Value" "330" (id 1) (at 56.388 171.45 90))
-    (property "Footprint" "Resistor_SMD:R_Array_Convex_4x0603" (id 2) (at 56.388 173.355 90)
+  (symbol (lib_id "Device:Q_PMOS_GSD") (at 265.43 101.6 0) (mirror x) (unit 1)
+    (in_bom yes) (on_board yes) (fields_autoplaced)
+    (uuid 4aaed31f-871b-477f-80f7-78eb56ece162)
+    (property "Reference" "Q3" (id 0) (at 270.637 100.7653 0)
+      (effects (font (size 1.27 1.27)) (justify left))
+    )
+    (property "Value" "AO3401" (id 1) (at 270.637 103.3022 0)
+      (effects (font (size 1.27 1.27)) (justify left))
+    )
+    (property "Footprint" "Package_TO_SOT_SMD:SOT-23_Handsoldering" (id 2) (at 270.51 104.14 0)
      (effects (font (size 1.27 1.27)) hide)
    )
-    (property "Datasheet" "~" (id 3) (at 56.388 166.37 0)
+    (property "Datasheet" "~" (id 3) (at 265.43 101.6 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid 12c065d2-a9a0-4ccf-aac0-fc40db18cfc3))
+    (pin "2" (uuid fd6c48a9-304a-46e3-bc36-46c49fecb929))
+    (pin "3" (uuid 78a35485-d3f8-4228-b2a7-1244d0383311))
+  )
+
+  (symbol (lib_id "Device:R_Pack04") (at 55.626 170.688 90) (mirror x) (unit 1)
+    (in_bom yes) (on_board yes)
+    (uuid 4b11cc55-c6db-4a6b-8c07-496e85eff810)
+    (property "Reference" "RN3" (id 0) (at 55.626 163.068 90))
+    (property "Value" "330" (id 1) (at 55.626 175.768 90))
+    (property "Footprint" "Resistor_SMD:R_Array_Convex_4x0603" (id 2) (at 55.626 177.673 90)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "~" (id 3) (at 55.626 170.688 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (pin "1" (uuid 922ebcd6-acac-4c29-857c-4455385ef27c))
@@ -4302,15 +4340,15 @@
    (pin "2" (uuid eb3e9405-45a7-458d-974e-8c81153cb07e))
  )

-  (symbol (lib_id "stm32-rescue:R") (at 260.604 111.252 0) (mirror y) (unit 1)
+  (symbol (lib_id "stm32-rescue:R") (at 267.97 110.49 0) (mirror y) (unit 1)
    (in_bom yes) (on_board yes)
    (uuid 5a0fe310-84a9-4940-b321-708bd8fce0ae)
-    (property "Reference" "R33" (id 0) (at 258.572 111.252 90))
-    (property "Value" "1k5" (id 1) (at 260.604 111.252 90))
-    (property "Footprint" "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder" (id 2) (at 262.382 111.252 90)
+    (property "Reference" "R33" (id 0) (at 264.922 110.49 0))
+    (property "Value" "1k5" (id 1) (at 267.97 110.49 90))
+    (property "Footprint" "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder" (id 2) (at 269.748 110.49 90)
      (effects (font (size 1.27 1.27)) hide)
    )
-    (property "Datasheet" "" (id 3) (at 260.604 111.252 0)
+    (property "Datasheet" "" (id 3) (at 267.97 110.49 0)
      (effects (font (size 1.27 1.27)) hide)
    )
    (pin "1" (uuid 9507431f-b7f6-4a31-b78a-3031c5e803d0))
@@ -4429,6 +4467,22 @@
    (pin "1" (uuid f7f1657e-81d2-4dde-977a-4200aecc4c52))
  )

+  (symbol (lib_id "power:+5V") (at 58.928 158.75 0) (unit 1)
+    (in_bom yes) (on_board yes) (fields_autoplaced)
+    (uuid 7fe68159-d1bb-4ac3-bcbf-a26c08565a5b)
+    (property "Reference" "#PWR063" (id 0) (at 58.928 162.56 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Value" "+5V" (id 1) (at 58.928 155.1742 0))
+    (property "Footprint" "" (id 2) (at 58.928 158.75 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "" (id 3) (at 58.928 158.75 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid 5ecfa1a7-bfc4-4abb-a649-25bc3049e80c))
+  )
+
  (symbol (lib_id "Power_Protection:SP0505BAHT") (at 232.156 113.03 90) (unit 1)
    (in_bom yes) (on_board yes) (fields_autoplaced)
    (uuid 86f3a6fb-c854-4b84-a948-5fdcfbfa655b)
@@ -4552,6 +4606,21 @@
    (pin "6" (uuid 0b7c02ae-fa50-4d44-a6f1-c4cdd97d0c97))
  )

+  (symbol (lib_id "stm32-rescue:R") (at 252.73 105.41 0) (mirror y) (unit 1)
+    (in_bom yes) (on_board yes)
+    (uuid 906d6d88-74f6-46a5-9e3d-c80a83d789f2)
+    (property "Reference" "R35" (id 0) (at 249.428 105.41 0))
+    (property "Value" "10k" (id 1) (at 252.73 105.41 90))
+    (property "Footprint" "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder" (id 2) (at 254.508 105.41 90)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "" (id 3) (at 252.73 105.41 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid e87e24fc-410d-4fea-b0a8-58e2ac338ec0))
+    (pin "2" (uuid d67a0aed-1a39-4cdc-a71f-29e39ed9d895))
+  )
+
  (symbol (lib_id "Device:R") (at 32.766 184.15 90) (unit 1)
    (in_bom yes) (on_board yes)
    (uuid 94c62fc5-7755-4bfc-9497-cb4908571986)
@@ -4582,11 +4651,26 @@
    (pin "2" (uuid 7657ad4d-4d3d-4696-bfab-43bb204d8fa4))
  )

+  (symbol (lib_id "stm32-rescue:R") (at 256.54 101.6 90) (mirror x) (unit 1)
+    (in_bom yes) (on_board yes)
+    (uuid 9be66433-ec9c-4b28-8df4-3bb35a6d51dd)
+    (property "Reference" "R36" (id 0) (at 256.54 99.314 90))
+    (property "Value" "330" (id 1) (at 256.54 101.6 90))
+    (property "Footprint" "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder" (id 2) (at 256.54 99.822 90)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "" (id 3) (at 256.54 101.6 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid 06c29d5d-ad11-45cf-8b07-13fe4905aa3e))
+    (pin "2" (uuid 1ac77e28-33b4-4f3e-83d6-59a44d0929d2))
+  )
+
  (symbol (lib_id "Connector_Generic:Conn_02x05_Odd_Even") (at 38.862 163.83 0) (unit 1)
    (in_bom yes) (on_board yes)
    (uuid 9eb0e3e4-2412-4862-9254-ebfae0e788ab)
    (property "Reference" "J2" (id 0) (at 40.132 156.21 0))
-    (property "Value" "Buttons/I2C" (id 1) (at 43.434 171.577 0))
+    (property "Value" "Buttons/I2C" (id 1) (at 41.148 171.45 0))
    (property "Footprint" "Connector_IDC:IDC-Header_2x05_P2.54mm_Vertical" (id 2) (at 38.862 163.83 0)
      (effects (font (size 1.27 1.27)) hide)
    )
@@ -4859,26 +4943,6 @@
    (pin "1" (uuid 6d376730-308b-46ec-8c18-6ecaf7da86ed))
  )

-  (symbol (lib_id "Transistor_BJT:DTA114Y") (at 258.064 102.362 0) (mirror x) (unit 1)
-    (in_bom yes) (on_board yes)
-    (uuid bfbf88df-b3a6-4add-b186-1969d32b6ac1)
-    (property "Reference" "Q3" (id 0) (at 262.8392 103.5304 0)
-      (effects (font (size 1.27 1.27)) (justify left))
-    )
-    (property "Value" "DTA114Y" (id 1) (at 262.8392 101.219 0)
-      (effects (font (size 1.27 1.27)) (justify left))
-    )
-    (property "Footprint" "Package_TO_SOT_SMD:SOT-323_SC-70_Handsoldering" (id 2) (at 258.064 102.362 0)
-      (effects (font (size 1.27 1.27)) (justify left) hide)
-    )
-    (property "Datasheet" "" (id 3) (at 258.064 102.362 0)
-      (effects (font (size 1.27 1.27)) (justify left) hide)
-    )
-    (pin "1" (uuid 62a87cc0-8587-4b18-9148-9c3886b9251e))
-    (pin "2" (uuid bf8c0eee-d928-4fca-89c9-4d089e3af1ae))
-    (pin "3" (uuid 28b55cba-6e2a-4a44-99c2-e238ca70c448))
-  )
-
  (symbol (lib_id "Device:R_Pack04") (at 26.289 166.37 90) (mirror x) (unit 1)
    (in_bom yes) (on_board yes) (fields_autoplaced)
    (uuid c2620a21-1c3d-4233-bbce-d374c7c78b67)
@@ -5061,6 +5125,21 @@
    (pin "2" (uuid 39036bab-6b67-4e2d-86e8-65e57590d42b))
  )

+  (symbol (lib_id "Device:R") (at 50.292 161.29 90) (unit 1)
+    (in_bom yes) (on_board yes)
+    (uuid e6c5f93a-f087-442b-a5b7-aa75431da7f7)
+    (property "Reference" "R34" (id 0) (at 54.356 160.02 90))
+    (property "Value" "7.5" (id 1) (at 50.292 161.29 90))
+    (property "Footprint" "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder" (id 2) (at 50.292 163.068 90)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "~" (id 3) (at 50.292 161.29 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid ee98945f-1152-4191-9816-02e67b458f6a))
+    (pin "2" (uuid afdf4283-cf95-4c01-8f46-4654a0fb6e23))
+  )
+
  (symbol (lib_id "stm32-rescue:GND") (at 33.782 168.91 0) (unit 1)
    (in_bom yes) (on_board yes)
    (uuid e834867c-3166-4adb-abbe-6c59acb368ea)
--- a/F3:F303/Multistepper/kicad/multistepper.csv
+++ b/F3:F303/Multistepper/kicad/multistepper.csv
@@ -0,0 +1,328 @@
+"Source:","/Big/Data/00__Electronics/STM32/F303-nolib/Multistepper/kicad/multistepper.kicad_sch"
+"Date:","Пн 06 фев 2023 19:51:26"
+"Tool:","Eeschema 6.0.10"
+"Generator:","/usr/local/share/kicad/plugins/bom_csv_grouped_by_value.py"
+"Component Count:","241"
+
+"Individual Components:"
+
+"Item","Qty","Reference(s)","Value","LibPart","Footprint","Datasheet","Manufacturer"
+"","","C1","6","stm32-rescue:C","Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder","",""
+"","","C2","0.1","Device:C","Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder","~",""
+"","","C3","0.1","Device:C","Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder","~",""
+"","","C4","6","stm32-rescue:C","Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder","",""
+"","","C5","0.1","Device:C","Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder","~",""
+"","","C6","0.1","Device:C","Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder","~",""
+"","","C7","0.1","Device:C","Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder","~",""
+"","","C8","0.1","Device:C","Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder","~",""
+"","","C9","0.1","Device:C","Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder","~",""
+"","","C10","1u","stm32-rescue:C","Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder","",""
+"","","C11","1u","stm32-rescue:C","Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder","",""
+"","","C12","1u","stm32-rescue:C","Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder","",""
+"","","C13","0.1","Device:C","Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder","~",""
+"","","C14","47u 35V","Device:C_Polarized","Capacitor_Tantalum_SMD:CP_EIA-6032-28_Kemet-C_Pad2.25x2.35mm_HandSolder","~",""
+"","","C15","0.1","stm32-rescue:C","Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder","",""
+"","","C16","47u 6V","stm32-rescue:CP","Capacitor_Tantalum_SMD:CP_EIA-3216-18_Kemet-A_Pad1.58x1.35mm_HandSolder","",""
+"","","C17","47u 10V","Device:C_Polarized","Capacitor_Tantalum_SMD:CP_EIA-6032-28_Kemet-C_Pad2.25x2.35mm_HandSolder","~",""
+"","","C18","0.1","stm32-rescue:C","Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder","",""
+"","","C19","100u 35V","Device:C_Polarized","Capacitor_THT:CP_Radial_D8.0mm_P3.50mm","~",""
+"","","C20","100u 35V","Device:C_Polarized","Capacitor_THT:CP_Radial_D8.0mm_P3.50mm","~",""
+"","","C21","100u 35V","Device:C_Polarized","Capacitor_THT:CP_Radial_D8.0mm_P3.50mm","~",""
+"","","C22","100u 35V","Device:C_Polarized","Capacitor_THT:CP_Radial_D8.0mm_P3.50mm","~",""
+"","","C23","100u 35V","Device:C_Polarized","Capacitor_THT:CP_Radial_D8.0mm_P3.50mm","~",""
+"","","C24","100u 35V","Device:C_Polarized","Capacitor_THT:CP_Radial_D8.0mm_P3.50mm","~",""
+"","","C25","100u 35V","Device:C_Polarized","Capacitor_THT:CP_Radial_D8.0mm_P3.50mm","~",""
+"","","C26","100u 35V","Device:C_Polarized","Capacitor_THT:CP_Radial_D8.0mm_P3.50mm","~",""
+"","","C27","0.1","stm32-rescue:C","Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder","",""
+"","","C28","47u 6V","stm32-rescue:CP","Capacitor_Tantalum_SMD:CP_EIA-3216-18_Kemet-A_Pad1.58x1.35mm_HandSolder","",""
+"","","C29","0.1","stm32-rescue:C","Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder","",""
+"","","D1","SP0505BAHT","Power_Protection:SP0505BAHT","Package_TO_SOT_SMD:SOT-23-6","http://www.littelfuse.com/~/media/files/littelfuse/technical%20resources/documents/data%20sheets/sp05xxba.pdf",""
+"","","D2","SP0505BAHT","Power_Protection:SP0505BAHT","Package_TO_SOT_SMD:SOT-23-6","http://www.littelfuse.com/~/media/files/littelfuse/technical%20resources/documents/data%20sheets/sp05xxba.pdf",""
+"","","D3","SP0505BAHT","Power_Protection:SP0505BAHT","Package_TO_SOT_SMD:SOT-23-6","http://www.littelfuse.com/~/media/files/littelfuse/technical%20resources/documents/data%20sheets/sp05xxba.pdf",""
+"","","D4","SP0505BAHT","Power_Protection:SP0505BAHT","Package_TO_SOT_SMD:SOT-23-6","http://www.littelfuse.com/~/media/files/littelfuse/technical%20resources/documents/data%20sheets/sp05xxba.pdf",""
+"","","D5","SP0505BAHT","Power_Protection:SP0505BAHT","Package_TO_SOT_SMD:SOT-23-6","http://www.littelfuse.com/~/media/files/littelfuse/technical%20resources/documents/data%20sheets/sp05xxba.pdf",""
+"","","D6","SP0505BAHT","Power_Protection:SP0505BAHT","Package_TO_SOT_SMD:SOT-23-6","http://www.littelfuse.com/~/media/files/littelfuse/technical%20resources/documents/data%20sheets/sp05xxba.pdf",""
+"","","D7","SP0505BAHT","Power_Protection:SP0505BAHT","Package_TO_SOT_SMD:SOT-23-6","http://www.littelfuse.com/~/media/files/littelfuse/technical%20resources/documents/data%20sheets/sp05xxba.pdf",""
+"","","D8","SP0505BAHT","Power_Protection:SP0505BAHT","Package_TO_SOT_SMD:SOT-23-6","http://www.littelfuse.com/~/media/files/littelfuse/technical%20resources/documents/data%20sheets/sp05xxba.pdf",""
+"","","D9","SS14","Device:D_Schottky","Diode_SMD:D_SOD-323_HandSoldering","~",""
+"","","D10","SS14","Device:D_Schottky","Diode_SMD:D_SOD-323_HandSoldering","~",""
+"","","D11","SS14","Device:D_Schottky","Diode_SMD:D_SOD-323_HandSoldering","~",""
+"","","D12","SS14","Device:D_Schottky","Diode_SMD:D_SOD-323_HandSoldering","~",""
+"","","D13","SS14","Device:D_Schottky","Diode_SMD:D_SOD-323_HandSoldering","~",""
+"","","D14","SS14","Device:D_Schottky","Diode_SMD:D_SOD-323_HandSoldering","~",""
+"","","D15","SS14","Device:D_Schottky","Diode_SMD:D_SOD-323_HandSoldering","~",""
+"","","D16","SS14","Device:D_Schottky","Diode_SMD:D_SOD-323_HandSoldering","~",""
+"","","D17","SS14","Device:D_Schottky","Diode_SMD:D_SOD-323_HandSoldering","~",""
+"","","D18","SS14","Device:D_Schottky","Diode_SMD:D_SOD-323_HandSoldering","~",""
+"","","D19","SS14","Device:D_Schottky","Diode_SMD:D_SOD-323_HandSoldering","~",""
+"","","D20","SS14","Device:D_Schottky","Diode_SMD:D_SOD-323_HandSoldering","~",""
+"","","D21","SS14","Device:D_Schottky","Diode_SMD:D_SOD-323_HandSoldering","~",""
+"","","D22","MBRS130L","Device:D_Schottky","Diode_SMD:D_SMB_Handsoldering","~",""
+"","","D23","SS14","Device:D_Schottky","Diode_SMD:D_SOD-323_HandSoldering","~",""
+"","","D24","PESD1CAN","elements:PESD1CAN","Package_TO_SOT_SMD:SOT-23","",""
+"","","D25","MM3Z7V5","Device:D_Zener","Diode_SMD:D_0805_2012Metric_Pad1.15x1.40mm_HandSolder","~",""
+"","","D26","1N5822","Device:D","Diode_THT:D_DO-201_P3.81mm_Vertical_AnodeUp","~",""
+"","","D27","MBRS130L","Device:D_Schottky","Diode_SMD:D_SMB_Handsoldering","~",""
+"","","H1","MountingHole","Mechanical:MountingHole","MountingHole:MountingHole_3.2mm_M3_DIN965_Pad","~",""
+"","","H2","MountingHole","Mechanical:MountingHole","MountingHole:MountingHole_3.2mm_M3_DIN965_Pad","~",""
+"","","H3","MountingHole","Mechanical:MountingHole","MountingHole:MountingHole_3.2mm_M3_DIN965_Pad","~",""
+"","","H4","MountingHole","Mechanical:MountingHole","MountingHole:MountingHole_3.2mm_M3_DIN965_Pad","~",""
+"","","J1","Prog","Connector:Conn_01x06_Female","Connector_PinSocket_1.27mm:PinSocket_1x06_P1.27mm_Vertical","~",""
+"","","J2","Buttons/I2C","Connector_Generic:Conn_02x05_Odd_Even","Connector_IDC:IDC-Header_2x05_P2.54mm_Vertical","~",""
+"","","J3","Screen","Connector_Generic:Conn_02x05_Odd_Even","Connector_IDC:IDC-Header_2x05_P2.54mm_Vertical","~",""
+"","","J4","ADC2","Connector:Conn_01x04_Female","Connector_JST:JST_PH_B4B-PH-K_1x04_P2.00mm_Vertical","~",""
+"","","J5","ADC1","Connector:Conn_01x04_Female","Connector_JST:JST_PH_B4B-PH-K_1x04_P2.00mm_Vertical","~",""
+"","","J6","MOT_MUL","Connector:Conn_01x05_Male","Connector_JST:JST_PH_B5B-PH-K_1x05_P2.00mm_Vertical","~",""
+"","","J7","GPIO","Connector:Conn_01x04_Female","Connector_JST:JST_PH_B4B-PH-K_1x04_P2.00mm_Vertical","~",""
+"","","J8","USB_B","Connector:USB_B","Connector_USB:USB_B_OST_USB-B1HSxx_Horizontal"," ~",""
+"","","J9","Screw_Terminal_01x03","Connector:Screw_Terminal_01x03","TerminalBlock_Phoenix:TerminalBlock_Phoenix_MKDS-1,5-3_1x03_P5.00mm_Horizontal","~",""
+"","","J10","Screw_Terminal_01x02","Connector:Screw_Terminal_01x02","TerminalBlock_Phoenix:TerminalBlock_Phoenix_MKDS-1,5-2_1x02_P5.00mm_Horizontal","~",""
+"","","J11","LimS","Connector:Conn_01x04_Male","Connector_JST:JST_EH_B4B-EH-A_1x04_P2.50mm_Vertical","~",""
+"","","J12","Stepper","Connector:Conn_01x04_Male","Connector_JST:JST_EH_B4B-EH-A_1x04_P2.50mm_Vertical","~",""
+"","","J13","UART","Connector:Conn_01x03_Male","Connector_JST:JST_PH_B3B-PH-K_1x03_P2.00mm_Vertical","~",""
+"","","J14","LimS","Connector:Conn_01x04_Male","Connector_JST:JST_EH_B4B-EH-A_1x04_P2.50mm_Vertical","~",""
+"","","J15","Stepper","Connector:Conn_01x04_Male","Connector_JST:JST_EH_B4B-EH-A_1x04_P2.50mm_Vertical","~",""
+"","","J16","LimS","Connector:Conn_01x04_Male","Connector_JST:JST_EH_B4B-EH-A_1x04_P2.50mm_Vertical","~",""
+"","","J17","Stepper","Connector:Conn_01x04_Male","Connector_JST:JST_EH_B4B-EH-A_1x04_P2.50mm_Vertical","~",""
+"","","J18","LimS","Connector:Conn_01x04_Male","Connector_JST:JST_EH_B4B-EH-A_1x04_P2.50mm_Vertical","~",""
+"","","J19","Stepper","Connector:Conn_01x04_Male","Connector_JST:JST_EH_B4B-EH-A_1x04_P2.50mm_Vertical","~",""
+"","","J20","LimS","Connector:Conn_01x04_Male","Connector_JST:JST_EH_B4B-EH-A_1x04_P2.50mm_Vertical","~",""
+"","","J21","Stepper","Connector:Conn_01x04_Male","Connector_JST:JST_EH_B4B-EH-A_1x04_P2.50mm_Vertical","~",""
+"","","J22","LimS","Connector:Conn_01x04_Male","Connector_JST:JST_EH_B4B-EH-A_1x04_P2.50mm_Vertical","~",""
+"","","J23","Stepper","Connector:Conn_01x04_Male","Connector_JST:JST_EH_B4B-EH-A_1x04_P2.50mm_Vertical","~",""
+"","","J24","LimS","Connector:Conn_01x04_Male","Connector_JST:JST_EH_B4B-EH-A_1x04_P2.50mm_Vertical","~",""
+"","","J25","Stepper","Connector:Conn_01x04_Male","Connector_JST:JST_EH_B4B-EH-A_1x04_P2.50mm_Vertical","~",""
+"","","J26","LimS","Connector:Conn_01x04_Male","Connector_JST:JST_EH_B4B-EH-A_1x04_P2.50mm_Vertical","~",""
+"","","J27","Stepper","Connector:Conn_01x04_Male","Connector_JST:JST_EH_B4B-EH-A_1x04_P2.50mm_Vertical","~",""
+"","","JP1","CAN","Jumper:SolderJumper_2_Bridged","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP2","USB5V","Jumper:SolderJumper_2_Bridged","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP3","MCU","Jumper:SolderJumper_2_Bridged","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP4","3V3ADC","Jumper:SolderJumper_2_Bridged","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP5","3V3","Jumper:SolderJumper_2_Bridged","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP6","Vdrive","Jumper:SolderJumper_2_Bridged","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP7","Vio","Jumper:SolderJumper_2_Bridged","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP8","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP9","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP10","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP11","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP12","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP13","SolderJumper_2_Bridged","Jumper:SolderJumper_2_Open","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP14","SolderJumper_2_Bridged","Jumper:SolderJumper_2_Open","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP15","SolderJumper_2_Bridged","Jumper:SolderJumper_2_Open","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP16","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP17","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP18","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP19","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP20","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP21","SolderJumper_2_Bridged","Jumper:SolderJumper_2_Open","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP22","SolderJumper_2_Bridged","Jumper:SolderJumper_2_Open","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP23","SolderJumper_2_Bridged","Jumper:SolderJumper_2_Open","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP24","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP25","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP26","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP27","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP28","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP29","SolderJumper_2_Bridged","Jumper:SolderJumper_2_Open","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP30","SolderJumper_2_Bridged","Jumper:SolderJumper_2_Open","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP31","SolderJumper_2_Bridged","Jumper:SolderJumper_2_Open","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP32","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP33","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP34","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP35","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP36","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP37","SolderJumper_2_Bridged","Jumper:SolderJumper_2_Open","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP38","SolderJumper_2_Bridged","Jumper:SolderJumper_2_Open","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP39","SolderJumper_2_Bridged","Jumper:SolderJumper_2_Open","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP40","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP41","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP42","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP43","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP44","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP45","SolderJumper_2_Bridged","Jumper:SolderJumper_2_Open","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP46","SolderJumper_2_Bridged","Jumper:SolderJumper_2_Open","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP47","SolderJumper_2_Bridged","Jumper:SolderJumper_2_Open","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP48","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP49","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP50","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP51","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP52","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP53","SolderJumper_2_Bridged","Jumper:SolderJumper_2_Open","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP54","SolderJumper_2_Bridged","Jumper:SolderJumper_2_Open","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP55","SolderJumper_2_Bridged","Jumper:SolderJumper_2_Open","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP56","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP57","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP58","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP59","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP60","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP61","SolderJumper_2_Bridged","Jumper:SolderJumper_2_Open","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP62","SolderJumper_2_Bridged","Jumper:SolderJumper_2_Open","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP63","SolderJumper_2_Bridged","Jumper:SolderJumper_2_Open","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP64","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP65","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP66","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP67","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP68","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP69","SolderJumper_2_Bridged","Jumper:SolderJumper_2_Open","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP70","SolderJumper_2_Bridged","Jumper:SolderJumper_2_Open","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","JP71","SolderJumper_2_Bridged","Jumper:SolderJumper_2_Open","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"","","L1","100u","Device:L","Inductor_THT:L_Toroid_Horizontal_D6.5mm_P10.00mm_Diameter7-5mm_Amidon-T25","~",""
+"","","Q1","B0505S","elements:B0505S","stepper:B0x0xS","",""
+"","","Q2","IRF9310","elements:IRF9310","Package_SO:SO-8_3.9x4.9mm_P1.27mm","~",""
+"","","Q3","AO3401","Device:Q_PMOS_GSD","Package_TO_SOT_SMD:SOT-23_Handsoldering","~",""
+"","","R1","10k","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R2","22","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R3","7.5","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R4","7.5","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R5","5.1","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R6","330","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R7","330","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R8","330","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R9","22","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R10","91k","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R11","10k","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R12","47k","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R13","47k","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R14","330","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R15","330","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R16","22","stm32-rescue:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","",""
+"","","R17","22","stm32-rescue:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","",""
+"","","R18","120","stm32-rescue:R","Resistor_SMD:R_1210_3225Metric_Pad1.30x2.65mm_HandSolder","",""
+"","","R19","4k7","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R20","4k7","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R21","100","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R22","100","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R23","100","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R24","22","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R25","22","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R26","100","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R27","100","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R28","100","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R29","100","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R30","100","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R31","100","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R32","100","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R33","1k5","stm32-rescue:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","",""
+"","","R34","7.5","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"","","R35","10k","stm32-rescue:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","",""
+"","","R36","330","stm32-rescue:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","",""
+"","","RN1","330","Device:R_Pack04","Resistor_SMD:R_Array_Convex_4x0603","~",""
+"","","RN2","330","Device:R_Pack04","Resistor_SMD:R_Array_Convex_4x0603","~",""
+"","","RN3","330","Device:R_Pack04","Resistor_SMD:R_Array_Convex_4x0603","~",""
+"","","RN4","330","Device:R_Pack04","Resistor_SMD:R_Array_Convex_4x0603","~",""
+"","","RN5","330","Device:R_Pack04","Resistor_SMD:R_Array_Convex_4x0603","~",""
+"","","RN6","330","Device:R_Pack04","Resistor_SMD:R_Array_Convex_4x0603","~",""
+"","","RN7","330","Device:R_Pack04","Resistor_SMD:R_Array_Convex_4x0603","~",""
+"","","RN8","330","Device:R_Pack04","Resistor_SMD:R_Array_Convex_4x0603","~",""
+"","","RN9","330","Device:R_Pack04","Resistor_SMD:R_Array_Convex_4x0603","~",""
+"","","RN10","330","Device:R_Pack04","Resistor_SMD:R_Array_Convex_4x0603","~",""
+"","","RN11","330","Device:R_Pack04","Resistor_SMD:R_Array_Convex_4x0603","~",""
+"","","RN12","330","Device:R_Pack04","Resistor_SMD:R_Array_Convex_4x0603","~",""
+"","","RN13","330","Device:R_Pack04","Resistor_SMD:R_Array_Convex_4x0603","~",""
+"","","RN14","330","Device:R_Pack04","Resistor_SMD:R_Array_Convex_4x0603","~",""
+"","","RN15","330","Device:R_Pack04","Resistor_SMD:R_Array_Convex_4x0603","~",""
+"","","SW1","Reset","Switch:SW_Push","Button_Switch_SMD:SW_SPST_FSMSM","~",""
+"","","SW2","Boot","Switch:SW_Push","Button_Switch_SMD:SW_SPST_FSMSM","~",""
+"","","SW3","SW_DIP_x01","Switch:SW_DIP_x01","Button_Switch_THT:SW_DIP_SPSTx01_Slide_6.7x4.1mm_W7.62mm_P2.54mm_LowProfile","~",""
+"","","TP1","5Vusb","Connector:TestPoint","TestPoint:TestPoint_THTPad_1.5x1.5mm_Drill0.7mm","~",""
+"","","TP2","Vin","Connector:TestPoint","TestPoint:TestPoint_THTPad_1.5x1.5mm_Drill0.7mm","~",""
+"","","TP3","Gnd","Connector:TestPoint","TestPoint:TestPoint_THTPad_1.5x1.5mm_Drill0.7mm","~",""
+"","","TP4","5Vext","Connector:TestPoint","TestPoint:TestPoint_THTPad_1.5x1.5mm_Drill0.7mm","~",""
+"","","TP5","3.3V","Connector:TestPoint","TestPoint:TestPoint_THTPad_1.5x1.5mm_Drill0.7mm","~",""
+"","","TP6","3V3ADC","Connector:TestPoint","TestPoint:TestPoint_THTPad_1.5x1.5mm_Drill0.7mm","~",""
+"","","TP7","5V","Connector:TestPoint","TestPoint:TestPoint_THTPad_1.5x1.5mm_Drill0.7mm","~",""
+"","","TP8","Vio","Connector:TestPoint","TestPoint:TestPoint_THTPad_1.5x1.5mm_Drill0.7mm","~",""
+"","","U1","STM32F303VDTx","MCU_ST_STM32F3:STM32F303VDTx","Package_QFP:LQFP-100_14x14mm_P0.5mm","http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00118585.pdf",""
+"","","U2","ISO1050DUB","Interface_CAN_LIN:ISO1050DUB","Package_SO:SOP-8_6.62x9.15mm_P2.54mm","http://www.ti.com/lit/ds/symlink/iso1050.pdf",""
+"","","U3","USBLC6-2SC6","Power_Protection:USBLC6-2SC6","Package_TO_SOT_SMD:SOT-23-6","https://www.st.com/resource/en/datasheet/usblc6-2.pdf",""
+"","","U4","LM4050A(b)EX3-3.3","Reference_Voltage:LM4040DBZ-3","Package_TO_SOT_SMD:SOT-323_SC-70_Handsoldering","http://www.ti.com/lit/ds/symlink/lm4040-n.pdf",""
+"","","U5","LM2576-5.0","vreg:LM2576","Package_TO_SOT_THT:TO-220-5_P3.4x3.7mm_StaggerEven_Lead3.8mm_Vertical","","Texas Instruments"
+"","","U6","LM1117-3.3","Regulator_Linear:LM1117-3.3","Package_TO_SOT_SMD:SOT-223-3_TabPin2","http://www.ti.com/lit/ds/symlink/lm1117.pdf",""
+"","","U7","74HC4051","stm32-rescue:74HC4051","Package_SO:SOIC-16_3.9x9.9mm_P1.27mm","",""
+"","","U8","LM1117-3.3","Regulator_Linear:LM1117-3.3","Package_TO_SOT_SMD:SOT-223-3_TabPin2","http://www.ti.com/lit/ds/symlink/lm1117.pdf",""
+"","","XX1","stepper_module","stepper_module:stepper_module","stepper:stepper_module","",""
+"","","XX2","stepper_module","stepper_module:stepper_module","stepper:stepper_module","",""
+"","","XX3","stepper_module","stepper_module:stepper_module","stepper:stepper_module","",""
+"","","XX4","stepper_module","stepper_module:stepper_module","stepper:stepper_module","",""
+"","","XX5","stepper_module","stepper_module:stepper_module","stepper:stepper_module","",""
+"","","XX6","stepper_module","stepper_module:stepper_module","stepper:stepper_module","",""
+"","","XX7","stepper_module","stepper_module:stepper_module","stepper:stepper_module","",""
+"","","XX8","stepper_module","stepper_module:stepper_module","stepper:stepper_module","",""
+"","","Y1","NX5032GA-8MHz","Device:Crystal","Crystal:Crystal_SMD_5032-2Pin_5.0x3.2mm","~",""
+
+
+
+"Collated Components:"
+
+"Item","Qty","Reference(s)","Value","LibPart","Footprint","Datasheet","Manufacturer"
+"1","2","C1, C4","6","stm32-rescue:C","Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder","",""
+"2","12","C2, C3, C5, C6, C7, C8, C9, C13, C15, C18, C27, C29","0.1","stm32-rescue:C","Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder","~",""
+"3","3","C10, C11, C12","1u","stm32-rescue:C","Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder","",""
+"4","1","C14","47u 35V","Device:C_Polarized","Capacitor_Tantalum_SMD:CP_EIA-6032-28_Kemet-C_Pad2.25x2.35mm_HandSolder","~",""
+"5","2","C16, C28","47u 6V","stm32-rescue:CP","Capacitor_Tantalum_SMD:CP_EIA-3216-18_Kemet-A_Pad1.58x1.35mm_HandSolder","",""
+"6","1","C17","47u 10V","Device:C_Polarized","Capacitor_Tantalum_SMD:CP_EIA-6032-28_Kemet-C_Pad2.25x2.35mm_HandSolder","~",""
+"7","8","C19, C20, C21, C22, C23, C24, C25, C26","100u 35V","Device:C_Polarized","Capacitor_THT:CP_Radial_D8.0mm_P3.50mm","~",""
+"8","8","D1, D2, D3, D4, D5, D6, D7, D8","SP0505BAHT","Power_Protection:SP0505BAHT","Package_TO_SOT_SMD:SOT-23-6","http://www.littelfuse.com/~/media/files/littelfuse/technical%20resources/documents/data%20sheets/sp05xxba.pdf",""
+"9","14","D9, D10, D11, D12, D13, D14, D15, D16, D17, D18, D19, D20, D21, D23","SS14","Device:D_Schottky","Diode_SMD:D_SOD-323_HandSoldering","~",""
+"10","2","D22, D27","MBRS130L","Device:D_Schottky","Diode_SMD:D_SMB_Handsoldering","~",""
+"11","1","D24","PESD1CAN","elements:PESD1CAN","Package_TO_SOT_SMD:SOT-23","",""
+"12","1","D25","MM3Z7V5","Device:D_Zener","Diode_SMD:D_0805_2012Metric_Pad1.15x1.40mm_HandSolder","~",""
+"13","1","D26","1N5822","Device:D","Diode_THT:D_DO-201_P3.81mm_Vertical_AnodeUp","~",""
+"14","4","H1, H2, H3, H4","MountingHole","Mechanical:MountingHole","MountingHole:MountingHole_3.2mm_M3_DIN965_Pad","~",""
+"15","1","J1","Prog","Connector:Conn_01x06_Female","Connector_PinSocket_1.27mm:PinSocket_1x06_P1.27mm_Vertical","~",""
+"16","1","J2","Buttons/I2C","Connector_Generic:Conn_02x05_Odd_Even","Connector_IDC:IDC-Header_2x05_P2.54mm_Vertical","~",""
+"17","1","J3","Screen","Connector_Generic:Conn_02x05_Odd_Even","Connector_IDC:IDC-Header_2x05_P2.54mm_Vertical","~",""
+"18","1","J4","ADC2","Connector:Conn_01x04_Female","Connector_JST:JST_PH_B4B-PH-K_1x04_P2.00mm_Vertical","~",""
+"19","1","J5","ADC1","Connector:Conn_01x04_Female","Connector_JST:JST_PH_B4B-PH-K_1x04_P2.00mm_Vertical","~",""
+"20","1","J6","MOT_MUL","Connector:Conn_01x05_Male","Connector_JST:JST_PH_B5B-PH-K_1x05_P2.00mm_Vertical","~",""
+"21","1","J7","GPIO","Connector:Conn_01x04_Female","Connector_JST:JST_PH_B4B-PH-K_1x04_P2.00mm_Vertical","~",""
+"22","1","J8","USB_B","Connector:USB_B","Connector_USB:USB_B_OST_USB-B1HSxx_Horizontal"," ~",""
+"23","1","J9","Screw_Terminal_01x03","Connector:Screw_Terminal_01x03","TerminalBlock_Phoenix:TerminalBlock_Phoenix_MKDS-1,5-3_1x03_P5.00mm_Horizontal","~",""
+"24","1","J10","Screw_Terminal_01x02","Connector:Screw_Terminal_01x02","TerminalBlock_Phoenix:TerminalBlock_Phoenix_MKDS-1,5-2_1x02_P5.00mm_Horizontal","~",""
+"25","8","J11, J14, J16, J18, J20, J22, J24, J26","LimS","Connector:Conn_01x04_Male","Connector_JST:JST_EH_B4B-EH-A_1x04_P2.50mm_Vertical","~",""
+"26","8","J12, J15, J17, J19, J21, J23, J25, J27","Stepper","Connector:Conn_01x04_Male","Connector_JST:JST_EH_B4B-EH-A_1x04_P2.50mm_Vertical","~",""
+"27","1","J13","UART","Connector:Conn_01x03_Male","Connector_JST:JST_PH_B3B-PH-K_1x03_P2.00mm_Vertical","~",""
+"28","1","JP1","CAN","Jumper:SolderJumper_2_Bridged","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"29","1","JP2","USB5V","Jumper:SolderJumper_2_Bridged","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"30","1","JP3","MCU","Jumper:SolderJumper_2_Bridged","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"31","1","JP4","3V3ADC","Jumper:SolderJumper_2_Bridged","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"32","1","JP5","3V3","Jumper:SolderJumper_2_Bridged","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"33","1","JP6","Vdrive","Jumper:SolderJumper_2_Bridged","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"34","1","JP7","Vio","Jumper:SolderJumper_2_Bridged","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"35","40","JP8, JP9, JP10, JP11, JP12, JP16, JP17, JP18, JP19, JP20, JP24, JP25, JP26, JP27, JP28, JP32, JP33, JP34, JP35, JP36, JP40, JP41, JP42, JP43, JP44, JP48, JP49, JP50, JP51, JP52, JP56, JP57, JP58, JP59, JP60, JP64, JP65, JP66, JP67, JP68","SolderJumper_3_Open","Jumper:SolderJumper_3_Open","Jumper:SolderJumper-3_P2.0mm_Open_TrianglePad1.0x1.5mm","~",""
+"36","24","JP13, JP14, JP15, JP21, JP22, JP23, JP29, JP30, JP31, JP37, JP38, JP39, JP45, JP46, JP47, JP53, JP54, JP55, JP61, JP62, JP63, JP69, JP70, JP71","SolderJumper_2_Bridged","Jumper:SolderJumper_2_Open","Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm","~",""
+"37","1","L1","100u","Device:L","Inductor_THT:L_Toroid_Horizontal_D6.5mm_P10.00mm_Diameter7-5mm_Amidon-T25","~",""
+"38","1","Q1","B0505S","elements:B0505S","stepper:B0x0xS","",""
+"39","1","Q2","IRF9310","elements:IRF9310","Package_SO:SO-8_3.9x4.9mm_P1.27mm","~",""
+"40","1","Q3","AO3401","Device:Q_PMOS_GSD","Package_TO_SOT_SMD:SOT-23_Handsoldering","~",""
+"41","3","R1, R11, R35","10k","stm32-rescue:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"42","6","R2, R9, R16, R17, R24, R25","22","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"43","3","R3, R4, R34","7.5","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"44","1","R5","5.1","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"45","6","R6, R7, R8, R14, R15, R36","330","stm32-rescue:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"46","1","R10","91k","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"47","2","R12, R13","47k","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"48","1","R18","120","stm32-rescue:R","Resistor_SMD:R_1210_3225Metric_Pad1.30x2.65mm_HandSolder","",""
+"49","2","R19, R20","4k7","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"50","10","R21, R22, R23, R26, R27, R28, R29, R30, R31, R32","100","Device:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","~",""
+"51","1","R33","1k5","stm32-rescue:R","Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder","",""
+"52","15","RN1, RN2, RN3, RN4, RN5, RN6, RN7, RN8, RN9, RN10, RN11, RN12, RN13, RN14, RN15","330","Device:R_Pack04","Resistor_SMD:R_Array_Convex_4x0603","~",""
+"53","1","SW1","Reset","Switch:SW_Push","Button_Switch_SMD:SW_SPST_FSMSM","~",""
+"54","1","SW2","Boot","Switch:SW_Push","Button_Switch_SMD:SW_SPST_FSMSM","~",""
+"55","1","SW3","SW_DIP_x01","Switch:SW_DIP_x01","Button_Switch_THT:SW_DIP_SPSTx01_Slide_6.7x4.1mm_W7.62mm_P2.54mm_LowProfile","~",""
+"56","1","TP1","5Vusb","Connector:TestPoint","TestPoint:TestPoint_THTPad_1.5x1.5mm_Drill0.7mm","~",""
+"57","1","TP2","Vin","Connector:TestPoint","TestPoint:TestPoint_THTPad_1.5x1.5mm_Drill0.7mm","~",""
+"58","1","TP3","Gnd","Connector:TestPoint","TestPoint:TestPoint_THTPad_1.5x1.5mm_Drill0.7mm","~",""
+"59","1","TP4","5Vext","Connector:TestPoint","TestPoint:TestPoint_THTPad_1.5x1.5mm_Drill0.7mm","~",""
+"60","1","TP5","3.3V","Connector:TestPoint","TestPoint:TestPoint_THTPad_1.5x1.5mm_Drill0.7mm","~",""
+"61","1","TP6","3V3ADC","Connector:TestPoint","TestPoint:TestPoint_THTPad_1.5x1.5mm_Drill0.7mm","~",""
+"62","1","TP7","5V","Connector:TestPoint","TestPoint:TestPoint_THTPad_1.5x1.5mm_Drill0.7mm","~",""
+"63","1","TP8","Vio","Connector:TestPoint","TestPoint:TestPoint_THTPad_1.5x1.5mm_Drill0.7mm","~",""
+"64","1","U1","STM32F303VDTx","MCU_ST_STM32F3:STM32F303VDTx","Package_QFP:LQFP-100_14x14mm_P0.5mm","http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00118585.pdf",""
+"65","1","U2","ISO1050DUB","Interface_CAN_LIN:ISO1050DUB","Package_SO:SOP-8_6.62x9.15mm_P2.54mm","http://www.ti.com/lit/ds/symlink/iso1050.pdf",""
+"66","1","U3","USBLC6-2SC6","Power_Protection:USBLC6-2SC6","Package_TO_SOT_SMD:SOT-23-6","https://www.st.com/resource/en/datasheet/usblc6-2.pdf",""
+"67","1","U4","LM4050A(b)EX3-3.3","Reference_Voltage:LM4040DBZ-3","Package_TO_SOT_SMD:SOT-323_SC-70_Handsoldering","http://www.ti.com/lit/ds/symlink/lm4040-n.pdf",""
+"68","1","U5","LM2576-5.0","vreg:LM2576","Package_TO_SOT_THT:TO-220-5_P3.4x3.7mm_StaggerEven_Lead3.8mm_Vertical","","Texas Instruments"
+"69","2","U6, U8","LM1117-3.3","Regulator_Linear:LM1117-3.3","Package_TO_SOT_SMD:SOT-223-3_TabPin2","http://www.ti.com/lit/ds/symlink/lm1117.pdf",""
+"70","1","U7","74HC4051","stm32-rescue:74HC4051","Package_SO:SOIC-16_3.9x9.9mm_P1.27mm","",""
+"71","8","XX1, XX2, XX3, XX4, XX5, XX6, XX7, XX8","stepper_module","stepper_module:stepper_module","stepper:stepper_module","",""
+"72","1","Y1","NX5032GA-8MHz","Device:Crystal","Crystal:Crystal_SMD_5032-2Pin_5.0x3.2mm","~",""
--- a/F3:F303/Multistepper/kicad/multistepper.kicad_pcb
+++ b/F3:F303/Multistepper/kicad/multistepper.kicad_pcb
--- a/F3:F303/Multistepper/kicad/multistepper.kicad_prl
+++ b/F3:F303/Multistepper/kicad/multistepper.kicad_prl
@@ -1,6 +1,6 @@
 {
  "board": {
-    "active_layer": 2,
+    "active_layer": 0,
    "active_layer_preset": "All Layers",
    "auto_track_width": true,
    "hidden_nets": [],
--- a/F3:F303/Multistepper/kicad/multistepper.kicad_pro
+++ b/F3:F303/Multistepper/kicad/multistepper.kicad_pro
@@ -85,8 +85,8 @@
        "padstack": "error",
        "pth_inside_courtyard": "ignore",
        "shorting_items": "error",
-        "silk_over_copper": "warning",
-        "silk_overlap": "warning",
+        "silk_over_copper": "ignore",
+        "silk_overlap": "ignore",
        "skew_out_of_range": "error",
        "through_hole_pad_without_hole": "error",
        "too_many_vias": "error",
--- a/F3:F303/Multistepper/kicad/multistepper.kicad_sch
+++ b/F3:F303/Multistepper/kicad/multistepper.kicad_sch
@@ -2458,6 +2458,15 @@
    (path "/076c38b6-e164-46bb-9d96-26f8bdfeca37/0cf72bad-6be3-4508-9189-05df7a1bf410"
      (reference "#PWR062") (unit 1) (value "+3V3") (footprint "")
    )
+    (path "/076c38b6-e164-46bb-9d96-26f8bdfeca37/7fe68159-d1bb-4ac3-bcbf-a26c08565a5b"
+      (reference "#PWR063") (unit 1) (value "+5V") (footprint "")
+    )
+    (path "/076c38b6-e164-46bb-9d96-26f8bdfeca37/3c7fc671-bcd2-4995-b45a-f4c0c21d27bd"
+      (reference "#PWR064") (unit 1) (value "GND") (footprint "")
+    )
+    (path "/beac4271-940a-4bcd-9fa5-ece775a07d41/13cf6375-898d-4635-8ef8-cb8b9e301a19"
+      (reference "#PWR065") (unit 1) (value "+3.3VADC") (footprint "")
+    )
    (path "/076c38b6-e164-46bb-9d96-26f8bdfeca37/c9d2b617-3560-41ef-a3a7-a6d08311dfc5"
      (reference "#PWR0101") (unit 1) (value "GND") (footprint "")
    )
@@ -2524,9 +2533,6 @@
    (path "/076c38b6-e164-46bb-9d96-26f8bdfeca37/ccb9fe79-5084-46ff-9bd5-5c173914fd5a"
      (reference "#PWR0124") (unit 1) (value "GND") (footprint "")
    )
-    (path "/beac4271-940a-4bcd-9fa5-ece775a07d41/13cf6375-898d-4635-8ef8-cb8b9e301a19"
-      (reference "#PWR?") (unit 1) (value "+3.3VADC") (footprint "")
-    )
    (path "/076c38b6-e164-46bb-9d96-26f8bdfeca37/b728d2bc-216a-439f-be0d-9040aecbd583"
      (reference "C1") (unit 1) (value "6") (footprint "Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder")
    )
@@ -3010,8 +3016,8 @@
    (path "/916f71ef-9b2f-424f-a64d-0b6af99b627f/0445b6a2-e52c-4c18-ae7c-d82d9e54417b"
      (reference "Q2") (unit 1) (value "IRF9310") (footprint "Package_SO:SO-8_3.9x4.9mm_P1.27mm")
    )
-    (path "/076c38b6-e164-46bb-9d96-26f8bdfeca37/bfbf88df-b3a6-4add-b186-1969d32b6ac1"
-      (reference "Q3") (unit 1) (value "DTA114Y") (footprint "Package_TO_SOT_SMD:SOT-323_SC-70_Handsoldering")
+    (path "/076c38b6-e164-46bb-9d96-26f8bdfeca37/4aaed31f-871b-477f-80f7-78eb56ece162"
+      (reference "Q3") (unit 1) (value "AO3401") (footprint "Package_TO_SOT_SMD:SOT-23_Handsoldering")
    )
    (path "/076c38b6-e164-46bb-9d96-26f8bdfeca37/d5a51180-2476-4d7a-9ddb-ac12fd28a395"
      (reference "R1") (unit 1) (value "10k") (footprint "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder")
@@ -3020,7 +3026,7 @@
      (reference "R2") (unit 1) (value "22") (footprint "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder")
    )
    (path "/076c38b6-e164-46bb-9d96-26f8bdfeca37/41ba9fe3-fda3-4c5a-b5ed-45ddc9637d82"
-      (reference "R3") (unit 1) (value "22") (footprint "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder")
+      (reference "R3") (unit 1) (value "7.5") (footprint "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder")
    )
    (path "/076c38b6-e164-46bb-9d96-26f8bdfeca37/28263919-0a6d-4435-9164-6012adfd9ef0"
      (reference "R4") (unit 1) (value "7.5") (footprint "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder")
@@ -3112,6 +3118,15 @@
    (path "/076c38b6-e164-46bb-9d96-26f8bdfeca37/5a0fe310-84a9-4940-b321-708bd8fce0ae"
      (reference "R33") (unit 1) (value "1k5") (footprint "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder")
    )
+    (path "/076c38b6-e164-46bb-9d96-26f8bdfeca37/e6c5f93a-f087-442b-a5b7-aa75431da7f7"
+      (reference "R34") (unit 1) (value "7.5") (footprint "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder")
+    )
+    (path "/076c38b6-e164-46bb-9d96-26f8bdfeca37/906d6d88-74f6-46a5-9e3d-c80a83d789f2"
+      (reference "R35") (unit 1) (value "10k") (footprint "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder")
+    )
+    (path "/076c38b6-e164-46bb-9d96-26f8bdfeca37/9be66433-ec9c-4b28-8df4-3bb35a6d51dd"
+      (reference "R36") (unit 1) (value "330") (footprint "Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder")
+    )
    (path "/076c38b6-e164-46bb-9d96-26f8bdfeca37/c2620a21-1c3d-4233-bbce-d374c7c78b67"
      (reference "RN1") (unit 1) (value "330") (footprint "Resistor_SMD:R_Array_Convex_4x0603")
    )
--- a/F3:F303/Multistepper/kicad/multistepper.pdf
+++ b/F3:F303/Multistepper/kicad/multistepper.pdf
--- a/F3:F303/Multistepper/kicad/multistepper.xml
+++ b/F3:F303/Multistepper/kicad/multistepper.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <export version="E">
  <design>
-    <source>/home/eddy/Yandex.Disk/Projects/stm32samples/F3:F303/Multistepper/kicad/multistepper.kicad_sch</source>
-    <date>Пт 13 янв 2023 10:49:55</date>
+    <source>/Big/Data/00__Electronics/STM32/F303-nolib/Multistepper/kicad/multistepper.kicad_sch</source>
+    <date>Пн 06 фев 2023 19:51:26</date>
    <tool>Eeschema 6.0.10</tool>
    <sheet number="1" name="/" tstamps="/">
      <title_block>
@@ -774,13 +774,13 @@
      <tstamps>f76210b5-67e6-490d-8965-5af4553121d1</tstamps>
    </comp>
    <comp ref="Q3">
-      <value>DTA114Y</value>
-      <footprint>Package_TO_SOT_SMD:SOT-323_SC-70_Handsoldering</footprint>
-      <libsource lib="Transistor_BJT" part="DTA114Y" description="Digital PNP Transistor, 10k/47k, SOT-23"/>
+      <value>AO3401</value>
+      <footprint>Package_TO_SOT_SMD:SOT-23_Handsoldering</footprint>
+      <libsource lib="Device" part="Q_PMOS_GSD" description="P-MOSFET transistor, gate/source/drain"/>
      <property name="Sheetname" value="MCU base"/>
      <property name="Sheetfile" value="mcubase.kicad_sch"/>
      <sheetpath names="/MCU base/" tstamps="/076c38b6-e164-46bb-9d96-26f8bdfeca37/"/>
-      <tstamps>bfbf88df-b3a6-4add-b186-1969d32b6ac1</tstamps>
+      <tstamps>4aaed31f-871b-477f-80f7-78eb56ece162</tstamps>
    </comp>
    <comp ref="R1">
      <value>10k</value>
@@ -801,7 +801,7 @@
      <tstamps>0a91a0cf-5d2c-49b6-9b9f-5c9869c48aa7</tstamps>
    </comp>
    <comp ref="R3">
-      <value>22</value>
+      <value>7.5</value>
      <footprint>Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder</footprint>
      <libsource lib="Device" part="R" description="Resistor"/>
      <property name="Sheetname" value="MCU base"/>
@@ -899,6 +899,33 @@
      <sheetpath names="/MCU base/" tstamps="/076c38b6-e164-46bb-9d96-26f8bdfeca37/"/>
      <tstamps>5a0fe310-84a9-4940-b321-708bd8fce0ae</tstamps>
    </comp>
+    <comp ref="R34">
+      <value>7.5</value>
+      <footprint>Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder</footprint>
+      <libsource lib="Device" part="R" description="Resistor"/>
+      <property name="Sheetname" value="MCU base"/>
+      <property name="Sheetfile" value="mcubase.kicad_sch"/>
+      <sheetpath names="/MCU base/" tstamps="/076c38b6-e164-46bb-9d96-26f8bdfeca37/"/>
+      <tstamps>e6c5f93a-f087-442b-a5b7-aa75431da7f7</tstamps>
+    </comp>
+    <comp ref="R35">
+      <value>10k</value>
+      <footprint>Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder</footprint>
+      <libsource lib="stm32-rescue" part="R" description=""/>
+      <property name="Sheetname" value="MCU base"/>
+      <property name="Sheetfile" value="mcubase.kicad_sch"/>
+      <sheetpath names="/MCU base/" tstamps="/076c38b6-e164-46bb-9d96-26f8bdfeca37/"/>
+      <tstamps>906d6d88-74f6-46a5-9e3d-c80a83d789f2</tstamps>
+    </comp>
+    <comp ref="R36">
+      <value>330</value>
+      <footprint>Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder</footprint>
+      <libsource lib="stm32-rescue" part="R" description=""/>
+      <property name="Sheetname" value="MCU base"/>
+      <property name="Sheetfile" value="mcubase.kicad_sch"/>
+      <sheetpath names="/MCU base/" tstamps="/076c38b6-e164-46bb-9d96-26f8bdfeca37/"/>
+      <tstamps>9be66433-ec9c-4b28-8df4-3bb35a6d51dd</tstamps>
+    </comp>
    <comp ref="RN1">
      <value>330</value>
      <footprint>Resistor_SMD:R_Array_Convex_4x0603</footprint>
@@ -2711,6 +2738,20 @@
        <pin num="2" name="2" type="passive"/>
      </pins>
    </libpart>
+    <libpart lib="Device" part="Q_PMOS_GSD">
+      <description>P-MOSFET transistor, gate/source/drain</description>
+      <docs>~</docs>
+      <fields>
+        <field name="Reference">Q</field>
+        <field name="Value">Q_PMOS_GSD</field>
+        <field name="Datasheet">~</field>
+      </fields>
+      <pins>
+        <pin num="1" name="G" type="input"/>
+        <pin num="2" name="S" type="passive"/>
+        <pin num="3" name="D" type="passive"/>
+      </pins>
+    </libpart>
    <libpart lib="Device" part="R">
      <description>Resistor</description>
      <docs>~</docs>
@@ -3059,22 +3100,6 @@
        <pin num="2" name="2" type="passive"/>
      </pins>
    </libpart>
-    <libpart lib="Transistor_BJT" part="DTA114Y">
-      <description>Digital PNP Transistor, 10k/47k, SOT-23</description>
-      <footprints>
-        <fp>SOT?23*</fp>
-        <fp>SC?59*</fp>
-      </footprints>
-      <fields>
-        <field name="Reference">Q</field>
-        <field name="Value">DTA114Y</field>
-      </fields>
-      <pins>
-        <pin num="1" name="B" type="input"/>
-        <pin num="2" name="E" type="passive"/>
-        <pin num="3" name="C" type="passive"/>
-      </pins>
-    </libpart>
    <libpart lib="elements" part="B0505S">
      <description>isolated DC-DC</description>
      <footprints>
@@ -3278,17 +3303,15 @@
    <library logical="Switch">
      <uri>/usr/share/kicad/kicad-symbols/Switch.kicad_sym</uri>
    </library>
-    <library logical="Transistor_BJT">
-      <uri>/usr/share/kicad/kicad-symbols/Transistor_BJT.kicad_sym</uri>
-    </library>
    <library logical="stepper_module">
-      <uri>/home/eddy/Yandex.Disk/Projects/stm32samples/F3:F303/Multistepper/kicad/stepper_module.kicad_sym</uri>
+      <uri>/Big/Data/00__Electronics/STM32/F303-nolib/Multistepper/kicad/stepper_module.kicad_sym</uri>
    </library>
  </libraries>
  <nets>
    <net code="1" name="+3.3VADC">
      <node ref="C12" pin="1" pintype="passive"/>
      <node ref="R20" pin="1" pintype="passive"/>
+      <node ref="R9" pin="1" pintype="passive"/>
      <node ref="TP6" pin="1" pinfunction="1" pintype="passive"/>
      <node ref="U1" pin="21" pinfunction="VREF+" pintype="power_in"/>
      <node ref="U4" pin="1" pinfunction="K" pintype="passive"/>
@@ -3297,7 +3320,7 @@
      <node ref="C16" pin="1" pintype="passive"/>
      <node ref="C18" pin="1" pintype="passive"/>
      <node ref="JP3" pin="2" pinfunction="B" pintype="passive"/>
-      <node ref="Q3" pin="2" pinfunction="E" pintype="passive"/>
+      <node ref="Q3" pin="2" pinfunction="S" pintype="passive"/>
      <node ref="R3" pin="2" pintype="passive"/>
      <node ref="R4" pin="2" pintype="passive"/>
      <node ref="TP5" pin="1" pinfunction="1" pintype="passive"/>
@@ -3311,6 +3334,7 @@
      <node ref="JP5" pin="1" pinfunction="A" pintype="passive"/>
      <node ref="JP7" pin="1" pinfunction="A" pintype="passive"/>
      <node ref="R12" pin="2" pintype="passive"/>
+      <node ref="R34" pin="2" pintype="passive"/>
      <node ref="R5" pin="1" pintype="passive"/>
      <node ref="TP7" pin="1" pinfunction="1" pintype="passive"/>
    </net>
@@ -3369,41 +3393,41 @@
      <node ref="SW2" pin="1" pinfunction="1" pintype="passive"/>
      <node ref="U1" pin="94" pinfunction="BOOT0" pintype="input"/>
    </net>
-    <net code="13" name="/MCU base/BTN0">
-      <node ref="D1" pin="4" pinfunction="K" pintype="passive"/>
-      <node ref="RN3" pin="1" pinfunction="R1.1" pintype="passive"/>
-      <node ref="U1" pin="67" pinfunction="PA8" pintype="bidirectional"/>
-    </net>
-    <net code="14" name="/MCU base/BTN1">
+    <net code="13" name="/MCU base/BTN1">
      <node ref="D1" pin="5" pinfunction="K" pintype="passive"/>
      <node ref="RN3" pin="2" pinfunction="R2.1" pintype="passive"/>
      <node ref="U1" pin="68" pinfunction="PA9" pintype="bidirectional"/>
    </net>
-    <net code="15" name="/MCU base/BTN2_SDA">
+    <net code="14" name="/MCU base/BTN2_SDA">
      <node ref="D1" pin="6" pinfunction="K" pintype="passive"/>
      <node ref="RN3" pin="3" pinfunction="R3.1" pintype="passive"/>
      <node ref="U1" pin="69" pinfunction="PA10" pintype="bidirectional"/>
    </net>
-    <net code="16" name="/MCU base/BTN3_SCL">
+    <net code="15" name="/MCU base/BTN3_SCL">
      <node ref="D1" pin="1" pinfunction="K" pintype="passive"/>
      <node ref="RN3" pin="4" pinfunction="R4.1" pintype="passive"/>
      <node ref="U1" pin="73" pinfunction="PF6" pintype="bidirectional"/>
    </net>
-    <net code="17" name="/MCU base/BTN4">
+    <net code="16" name="/MCU base/BTN4">
      <node ref="D2" pin="5" pinfunction="K" pintype="passive"/>
      <node ref="RN1" pin="6" pinfunction="R3.2" pintype="passive"/>
      <node ref="U1" pin="84" pinfunction="PD3" pintype="bidirectional"/>
    </net>
-    <net code="18" name="/MCU base/BTN5">
+    <net code="17" name="/MCU base/BTN5">
      <node ref="D2" pin="6" pinfunction="K" pintype="passive"/>
      <node ref="RN1" pin="7" pinfunction="R2.2" pintype="passive"/>
      <node ref="U1" pin="85" pinfunction="PD4" pintype="bidirectional"/>
    </net>
-    <net code="19" name="/MCU base/BTN6">
+    <net code="18" name="/MCU base/BTN6">
      <node ref="D3" pin="4" pinfunction="K" pintype="passive"/>
      <node ref="RN1" pin="8" pinfunction="R1.2" pintype="passive"/>
      <node ref="U1" pin="86" pinfunction="PD5" pintype="bidirectional"/>
    </net>
+    <net code="19" name="/MCU base/DPPU">
+      <node ref="R35" pin="1" pintype="passive"/>
+      <node ref="R36" pin="1" pintype="passive"/>
+      <node ref="U1" pin="67" pinfunction="PA8" pintype="bidirectional"/>
+    </net>
    <net code="20" name="/MCU base/Diagn">
      <node ref="D15" pin="2" pinfunction="A" pintype="passive"/>
      <node ref="D23" pin="1" pinfunction="K" pintype="passive"/>
@@ -3499,7 +3523,6 @@
    <net code="38" name="/MCU base/SWDIO">
      <node ref="D1" pin="3" pinfunction="K" pintype="passive"/>
      <node ref="J1" pin="2" pinfunction="Pin_2" pintype="passive"/>
-      <node ref="Q3" pin="1" pinfunction="B" pintype="input"/>
      <node ref="U1" pin="72" pinfunction="PA13" pintype="bidirectional"/>
    </net>
    <net code="39" name="/MCU base/USART1_RX">
@@ -4002,6 +4025,7 @@
      <node ref="R11" pin="1" pintype="passive"/>
      <node ref="R13" pin="1" pintype="passive"/>
      <node ref="R19" pin="2" pintype="passive"/>
+      <node ref="R35" pin="2" pintype="passive"/>
      <node ref="SW1" pin="2" pinfunction="2" pintype="passive"/>
      <node ref="TP3" pin="1" pinfunction="1" pintype="passive"/>
      <node ref="U1" pin="20" pinfunction="VSSA" pintype="power_in"/>
@@ -4235,7 +4259,6 @@
      <node ref="D9" pin="1" pinfunction="K" pintype="passive"/>
      <node ref="JP3" pin="1" pinfunction="A" pintype="passive"/>
      <node ref="R2" pin="1" pintype="passive"/>
-      <node ref="R9" pin="1" pintype="passive"/>
      <node ref="SW2" pin="2" pinfunction="2" pintype="passive"/>
      <node ref="U1" pin="100" pinfunction="VDD" pintype="power_in"/>
      <node ref="U1" pin="22" pinfunction="VDDA" pintype="power_in"/>
@@ -4317,7 +4340,7 @@
    </net>
    <net code="187" name="Net-(J2-Pad4)">
      <node ref="J2" pin="4" pinfunction="Pin_4" pintype="passive"/>
-      <node ref="RN3" pin="8" pinfunction="R1.2" pintype="passive"/>
+      <node ref="R34" pin="1" pintype="passive"/>
    </net>
    <net code="188" name="Net-(J2-Pad5)">
      <node ref="J2" pin="5" pinfunction="Pin_5" pintype="passive"/>
@@ -4663,52 +4686,56 @@
      <node ref="JP70" pin="1" pinfunction="A" pintype="passive"/>
      <node ref="JP71" pin="1" pinfunction="A" pintype="passive"/>
    </net>
-    <net code="271" name="Net-(Q3-Pad3)">
-      <node ref="Q3" pin="3" pinfunction="C" pintype="passive"/>
+    <net code="271" name="Net-(Q3-Pad1)">
+      <node ref="Q3" pin="1" pinfunction="G" pintype="input"/>
+      <node ref="R36" pin="2" pintype="passive"/>
+    </net>
+    <net code="272" name="Net-(Q3-Pad3)">
+      <node ref="Q3" pin="3" pinfunction="D" pintype="passive"/>
      <node ref="R33" pin="1" pintype="passive"/>
    </net>
-    <net code="272" name="Net-(R16-Pad2)">
+    <net code="273" name="Net-(R16-Pad2)">
      <node ref="R16" pin="2" pintype="passive"/>
      <node ref="U3" pin="3" pinfunction="I/O2" pintype="passive"/>
    </net>
-    <net code="273" name="Net-(R17-Pad2)">
+    <net code="274" name="Net-(R17-Pad2)">
      <node ref="R17" pin="2" pintype="passive"/>
      <node ref="U3" pin="1" pinfunction="I/O1" pintype="passive"/>
    </net>
-    <net code="274" name="Net-(R18-Pad1)">
+    <net code="275" name="Net-(R18-Pad1)">
      <node ref="R18" pin="1" pintype="passive"/>
      <node ref="SW3" pin="1" pintype="passive"/>
    </net>
-    <net code="275" name="TMC_MISO">
+    <net code="276" name="TMC_MISO">
      <node ref="RN7" pin="7" pinfunction="R2.2" pintype="passive"/>
      <node ref="U1" pin="31" pinfunction="PA6" pintype="bidirectional"/>
    </net>
-    <net code="276" name="TMC_MOSI">
+    <net code="277" name="TMC_MOSI">
      <node ref="RN7" pin="6" pinfunction="R3.2" pintype="passive"/>
      <node ref="U1" pin="32" pinfunction="PA7" pintype="bidirectional"/>
    </net>
-    <net code="277" name="TMC_SCK">
+    <net code="278" name="TMC_SCK">
      <node ref="RN7" pin="8" pinfunction="R1.2" pintype="passive"/>
      <node ref="U1" pin="30" pinfunction="PA5" pintype="bidirectional"/>
    </net>
-    <net code="278" name="USART2_TX">
+    <net code="279" name="USART2_TX">
      <node ref="R22" pin="1" pintype="passive"/>
      <node ref="U1" pin="89" pinfunction="PB3" pintype="bidirectional"/>
    </net>
-    <net code="279" name="USART3_TX">
+    <net code="280" name="USART3_TX">
      <node ref="R21" pin="1" pintype="passive"/>
      <node ref="U1" pin="47" pinfunction="PB10" pintype="bidirectional"/>
    </net>
-    <net code="280" name="USB_DM">
+    <net code="281" name="USB_DM">
      <node ref="U1" pin="70" pinfunction="PA11" pintype="bidirectional"/>
      <node ref="U3" pin="4" pinfunction="I/O2" pintype="passive"/>
    </net>
-    <net code="281" name="USB_DP">
+    <net code="282" name="USB_DP">
      <node ref="R33" pin="2" pintype="passive"/>
      <node ref="U1" pin="71" pinfunction="PA12" pintype="bidirectional"/>
      <node ref="U3" pin="6" pinfunction="I/O1" pintype="passive"/>
    </net>
-    <net code="282" name="Vdrive">
+    <net code="283" name="Vdrive">
      <node ref="C13" pin="1" pintype="passive"/>
      <node ref="C14" pin="1" pintype="passive"/>
      <node ref="D25" pin="1" pinfunction="K" pintype="passive"/>
@@ -4720,7 +4747,7 @@
      <node ref="TP2" pin="1" pinfunction="1" pintype="passive"/>
      <node ref="U5" pin="1" pinfunction="VIN" pintype="power_in"/>
    </net>
-    <net code="283" name="Vio">
+    <net code="284" name="Vio">
      <node ref="C28" pin="1" pintype="passive"/>
      <node ref="C29" pin="1" pintype="passive"/>
      <node ref="JP10" pin="3" pinfunction="B" pintype="passive"/>
@@ -4775,94 +4802,103 @@
      <node ref="XX7" pin="10" pinfunction="VIO" pintype="passive"/>
      <node ref="XX8" pin="10" pinfunction="VIO" pintype="passive"/>
    </net>
-    <net code="284" name="unconnected-(RN1-Pad4)">
+    <net code="285" name="unconnected-(D1-Pad4)">
+      <node ref="D1" pin="4" pinfunction="K" pintype="passive+no_connect"/>
+    </net>
+    <net code="286" name="unconnected-(RN1-Pad4)">
      <node ref="RN1" pin="4" pinfunction="R4.1" pintype="passive+no_connect"/>
    </net>
-    <net code="285" name="unconnected-(RN1-Pad5)">
+    <net code="287" name="unconnected-(RN1-Pad5)">
      <node ref="RN1" pin="5" pinfunction="R4.2" pintype="passive+no_connect"/>
    </net>
-    <net code="286" name="unconnected-(RN2-Pad4)">
+    <net code="288" name="unconnected-(RN2-Pad4)">
      <node ref="RN2" pin="4" pinfunction="R4.1" pintype="passive+no_connect"/>
    </net>
-    <net code="287" name="unconnected-(RN2-Pad5)">
+    <net code="289" name="unconnected-(RN2-Pad5)">
      <node ref="RN2" pin="5" pinfunction="R4.2" pintype="passive+no_connect"/>
    </net>
-    <net code="288" name="unconnected-(RN7-Pad4)">
+    <net code="290" name="unconnected-(RN3-Pad1)">
+      <node ref="RN3" pin="1" pinfunction="R1.1" pintype="passive+no_connect"/>
+    </net>
+    <net code="291" name="unconnected-(RN3-Pad8)">
+      <node ref="RN3" pin="8" pinfunction="R1.2" pintype="passive+no_connect"/>
+    </net>
+    <net code="292" name="unconnected-(RN7-Pad4)">
      <node ref="RN7" pin="4" pinfunction="R4.1" pintype="passive+no_connect"/>
    </net>
-    <net code="289" name="unconnected-(RN7-Pad5)">
+    <net code="293" name="unconnected-(RN7-Pad5)">
      <node ref="RN7" pin="5" pinfunction="R4.2" pintype="passive+no_connect"/>
    </net>
-    <net code="290" name="unconnected-(RN8-Pad1)">
+    <net code="294" name="unconnected-(RN8-Pad1)">
      <node ref="RN8" pin="1" pinfunction="R1.1" pintype="passive+no_connect"/>
    </net>
-    <net code="291" name="unconnected-(RN8-Pad8)">
+    <net code="295" name="unconnected-(RN8-Pad8)">
      <node ref="RN8" pin="8" pinfunction="R1.2" pintype="passive+no_connect"/>
    </net>
-    <net code="292" name="unconnected-(RN9-Pad1)">
+    <net code="296" name="unconnected-(RN9-Pad1)">
      <node ref="RN9" pin="1" pinfunction="R1.1" pintype="passive+no_connect"/>
    </net>
-    <net code="293" name="unconnected-(RN9-Pad8)">
+    <net code="297" name="unconnected-(RN9-Pad8)">
      <node ref="RN9" pin="8" pinfunction="R1.2" pintype="passive+no_connect"/>
    </net>
-    <net code="294" name="unconnected-(RN10-Pad1)">
+    <net code="298" name="unconnected-(RN10-Pad1)">
      <node ref="RN10" pin="1" pinfunction="R1.1" pintype="passive+no_connect"/>
    </net>
-    <net code="295" name="unconnected-(RN10-Pad8)">
+    <net code="299" name="unconnected-(RN10-Pad8)">
      <node ref="RN10" pin="8" pinfunction="R1.2" pintype="passive+no_connect"/>
    </net>
-    <net code="296" name="unconnected-(RN11-Pad1)">
+    <net code="300" name="unconnected-(RN11-Pad1)">
      <node ref="RN11" pin="1" pinfunction="R1.1" pintype="passive+no_connect"/>
    </net>
-    <net code="297" name="unconnected-(RN11-Pad8)">
+    <net code="301" name="unconnected-(RN11-Pad8)">
      <node ref="RN11" pin="8" pinfunction="R1.2" pintype="passive+no_connect"/>
    </net>
-    <net code="298" name="unconnected-(RN12-Pad1)">
+    <net code="302" name="unconnected-(RN12-Pad1)">
      <node ref="RN12" pin="1" pinfunction="R1.1" pintype="passive+no_connect"/>
    </net>
-    <net code="299" name="unconnected-(RN12-Pad8)">
+    <net code="303" name="unconnected-(RN12-Pad8)">
      <node ref="RN12" pin="8" pinfunction="R1.2" pintype="passive+no_connect"/>
    </net>
-    <net code="300" name="unconnected-(RN13-Pad1)">
+    <net code="304" name="unconnected-(RN13-Pad1)">
      <node ref="RN13" pin="1" pinfunction="R1.1" pintype="passive+no_connect"/>
    </net>
-    <net code="301" name="unconnected-(RN13-Pad8)">
+    <net code="305" name="unconnected-(RN13-Pad8)">
      <node ref="RN13" pin="8" pinfunction="R1.2" pintype="passive+no_connect"/>
    </net>
-    <net code="302" name="unconnected-(RN14-Pad1)">
+    <net code="306" name="unconnected-(RN14-Pad1)">
      <node ref="RN14" pin="1" pinfunction="R1.1" pintype="passive+no_connect"/>
    </net>
-    <net code="303" name="unconnected-(RN14-Pad8)">
+    <net code="307" name="unconnected-(RN14-Pad8)">
      <node ref="RN14" pin="8" pinfunction="R1.2" pintype="passive+no_connect"/>
    </net>
-    <net code="304" name="unconnected-(RN15-Pad1)">
+    <net code="308" name="unconnected-(RN15-Pad1)">
      <node ref="RN15" pin="1" pinfunction="R1.1" pintype="passive+no_connect"/>
    </net>
-    <net code="305" name="unconnected-(RN15-Pad8)">
+    <net code="309" name="unconnected-(RN15-Pad8)">
      <node ref="RN15" pin="8" pinfunction="R1.2" pintype="passive+no_connect"/>
    </net>
-    <net code="306" name="unconnected-(XX1-Pad18)">
+    <net code="310" name="unconnected-(XX1-Pad18)">
      <node ref="XX1" pin="18" pinfunction="INDEX" pintype="passive+no_connect"/>
    </net>
-    <net code="307" name="unconnected-(XX2-Pad18)">
+    <net code="311" name="unconnected-(XX2-Pad18)">
      <node ref="XX2" pin="18" pinfunction="INDEX" pintype="passive+no_connect"/>
    </net>
-    <net code="308" name="unconnected-(XX3-Pad18)">
+    <net code="312" name="unconnected-(XX3-Pad18)">
      <node ref="XX3" pin="18" pinfunction="INDEX" pintype="passive+no_connect"/>
    </net>
-    <net code="309" name="unconnected-(XX4-Pad18)">
+    <net code="313" name="unconnected-(XX4-Pad18)">
      <node ref="XX4" pin="18" pinfunction="INDEX" pintype="passive+no_connect"/>
    </net>
-    <net code="310" name="unconnected-(XX5-Pad18)">
+    <net code="314" name="unconnected-(XX5-Pad18)">
      <node ref="XX5" pin="18" pinfunction="INDEX" pintype="passive+no_connect"/>
    </net>
-    <net code="311" name="unconnected-(XX6-Pad18)">
+    <net code="315" name="unconnected-(XX6-Pad18)">
      <node ref="XX6" pin="18" pinfunction="INDEX" pintype="passive+no_connect"/>
    </net>
-    <net code="312" name="unconnected-(XX7-Pad18)">
+    <net code="316" name="unconnected-(XX7-Pad18)">
      <node ref="XX7" pin="18" pinfunction="INDEX" pintype="passive+no_connect"/>
    </net>
-    <net code="313" name="unconnected-(XX8-Pad18)">
+    <net code="317" name="unconnected-(XX8-Pad18)">
      <node ref="XX8" pin="18" pinfunction="INDEX" pintype="passive+no_connect"/>
    </net>
  </nets>
--- a/F3:F303/Multistepper/main.c
+++ b/F3:F303/Multistepper/main.c
@@ -76,6 +76,9 @@ int main(void){
        }
        int l = USB_receivestr(inbuff, MAXSTRLEN);
        if(l < 0) USB_sendstr("ERROR: USB buffer overflow or string was too long\n");
-        else if(l) cmd_parser(inbuff);
+        else if(l){
+            const char *ans = cmd_parser(inbuff);
+            if(ans) USB_sendstr(ans);
+        }
    }
 }
--- a/F3:F303/Multistepper/multistepper.files
+++ b/F3:F303/Multistepper/multistepper.files
@@ -2,6 +2,10 @@ can.c
 can.h
 hardware.c
 hardware.h
+hashgen/hashgen.c
+hashgen/hdr.c
+hashgen/hdr.h
+hashgen/test.c
 main.c
 proto.c
 proto.h
--- a/F3:F303/Multistepper/multistepper.includes
+++ b/F3:F303/Multistepper/multistepper.includes
@@ -4,3 +4,4 @@
 ../inc/cm
 ../inc/ld
 ../inc/startup
+hashgen
--- a/F3:F303/Multistepper/proto.c
+++ b/F3:F303/Multistepper/proto.c
@@ -21,6 +21,7 @@

 #include "can.h"
 #include "hardware.h"
+#include "hdr.h"
 #include "proto.h"
 #include "version.inc"

@@ -72,79 +73,66 @@ static CAN_message *parseCANmsg(const char *txt){
    return &canmsg;
 }

-// USB_sendstr command, format: ID (hex/bin/dec) data bytes (up to 8 bytes, space-delimeted)
-TRUE_INLINE void USB_sendstrCANcommand(char *txt){
-    if(CAN->MSR & CAN_MSR_INAK){
-        USB_sendstr("CAN bus is off, try to restart it\n");
-        return;
-    }
-    CAN_message *msg = parseCANmsg(txt);
-    if(!msg) return;
-    uint32_t N = 5;
-    while(CAN_BUSY == can_send(msg->data, msg->length, msg->ID)){
-        if(--N == 0) break;
-    }
-}
-
-TRUE_INLINE void CANini(const char *txt){
-    uint32_t N;
-    const char *n = getnum(txt, &N);
-    if(txt == n){
-        USB_sendstr("No speed given");
-        return;
-    }
-    if(N < 50){
-        USB_sendstr("Lowest speed is 50kbps");
-        return;
-    }else if(N > 3000){
-        USB_sendstr("Highest speed is 3000kbps");
-        return;
-    }
-    CAN_reinit((uint16_t)N);
-    USB_sendstr("Reinit CAN bus with speed ");
-    printu(N); USB_sendstr("kbps");
-}
-
-TRUE_INLINE void addIGN(const char *txt){
-    if(IgnSz == IGN_SIZE){
-        USB_sendstr("Ignore buffer is full");
-        return;
-    }
-    txt = omit_spaces(txt);
-    uint32_t N;
-    const char *n = getnum(txt, &N);
-    if(txt == n){
-        USB_sendstr("No ID given");
-        return;
-    }
-    if(N > 0x7ff){
-        USB_sendstr("ID should be 11-bit number!");
-        return;
-    }
-    Ignore_IDs[IgnSz++] = (uint16_t)(N & 0x7ff);
-    USB_sendstr("Added ID "); printu(N);
-    USB_sendstr("\nIgn buffer size: "); printu(IgnSz);
-}
-
-TRUE_INLINE void print_ign_buf(){
-    if(IgnSz == 0){
-        USB_sendstr("Ignore buffer is empty");
-        return;
-    }
-    USB_sendstr("Ignored IDs:\n");
-    for(int i = 0; i < IgnSz; ++i){
-        printu(i);
-        USB_sendstr(": ");
-        printuhex(Ignore_IDs[i]);
-        USB_putbyte('\n');
-    }
-}
-
 // print ID/mask of CAN->sFilterRegister[x] half
 static void printID(uint16_t FRn){
    if(FRn & 0x1f) return; // trash
    printuhex(FRn >> 5);
 }
+
+const char *helpstring =
+    "https://github.com/eddyem/stm32samples/tree/master/F3:F303/Multistepper build#" BUILD_NUMBER " @ " BUILD_DATE "\n"
+    "Format: cmd [N] - getter, cmd [N] = val - setter; N - optional index\n"
+    "* - command not supported yet, G - getter, S - setter\n\n"
+#include "hashgen/helpcmds.in"
+;
+
+int fn_canignore(_U_ uint32_t hash,  char *args){
+    if(!*args){
+        if(IgnSz == 0){
+            USND("Ignore buffer is empty");
+            return RET_GOOD;
+        }
+        USND("Ignored IDs:");
+        for(int i = 0; i < IgnSz; ++i){
+            printu(i);
+            USB_sendstr(": ");
+            printuhex(Ignore_IDs[i]);
+            USB_putbyte('\n');
+        }
+        return RET_GOOD;
+    }
+    if(IgnSz == IGN_SIZE){
+        USND("Ignore buffer is full");
+        return RET_GOOD;
+    }
+    int32_t N;
+    const char *n = getint(args, &N);
+    if(args == n){
+        USND("No ID given");
+        return RET_GOOD;
+    }
+    if(N < 0){
+         IgnSz = 0;
+         USND("Ignore list cleared");
+         return RET_GOOD;
+    }
+    if(N > 0x7ff){
+        USND("ID should be 11-bit number!");
+        return RET_GOOD;
+    }
+    Ignore_IDs[IgnSz++] = (uint16_t)(N & 0x7ff);
+    USB_sendstr("Added ID "); printu(N);
+    USB_sendstr("\nIgn buffer size: "); printu(IgnSz);
+    newline();
+    return RET_GOOD;
+}
+
+int fn_canreinit(_U_ uint32_t hash, _U_ char *args){
+    CAN_reinit(0);
+    USND("OK");
+    return RET_GOOD;
+}
+
 /*
 Can filtering: FSCx=0 (CAN->FS1R) -> 16-bit identifiers
 CAN->FMR = (sb)<<8 | FINIT - init filter in starting bank sb
@@ -195,17 +183,6 @@ TRUE_INLINE void list_filters(){
    }
 }

-TRUE_INLINE void setfloodt(const char *s){
-    uint32_t N;
-    s = omit_spaces(s);
-    const char *n = getnum(s, &N);
-    if(s == n){
-        USB_sendstr("t="); printu(floodT); USB_putbyte('\n');
-        return;
-    }
-    floodT = N;
-}
-
 /**
 * @brief add_filter - add/modify filter
 * @param str - string in format "bank# FIFO# mode num0 .. num3"
@@ -298,28 +275,44 @@ static void add_filter(const char *str){
    printu(nfilt); USB_sendstr(" parameters");
 }

-const char *helpstring =
-    "https://github.com/eddyem/stm32samples/tree/master/F3:F303/CANusb build#" BUILD_NUMBER " @ " BUILD_DATE "\n"
-    "'a' - add ID to ignore list (max 10 IDs)\n"
-    "'b' - reinit CAN with given baudrate\n"
-    "'c' - get CAN status\n"
-    "'d' - delete ignore list\n"
-    "'e' - get CAN errcodes\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' - send incremental flood message (ID == ID for `F`)\n"
-    "'I' - reinit CAN\n"
-    "'l' - list all active filters\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' - change flood period (>=0ms)\n"
-    "'T' - get time from start (ms)\n"
-;
+int fn_canfilter(_U_ uint32_t hash,  char *args){
+    if(*args) add_filter(args);
+    else list_filters();
+    return RET_GOOD;
+}

+int fn_canflood(_U_ uint32_t hash,  char *args){
+    set_flood(parseCANmsg(args), 0);
+    return RET_GOOD;
+}

-TRUE_INLINE void getcanstat(){
+int fn_cansend(_U_ uint32_t hash, char *args){
+    if(CAN->MSR & CAN_MSR_INAK){
+        USB_sendstr("CAN bus is off, try to restart it\n");
+        return RET_GOOD;
+    }
+    CAN_message *msg = parseCANmsg(args);
+    if(!msg) return RET_WRONGCMD;
+    uint32_t N = 5;
+    while(CAN_BUSY == can_send(msg->data, msg->length, msg->ID)){
+        if(--N == 0) break;
+    }
+    if(N == 0) return RET_BAD;
+    return RET_GOOD;
+}
+
+int fn_canfloodt(_U_ uint32_t hash, char *args){
+    uint32_t N;
+    const char *n = getnum(args, &N);
+    if(args == n){
+        USB_sendstr("floodT="); printu(floodT); USB_putbyte('\n');
+        return RET_GOOD;
+    }
+    floodT = N;
+    return RET_GOOD;
+}
+
+int fn_canstat(_U_ uint32_t hash,  _U_ char *args){
    USB_sendstr("CAN_MSR=");
    printuhex(CAN->MSR);
    USB_sendstr("\nCAN_TSR=");
@@ -328,91 +321,80 @@ TRUE_INLINE void getcanstat(){
    printuhex(CAN->RF0R);
    USB_sendstr("\nCAN_RF1R=");
    printuhex(CAN->RF1R);
+    newline();
+    return RET_GOOD;
+}
+
+int fn_canerrcodes(_U_ uint32_t hash,  _U_ char *args){
+    printCANerr();
+    return RET_GOOD;
+}
+
+int fn_canincrflood(_U_ uint32_t hash,  _U_ char *args){
+    set_flood(NULL, 1);
+    USB_sendstr("Incremental flooding is ON ('F' to off)\n");
+    return RET_GOOD;
+}
+
+int fn_canspeed(_U_ uint32_t hash,  _U_ char *args){
+    uint32_t N;
+    const char *n = getnum(args, &N);
+    if(args == n){
+        USB_sendstr("No speed given");
+        return RET_GOOD;
+    }
+    if(N < 50){
+        USB_sendstr("Lowest speed is 50kbps");
+        return RET_GOOD;
+    }else if(N > 3000){
+        USB_sendstr("Highest speed is 3000kbps");
+        return RET_GOOD;
+    }
+    CAN_reinit((uint16_t)N);
+    // theconf.canspeed = N;
+    USB_sendstr("Reinit CAN bus with speed ");
+    printu(N); USB_sendstr("kbps"); newline();
+    return RET_GOOD;
+}
+
+int fn_canpause(_U_ uint32_t hash,  _U_ char *args){
+    ShowMsgs = TRUE;
+    USND("Pause CAN messages");
+    return RET_GOOD;
+}
+
+int fn_canresume(_U_ uint32_t hash,  _U_ char *args){
+    ShowMsgs = FALSE;
+    USND("RESUME CAN messages");
+    return RET_GOOD;
+}
+
+int fn_reset(_U_ uint32_t hash,  _U_ char *args){
+    USB_sendstr("Soft reset\n");
+    USB_sendall(); // wait until everything will gone
+    NVIC_SystemReset();
+    return RET_GOOD;
+}
+
+int fn_time(_U_ uint32_t hash,  _U_ char *args){
+    USB_sendstr("Time (ms): ");
+    printu(Tms);
+    USB_putbyte('\n');
+    return RET_GOOD;
 }

 /**
 * @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];
-    ++txt;
-    /*
-     * parse long commands here
-     */
-    switch(_1st){
-        case 'a':
-            addIGN(txt);
-            goto eof;
-        break;
-        case 'b':
-            CANini(txt);
-            goto eof;
-        break;
-        case 'f':
-            add_filter(txt);
-            goto eof;
-        break;
-        case 'F':
-            set_flood(parseCANmsg(txt), 0);
-            goto eof;
-        break;
-        case 's':
-        case 'S':
-            USB_sendstrCANcommand(txt);
-            goto eof;
-        break;
-        case 't':
-            setfloodt(txt);
-            goto eof;
-        break;
+const char *cmd_parser(const char *txt){
+    int ret = parsecmd(txt);
+    switch(ret){
+        case RET_CMDNOTFOUND: return helpstring; break;
+        case RET_WRONGCMD: return "Wrong command parameters\n"; break;
+        case RET_GOOD: return NULL; break;
+        default: return "FAIL\n"; break;
    }
-    if(*txt) _1st = '?'; // help for wrong message length
-    switch(_1st){
-        case 'c':
-            getcanstat();
-        break;
-        case 'd':
-            IgnSz = 0;
-        break;
-        case 'e':
-            printCANerr();
-        break;
-        case 'i':
-            set_flood(NULL, 1);
-            USB_sendstr("Incremental flooding is ON ('F' to off)\n");
-        break;
-        case 'I':
-            CAN_reinit(0);
-        break;
-        case 'l':
-            list_filters();
-        break;
-        case 'p':
-            print_ign_buf();
-        break;
-        case 'P':
-            ShowMsgs = !ShowMsgs;
-            if(ShowMsgs) USB_sendstr("Resume\n");
-            else USB_sendstr("Pause\n");
-        break;
-        case 'R':
-            USB_sendstr("Soft reset\n");
-            USB_sendall(); // wait until everything will gone
-            NVIC_SystemReset();
-        break;
-        case 'T':
-            USB_sendstr("Time (ms): ");
-            printu(Tms);
-            USB_putbyte('\n');
-        break;
-        default: // help
-            USB_sendstr(helpstring);
-        break;
-    }
-eof:
-    USB_putbyte('\n');
 }

 // check Ignore_IDs & return 1 if ID isn't in list
--- a/F3:F303/Multistepper/proto.h
+++ b/F3:F303/Multistepper/proto.h
@@ -28,5 +28,5 @@

 extern uint8_t ShowMsgs; // show CAN messages flag

-void cmd_parser(char *txt);
+const char *cmd_parser(const char *txt);
 uint8_t isgood(uint16_t ID);
--- a/F3:F303/Multistepper/strfunc.h
+++ b/F3:F303/Multistepper/strfunc.h
@@ -4,9 +4,9 @@
 #include <string.h>

 void hexdump(int (*sendfun)(const char *s), uint8_t *arr, uint16_t len);
-const char *u2str(uint32_t val);
-const char *i2str(int32_t i);
-const char *uhex2str(uint32_t val);
+char *u2str(uint32_t val);
+char *i2str(int32_t i);
+char *uhex2str(uint32_t val);
 const char *getnum(const char *txt, uint32_t *N);
 const char *omit_spaces(const char *buf);
 const char *getint(const char *txt, int32_t *I);
--- a/F3:F303/Multistepper/usb.h
+++ b/F3:F303/Multistepper/usb.h
@@ -24,7 +24,8 @@
 #define RBOUTSZ     (512)
 #define RBINSZ      (512)

-#define newline() USB_putbyte('\n')
+#define newline()   USB_putbyte('\n')
+#define USND(s)     do{USB_sendstr(s); USB_putbyte('\n');}while(0)

 #ifdef EBUG
 #define DBG(str)  do{USB_sendstr(__FILE__ " (L" STR(__LINE__) "): " str);}while(0)
--- a/F3:F303/Multistepper/version.inc
+++ b/F3:F303/Multistepper/version.inc
@@ -1,2 +1,2 @@
-#define BUILD_NUMBER "5"
-#define BUILD_DATE "2023-02-03"
+#define BUILD_NUMBER "1"
+#define BUILD_DATE "2023-02-04"
				`@@ -0,0 +1 @@`
				`file helpcmds.in includes into proto.c as help list`