start servo

2025-12-06 10:45:11 +03:00 · 2019-03-11 00:11:56 +03:00 · 2019-03-11 00:11:56 +03:00 · e5f7e0e16d
commit e5f7e0e16d
parent 83080900bf
36 changed files with 21441 additions and 6 deletions
--- a/F0-nolib/Readme.md
+++ b/F0-nolib/Readme.md
@ -3,13 +3,15 @@ Samples for STM32F042-nucleo and chinese STM32F030-based devboard

 This directory contains examples for F0 without any library

+- Chiller - chiller controller
+- Servo - simple servo (like SG-90) controller
 - blink - simple LED blink
 - canbus - CAN bus on STM32F042C6T6
 - htu21d_nucleo - operaing with HTU-21D in STM32F042-nucleo
 - morze - for STM32F030, echo data from USART1 on TIM3CH1 (PA6) as Morze code
+- pl2303 - CDC template (emulation of PL2303)
 - tsys01_nucleo - read two TSYS01 sensors using STM32F042
 - uart - USART over DMA with hardware end-of-string detection
 - uart_blink - code for STM32F030F4, echo data on USART1 and blink LEDS on PA4 and PA5
 - uart_nucleo - USART over DMA for STM32F042-nucleo
 - usbcdc - CDC for STM32F042 (emulation of PL2303) with working CAN bus
- pl2303 - CDC template (emulation of PL2303)
--- a/F0-nolib/Servo/Makefile
+++ b/F0-nolib/Servo/Makefile
@ -0,0 +1,134 @@
+BINARY		= servo
+BOOTPORT	?= /dev/ttyUSB0
+BOOTSPEED	?= 115200
+# MCU FAMILY
+FAMILY		= F0
+# MCU code
+MCU			= F030x4
+DEFS		= -DEBUG
+# change this linking script depending on particular MCU model,
+# for example, if you have STM32F103VBT6, you should write:
+LDSCRIPT	= stm32f030f.ld
+
+INDEPENDENT_HEADERS=
+
+FP_FLAGS	?= -msoft-float
+ASM_FLAGS	= -mthumb -mcpu=cortex-m0 -march=armv6-m -mtune=cortex-m0
+ARCH_FLAGS	= $(ASM_FLAGS) $(FP_FLAGS)
+
+###############################################################################
+# Executables
+PREFIX		?= /opt/bin/arm-none-eabi
+
+RM			:= rm -f
+RMDIR		:= rmdir
+CC			:= $(PREFIX)-gcc
+LD			:= $(PREFIX)-gcc
+AR			:= $(PREFIX)-ar
+AS			:= $(PREFIX)-as
+OBJCOPY		:= $(PREFIX)-objcopy
+OBJDUMP		:= $(PREFIX)-objdump
+GDB			:= $(PREFIX)-gdb
+STFLASH		:= $(shell which st-flash)
+STBOOT		:= $(shell which stm32flash)
+
+###############################################################################
+# Source files
+OBJDIR 		= mk
+LDSCRIPT	?= $(BINARY).ld
+SRC			:= $(wildcard *.c)
+OBJS		:= $(addprefix $(OBJDIR)/, $(SRC:%.c=%.o))
+STARTUP		= $(OBJDIR)/startup.o
+OBJS 		+= $(STARTUP)
+DEPS		:= $(OBJS:.o=.d)
+
+INC_DIR ?= ../inc
+
+INCLUDE 	:= -I$(INC_DIR)/Fx -I$(INC_DIR)/cm
+LIB_DIR		:= $(INC_DIR)/ld
+
+###############################################################################
+# C flags
+CFLAGS		+= -O2 -g -MD -D__thumb2__=1
+CFLAGS		+= -Wall -Werror -Wextra -Wshadow -Wimplicit-function-declaration
+CFLAGS		+= -Wredundant-decls $(INCLUDE)
+# -Wmissing-prototypes -Wstrict-prototypes
+CFLAGS		+= -fno-common -ffunction-sections -fdata-sections
+
+###############################################################################
+# Linker flags
+LDFLAGS		+= --static -nostartfiles
+#--specs=nano.specs
+LDFLAGS		+= -L$(LIB_DIR)
+LDFLAGS		+= -T$(LDSCRIPT)
+LDFLAGS		+= -Wl,-Map=$(OBJDIR)/$(BINARY).map
+LDFLAGS		+= -Wl,--gc-sections
+
+###############################################################################
+# Used libraries
+LDLIBS		+= -Wl,--start-group -lc -lgcc -Wl,--end-group
+LDLIBS		+= $(shell $(CC) $(CFLAGS) -print-libgcc-file-name)
+
+DEFS		+= -DSTM32$(FAMILY) -DSTM32$(MCU)
+
+#.SUFFIXES: .elf .bin .hex .srec .list .map .images
+#.SECONDEXPANSION:
+#.SECONDARY:
+
+ELF		:= $(OBJDIR)/$(BINARY).elf
+LIST	:= $(OBJDIR)/$(BINARY).list
+BIN		:= $(BINARY).bin
+HEX		:= $(BINARY).hex
+
+all: bin list
+
+elf: $(ELF)
+bin: $(BIN)
+hex: $(HEX)
+list: $(LIST)
+
+ifneq ($(MAKECMDGOALS),clean)
+-include $(DEPS)
+endif
+
+$(OBJDIR):
+	mkdir $(OBJDIR)
+
+$(STARTUP): $(INC_DIR)/startup/vector.c
+	$(CC) $(CFLAGS) $(DEFS) $(INCLUDE) $(ARCH_FLAGS) -o $@ -c $<
+
+$(OBJDIR)/%.o: %.c
+	@echo "  CC      $<"
+	$(CC) $(CFLAGS) $(DEFS) $(INCLUDE) $(ARCH_FLAGS) -o $@ -c $<
+
+$(BIN): $(ELF)
+	@echo "  OBJCOPY $(BIN)"
+	$(OBJCOPY) -Obinary $(ELF) $(BIN)
+
+$(HEX): $(ELF)
+	@echo "  OBJCOPY $(HEX)"
+	$(OBJCOPY) -Oihex $(ELF) $(HEX)
+
+$(LIST): $(ELF)
+	@echo "  OBJDUMP $(LIST)"
+	$(OBJDUMP) -S $(ELF) > $(LIST)
+
+$(ELF): $(OBJDIR) $(OBJS)
+	@echo "  LD      $(ELF)"
+	$(LD) $(LDFLAGS) $(ARCH_FLAGS) $(OBJS) $(LDLIBS) -o $(ELF)
+
+clean:
+	@echo "  CLEAN"
+	$(RM) $(OBJS) $(DEPS) $(ELF) $(HEX) $(LIST) $(OBJDIR)/*.map
+	@rmdir $(OBJDIR) 2>/dev/null || true
+
+
+flash: $(BIN)
+	@echo "  FLASH  $(BIN)"
+	$(STFLASH) write $(BIN) 0x8000000
+
+boot: $(BIN)
+	@echo "  LOAD $(BIN) through bootloader"
+	$(STBOOT) -b$(BOOTSPEED) $(BOOTPORT) -w $(BIN)
+
+.PHONY: clean flash boot
--- a/F0-nolib/Servo/Readme.md
+++ b/F0-nolib/Servo/Readme.md
@ -0,0 +1,47 @@
+Servo motors SG-90 management
+=============================
+
+## GPIO
+
+- PA0 - (ADC_IN0) - Servo1 control,
+- PA1 - (ADC_IN1) - Servo2 control,
+- PA2 - (ADC_IN2) - Servo3 control,
+- PA3 - (ADC_IN3) - external analogue signal,
+- PA4 - (PullUp in) - ext. input 0,
+- PA5 - (PullUp in) - ext. input 1,
+- PA6 - (TIM3_CH1) - Servo1,
+- PA7 - (TIM3_CH2) - Servo2,
+- PA9 - (USART_Tx) - TX,
+- PA10 - (USART_Rx) - RX,
+- PA13 - (PullUp in) - Jumper 0,
+- PA14 - (PullUp in) - Jumper 1,
+- PB1 - (TIM3_CH4) - Servo3,
+- PF0 - (OpenDrain) - Buzzer,
+- PF1 - (OpenDrain) - External LED (or weak laser module).
+
+## UART 
+115200N1, not more than 100ms between data bytes in command.
+To turn ON human terminal (without timeout) send "####".
+
+## Protocol
+All commands are in brackets: `[ command line ]`.
+
+'[' clears earlier input; '\n', '\r', ' ', '\t' are ignored.
+All messages are asynchronous!
+
+## Commands
+* **d** - debugging commands:
+    * **A** - get raw ADC values,
+    * **w** - watchdog test;
+* **R** - reset;
+* **t** - get MCU temperature;
+* **V** - get VDD value.
+
+## Messages
+
+
+
+## Servos
+The board controls up to three servos like SG-90.
+Three timer's outputs used for this purpose. Timer frequency 50Hz, pulse width from 500 to 2400us.
+
--- a/F0-nolib/Servo/Servo.config
+++ b/F0-nolib/Servo/Servo.config
@ -0,0 +1,5 @@
+// Add predefined macros for your project here. For example:
+// #define THE_ANSWER 42
+#define EBUG 1
+#define STM32F0
+#define STM32F030x4
--- a/F0-nolib/Servo/Servo.creator
+++ b/F0-nolib/Servo/Servo.creator
@ -0,0 +1 @@
+[General]
--- a/F0-nolib/Servo/Servo.creator.user
+++ b/F0-nolib/Servo/Servo.creator.user
@ -0,0 +1,204 @@
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--- a/F0-nolib/Servo/Servo.files
+++ b/F0-nolib/Servo/Servo.files
@ -0,0 +1,12 @@
+Makefile
+adc.c
+adc.h
+hardware.c
+hardware.h
+main.c
+mainloop.c
+mainloop.h
+protocol.c
+protocol.h
+usart.c
+usart.h
--- a/F0-nolib/Servo/Servo.includes
+++ b/F0-nolib/Servo/Servo.includes
@ -0,0 +1,4 @@
+.
+../inc
+../inc/Fx
+../inc/cm
--- a/F0-nolib/Servo/adc.c
+++ b/F0-nolib/Servo/adc.c
@ -0,0 +1,74 @@
+/*
+ * This file is part of the Chiller project.
+ * Copyright 2018 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "adc.h"
+
+/**
+ * @brief ADC_array - array for ADC channels with median filtering:
+ * 0..3 - external NTC
+ * 4 - internal Tsens
+ * 5 - Vref
+ */
+#define TSENS_CHAN  (4)
+#define VREF_CHAN   (5)
+uint16_t ADC_array[NUMBER_OF_ADC_CHANNELS*9];
+
+/**
+ * @brief getADCval - calculate median value for `nch` channel
+ * @param nch - number of channel
+ * @return
+ */
+uint16_t getADCval(int nch){
+    int i, addr = nch;
+    register uint16_t temp;
+#define PIX_SORT(a,b) { if ((a)>(b)) PIX_SWAP((a),(b)); }
+#define PIX_SWAP(a,b) { temp=(a);(a)=(b);(b)=temp; }
+    uint16_t p[9];
+    for(i = 0; i < 9; ++i, addr += NUMBER_OF_ADC_CHANNELS) // first we should prepare array for optmed
+        p[i] = ADC_array[addr];
+    PIX_SORT(p[1], p[2]) ; PIX_SORT(p[4], p[5]) ; PIX_SORT(p[7], p[8]) ;
+    PIX_SORT(p[0], p[1]) ; PIX_SORT(p[3], p[4]) ; PIX_SORT(p[6], p[7]) ;
+    PIX_SORT(p[1], p[2]) ; PIX_SORT(p[4], p[5]) ; PIX_SORT(p[7], p[8]) ;
+    PIX_SORT(p[0], p[3]) ; PIX_SORT(p[5], p[8]) ; PIX_SORT(p[4], p[7]) ;
+    PIX_SORT(p[3], p[6]) ; PIX_SORT(p[1], p[4]) ; PIX_SORT(p[2], p[5]) ;
+    PIX_SORT(p[4], p[7]) ; PIX_SORT(p[4], p[2]) ; PIX_SORT(p[6], p[4]) ;
+    PIX_SORT(p[4], p[2]) ;
+    return p[4];
+#undef PIX_SORT
+#undef PIX_SWAP
+}
+
+// return MCU temperature (degrees of celsius * 10)
+int32_t getMCUtemp(){
+    getVdd();
+    // make correction on Vdd value
+//    int32_t temperature = (int32_t)ADC_array[4] * VddValue / 330;
+    int32_t ADval = getADCval(TSENS_CHAN);
+    int32_t temperature = (int32_t) *TEMP30_CAL_ADDR - ADval;
+    temperature *= (int32_t)(1100 - 300);
+    temperature /= (int32_t)(*TEMP30_CAL_ADDR - *TEMP110_CAL_ADDR);
+    temperature += 300;
+    return(temperature);
+}
+
+// return Vdd * 100 (V)
+uint32_t getVdd(){
+    uint32_t vdd = ((uint32_t) *VREFINT_CAL_ADDR) * (uint32_t)330; // 3.3V
+    vdd /= getADCval(VREF_CHAN);
+    return vdd;
+}
--- a/F0-nolib/Servo/adc.h
+++ b/F0-nolib/Servo/adc.h
@ -0,0 +1,29 @@
+/*
+ * This file is part of the Chiller project.
+ * Copyright 2018 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/>.
+ */
+#ifndef ADC_H
+#define ADC_H
+#include "stm32f0.h"
+
+#define NUMBER_OF_ADC_CHANNELS (6)
+
+extern uint16_t ADC_array[];
+int32_t getMCUtemp();
+uint32_t getVdd();
+uint16_t getADCval(int nch);
+
+#endif // ADC_H
--- a/F0-nolib/Servo/hardware.c
+++ b/F0-nolib/Servo/hardware.c
@ -0,0 +1,201 @@
+/*
+ * This file is part of the Chiller project.
+ * Copyright 2018 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 "hardware.h"
+#include "usart.h"
+#include "adc.h"
+
+static inline void iwdg_setup(){
+    /* Enable the peripheral clock RTC */
+    /* (1) Enable the LSI (40kHz) */
+    /* (2) Wait while it is not ready */
+    RCC->CSR |= RCC_CSR_LSION; /* (1) */
+    while((RCC->CSR & RCC_CSR_LSIRDY) != RCC_CSR_LSIRDY); /* (2) */
+    /* Configure IWDG */
+    /* (1) Activate IWDG (not needed if done in option bytes) */
+    /* (2) Enable write access to IWDG registers */
+    /* (3) Set prescaler by 64 (1.6ms for each tick) */
+    /* (4) Set reload value to have a rollover each 1s */
+    /* (5) Check if flags are reset */
+    /* (6) Refresh counter */
+    IWDG->KR = IWDG_START; /* (1) */
+    IWDG->KR = IWDG_WRITE_ACCESS; /* (2) */
+    IWDG->PR = IWDG_PR_PR_1; /* (3) */
+    IWDG->RLR = 625; /* (4) */
+    while(IWDG->SR); /* (5) */
+    IWDG->KR = IWDG_REFRESH; /* (6) */
+}
+
+static inline void adc_setup(){
+    uint16_t ctr = 0; // 0xfff0 - more than 1.3ms
+    // Enable clocking
+    /* (1) Enable the peripheral clock of the ADC */
+    /* (2) Start HSI14 RC oscillator */
+    /* (3) Wait HSI14 is ready */
+    RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; /* (1) */
+    RCC->CR2 |= RCC_CR2_HSI14ON; /* (2) */
+    while ((RCC->CR2 & RCC_CR2_HSI14RDY) == 0 && ++ctr < 0xfff0){}; /* (3) */
+    // calibration
+    /* (1) Ensure that ADEN = 0 */
+    /* (2) Clear ADEN */
+    /* (3) Launch the calibration by setting ADCAL */
+    /* (4) Wait until ADCAL=0 */
+    if ((ADC1->CR & ADC_CR_ADEN) != 0){ /* (1) */
+        ADC1->CR &= (uint32_t)(~ADC_CR_ADEN);  /* (2) */
+    }
+    ADC1->CR |= ADC_CR_ADCAL; /* (3) */
+    ctr = 0; // ADC calibration time is 5.9us
+    while ((ADC1->CR & ADC_CR_ADCAL) != 0 && ++ctr < 0xfff0){}; /* (4) */
+    // enable ADC
+    ctr = 0;
+    do{
+          ADC1->CR |= ADC_CR_ADEN;
+    }while ((ADC1->ISR & ADC_ISR_ADRDY) == 0 && ++ctr < 0xfff0);
+    // configure ADC
+    /* (1) Select HSI14 by writing 00 in CKMODE (reset value) */
+    /* (2) Select the continuous mode */
+    /* (3) Select CHSEL0..3 - ADC inputs, 16,17 - t. sensor and vref */
+    /* (4) Select a sampling mode of 111 i.e. 239.5 ADC clk to be greater than 17.1us */
+    /* (5) Wake-up the VREFINT and Temperature sensor (only for VBAT, Temp sensor and VRefInt) */
+    // ADC1->CFGR2 &= ~ADC_CFGR2_CKMODE; /* (1) */
+    ADC1->CFGR1 |= ADC_CFGR1_CONT; /* (2)*/
+    ADC1->CHSELR = ADC_CHSELR_CHSEL0 | ADC_CHSELR_CHSEL1 | ADC_CHSELR_CHSEL2 |
+            ADC_CHSELR_CHSEL3 | ADC_CHSELR_CHSEL16 | ADC_CHSELR_CHSEL17; /* (3)*/
+    ADC1->SMPR |= ADC_SMPR_SMP_0 | ADC_SMPR_SMP_1 | ADC_SMPR_SMP_2; /* (4) */
+    ADC->CCR |= ADC_CCR_TSEN | ADC_CCR_VREFEN; /* (5) */
+    // configure DMA for ADC
+    // DMA for AIN
+    /* (1) Enable the peripheral clock on DMA */
+    /* (2) Enable DMA transfer on ADC and circular mode */
+    /* (3) Configure the peripheral data register address */
+    /* (4) Configure the memory address */
+    /* (5) Configure the number of DMA tranfer to be performs on DMA channel 1 */
+    /* (6) Configure increment, size, interrupts and circular mode */
+    /* (7) Enable DMA Channel 1 */
+    RCC->AHBENR |= RCC_AHBENR_DMA1EN; /* (1) */
+    ADC1->CFGR1 |= ADC_CFGR1_DMAEN | ADC_CFGR1_DMACFG; /* (2) */
+    DMA1_Channel1->CPAR = (uint32_t) (&(ADC1->DR)); /* (3) */
+    DMA1_Channel1->CMAR = (uint32_t)(ADC_array); /* (4) */
+    DMA1_Channel1->CNDTR = NUMBER_OF_ADC_CHANNELS * 9; /* (5) */
+    DMA1_Channel1->CCR |= DMA_CCR_MINC | DMA_CCR_MSIZE_0 | DMA_CCR_PSIZE_0 | DMA_CCR_CIRC; /* (6) */
+    DMA1_Channel1->CCR |= DMA_CCR_EN; /* (7) */
+    ADC1->CR |= ADC_CR_ADSTART; /* start the ADC conversions */
+}
+
+/**
+ * @brief gpio_setup - setup GPIOs for external IO
+ * GPIO pinout:
+ *      PA5  - floating input   - Ef of TLE5205
+ *      PA13 - open drain       - IN1 of TLE5205
+ *      PA14 - open drain       - IN2 of TLE5205
+ *      PF0  - floating input   - water level alert
+ *      PF1  - push-pull        - external alarm
+ *      PA0..PA3 - ADC_IN0..3
+ *      PA4, PA6, PA7 - PWM outputs
+ * Registers
+ *      MODER  - input/output/alternate/analog (2 bit)
+ *      OTYPER - 0 pushpull, 1 opendrain
+ *      OSPEEDR - x0 low, 01 medium, 11 high
+ *      PUPDR - no/pullup/pulldown/resr (2 bit)
+ *      IDR - input
+ *      ODR - output
+ *      BSRR - 0..15 - set, 16..31 - reset
+ *      BRR - 0..15 - reset
+ *      AFRL/AFRH - alternate functions (4 bit, AF: 0..7); L - AFR0..7, H - ARF8..15
+ */
+static inline void gpio_setup(){
+    // Enable clocks to the GPIO subsystems
+    RCC->AHBENR |= RCC_AHBENR_GPIOAEN | RCC_AHBENR_GPIOBEN | RCC_AHBENR_GPIOFEN;
+    GPIOA->MODER =
+            GPIO_MODER_MODER13_O | GPIO_MODER_MODER14_O |
+            GPIO_MODER_MODER4_AF | GPIO_MODER_MODER6_AF |
+            GPIO_MODER_MODER7_AF |
+            GPIO_MODER_MODER0_AI | GPIO_MODER_MODER1_AI |
+            GPIO_MODER_MODER2_AI | GPIO_MODER_MODER3_AI;
+    RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN; // enable syscfg clock for EXTI
+    GPIOA->OTYPER = 3 << 13; // 13/14 opendrain
+    GPIOF->MODER = GPIO_MODER_MODER1_O;
+    // PB1 - interrupt input
+    /* (2) Select Port B for pin 1 external interrupt by writing 0001 in EXTI1*/
+    /* (3) Configure the corresponding mask bit in the EXTI_IMR register */
+    /* (4) Configure the Trigger Selection bits of the Interrupt line on rising edge*/
+    /* (5) Configure the Trigger Selection bits of the Interrupt line on falling edge*/
+    SYSCFG->EXTICR[0] = SYSCFG_EXTICR1_EXTI1_PB; /* (2) */
+    EXTI->IMR = EXTI_IMR_MR1; /* (3) */
+    //EXTI->RTSR = 0x0000; /* (4) */
+    EXTI->FTSR = EXTI_FTSR_TR1; /* (5) */
+    /* (6) Enable Interrupt on EXTI0_1 */
+    /* (7) Set priority for EXTI0_1 */
+    NVIC_EnableIRQ(EXTI0_1_IRQn); /* (6) */
+    NVIC_SetPriority(EXTI0_1_IRQn, 3); /* (7) */
+    // alternate functions:
+    // PA4 - TIM14_CH1 (AF4)
+    // PA6 - TIM16_CH1 (AF5), PA7 - TIM17_CH1 (AF5)
+    GPIOA->AFR[0] = (GPIOA->AFR[0] &~ (GPIO_AFRL_AFRL4 | GPIO_AFRL_AFRL6 | GPIO_AFRL_AFRL7)) \
+                | (4 << (4 * 4)) | (5 << (6 * 4)) | (5 << (7 * 4));
+}
+
+static inline void timers_setup(){
+    // timer 14 ch1 - cooler PWM
+    // timer 16 ch1 - heater PWM
+    // timer 17 ch1 - pump PWM
+    RCC->APB1ENR |= RCC_APB1ENR_TIM3EN | RCC_APB1ENR_TIM14EN; // enable clocking for timers 3 and 14
+    RCC->APB2ENR |= RCC_APB2ENR_TIM16EN | RCC_APB2ENR_TIM17EN; // & timers 16/17
+    // PWM mode 1 (active -> inactive)
+    TIM14->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1;
+    TIM16->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1;
+    TIM17->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1;
+    // frequency
+    TIM14->PSC = 59; // 0.8MHz for 3kHz PWM
+    TIM16->PSC = 18749; // 2.56kHz for 10Hz PWM
+    TIM17->PSC = 5; // 8MHz for 31kHz PWM
+    // ARR for 8-bit PWM
+    TIM14->ARR = 254;
+    TIM16->ARR = 254;
+    TIM17->ARR = 254;
+    // start in OFF state
+    // TIM14->CCR1 = 0; and so on
+    // enable main output
+    TIM14->BDTR |= TIM_BDTR_MOE;
+    TIM16->BDTR |= TIM_BDTR_MOE;
+    TIM17->BDTR |= TIM_BDTR_MOE;
+    // enable PWM output
+    TIM14->CCER = TIM_CCER_CC1E;
+    TIM16->CCER = TIM_CCER_CC1E;
+    TIM17->CCER = TIM_CCER_CC1E;
+    // enable timers
+    TIM14->CR1 |= TIM_CR1_CEN;
+    TIM16->CR1 |= TIM_CR1_CEN;
+    TIM17->CR1 |= TIM_CR1_CEN;
+}
+
+void hw_setup(){
+    sysreset();
+    gpio_setup();
+    adc_setup();
+    timers_setup();
+    USART1_config();
+    iwdg_setup();
+}
+
+
+void exti0_1_isr(){
+    if (EXTI->PR & EXTI_PR_PR1){
+        EXTI->PR |= EXTI_PR_PR1; /* Clear the pending bit */
+        ;
+    }
+}
--- a/F0-nolib/Servo/hardware.h
+++ b/F0-nolib/Servo/hardware.h
@ -0,0 +1,78 @@
+/*
+ * This file is part of the Chiller project.
+ * Copyright 2018 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#pragma once
+#ifndef HARDWARE_H
+#define HARDWARE_H
+#include "stm32f0.h"
+
+// measure flow sensor data each 1 second
+#define FLOW_RATE_MS        (999)
+// previous as string constant
+#define FLOWRATESTR         "1"
+
+// each TMEASURE_MS ms calculate temperatures & check them
+#define TMEASURE_MS         (1000)
+// each TCHECK_MS ms check cooler state and regulate temperature
+#define TCHECK_MS           (10000)
+
+/*
+                temperature limits and tolerances
+ */
+// tolerance: +-1.5degrC
+#define TEMP_TOLERANCE      (15)
+// dT tolerance: +-0.5degrC
+#define DT_TOLERANCE        (5)
+// maximal heater temperature - 80degrC; normal - <60
+#define MAX_HEATER_T        (800)
+#define NORMAL_HEATER_T     (600)
+// maximal output temperature - 45degrC; minimal - 10
+#define MAX_OUTPUT_T        (450)
+#define MIN_OUTPUT_T        (100)
+// temperature working values: from 15 to 30degrC
+#define OUTPUT_T_H          (300)
+#define OUTPUT_T_L          (150)
+
+/*
+                other limits & tolerances
+*/
+// minimal flow rate - 0.2l per minute
+#define MIN_FLOW_RATE       (20)
+// normal flow rate
+#define NORMAL_FLOW_RATE    (30)
+// minimal PWM values when motors should work
+#define MIN_PUMP_PWM        (90)
+#define MIN_COOLER_PWM      (90)
+
+// PWM setters and getters
+#define SET_COOLER_PWM(N)   do{TIM14->CCR1 = (uint32_t)N;}while(0)
+#define GET_COOLER_PWM()    (uint16_t)(TIM14->CCR1)
+#define SET_HEATER_PWM(N)   do{TIM16->CCR1 = (uint32_t)N;}while(0)
+#define GET_HEATER_PWM()    (uint16_t)(TIM16->CCR1)
+#define SET_PUMP_PWM(N)     do{TIM17->CCR1 = (uint32_t)N;}while(0)
+#define GET_PUMP_PWM()      (uint16_t)(TIM17->CCR1)
+
+// ext. alarm states
+#define ALARM_ON()          pin_set(GPIOF, 2)
+#define ALARM_OFF()         pin_clear(GPIOF, 2)
+#define ALARM_STATE()       pin_read(GPIOF, 2)
+
+extern volatile uint32_t Tms;
+
+void hw_setup(void);
+
+#endif // HARDWARE_H
--- a/F0-nolib/Servo/kicad/Servo_control-rescue.lib
+++ b/F0-nolib/Servo/kicad/Servo_control-rescue.lib
@ -0,0 +1,445 @@
+EESchema-LIBRARY Version 2.4
+#encoding utf-8
+#
+# +12V-Chiller_control-rescue
+#
+DEF +12V-Chiller_control-rescue #PWR 0 0 Y Y 1 F P
+F0 "#PWR" 0 -150 50 H I C CNN
+F1 "+12V-Chiller_control-rescue" 0 140 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+P 2 0 1 0 -30 50 0 100 N
+P 2 0 1 0 0 0 0 100 N
+P 2 0 1 0 0 100 30 50 N
+X +12V 1 0 0 0 U 50 50 1 1 W N
+ENDDRAW
+ENDDEF
+#
+# +3.3V-Chiller_control-rescue
+#
+DEF +3.3V-Chiller_control-rescue #PWR 0 0 Y Y 1 F P
+F0 "#PWR" 0 -150 50 H I C CNN
+F1 "+3.3V-Chiller_control-rescue" 0 140 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+P 2 0 1 0 -30 50 0 100 N
+P 2 0 1 0 0 0 0 100 N
+P 2 0 1 0 0 100 30 50 N
+X +3V3 1 0 0 0 U 50 50 1 1 W N
+ENDDRAW
+ENDDEF
+#
+# +3.3VADC-Chiller_control-rescue
+#
+DEF +3.3VADC-Chiller_control-rescue #PWR 0 0 Y Y 1 F P
+F0 "#PWR" 150 -50 50 H I C CNN
+F1 "+3.3VADC-Chiller_control-rescue" 0 100 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+P 3 0 1 0 0 0 0 40 0 40 N
+P 6 0 1 0 0 40 20 20 0 70 -20 20 0 40 0 40 N
+X +3.3VADC 1 0 0 0 U 50 50 0 0 W N
+ENDDRAW
+ENDDEF
+#
+# +5V-power
+#
+DEF +5V-power #PWR 0 0 Y Y 1 F P
+F0 "#PWR" 0 -150 50 H I C CNN
+F1 "+5V-power" 0 140 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+P 2 0 1 0 -30 50 0 100 N
+P 2 0 1 0 0 0 0 100 N
+P 2 0 1 0 0 100 30 50 N
+X +5V 1 0 0 0 U 50 50 1 1 W N
+ENDDRAW
+ENDDEF
+#
+# C-Chiller_control-rescue
+#
+DEF C-Chiller_control-rescue C 0 10 N Y 1 F N
+F0 "C" 25 100 50 H V L CNN
+F1 "C-Chiller_control-rescue" 25 -100 50 H V L CNN
+F2 "" 38 -150 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+$FPLIST
+ C_*
+$ENDFPLIST
+DRAW
+P 2 0 1 20 -80 -30 80 -30 N
+P 2 0 1 20 -80 30 80 30 N
+X ~ 1 0 150 110 D 50 50 1 1 P
+X ~ 2 0 -150 110 U 50 50 1 1 P
+ENDDRAW
+ENDDEF
+#
+# CP-Chiller_control-rescue
+#
+DEF CP-Chiller_control-rescue C 0 10 N Y 1 F N
+F0 "C" 25 100 50 H V L CNN
+F1 "CP-Chiller_control-rescue" 25 -100 50 H V L CNN
+F2 "" 38 -150 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+$FPLIST
+ CP_*
+$ENDFPLIST
+DRAW
+S -90 20 -90 40 0 1 0 N
+S -90 20 90 20 0 1 0 N
+S 90 -20 -90 -40 0 1 0 F
+S 90 40 -90 40 0 1 0 N
+S 90 40 90 20 0 1 0 N
+P 2 0 1 0 -70 90 -30 90 N
+P 2 0 1 0 -50 110 -50 70 N
+X ~ 1 0 150 110 D 50 50 1 1 P
+X ~ 2 0 -150 110 U 50 50 1 1 P
+ENDDRAW
+ENDDEF
+#
+# Conn_01x02-Chiller_control-rescue
+#
+DEF Conn_01x02-Chiller_control-rescue J 0 40 Y N 1 F N
+F0 "J" 0 100 50 H V C CNN
+F1 "Conn_01x02-Chiller_control-rescue" 0 -200 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+$FPLIST
+ Connector*:*_??x*mm*
+ Connector*:*1x??x*mm*
+ Pin?Header?Straight?1X*
+ Pin?Header?Angled?1X*
+ Socket?Strip?Straight?1X*
+ Socket?Strip?Angled?1X*
+$ENDFPLIST
+DRAW
+S -50 -95 0 -105 1 1 6 N
+S -50 5 0 -5 1 1 6 N
+S -50 50 50 -150 1 1 10 f
+X Pin_1 1 -200 0 150 R 50 50 1 1 P
+X Pin_2 2 -200 -100 150 R 50 50 1 1 P
+ENDDRAW
+ENDDEF
+#
+# D-Chiller_control-rescue
+#
+DEF D-Chiller_control-rescue D 0 40 N N 1 F N
+F0 "D" 0 100 50 H V C CNN
+F1 "D-Chiller_control-rescue" 0 -100 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+$FPLIST
+ TO-???*
+ *SingleDiode
+ *_Diode_*
+ *SingleDiode*
+ D_*
+$ENDFPLIST
+DRAW
+P 2 0 1 8 -50 50 -50 -50 N
+P 2 0 1 0 50 0 -50 0 N
+P 4 0 1 8 50 50 50 -50 -50 0 50 50 N
+X K 1 -150 0 100 R 50 50 1 1 P
+X A 2 150 0 100 L 50 50 1 1 P
+ENDDRAW
+ENDDEF
+#
+# DB9_Female-Chiller_control-rescue
+#
+DEF DB9_Female-Chiller_control-rescue J 0 40 Y N 1 F N
+F0 "J" 0 550 50 H V C CNN
+F1 "DB9_Female-Chiller_control-rescue" 0 -575 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+$FPLIST
+ DB*F*
+$ENDFPLIST
+DRAW
+C -70 -400 30 0 1 0 N
+C -70 -200 30 0 1 0 N
+C -70 0 30 0 1 0 N
+C -70 200 30 0 1 0 N
+C -70 400 30 0 1 0 N
+C 50 -300 30 0 1 0 N
+C 50 -100 30 0 1 0 N
+C 50 100 30 0 1 0 N
+C 50 300 30 0 1 0 N
+P 2 0 1 0 -150 -400 -100 -400 N
+P 2 0 1 0 -150 -300 20 -300 N
+P 2 0 1 0 -150 -200 -100 -200 N
+P 2 0 1 0 -150 -100 20 -100 N
+P 2 0 1 0 -150 0 -100 0 N
+P 2 0 1 0 -150 100 20 100 N
+P 2 0 1 0 -150 200 -100 200 N
+P 2 0 1 0 -150 300 20 300 N
+P 2 0 1 0 -150 400 -100 400 N
+P 5 0 1 10 -150 525 -150 -525 150 -375 150 375 -150 525 f
+X 1 1 -300 400 150 R 50 50 1 1 P
+X 2 2 -300 200 150 R 50 50 1 1 P
+X 3 3 -300 0 150 R 50 50 1 1 P
+X 4 4 -300 -200 150 R 50 50 1 1 P
+X 5 5 -300 -400 150 R 50 50 1 1 P
+X 6 6 -300 300 150 R 50 50 1 1 P
+X 7 7 -300 100 150 R 50 50 1 1 P
+X 8 8 -300 -100 150 R 50 50 1 1 P
+X 9 9 -300 -300 150 R 50 50 1 1 P
+ENDDRAW
+ENDDEF
+#
+# GND-Chiller_control-rescue
+#
+DEF GND-Chiller_control-rescue #PWR 0 0 Y Y 1 F P
+F0 "#PWR" 0 -250 50 H I C CNN
+F1 "GND-Chiller_control-rescue" 0 -150 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+P 6 0 1 0 0 0 0 -50 50 -50 0 -100 -50 -50 0 -50 N
+X GND 1 0 0 0 D 50 50 1 1 W N
+ENDDRAW
+ENDDEF
+#
+# L-Chiller_control-rescue
+#
+DEF L-Chiller_control-rescue L 0 40 N N 1 F N
+F0 "L" -50 0 50 V V C CNN
+F1 "L-Chiller_control-rescue" 75 0 50 V V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+$FPLIST
+ Choke_*
+ *Coil*
+ Inductor_*
+ L_*
+$ENDFPLIST
+DRAW
+A 0 -75 25 -899 899 0 1 0 N 0 -100 0 -50
+A 0 -25 25 -899 899 0 1 0 N 0 -50 0 0
+A 0 25 25 -899 899 0 1 0 N 0 0 0 50
+A 0 75 25 -899 899 0 1 0 N 0 50 0 100
+X 1 1 0 150 50 D 50 50 1 1 P
+X 2 2 0 -150 50 U 50 50 1 1 P
+ENDDRAW
+ENDDEF
+#
+# LM1117-3.3-Chiller_control-rescue
+#
+DEF LM1117-3.3-Chiller_control-rescue U 0 10 Y Y 1 F N
+F0 "U" -150 125 50 H V C CNN
+F1 "LM1117-3.3-Chiller_control-rescue" 0 125 50 H V L CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+$FPLIST
+ SOT?223*
+ TO?263*
+ TO?252*
+ TO?220*
+$ENDFPLIST
+DRAW
+S -200 -200 200 75 0 1 10 f
+X GND 1 0 -300 100 U 50 50 1 1 W
+X VO 2 300 0 100 L 50 50 1 1 w
+X VI 3 -300 0 100 R 50 50 1 1 W
+ENDDRAW
+ENDDEF
+#
+# MAX3232-Chiller_control-rescue
+#
+DEF MAX3232-Chiller_control-rescue U 0 40 Y Y 1 F N
+F0 "U" -100 1125 50 H V R CNN
+F1 "MAX3232-Chiller_control-rescue" -100 1050 50 H V R CNN
+F2 "" 50 -1050 50 H I L CNN
+F3 "" 0 100 50 H I C CNN
+$FPLIST
+ SOIC*Pitch1.27mm*
+ DIP*W7.62mm*
+ TSSOP*4.4x5mm*Pitch0.65mm*
+$ENDFPLIST
+DRAW
+C -100 -700 25 0 1 10 N
+C -100 -500 25 0 1 10 N
+C 25 -300 25 0 1 10 N
+C 25 -100 25 0 1 10 N
+T 0 -450 -900 50 0 0 0 LOGIC Normal 0 C C
+T 0 450 -900 50 0 0 0 RS232 Normal 0 C C
+S -600 -1000 600 1000 0 1 10 f
+P 2 0 1 10 -150 -300 -325 -300 N
+P 2 0 1 10 -150 -100 -325 -100 N
+P 2 0 1 10 -125 -700 -325 -700 N
+P 2 0 1 10 -125 -500 -325 -500 N
+P 2 0 1 10 50 -300 250 -300 N
+P 2 0 1 10 50 -100 250 -100 N
+P 2 0 1 10 75 -700 250 -700 N
+P 2 0 1 10 75 -500 250 -500 N
+P 4 0 1 10 -150 -225 -150 -375 0 -300 -150 -225 N
+P 4 0 1 10 -150 -25 -150 -175 0 -100 -150 -25 N
+P 4 0 1 10 75 -625 75 -775 -75 -700 75 -625 N
+P 4 0 1 10 75 -425 75 -575 -75 -500 75 -425 N
+X C1+ 1 -800 900 200 R 50 50 1 1 P
+X T2IN 10 -800 -300 200 R 50 50 1 1 I
+X T1IN 11 -800 -100 200 R 50 50 1 1 I
+X R1OUT 12 -800 -500 200 R 50 50 1 1 O
+X R1IN 13 800 -500 200 L 50 50 1 1 I
+X T1OUT 14 800 -100 200 L 50 50 1 1 O
+X GND 15 0 -1200 200 U 50 50 1 1 W
+X VCC 16 0 1200 200 D 50 50 1 1 W
+X VS+ 2 800 400 200 L 50 50 1 1 w
+X C1- 3 -800 600 200 R 50 50 1 1 P
+X C2+ 4 800 900 200 L 50 50 1 1 P
+X C2- 5 800 600 200 L 50 50 1 1 P
+X VS- 6 800 100 200 L 50 50 1 1 w
+X T2OUT 7 800 -300 200 L 50 50 1 1 O
+X R2IN 8 800 -700 200 L 50 50 1 1 I
+X R2OUT 9 -800 -700 200 R 50 50 1 1 O
+ENDDRAW
+ENDDEF
+#
+# PWR_FLAG-Chiller_control-rescue
+#
+DEF PWR_FLAG-Chiller_control-rescue #FLG 0 0 N N 1 F P
+F0 "#FLG" 0 75 50 H I C CNN
+F1 "PWR_FLAG-Chiller_control-rescue" 0 150 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+P 6 0 1 0 0 0 0 50 -40 75 0 100 40 75 0 50 N
+X pwr 1 0 0 0 U 50 50 0 0 w
+ENDDRAW
+ENDDEF
+#
+# Q_NMOS_GDS-Chiller_control-rescue
+#
+DEF Q_NMOS_GDS-Chiller_control-rescue Q 0 0 Y N 1 F N
+F0 "Q" 200 50 50 H V L CNN
+F1 "Q_NMOS_GDS-Chiller_control-rescue" 200 -50 50 H V L CNN
+F2 "" 200 100 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+C 65 0 111 0 1 10 N
+C 100 -70 11 0 1 0 F
+C 100 70 11 0 1 0 F
+P 2 0 1 0 2 0 10 0 N
+P 2 0 1 0 30 -70 100 -70 N
+P 2 0 1 10 30 -50 30 -90 N
+P 2 0 1 0 30 0 100 0 N
+P 2 0 1 10 30 20 30 -20 N
+P 2 0 1 0 30 70 100 70 N
+P 2 0 1 10 30 90 30 50 N
+P 2 0 1 0 100 -70 100 -100 N
+P 2 0 1 0 100 -70 100 0 N
+P 2 0 1 0 100 100 100 70 N
+P 3 0 1 10 10 75 10 -75 10 -75 N
+P 4 0 1 0 40 0 80 15 80 -15 40 0 F
+P 4 0 1 0 100 -70 130 -70 130 70 100 70 N
+P 4 0 1 0 110 20 115 15 145 15 150 10 N
+P 4 0 1 0 130 15 115 -10 145 -10 130 15 N
+X G 1 -200 0 200 R 50 50 1 1 I
+X D 2 100 200 100 D 50 50 1 1 P
+X S 3 100 -200 100 U 50 50 1 1 P
+ENDDRAW
+ENDDEF
+#
+# Q_NMOS_GSD-Chiller_control-rescue
+#
+DEF Q_NMOS_GSD-Chiller_control-rescue Q 0 0 Y N 1 F N
+F0 "Q" 200 50 50 H V L CNN
+F1 "Q_NMOS_GSD-Chiller_control-rescue" 200 -50 50 H V L CNN
+F2 "" 200 100 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+C 65 0 111 0 1 10 N
+C 100 -70 11 0 1 0 F
+C 100 70 11 0 1 0 F
+P 2 0 1 0 2 0 10 0 N
+P 2 0 1 0 30 -70 100 -70 N
+P 2 0 1 10 30 -50 30 -90 N
+P 2 0 1 0 30 0 100 0 N
+P 2 0 1 10 30 20 30 -20 N
+P 2 0 1 0 30 70 100 70 N
+P 2 0 1 10 30 90 30 50 N
+P 2 0 1 0 100 -70 100 -100 N
+P 2 0 1 0 100 -70 100 0 N
+P 2 0 1 0 100 100 100 70 N
+P 3 0 1 10 10 75 10 -75 10 -75 N
+P 4 0 1 0 40 0 80 15 80 -15 40 0 F
+P 4 0 1 0 100 -70 130 -70 130 70 100 70 N
+P 4 0 1 0 110 20 115 15 145 15 150 10 N
+P 4 0 1 0 130 15 115 -10 145 -10 130 15 N
+X G 1 -200 0 200 R 50 50 1 1 I
+X S 2 100 -200 100 U 50 50 1 1 P
+X D 3 100 200 100 D 50 50 1 1 P
+ENDDRAW
+ENDDEF
+#
+# R-Chiller_control-rescue
+#
+DEF R-Chiller_control-rescue R 0 0 N Y 1 F N
+F0 "R" 80 0 50 V V C CNN
+F1 "R-Chiller_control-rescue" 0 0 50 V V C CNN
+F2 "" -70 0 50 V I C CNN
+F3 "" 0 0 50 H I C CNN
+$FPLIST
+ R_*
+ R_*
+$ENDFPLIST
+DRAW
+S -40 -100 40 100 0 1 10 N
+X ~ 1 0 150 50 D 50 50 1 1 P
+X ~ 2 0 -150 50 U 50 50 1 1 P
+ENDDRAW
+ENDDEF
+#
+# STM32F030F4Px-Chiller_control-rescue
+#
+DEF STM32F030F4Px-Chiller_control-rescue U 0 40 Y Y 1 L N
+F0 "U" -1600 925 50 H V L BNN
+F1 "STM32F030F4Px-Chiller_control-rescue" 1600 925 50 H V R BNN
+F2 "Housings_SSOP:TSSOP-20_4.4x6.5mm_Pitch0.65mm" 1600 875 50 H I R TNN
+F3 "" 0 0 50 H I C CNN
+DRAW
+S -1600 -800 1600 900 0 1 10 f
+X BOOT0 1 -1700 400 100 R 50 50 1 1 I
+X ADC_IN4/SPI1_NSS/TIM14_CH1/USART1_CK/PA4 10 1700 200 100 L 50 50 1 1 B
+X ADC_IN5/SPI1_SCK/PA5 11 1700 100 100 L 50 50 1 1 B
+X ADC_IN6/SPI1_MISO/TIM16_CH1/TIM1_BKIN/TIM3_CH1/PA6 12 1700 0 100 L 50 50 1 1 B
+X ADC_IN7/SPI1_MOSI/TIM14_CH1/TIM17_CH1/TIM1_CH1N/TIM3_CH2/PA7 13 1700 -100 100 L 50 50 1 1 B
+X PB1/ADC_IN9/TIM14_CH1/TIM1_CH3N/TIM3_CH4 14 -1700 -500 100 R 50 50 1 1 B
+X VSS 15 0 -900 100 U 50 50 1 1 W
+X VDD 16 -100 1000 100 D 50 50 1 1 W
+X I2C1_SCL/TIM1_CH2/USART1_TX/PA9 17 1700 -200 100 L 50 50 1 1 B
+X I2C1_SDA/TIM17_BKIN/TIM1_CH3/USART1_RX/PA10 18 1700 -300 100 L 50 50 1 1 B
+X IR_OUT/SYS_SWDIO/PA13 19 1700 -400 100 L 50 50 1 1 B
+X PF0/RCC_OSC_IN 2 -1700 -200 100 R 50 50 1 1 I
+X SYS_SWCLK/USART1_TX/PA14 20 1700 -500 100 L 50 50 1 1 B
+X PF1/RCC_OSC_OUT 3 -1700 -300 100 R 50 50 1 1 I
+X NRST 4 -1700 600 100 R 50 50 1 1 I
+X VDDA 5 0 1000 100 D 50 50 1 1 W
+X ADC_IN0/RTC_TAMP2/SYS_WKUP1/USART1_CTS/PA0 6 1700 600 100 L 50 50 1 1 B
+X ADC_IN1/USART1_DE/USART1_RTS/PA1 7 1700 500 100 L 50 50 1 1 B
+X ADC_IN2/USART1_TX/PA2 8 1700 400 100 L 50 50 1 1 B
+X ADC_IN3/USART1_RX/PA3 9 1700 300 100 L 50 50 1 1 B
+ENDDRAW
+ENDDEF
+#
+# SW_Push-Chiller_control-rescue
+#
+DEF SW_Push-Chiller_control-rescue SW 0 40 N N 1 F N
+F0 "SW" 50 100 50 H V L CNN
+F1 "SW_Push-Chiller_control-rescue" 0 -60 50 H V C CNN
+F2 "" 0 200 50 H I C CNN
+F3 "" 0 200 50 H I C CNN
+DRAW
+C -80 0 20 0 1 0 N
+C 80 0 20 0 1 0 N
+P 2 0 1 0 0 50 0 120 N
+P 2 0 1 0 100 50 -100 50 N
+X 1 1 -200 0 100 R 50 50 0 1 P
+X 2 2 200 0 100 L 50 50 0 1 P
+ENDDRAW
+ENDDEF
+#
+#End Library
--- a/F0-nolib/Servo/kicad/Servo_control.kicad_pcb
+++ b/F0-nolib/Servo/kicad/Servo_control.kicad_pcb
--- a/F0-nolib/Servo/kicad/Servo_control.net
+++ b/F0-nolib/Servo/kicad/Servo_control.net
@ -0,0 +1,869 @@
+(export (version D)
+  (design
+    (source /Big/Data/00__Electronics/STM32/F0-nolib/Servo/kicad/Servo_control.sch)
+    (date "Пн 11 мар 2019 00:06:44")
+    (tool "Eeschema 5.0.1")
+    (sheet (number 1) (name /) (tstamps /)
+      (title_block
+        (title)
+        (company)
+        (rev)
+        (date)
+        (source Servo_control.sch)
+        (comment (number 1) (value ""))
+        (comment (number 2) (value ""))
+        (comment (number 3) (value ""))
+        (comment (number 4) (value "")))))
+  (components
+    (comp (ref C4)
+      (value 47u)
+      (footprint Capacitor_Tantalum_SMD:CP_EIA-3216-18_Kemet-A_Pad1.53x1.40mm_HandSolder)
+      (libsource (lib Servo_control-rescue) (part CP-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 58C454F6))
+    (comp (ref C3)
+      (value 0.1)
+      (footprint Capacitor_SMD:C_0603_1608Metric_Pad0.84x1.00mm_HandSolder)
+      (libsource (lib Servo_control-rescue) (part C-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 590D4150))
+    (comp (ref C2)
+      (value 0.1)
+      (footprint Capacitor_SMD:C_0603_1608Metric_Pad0.84x1.00mm_HandSolder)
+      (libsource (lib Servo_control-rescue) (part C-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 590D4832))
+    (comp (ref SW2)
+      (value Boot)
+      (footprint Button_Switch_SMD:SW_SPST_FSMSM)
+      (libsource (lib Servo_control-rescue) (part SW_Push-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5909F6B6))
+    (comp (ref SW1)
+      (value Reset)
+      (footprint Button_Switch_SMD:SW_SPST_FSMSM)
+      (libsource (lib Servo_control-rescue) (part SW_Push-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 590A0134))
+    (comp (ref C1)
+      (value 0.1)
+      (footprint Capacitor_SMD:C_0603_1608Metric_Pad0.84x1.00mm_HandSolder)
+      (libsource (lib Servo_control-rescue) (part C-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5A178C32))
+    (comp (ref U3)
+      (value STM32F030F4Px)
+      (footprint Package_SSOP:TSSOP-20_4.4x6.5mm_P0.65mm)
+      (libsource (lib Servo_control-rescue) (part STM32F030F4Px-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5A189F52))
+    (comp (ref C13)
+      (value 1u)
+      (footprint Capacitor_SMD:C_0805_2012Metric_Pad1.15x1.50mm_HandSolder)
+      (libsource (lib Servo_control-rescue) (part C-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5A1AB970))
+    (comp (ref U1)
+      (value LM1117-3.3)
+      (footprint Package_TO_SOT_SMD:SOT-223)
+      (libsource (lib Servo_control-rescue) (part LM1117-3.3-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5A2588E7))
+    (comp (ref C5)
+      (value 0.1)
+      (footprint Capacitor_SMD:C_0603_1608Metric_Pad0.84x1.00mm_HandSolder)
+      (libsource (lib Servo_control-rescue) (part C-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5BEE1D09))
+    (comp (ref L1)
+      (value "BMBA 0.1mH")
+      (footprint Inductor_SMD:L_0805_2012Metric_Pad1.15x1.50mm_HandSolder)
+      (libsource (lib Servo_control-rescue) (part L-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5BEE7949))
+    (comp (ref C14)
+      (value 10u)
+      (footprint Capacitor_SMD:C_1206_3216Metric_Pad1.24x1.80mm_HandSolder)
+      (libsource (lib Servo_control-rescue) (part C-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5BEE8065))
+    (comp (ref R15)
+      (value 10k)
+      (footprint Resistor_SMD:R_0805_2012Metric_Pad1.15x1.50mm_HandSolder)
+      (libsource (lib Servo_control-rescue) (part R-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5BEEBD18))
+    (comp (ref R12)
+      (value 510)
+      (footprint Resistor_SMD:R_0805_2012Metric_Pad1.15x1.50mm_HandSolder)
+      (libsource (lib Servo_control-rescue) (part R-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5BEEBD1E))
+    (comp (ref Q3)
+      (value 2N7002)
+      (footprint Package_TO_SOT_SMD:SOT-23)
+      (libsource (lib Servo_control-rescue) (part Q_NMOS_GSD-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5BEEBD24))
+    (comp (ref Q2)
+      (value SI2300)
+      (footprint Package_TO_SOT_SMD:SOT-23)
+      (libsource (lib Servo_control-rescue) (part Q_NMOS_GSD-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5BEEB585))
+    (comp (ref BZ1)
+      (value Buzzer)
+      (footprint Buzzer_Beeper:Buzzer_12x9.5RM7.6)
+      (datasheet ~)
+      (libsource (lib Device) (part Buzzer) (description "Buzzer, polar"))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C83133C))
+    (comp (ref Q4)
+      (value 2N7002)
+      (footprint Package_TO_SOT_SMD:SOT-23)
+      (libsource (lib Servo_control-rescue) (part Q_NMOS_GSD-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C8882AE))
+    (comp (ref Q5)
+      (value 2N7002)
+      (footprint Package_TO_SOT_SMD:SOT-23)
+      (libsource (lib Servo_control-rescue) (part Q_NMOS_GSD-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C888320))
+    (comp (ref J7)
+      (value Servo1)
+      (footprint Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical)
+      (datasheet ~)
+      (libsource (lib Connector_Generic) (part Conn_01x03) (description "Generic connector, single row, 01x03, script generated (kicad-library-utils/schlib/autogen/connector/)"))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C88A162))
+    (comp (ref J8)
+      (value Servo2)
+      (footprint Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical)
+      (datasheet ~)
+      (libsource (lib Connector_Generic) (part Conn_01x03) (description "Generic connector, single row, 01x03, script generated (kicad-library-utils/schlib/autogen/connector/)"))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C83F212))
+    (comp (ref J9)
+      (value Servo3)
+      (footprint Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical)
+      (datasheet ~)
+      (libsource (lib Connector_Generic) (part Conn_01x03) (description "Generic connector, single row, 01x03, script generated (kicad-library-utils/schlib/autogen/connector/)"))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C83F4E9))
+    (comp (ref R13)
+      (value 510)
+      (footprint Resistor_SMD:R_0805_2012Metric_Pad1.15x1.50mm_HandSolder)
+      (libsource (lib Servo_control-rescue) (part R-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C84B03F))
+    (comp (ref R14)
+      (value 510)
+      (footprint Resistor_SMD:R_0805_2012Metric_Pad1.15x1.50mm_HandSolder)
+      (libsource (lib Servo_control-rescue) (part R-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C84B0D1))
+    (comp (ref R16)
+      (value 10k)
+      (footprint Resistor_SMD:R_0805_2012Metric_Pad1.15x1.50mm_HandSolder)
+      (libsource (lib Servo_control-rescue) (part R-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C84B278))
+    (comp (ref R17)
+      (value 10k)
+      (footprint Resistor_SMD:R_0805_2012Metric_Pad1.15x1.50mm_HandSolder)
+      (libsource (lib Servo_control-rescue) (part R-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C84B3BD))
+    (comp (ref D2)
+      (value SP0504BAHT)
+      (footprint Package_TO_SOT_SMD:SOT-23-5)
+      (datasheet http://www.littelfuse.com/~/media/files/littelfuse/technical%20resources/documents/data%20sheets/sp05xxba.pdf)
+      (libsource (lib Power_Protection) (part SP0504BAHT) (description "TVS Diode Array, 5.5V Standoff, 4 Channels, SOT-23-5 package"))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C8580E1))
+    (comp (ref J2)
+      (value ADC_in)
+      (footprint Connector_PinHeader_2.54mm:PinHeader_1x06_P2.54mm_Vertical)
+      (datasheet ~)
+      (libsource (lib Connector_Generic) (part Conn_01x06) (description "Generic connector, single row, 01x06, script generated (kicad-library-utils/schlib/autogen/connector/)"))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C85A71E))
+    (comp (ref R3)
+      (value 220)
+      (footprint Resistor_SMD:R_0805_2012Metric_Pad1.15x1.50mm_HandSolder)
+      (libsource (lib Device) (part R) (description Resistor))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C85BD06))
+    (comp (ref R4)
+      (value 220)
+      (footprint Resistor_SMD:R_0805_2012Metric_Pad1.15x1.50mm_HandSolder)
+      (libsource (lib Device) (part R) (description Resistor))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C85C1A1))
+    (comp (ref R5)
+      (value 220)
+      (footprint Resistor_SMD:R_0805_2012Metric_Pad1.15x1.50mm_HandSolder)
+      (libsource (lib Device) (part R) (description Resistor))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C85C24A))
+    (comp (ref R2)
+      (value 220)
+      (footprint Resistor_SMD:R_0805_2012Metric_Pad1.15x1.50mm_HandSolder)
+      (libsource (lib Device) (part R) (description Resistor))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C85C2A8))
+    (comp (ref C8)
+      (value 0.1)
+      (footprint Capacitor_SMD:C_0603_1608Metric_Pad0.84x1.00mm_HandSolder)
+      (libsource (lib Servo_control-rescue) (part C-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C86267B))
+    (comp (ref C10)
+      (value 0.1)
+      (footprint Capacitor_SMD:C_0603_1608Metric_Pad0.84x1.00mm_HandSolder)
+      (libsource (lib Servo_control-rescue) (part C-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C862E72))
+    (comp (ref C11)
+      (value 0.1)
+      (footprint Capacitor_SMD:C_0603_1608Metric_Pad0.84x1.00mm_HandSolder)
+      (libsource (lib Servo_control-rescue) (part C-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C862EDE))
+    (comp (ref C12)
+      (value 0.1)
+      (footprint Capacitor_SMD:C_0603_1608Metric_Pad0.84x1.00mm_HandSolder)
+      (libsource (lib Servo_control-rescue) (part C-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C864D09))
+    (comp (ref U2)
+      (value CH340G)
+      (footprint Package_SOIC:SOIC-16_3.9x9.9mm_P1.27mm)
+      (libsource (lib ch34x) (part CH340G) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C891E7A))
+    (comp (ref C6)
+      (value 0.1)
+      (footprint Capacitor_SMD:C_0603_1608Metric_Pad0.84x1.00mm_HandSolder)
+      (libsource (lib Servo_control-rescue) (part C-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C8AFE6B))
+    (comp (ref Y1)
+      (value 12MHz)
+      (footprint Crystal:Crystal_HC49-U_Vertical)
+      (libsource (lib Device) (part Crystal) (description "Two pin crystal"))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C8CDA20))
+    (comp (ref C7)
+      (value 22p)
+      (footprint Capacitor_SMD:C_0603_1608Metric_Pad0.84x1.00mm_HandSolder)
+      (libsource (lib Device) (part C) (description "Unpolarized capacitor"))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C8CDF63))
+    (comp (ref C9)
+      (value 22p)
+      (footprint Capacitor_SMD:C_0603_1608Metric_Pad0.84x1.00mm_HandSolder)
+      (libsource (lib Device) (part C) (description "Unpolarized capacitor"))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C8CE285))
+    (comp (ref Q1)
+      (value 2N7002)
+      (footprint Package_TO_SOT_SMD:SOT-23)
+      (libsource (lib Servo_control-rescue) (part Q_NMOS_GSD-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C9233AA))
+    (comp (ref R8)
+      (value 510)
+      (footprint Resistor_SMD:R_0805_2012Metric_Pad1.15x1.50mm_HandSolder)
+      (libsource (lib Servo_control-rescue) (part R-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C924EC0))
+    (comp (ref R9)
+      (value 10k)
+      (footprint Resistor_SMD:R_0805_2012Metric_Pad1.15x1.50mm_HandSolder)
+      (libsource (lib Servo_control-rescue) (part R-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C924F9E))
+    (comp (ref R6)
+      (value 510)
+      (footprint Resistor_SMD:R_0805_2012Metric_Pad1.15x1.50mm_HandSolder)
+      (libsource (lib Servo_control-rescue) (part R-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C929CAD))
+    (comp (ref R7)
+      (value 10k)
+      (footprint Resistor_SMD:R_0805_2012Metric_Pad1.15x1.50mm_HandSolder)
+      (libsource (lib Servo_control-rescue) (part R-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C929D7F))
+    (comp (ref J6)
+      (value Ext_LED)
+      (footprint Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical)
+      (datasheet ~)
+      (libsource (lib Connector_Generic) (part Conn_01x02) (description "Generic connector, single row, 01x02, script generated (kicad-library-utils/schlib/autogen/connector/)"))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C93CB05))
+    (comp (ref R1)
+      (value 10k)
+      (footprint Resistor_SMD:R_0805_2012Metric_Pad1.15x1.50mm_HandSolder)
+      (libsource (lib Servo_control-rescue) (part R-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C943CF3))
+    (comp (ref D3)
+      (value SMAJ5.0)
+      (footprint Diode_SMD:D_SMA_Handsoldering)
+      (libsource (lib Device) (part D) (description Diode))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C95243A))
+    (comp (ref D4)
+      (value SMAJ5.0)
+      (footprint Diode_SMD:D_SMA_Handsoldering)
+      (libsource (lib Device) (part D) (description Diode))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C952A1B))
+    (comp (ref R10)
+      (value 1k)
+      (footprint Resistor_SMD:R_0805_2012Metric_Pad1.15x1.50mm_HandSolder)
+      (libsource (lib Servo_control-rescue) (part R-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C957A49))
+    (comp (ref R11)
+      (value 1k)
+      (footprint Resistor_SMD:R_0805_2012Metric_Pad1.15x1.50mm_HandSolder)
+      (libsource (lib Servo_control-rescue) (part R-Chiller_control-rescue) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C957B70))
+    (comp (ref J5)
+      (value Conn_01x03)
+      (footprint Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical)
+      (datasheet ~)
+      (libsource (lib Connector_Generic) (part Conn_01x03) (description "Generic connector, single row, 01x03, script generated (kicad-library-utils/schlib/autogen/connector/)"))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C9581BA))
+    (comp (ref J3)
+      (value Jumper0)
+      (footprint Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical)
+      (datasheet ~)
+      (libsource (lib Connector_Generic) (part Conn_01x02) (description "Generic connector, single row, 01x02, script generated (kicad-library-utils/schlib/autogen/connector/)"))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C98F117))
+    (comp (ref J4)
+      (value Jumper1)
+      (footprint Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical)
+      (datasheet ~)
+      (libsource (lib Connector_Generic) (part Conn_01x02) (description "Generic connector, single row, 01x02, script generated (kicad-library-utils/schlib/autogen/connector/)"))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C98F3D6))
+    (comp (ref J1)
+      (value USB_B_Micro)
+      (footprint Connector_USB:USB_Micro-B_Wuerth-629105150521)
+      (datasheet ~)
+      (libsource (lib Connector_Specialized) (part USB_B_Micro) (description "USB Micro Type B connector"))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C8BC41C))
+    (comp (ref D1)
+      (value USB6B1)
+      (footprint Package_SOIC:SOIC-8_3.9x4.9mm_P1.27mm)
+      (libsource (lib elements) (part USB6B1) (description ""))
+      (sheetpath (names /) (tstamps /))
+      (tstamp 5C9BF24E)))
+  (libparts
+    (libpart (lib Connector_Generic) (part Conn_01x02)
+      (description "Generic connector, single row, 01x02, script generated (kicad-library-utils/schlib/autogen/connector/)")
+      (docs ~)
+      (footprints
+        (fp Connector*:*_1x??_*))
+      (fields
+        (field (name Reference) J)
+        (field (name Value) Conn_01x02))
+      (pins
+        (pin (num 1) (name Pin_1) (type passive))
+        (pin (num 2) (name Pin_2) (type passive))))
+    (libpart (lib Connector_Generic) (part Conn_01x03)
+      (description "Generic connector, single row, 01x03, script generated (kicad-library-utils/schlib/autogen/connector/)")
+      (docs ~)
+      (footprints
+        (fp Connector*:*_1x??_*))
+      (fields
+        (field (name Reference) J)
+        (field (name Value) Conn_01x03))
+      (pins
+        (pin (num 1) (name Pin_1) (type passive))
+        (pin (num 2) (name Pin_2) (type passive))
+        (pin (num 3) (name Pin_3) (type passive))))
+    (libpart (lib Connector_Generic) (part Conn_01x06)
+      (description "Generic connector, single row, 01x06, script generated (kicad-library-utils/schlib/autogen/connector/)")
+      (docs ~)
+      (footprints
+        (fp Connector*:*_1x??_*))
+      (fields
+        (field (name Reference) J)
+        (field (name Value) Conn_01x06))
+      (pins
+        (pin (num 1) (name Pin_1) (type passive))
+        (pin (num 2) (name Pin_2) (type passive))
+        (pin (num 3) (name Pin_3) (type passive))
+        (pin (num 4) (name Pin_4) (type passive))
+        (pin (num 5) (name Pin_5) (type passive))
+        (pin (num 6) (name Pin_6) (type passive))))
+    (libpart (lib Connector_Specialized) (part USB_B_Micro)
+      (aliases
+        (alias USB_B_Mini))
+      (description "USB Micro Type B connector")
+      (docs ~)
+      (footprints
+        (fp USB*))
+      (fields
+        (field (name Reference) J)
+        (field (name Value) USB_B_Micro))
+      (pins
+        (pin (num 1) (name VBUS) (type power_out))
+        (pin (num 2) (name D-) (type passive))
+        (pin (num 3) (name D+) (type passive))
+        (pin (num 4) (name ID) (type passive))
+        (pin (num 5) (name GND) (type power_out))
+        (pin (num 6) (name Shield) (type passive))))
+    (libpart (lib Device) (part Buzzer)
+      (description "Buzzer, polar")
+      (footprints
+        (fp *Buzzer*))
+      (fields
+        (field (name Reference) BZ)
+        (field (name Value) Buzzer))
+      (pins
+        (pin (num 1) (name -) (type passive))
+        (pin (num 2) (name +) (type passive))))
+    (libpart (lib Device) (part C)
+      (description "Unpolarized capacitor")
+      (footprints
+        (fp C_*))
+      (fields
+        (field (name Reference) C)
+        (field (name Value) C))
+      (pins
+        (pin (num 1) (name ~) (type passive))
+        (pin (num 2) (name ~) (type passive))))
+    (libpart (lib Device) (part Crystal)
+      (description "Two pin crystal")
+      (footprints
+        (fp Crystal*))
+      (fields
+        (field (name Reference) Y)
+        (field (name Value) Crystal))
+      (pins
+        (pin (num 1) (name 1) (type passive))
+        (pin (num 2) (name 2) (type passive))))
+    (libpart (lib Device) (part D)
+      (description Diode)
+      (footprints
+        (fp TO-???*)
+        (fp *SingleDiode)
+        (fp *_Diode_*)
+        (fp *SingleDiode*)
+        (fp D_*))
+      (fields
+        (field (name Reference) D)
+        (field (name Value) D))
+      (pins
+        (pin (num 1) (name K) (type passive))
+        (pin (num 2) (name A) (type passive))))
+    (libpart (lib Device) (part R)
+      (description Resistor)
+      (footprints
+        (fp R_*)
+        (fp R_*))
+      (fields
+        (field (name Reference) R)
+        (field (name Value) R))
+      (pins
+        (pin (num 1) (name ~) (type passive))
+        (pin (num 2) (name ~) (type passive))))
+    (libpart (lib Power_Protection) (part SP0504BAHT)
+      (description "TVS Diode Array, 5.5V Standoff, 4 Channels, SOT-23-5 package")
+      (docs http://www.littelfuse.com/~/media/files/littelfuse/technical%20resources/documents/data%20sheets/sp05xxba.pdf)
+      (footprints
+        (fp SOT?23*))
+      (fields
+        (field (name Reference) D)
+        (field (name Value) SP0504BAHT)
+        (field (name Footprint) Package_TO_SOT_SMD:SOT-23-5))
+      (pins
+        (pin (num 1) (name K) (type input))
+        (pin (num 2) (name A) (type input))
+        (pin (num 3) (name K) (type input))
+        (pin (num 4) (name K) (type input))
+        (pin (num 5) (name K) (type input))))
+    (libpart (lib Servo_control-rescue) (part C-Chiller_control-rescue)
+      (footprints
+        (fp C_*))
+      (fields
+        (field (name Reference) C)
+        (field (name Value) C-Chiller_control-rescue))
+      (pins
+        (pin (num 1) (name ~) (type passive))
+        (pin (num 2) (name ~) (type passive))))
+    (libpart (lib Servo_control-rescue) (part CP-Chiller_control-rescue)
+      (footprints
+        (fp CP_*))
+      (fields
+        (field (name Reference) C)
+        (field (name Value) CP-Chiller_control-rescue))
+      (pins
+        (pin (num 1) (name ~) (type passive))
+        (pin (num 2) (name ~) (type passive))))
+    (libpart (lib Servo_control-rescue) (part L-Chiller_control-rescue)
+      (footprints
+        (fp Choke_*)
+        (fp *Coil*)
+        (fp Inductor_*)
+        (fp L_*))
+      (fields
+        (field (name Reference) L)
+        (field (name Value) L-Chiller_control-rescue))
+      (pins
+        (pin (num 1) (name 1) (type passive))
+        (pin (num 2) (name 2) (type passive))))
+    (libpart (lib Servo_control-rescue) (part LM1117-3.3-Chiller_control-rescue)
+      (footprints
+        (fp SOT?223*)
+        (fp TO?263*)
+        (fp TO?252*)
+        (fp TO?220*))
+      (fields
+        (field (name Reference) U)
+        (field (name Value) LM1117-3.3-Chiller_control-rescue))
+      (pins
+        (pin (num 1) (name GND) (type power_in))
+        (pin (num 2) (name VO) (type power_out))
+        (pin (num 3) (name VI) (type power_in))))
+    (libpart (lib Servo_control-rescue) (part Q_NMOS_GSD-Chiller_control-rescue)
+      (fields
+        (field (name Reference) Q)
+        (field (name Value) Q_NMOS_GSD-Chiller_control-rescue))
+      (pins
+        (pin (num 1) (name G) (type input))
+        (pin (num 2) (name S) (type passive))
+        (pin (num 3) (name D) (type passive))))
+    (libpart (lib Servo_control-rescue) (part R-Chiller_control-rescue)
+      (footprints
+        (fp R_*)
+        (fp R_*))
+      (fields
+        (field (name Reference) R)
+        (field (name Value) R-Chiller_control-rescue))
+      (pins
+        (pin (num 1) (name ~) (type passive))
+        (pin (num 2) (name ~) (type passive))))
+    (libpart (lib Servo_control-rescue) (part STM32F030F4Px-Chiller_control-rescue)
+      (fields
+        (field (name Reference) U)
+        (field (name Value) STM32F030F4Px-Chiller_control-rescue)
+        (field (name Footprint) Housings_SSOP:TSSOP-20_4.4x6.5mm_Pitch0.65mm))
+      (pins
+        (pin (num 1) (name BOOT0) (type input))
+        (pin (num 2) (name PF0/RCC_OSC_IN) (type input))
+        (pin (num 3) (name PF1/RCC_OSC_OUT) (type input))
+        (pin (num 4) (name NRST) (type input))
+        (pin (num 5) (name VDDA) (type power_in))
+        (pin (num 6) (name ADC_IN0/RTC_TAMP2/SYS_WKUP1/USART1_CTS/PA0) (type BiDi))
+        (pin (num 7) (name ADC_IN1/USART1_DE/USART1_RTS/PA1) (type BiDi))
+        (pin (num 8) (name ADC_IN2/USART1_TX/PA2) (type BiDi))
+        (pin (num 9) (name ADC_IN3/USART1_RX/PA3) (type BiDi))
+        (pin (num 10) (name ADC_IN4/SPI1_NSS/TIM14_CH1/USART1_CK/PA4) (type BiDi))
+        (pin (num 11) (name ADC_IN5/SPI1_SCK/PA5) (type BiDi))
+        (pin (num 12) (name ADC_IN6/SPI1_MISO/TIM16_CH1/TIM1_BKIN/TIM3_CH1/PA6) (type BiDi))
+        (pin (num 13) (name ADC_IN7/SPI1_MOSI/TIM14_CH1/TIM17_CH1/TIM1_CH1N/TIM3_CH2/PA7) (type BiDi))
+        (pin (num 14) (name PB1/ADC_IN9/TIM14_CH1/TIM1_CH3N/TIM3_CH4) (type BiDi))
+        (pin (num 15) (name VSS) (type power_in))
+        (pin (num 16) (name VDD) (type power_in))
+        (pin (num 17) (name I2C1_SCL/TIM1_CH2/USART1_TX/PA9) (type BiDi))
+        (pin (num 18) (name I2C1_SDA/TIM17_BKIN/TIM1_CH3/USART1_RX/PA10) (type BiDi))
+        (pin (num 19) (name IR_OUT/SYS_SWDIO/PA13) (type BiDi))
+        (pin (num 20) (name SYS_SWCLK/USART1_TX/PA14) (type BiDi))))
+    (libpart (lib Servo_control-rescue) (part SW_Push-Chiller_control-rescue)
+      (fields
+        (field (name Reference) SW)
+        (field (name Value) SW_Push-Chiller_control-rescue))
+      (pins
+        (pin (num 1) (name 1) (type passive))
+        (pin (num 2) (name 2) (type passive))))
+    (libpart (lib ch34x) (part CH340G)
+      (fields
+        (field (name Reference) U)
+        (field (name Value) CH340G))
+      (pins
+        (pin (num 1) (name GND) (type power_in))
+        (pin (num 2) (name TX) (type output))
+        (pin (num 3) (name RX) (type input))
+        (pin (num 4) (name V3) (type passive))
+        (pin (num 5) (name D+) (type BiDi))
+        (pin (num 6) (name D-) (type BiDi))
+        (pin (num 7) (name XI) (type input))
+        (pin (num 8) (name XO) (type input))
+        (pin (num 9) (name CTS) (type output))
+        (pin (num 10) (name DSR) (type output))
+        (pin (num 11) (name RI) (type output))
+        (pin (num 12) (name DCD) (type output))
+        (pin (num 13) (name DTR) (type output))
+        (pin (num 14) (name RTS) (type output))
+        (pin (num 15) (name RS232) (type input))
+        (pin (num 16) (name VCC) (type power_in))))
+    (libpart (lib elements) (part USB6B1)
+      (footprints
+        (fp SO8))
+      (fields
+        (field (name Reference) D)
+        (field (name Value) USB6B1))
+      (pins
+        (pin (num 1) (name VCC) (type passive))
+        (pin (num 2) (name I/O1) (type passive))
+        (pin (num 3) (name I/O2) (type passive))
+        (pin (num 4) (name GND) (type passive))
+        (pin (num 5) (name GND) (type passive))
+        (pin (num 6) (name I/O2) (type passive))
+        (pin (num 7) (name I/O1) (type passive))
+        (pin (num 8) (name VCC) (type passive)))))
+  (libraries
+    (library (logical Connector_Generic)
+      (uri /usr/share/kicad/library/Connector_Generic.lib))
+    (library (logical Connector_Specialized)
+      (uri /usr/share/kicad/library/Connector_Specialized.lib))
+    (library (logical Device)
+      (uri /usr/share/kicad/library/Device.lib))
+    (library (logical Power_Protection)
+      (uri /usr/share/kicad/library/Power_Protection.lib))
+    (library (logical Servo_control-rescue)
+      (uri /Big/Data/00__Electronics/STM32/F0-nolib/Servo/kicad/Servo_control-rescue.lib))
+    (library (logical ch34x)
+      (uri /Big/Data/00__Electronics/STM32/F0-nolib/Servo/kicad/ch34x.lib))
+    (library (logical elements)
+      (uri /Big/Data/00__Electronics/STM32/F0-nolib/Servo/kicad/elements.lib)))
+  (nets
+    (net (code 1) (name "Net-(U2-Pad13)")
+      (node (ref U2) (pin 13)))
+    (net (code 2) (name "Net-(U2-Pad12)")
+      (node (ref U2) (pin 12)))
+    (net (code 3) (name "Net-(U2-Pad11)")
+      (node (ref U2) (pin 11)))
+    (net (code 4) (name "Net-(U2-Pad10)")
+      (node (ref U2) (pin 10)))
+    (net (code 5) (name "Net-(U2-Pad9)")
+      (node (ref U2) (pin 9)))
+    (net (code 6) (name +3V3)
+      (node (ref C13) (pin 1))
+      (node (ref C4) (pin 1))
+      (node (ref C5) (pin 1))
+      (node (ref U1) (pin 2))
+      (node (ref J2) (pin 6))
+      (node (ref SW2) (pin 2))
+      (node (ref U3) (pin 16))
+      (node (ref L1) (pin 1))
+      (node (ref BZ1) (pin 1))
+      (node (ref U2) (pin 16)))
+    (net (code 7) (name "Net-(U2-Pad15)")
+      (node (ref U2) (pin 15)))
+    (net (code 8) (name "Net-(U2-Pad14)")
+      (node (ref U2) (pin 14)))
+    (net (code 9) (name "Net-(C9-Pad1)")
+      (node (ref U2) (pin 8))
+      (node (ref C9) (pin 1))
+      (node (ref Y1) (pin 2)))
+    (net (code 10) (name "Net-(D1-Pad7)")
+      (node (ref D1) (pin 7))
+      (node (ref U2) (pin 5)))
+    (net (code 11) (name "Net-(C6-Pad1)")
+      (node (ref C6) (pin 1))
+      (node (ref U2) (pin 4)))
+    (net (code 12) (name /USART_Tx)
+      (node (ref U2) (pin 3))
+      (node (ref U3) (pin 17)))
+    (net (code 13) (name /USART_Rx)
+      (node (ref U2) (pin 2))
+      (node (ref U3) (pin 18)))
+    (net (code 14) (name GND)
+      (node (ref C14) (pin 1))
+      (node (ref R15) (pin 1))
+      (node (ref C5) (pin 2))
+      (node (ref D4) (pin 2))
+      (node (ref R7) (pin 1))
+      (node (ref R9) (pin 1))
+      (node (ref Q1) (pin 2))
+      (node (ref R1) (pin 1))
+      (node (ref J5) (pin 1))
+      (node (ref Q3) (pin 2))
+      (node (ref D3) (pin 2))
+      (node (ref J2) (pin 1))
+      (node (ref J9) (pin 1))
+      (node (ref J8) (pin 1))
+      (node (ref J7) (pin 1))
+      (node (ref D2) (pin 2))
+      (node (ref R17) (pin 1))
+      (node (ref R16) (pin 1))
+      (node (ref C3) (pin 2))
+      (node (ref U3) (pin 15))
+      (node (ref C1) (pin 2))
+      (node (ref SW1) (pin 2))
+      (node (ref Q2) (pin 2))
+      (node (ref C2) (pin 2))
+      (node (ref C4) (pin 2))
+      (node (ref C13) (pin 2))
+      (node (ref Q4) (pin 2))
+      (node (ref U1) (pin 1))
+      (node (ref Q5) (pin 2))
+      (node (ref D1) (pin 5))
+      (node (ref C12) (pin 2))
+      (node (ref C11) (pin 2))
+      (node (ref C10) (pin 2))
+      (node (ref C8) (pin 2))
+      (node (ref J3) (pin 1))
+      (node (ref J4) (pin 1))
+      (node (ref C9) (pin 2))
+      (node (ref U2) (pin 1))
+      (node (ref C7) (pin 2))
+      (node (ref C6) (pin 2)))
+    (net (code 15) (name "Net-(C7-Pad1)")
+      (node (ref C7) (pin 1))
+      (node (ref Y1) (pin 1))
+      (node (ref U2) (pin 7)))
+    (net (code 16) (name "Net-(J2-Pad3)")
+      (node (ref R4) (pin 2))
+      (node (ref J2) (pin 3)))
+    (net (code 17) (name "Net-(J2-Pad5)")
+      (node (ref J2) (pin 5))
+      (node (ref R2) (pin 2)))
+    (net (code 18) (name "Net-(J2-Pad4)")
+      (node (ref R3) (pin 2))
+      (node (ref J2) (pin 4)))
+    (net (code 19) (name "Net-(J2-Pad2)")
+      (node (ref J2) (pin 2))
+      (node (ref R5) (pin 2)))
+    (net (code 20) (name /Jumper1)
+      (node (ref J4) (pin 2))
+      (node (ref U3) (pin 20)))
+    (net (code 21) (name /DigIn1)
+      (node (ref R10) (pin 1))
+      (node (ref D4) (pin 1))
+      (node (ref U3) (pin 11)))
+    (net (code 22) (name /DigIn0)
+      (node (ref U3) (pin 10))
+      (node (ref R11) (pin 1))
+      (node (ref D3) (pin 1)))
+    (net (code 23) (name "Net-(J5-Pad3)")
+      (node (ref J5) (pin 3))
+      (node (ref R10) (pin 2)))
+    (net (code 24) (name "Net-(D1-Pad6)")
+      (node (ref D1) (pin 6))
+      (node (ref U2) (pin 6)))
+    (net (code 25) (name "Net-(D1-Pad3)")
+      (node (ref D1) (pin 3))
+      (node (ref J1) (pin 3)))
+    (net (code 26) (name "Net-(D1-Pad2)")
+      (node (ref J1) (pin 2))
+      (node (ref D1) (pin 2)))
+    (net (code 27) (name +5V)
+      (node (ref C1) (pin 1))
+      (node (ref U1) (pin 3))
+      (node (ref D1) (pin 8))
+      (node (ref J9) (pin 2))
+      (node (ref J7) (pin 2))
+      (node (ref J8) (pin 2))
+      (node (ref J6) (pin 1)))
+    (net (code 28) (name "Net-(J5-Pad2)")
+      (node (ref J5) (pin 2))
+      (node (ref R11) (pin 2)))
+    (net (code 29) (name "Net-(D1-Pad4)")
+      (node (ref D1) (pin 4))
+      (node (ref J1) (pin 5))
+      (node (ref J1) (pin 6)))
+    (net (code 30) (name "Net-(J1-Pad4)")
+      (node (ref J1) (pin 4)))
+    (net (code 31) (name "Net-(D1-Pad1)")
+      (node (ref J1) (pin 1))
+      (node (ref D1) (pin 1)))
+    (net (code 32) (name "Net-(Q1-Pad1)")
+      (node (ref R6) (pin 1))
+      (node (ref Q1) (pin 1)))
+    (net (code 33) (name "Net-(Q2-Pad1)")
+      (node (ref Q2) (pin 1))
+      (node (ref R8) (pin 1)))
+    (net (code 34) (name "Net-(BZ1-Pad2)")
+      (node (ref BZ1) (pin 2))
+      (node (ref Q1) (pin 3)))
+    (net (code 35) (name "Net-(J6-Pad2)")
+      (node (ref J6) (pin 2))
+      (node (ref Q2) (pin 3)))
+    (net (code 36) (name "Net-(J7-Pad3)")
+      (node (ref Q3) (pin 3))
+      (node (ref J7) (pin 3)))
+    (net (code 37) (name "Net-(Q3-Pad1)")
+      (node (ref R12) (pin 1))
+      (node (ref Q3) (pin 1)))
+    (net (code 38) (name +3.3VADC)
+      (node (ref U3) (pin 5))
+      (node (ref L1) (pin 2))
+      (node (ref C14) (pin 2)))
+    (net (code 39) (name /TIM3_CH1)
+      (node (ref R12) (pin 2))
+      (node (ref U3) (pin 12))
+      (node (ref R15) (pin 2)))
+    (net (code 40) (name /BOOT0)
+      (node (ref SW2) (pin 1))
+      (node (ref C3) (pin 1))
+      (node (ref R1) (pin 2))
+      (node (ref U3) (pin 1)))
+    (net (code 41) (name /ADC3)
+      (node (ref D2) (pin 5))
+      (node (ref U3) (pin 9))
+      (node (ref R5) (pin 1))
+      (node (ref C8) (pin 1)))
+    (net (code 42) (name /ADC2)
+      (node (ref D2) (pin 4))
+      (node (ref C10) (pin 1))
+      (node (ref R4) (pin 1))
+      (node (ref U3) (pin 8)))
+    (net (code 43) (name /ADC1)
+      (node (ref U3) (pin 7))
+      (node (ref C11) (pin 1))
+      (node (ref R3) (pin 1))
+      (node (ref D2) (pin 3)))
+    (net (code 44) (name /ADC0)
+      (node (ref U3) (pin 6))
+      (node (ref C12) (pin 1))
+      (node (ref D2) (pin 1))
+      (node (ref R2) (pin 1)))
+    (net (code 45) (name /NRST)
+      (node (ref U3) (pin 4))
+      (node (ref SW1) (pin 1))
+      (node (ref C2) (pin 1)))
+    (net (code 46) (name /DigOut1)
+      (node (ref R8) (pin 2))
+      (node (ref R9) (pin 2))
+      (node (ref U3) (pin 3)))
+    (net (code 47) (name /DigOut0)
+      (node (ref U3) (pin 2))
+      (node (ref R7) (pin 2))
+      (node (ref R6) (pin 2)))
+    (net (code 48) (name /Jumper0)
+      (node (ref U3) (pin 19))
+      (node (ref J3) (pin 2)))
+    (net (code 49) (name "Net-(J8-Pad3)")
+      (node (ref Q4) (pin 3))
+      (node (ref J8) (pin 3)))
+    (net (code 50) (name "Net-(J9-Pad3)")
+      (node (ref Q5) (pin 3))
+      (node (ref J9) (pin 3)))
+    (net (code 51) (name /TIM3_CH2)
+      (node (ref R16) (pin 2))
+      (node (ref R13) (pin 2))
+      (node (ref U3) (pin 13)))
+    (net (code 52) (name /TIM3_CH4)
+      (node (ref U3) (pin 14))
+      (node (ref R14) (pin 2))
+      (node (ref R17) (pin 2)))
+    (net (code 53) (name "Net-(Q5-Pad1)")
+      (node (ref R14) (pin 1))
+      (node (ref Q5) (pin 1)))
+    (net (code 54) (name "Net-(Q4-Pad1)")
+      (node (ref R13) (pin 1))
+      (node (ref Q4) (pin 1)))))
--- a/F0-nolib/Servo/kicad/Servo_control.pro
+++ b/F0-nolib/Servo/kicad/Servo_control.pro
@ -0,0 +1,100 @@
+update=Вс 27 янв 2019 15:05:22
+version=1
+last_client=kicad
+[cvpcb]
+version=1
+NetIExt=net
+[general]
+version=1
+[schematic_editor]
+version=1
+PageLayoutDescrFile=
+PlotDirectoryName=
+SubpartIdSeparator=0
+SubpartFirstId=65
+NetFmtName=Pcbnew
+SpiceForceRefPrefix=0
+SpiceUseNetNumbers=0
+LabSize=60
+[eeschema]
+version=1
+LibDir=
+[pcbnew]
+version=1
+PageLayoutDescrFile=
+LastNetListRead=Chiller_control.net
+CopperLayerCount=2
+BoardThickness=1.6
+AllowMicroVias=0
+AllowBlindVias=0
+RequireCourtyardDefinitions=0
+ProhibitOverlappingCourtyards=1
+MinTrackWidth=0.2
+MinViaDiameter=0.4
+MinViaDrill=0.3
+MinMicroViaDiameter=0.2
+MinMicroViaDrill=0.09999999999999999
+MinHoleToHole=0.25
+TrackWidth1=0.5
+TrackWidth2=0.25
+TrackWidth3=0.5
+TrackWidth4=1
+TrackWidth5=2
+ViaDiameter1=1.2
+ViaDrill1=0.6
+ViaDiameter2=1.2
+ViaDrill2=0.6
+ViaDiameter3=1.5
+ViaDrill3=0.8
+ViaDiameter4=2.5
+ViaDrill4=1
+dPairWidth1=0.2
+dPairGap1=0.25
+dPairViaGap1=0.25
+SilkLineWidth=0.15
+SilkTextSizeV=1
+SilkTextSizeH=1
+SilkTextSizeThickness=0.15
+SilkTextItalic=0
+SilkTextUpright=1
+CopperLineWidth=0.2
+CopperTextSizeV=1.5
+CopperTextSizeH=1.5
+CopperTextThickness=0.3
+CopperTextItalic=0
+CopperTextUpright=1
+EdgeCutLineWidth=0.15
+CourtyardLineWidth=0.05
+OthersLineWidth=0.15
+OthersTextSizeV=1
+OthersTextSizeH=1
+OthersTextSizeThickness=0.15
+OthersTextItalic=0
+OthersTextUpright=1
+SolderMaskClearance=0.2
+SolderMaskMinWidth=0.25
+SolderPasteClearance=0
+SolderPasteRatio=-0
+[pcbnew/Netclasses]
+[pcbnew/Netclasses/1]
+Name=power
+Clearance=0.3
+TrackWidth=1
+ViaDiameter=2.5
+ViaDrill=0.8
+uViaDiameter=0.3
+uViaDrill=0.1
+dPairWidth=0.2
+dPairGap=0.25
+dPairViaGap=0.25
+[pcbnew/Netclasses/2]
+Name=wide
+Clearance=0.5
+TrackWidth=2
+ViaDiameter=2.5
+ViaDrill=0.8
+uViaDiameter=0.3
+uViaDrill=0.1
+dPairWidth=0.2
+dPairGap=0.25
+dPairViaGap=0.25
--- a/F0-nolib/Servo/kicad/Servo_control.sch
+++ b/F0-nolib/Servo/kicad/Servo_control.sch
--- a/F0-nolib/Servo/kicad/ch34x.lib
+++ b/F0-nolib/Servo/kicad/ch34x.lib
@ -0,0 +1,32 @@
+EESchema-LIBRARY Version 2.3
+#encoding utf-8
+#
+# CH340G
+#
+DEF CH340G U 0 40 Y Y 1 F N
+F0 "U" 25 475 60 H V C CNN
+F1 "CH340G" 0 -475 60 H V C CNN
+F2 "" 100 -200 60 H V C CNN
+F3 "" 100 -200 60 H V C CNN
+DRAW
+S -250 400 250 -400 0 1 0 N
+X GND 1 -450 350 200 R 50 50 1 1 W
+X TX 2 -450 250 200 R 50 50 1 1 O
+X RX 3 -450 150 200 R 50 50 1 1 I
+X V3 4 -450 50 200 R 50 50 1 1 P
+X D+ 5 -450 -50 200 R 50 50 1 1 B
+X D- 6 -450 -150 200 R 50 50 1 1 B
+X XI 7 -450 -250 200 R 50 50 1 1 I
+X XO 8 -450 -350 200 R 50 50 1 1 I
+X CTS 9 450 -350 200 L 50 50 1 1 O
+X DSR 10 450 -250 200 L 50 50 1 1 O
+X RI 11 450 -150 200 L 50 50 1 1 O
+X DCD 12 450 -50 200 L 50 50 1 1 O
+X DTR 13 450 50 200 L 50 50 1 1 O
+X RTS 14 450 150 200 L 50 50 1 1 O
+X RS232 15 450 250 200 L 50 50 1 1 I
+X VCC 16 450 350 200 L 50 50 1 1 W
+ENDDRAW
+ENDDEF
+#
+#End Library
--- a/F0-nolib/Servo/kicad/elements.lib
+++ b/F0-nolib/Servo/kicad/elements.lib
@ -0,0 +1,190 @@
+EESchema-LIBRARY Version 2.3
+#encoding utf-8
+#
+# 74HC4051
+#
+DEF 74HC4051 U 0 10 Y Y 1 F N
+F0 "U" 0 0 50 H V C CNN
+F1 "74HC4051" 0 -150 50 H V C CNN
+F2 "" 0 0 50 H V C CNN
+F3 "" 0 0 50 H V C CNN
+$FPLIST
+ SO16
+ TSSOP16
+ SSOP16
+ DHVQFN16
+$ENDFPLIST
+DRAW
+S -400 450 400 -450 0 1 0 N
+X Y4 1 700 -50 300 L 50 50 1 1 B
+X Y6 2 700 -250 300 L 50 50 1 1 B
+X Z 3 0 -750 300 U 50 50 1 1 B
+X Y7 4 700 -350 300 L 50 50 1 1 B
+X Y5 5 700 -150 300 L 50 50 1 1 B
+X ~E 6 -700 -350 300 R 50 50 1 1 I I
+X VEE 7 -700 0 300 R 50 50 1 1 W
+X GND 8 -700 -200 300 R 50 50 1 1 W
+X S2 9 -700 150 300 R 50 50 1 1 I
+X S1 10 -700 250 300 R 50 50 1 1 I
+X S0 11 -700 350 300 R 50 50 1 1 I
+X Y3 12 700 50 300 L 50 50 1 1 B
+X Y0 13 700 350 300 L 50 50 1 1 B
+X Y1 14 700 250 300 L 50 50 1 1 B
+X Y2 15 700 150 300 L 50 50 1 1 B
+X VCC 16 -700 -100 300 R 50 50 1 1 W
+ENDDRAW
+ENDDEF
+#
+# D_Schottky_x2_ACom_AKK
+#
+DEF D_Schottky_x2_ACom_AKK D 0 30 Y N 1 F N
+F0 "D" 50 -100 50 H V C CNN
+F1 "D_Schottky_x2_ACom_AKK" 0 100 50 H V C CNN
+F2 "" 0 0 50 H V C CNN
+F3 "" 0 0 50 H V C CNN
+DRAW
+P 2 0 1 0 -140 0 150 0 N
+P 2 0 1 0 0 0 0 -100 N
+P 3 0 1 8 -150 50 -150 -50 -150 -50 N
+P 3 0 1 8 150 50 150 -50 150 -50 N
+P 4 0 1 8 -150 50 -170 50 -170 40 -170 40 N
+P 4 0 1 8 150 -50 170 -50 170 -40 170 -40 N
+P 4 0 1 8 150 50 130 50 130 40 130 40 N
+P 5 0 1 8 -130 -40 -130 -50 -150 -50 -150 -50 -150 -50 N
+P 6 0 1 8 -50 -50 -150 0 -50 50 -50 -50 -50 -50 -50 -50 N
+P 6 0 1 8 50 50 150 0 50 -50 50 50 50 50 50 50 N
+X A 1 0 -200 100 U 50 50 0 1 P
+X K 2 -300 0 150 R 50 50 0 1 P
+X K 3 300 0 150 L 50 50 0 1 P
+ENDDRAW
+ENDDEF
+#
+# LM1117-ADJ
+#
+DEF LM1117-ADJ U 0 30 Y Y 1 F N
+F0 "U" 100 -250 50 H V C CNN
+F1 "LM1117-ADJ" 0 250 50 H V C CNN
+F2 "" 0 0 50 H V C CNN
+F3 "" 0 0 50 H V C CNN
+ALIAS LM1117-1.8 LM1117-2.5 LM1117-3.3 LM1117-5.0
+$FPLIST
+ SOT-223*
+ TO-263*
+ TO-252*
+$ENDFPLIST
+DRAW
+S -200 -200 200 200 0 1 10 f
+X GND/ADJ 1 0 -300 100 U 50 50 1 1 W
+X VO 2 300 0 100 L 50 50 1 1 w
+X VI 3 -300 0 100 R 50 50 1 1 W
+ENDDRAW
+ENDDEF
+#
+# PESD1CAN
+#
+DEF PESD1CAN D 0 30 Y N 1 F N
+F0 "D" 0 -350 50 H V C CNN
+F1 "PESD1CAN" 50 150 50 H V C CNN
+F2 "" 0 0 50 H V C CNN
+F3 "" 0 0 50 H V C CNN
+$FPLIST
+ SOT23
+$ENDFPLIST
+DRAW
+S -200 100 300 -300 0 1 0 N
+P 2 0 1 0 -140 -200 150 -200 N
+P 2 0 1 0 -140 0 150 0 N
+P 3 0 1 8 -150 -150 -150 -250 -150 -250 N
+P 3 0 1 8 -150 50 -150 -50 -150 -50 N
+P 3 0 1 8 150 -150 150 -250 150 -250 N
+P 3 0 1 8 150 50 150 -50 150 -50 N
+P 4 0 1 8 -150 -150 -170 -150 -170 -160 -170 -160 N
+P 4 0 1 8 -150 50 -170 50 -170 40 -170 40 N
+P 4 0 1 8 150 -250 170 -250 170 -240 170 -240 N
+P 4 0 1 8 150 -150 130 -150 130 -160 130 -160 N
+P 4 0 1 8 150 -50 170 -50 170 -40 170 -40 N
+P 4 0 1 0 150 0 250 0 250 -200 150 -200 N
+P 4 0 1 8 150 50 130 50 130 40 130 40 N
+P 5 0 1 8 -130 -240 -130 -250 -150 -250 -150 -250 -150 -250 N
+P 5 0 1 8 -130 -40 -130 -50 -150 -50 -150 -50 -150 -50 N
+P 6 0 1 8 -50 -250 -150 -200 -50 -150 -50 -250 -50 -250 -50 -250 N
+P 6 0 1 8 -50 -50 -150 0 -50 50 -50 -50 -50 -50 -50 -50 N
+P 6 0 1 8 50 -150 150 -200 50 -250 50 -150 50 -150 50 -150 N
+P 6 0 1 8 50 50 150 0 50 -50 50 50 50 50 50 50 N
+X K 1 -300 0 150 R 50 50 0 1 P
+X K 2 -300 -200 150 R 50 50 0 1 P
+X O 3 400 -100 150 L 50 50 0 1 P
+ENDDRAW
+ENDDEF
+#
+# TPS2051
+#
+DEF TPS2051 U 0 40 Y Y 1 F N
+F0 "U" 0 -300 60 H V C CNN
+F1 "TPS2051" 0 300 60 H V C CNN
+F2 "" 0 0 60 H I C CNN
+F3 "" 0 0 60 H I C CNN
+DRAW
+S -250 250 250 -250 0 1 0 N
+X GND 1 -450 150 200 R 50 50 1 1 W
+X IN 2 -450 50 200 R 50 50 1 1 W
+X IN 3 -450 -50 200 R 50 50 1 1 P
+X EN 4 -450 -150 200 R 50 50 1 1 I
+X ~OC 5 450 -150 200 L 50 50 1 1 O
+X OUT 6 450 -50 200 L 50 50 1 1 P
+X OUT 7 450 50 200 L 50 50 1 1 P
+X OUT 8 450 150 200 L 50 50 1 1 w
+ENDDRAW
+ENDDEF
+#
+# USB6B1
+#
+DEF USB6B1 D 0 30 Y N 1 F N
+F0 "D" 0 -450 50 H V C CNN
+F1 "USB6B1" 0 400 50 H V C CNN
+F2 "" 200 -100 50 V V C CNN
+F3 "" 200 -100 50 V V C CNN
+$FPLIST
+ SO8
+$ENDFPLIST
+DRAW
+C -150 -300 7 0 1 0 N
+C -150 100 7 0 1 0 N
+C -150 300 7 0 1 0 N
+C 0 -300 7 0 1 0 N
+C 0 -100 7 0 1 0 N
+C 0 300 7 0 1 0 N
+C 200 -300 7 0 1 0 N
+C 200 300 7 0 1 0 N
+S -300 -100 300 -100 0 1 0 N
+S -300 300 300 300 0 1 0 N
+S -200 -150 -100 -150 0 1 0 N
+S -200 250 -100 250 0 1 0 N
+S -150 300 -150 -300 0 1 0 N
+S -50 -150 50 -150 0 1 0 N
+S -50 250 50 250 0 1 0 N
+S 0 300 0 -300 0 1 0 N
+S 200 300 200 -300 0 1 0 N
+S 300 -300 -300 -300 0 1 0 N
+S 300 100 -300 100 0 1 0 N
+P 3 0 1 8 150 50 250 50 250 50 N
+P 4 0 1 8 150 50 150 30 160 30 160 30 N
+P 4 0 1 8 250 50 250 70 240 70 240 70 N
+P 5 0 1 0 -250 350 300 350 300 -350 -250 -350 -250 350 N
+P 6 0 1 8 -200 -250 -150 -150 -100 -250 -200 -250 -200 -250 -200 -250 N
+P 6 0 1 8 -200 150 -150 250 -100 150 -200 150 -200 150 -200 150 N
+P 6 0 1 8 -50 -250 0 -150 50 -250 -50 -250 -50 -250 -50 -250 N
+P 6 0 1 8 -50 150 0 250 50 150 -50 150 -50 150 -50 150 N
+P 6 0 1 8 150 -50 200 50 250 -50 150 -50 150 -50 150 -50 N
+X VCC 1 -500 300 200 R 50 50 1 1 P
+X I/O1 2 -500 100 200 R 50 50 1 1 P
+X I/O2 3 -500 -100 200 R 50 50 1 1 P
+X GND 4 -500 -300 200 R 50 50 1 1 P
+X GND 5 500 -300 200 L 50 50 1 1 P
+X I/O2 6 500 -100 200 L 50 50 1 1 P
+X I/O1 7 500 100 200 L 50 50 1 1 P
+X VCC 8 500 300 200 L 50 50 1 1 P
+ENDDRAW
+ENDDEF
+#
+#End Library
--- a/F0-nolib/Servo/kicad/fp-info-cache
+++ b/F0-nolib/Servo/kicad/fp-info-cache
--- a/F0-nolib/Servo/kicad/fp-lib-table
+++ b/F0-nolib/Servo/kicad/fp-lib-table
@ -0,0 +1,3 @@
+(fp_lib_table
+  (lib (name modules)(type KiCad)(uri modules.pretty)(options "")(descr ""))
+)
--- a/F0-nolib/Servo/kicad/modules.pretty/DB9-F.kicad_mod
+++ b/F0-nolib/Servo/kicad/modules.pretty/DB9-F.kicad_mod
@ -0,0 +1,31 @@
+(module DB9-F (layer F.Cu) (tedit 546362FD)
+  (descr "Connecteur DB9 femelle couche")
+  (tags "CONN DB9")
+  (fp_text reference XP** (at -6.3 -5.3) (layer F.SilkS)
+    (effects (font (thickness 0.3048)))
+  )
+  (fp_text value DB9F (at 7.7 -5.1) (layer F.SilkS)
+    (effects (font (thickness 0.3048)))
+  )
+  (fp_line (start -16.129 2.286) (end 16.383 2.286) (layer F.SilkS) (width 0.3048))
+  (fp_line (start 16.383 2.286) (end 16.383 -9.494) (layer F.SilkS) (width 0.3048))
+  (fp_line (start 16.383 -9.494) (end -16.129 -9.494) (layer F.SilkS) (width 0.3048))
+  (fp_line (start -16.129 -9.494) (end -16.129 2.286) (layer F.SilkS) (width 0.3048))
+  (fp_line (start -9.017 -7.874) (end 9.271 -7.874) (layer F.SilkS) (width 0.3048))
+  (pad "" thru_hole circle (at 12.827 -1.27) (size 3.81 3.81) (drill 3.048) (layers *.Cu *.Mask F.SilkS))
+  (pad "" thru_hole circle (at -12.573 -1.27) (size 3.81 3.81) (drill 3.048) (layers *.Cu *.Mask F.SilkS))
+  (pad 1 thru_hole rect (at -5.461 1.27) (size 1.524 1.524) (drill 1.016) (layers *.Cu *.Mask F.SilkS))
+  (pad 2 thru_hole circle (at -2.667 1.27) (size 1.524 1.524) (drill 1.016) (layers *.Cu *.Mask F.SilkS))
+  (pad 3 thru_hole circle (at 0 1.27) (size 1.524 1.524) (drill 1.016) (layers *.Cu *.Mask F.SilkS))
+  (pad 4 thru_hole circle (at 2.794 1.27) (size 1.524 1.524) (drill 1.016) (layers *.Cu *.Mask F.SilkS))
+  (pad 5 thru_hole circle (at 5.588 1.27) (size 1.524 1.524) (drill 1.016) (layers *.Cu *.Mask F.SilkS))
+  (pad 6 thru_hole circle (at -4.064 -1.27) (size 1.524 1.524) (drill 1.016) (layers *.Cu *.Mask F.SilkS))
+  (pad 7 thru_hole circle (at -1.27 -1.27) (size 1.524 1.524) (drill 1.016) (layers *.Cu *.Mask F.SilkS))
+  (pad 8 thru_hole circle (at 1.397 -1.27) (size 1.524 1.524) (drill 1.016) (layers *.Cu *.Mask F.SilkS))
+  (pad 9 thru_hole circle (at 4.191 -1.27) (size 1.524 1.524) (drill 1.016) (layers *.Cu *.Mask F.SilkS))
+  (model conn_DBxx/db9_female_pin90deg.wrl
+    (at (xyz 0 0 0))
+    (scale (xyz 1 1 1))
+    (rotate (xyz 0 0 0))
+  )
+)
--- a/F0-nolib/Servo/kicad/modules.pretty/TO-220-3_Horizontal_TabDown.kicad_mod
+++ b/F0-nolib/Servo/kicad/modules.pretty/TO-220-3_Horizontal_TabDown.kicad_mod
@ -0,0 +1,45 @@
+(module TO-220-3_Horizontal_TabDown (layer F.Cu) (tedit 5BEBD722)
+  (descr "TO-220-3, Horizontal, RM 2.54mm, see https://www.vishay.com/docs/66542/to-220-1.pdf")
+  (tags "TO-220-3 Horizontal RM 2.54mm")
+  (fp_text reference Q1 (at 2.54 -20.58) (layer F.SilkS)
+    (effects (font (size 1 1) (thickness 0.15)))
+  )
+  (fp_text value IRL3303 (at 2.54 2) (layer F.Fab)
+    (effects (font (size 1 1) (thickness 0.15)))
+  )
+  (fp_circle (center 2.54 -16.66) (end 4.39 -16.66) (layer F.Fab) (width 0.1))
+  (fp_line (start -2.46 -13.06) (end -2.46 -19.46) (layer F.Fab) (width 0.1))
+  (fp_line (start -2.46 -19.46) (end 7.54 -19.46) (layer F.Fab) (width 0.1))
+  (fp_line (start 7.54 -19.46) (end 7.54 -13.06) (layer F.Fab) (width 0.1))
+  (fp_line (start 7.54 -13.06) (end -2.46 -13.06) (layer F.Fab) (width 0.1))
+  (fp_line (start -2.46 -3.81) (end -2.46 -13.06) (layer F.Fab) (width 0.1))
+  (fp_line (start -2.46 -13.06) (end 7.54 -13.06) (layer F.Fab) (width 0.1))
+  (fp_line (start 7.54 -13.06) (end 7.54 -3.81) (layer F.Fab) (width 0.1))
+  (fp_line (start 7.54 -3.81) (end -2.46 -3.81) (layer F.Fab) (width 0.1))
+  (fp_line (start 0 -3.81) (end 0 0) (layer F.Fab) (width 0.1))
+  (fp_line (start 2.54 -3.81) (end 2.54 0) (layer F.Fab) (width 0.1))
+  (fp_line (start 5.08 -3.81) (end 5.08 0) (layer F.Fab) (width 0.1))
+  (fp_line (start -2.58 -3.69) (end 7.66 -3.69) (layer F.SilkS) (width 0.12))
+  (fp_line (start -2.58 -19.58) (end 7.66 -19.58) (layer F.SilkS) (width 0.12))
+  (fp_line (start -2.58 -19.58) (end -2.58 -3.69) (layer F.SilkS) (width 0.12))
+  (fp_line (start 7.66 -19.58) (end 7.66 -3.69) (layer F.SilkS) (width 0.12))
+  (fp_line (start 0 -3.69) (end 0 -1.15) (layer F.SilkS) (width 0.12))
+  (fp_line (start 2.54 -3.69) (end 2.54 -1.15) (layer F.SilkS) (width 0.12))
+  (fp_line (start 5.08 -3.69) (end 5.08 -1.15) (layer F.SilkS) (width 0.12))
+  (fp_line (start -2.71 -19.71) (end -2.71 1.25) (layer F.CrtYd) (width 0.05))
+  (fp_line (start -2.71 1.25) (end 7.79 1.25) (layer F.CrtYd) (width 0.05))
+  (fp_line (start 7.79 1.25) (end 7.79 -19.71) (layer F.CrtYd) (width 0.05))
+  (fp_line (start 7.79 -19.71) (end -2.71 -19.71) (layer F.CrtYd) (width 0.05))
+  (fp_text user %R (at 2.54 -20.58) (layer F.Fab)
+    (effects (font (size 1 1) (thickness 0.15)))
+  )
+  (pad 2 thru_hole rect (at 2.54 -16.66) (size 12 7) (drill 3.5) (layers *.Cu *.Mask))
+  (pad 1 thru_hole rect (at 0 0) (size 1.905 2) (drill 1.1) (layers *.Cu *.Mask))
+  (pad 2 thru_hole oval (at 2.54 0) (size 1.905 2) (drill 1.1) (layers *.Cu *.Mask))
+  (pad 3 thru_hole oval (at 5.08 0) (size 1.905 2) (drill 1.1) (layers *.Cu *.Mask))
+  (model ${KISYS3DMOD}/Package_TO_SOT_THT.3dshapes/TO-220-3_Horizontal_TabDown.wrl
+    (at (xyz 0 0 0))
+    (scale (xyz 1 1 1))
+    (rotate (xyz 0 0 0))
+  )
+)
--- a/F0-nolib/Servo/kicad/modules.pretty/hole_3mm.kicad_mod
+++ b/F0-nolib/Servo/kicad/modules.pretty/hole_3mm.kicad_mod
@ -0,0 +1,14 @@
+(module hole_3mm (layer F.Cu) (tedit 5BF13739)
+  (fp_text reference hole_3mm (at 0 -2.54) (layer F.SilkS) hide
+    (effects (font (size 1.5 1.5) (thickness 0.3)))
+  )
+  (fp_text value Val** (at 0 3.175) (layer F.SilkS) hide
+    (effects (font (size 1.5 1.5) (thickness 0.3)))
+  )
+  (fp_line (start 0 2.5) (end 0 1.5) (layer F.SilkS) (width 0.3))
+  (fp_line (start -2.5 0) (end -1.5 0) (layer F.SilkS) (width 0.3))
+  (fp_line (start 2.5 0) (end 1.5 0) (layer F.SilkS) (width 0.3))
+  (fp_line (start 0 -1.5) (end 0 -2.5) (layer F.SilkS) (width 0.3))
+  (fp_circle (center 0 0) (end 2.5 0) (layer F.SilkS) (width 0.3))
+  (pad "" np_thru_hole circle (at 0 0) (size 3 3) (drill 1) (layers *.Cu *.Mask))
+)
--- a/F0-nolib/Servo/kicad/sym-lib-table
+++ b/F0-nolib/Servo/kicad/sym-lib-table
@ -0,0 +1,6 @@
+(sym_lib_table
+  (lib (name Chiller_control-rescue)(type Legacy)(uri ${KIPRJMOD}/Chiller_control-rescue.lib)(options "")(descr ""))
+  (lib (name Servo_control-rescue)(type Legacy)(uri ${KIPRJMOD}/Servo_control-rescue.lib)(options "")(descr ""))
+  (lib (name ch34x)(type Legacy)(uri ${KIPRJMOD}/ch34x.lib)(options "")(descr ""))
+  (lib (name elements)(type Legacy)(uri ${KIPRJMOD}/elements.lib)(options "")(descr ""))
+)
--- a/F0-nolib/Servo/main.c
+++ b/F0-nolib/Servo/main.c
@ -0,0 +1,63 @@
+/*
+ * main.c
+ *
+ * Copyright 2018 Edward V. Emelianoff <eddy@sao.ru, 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 2 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+#include "adc.h"
+#include "hardware.h"
+#include "mainloop.h"
+#include "protocol.h"
+#include "usart.h"
+#include <string.h> // memcpy
+#include <stm32f0.h>
+
+
+volatile uint32_t Tms = 0;
+
+// Called when systick fires
+void sys_tick_handler(void){
+    ++Tms;
+}
+
+int main(void){
+    char *txt;
+    hw_setup();
+    SysTick_Config(6000, 1);
+    SEND_BLK("Servos controller v0.1\n");
+    if(RCC->CSR & RCC_CSR_IWDGRSTF){ // watchdog reset occured
+        SEND_BLK("WDGRESET=1");
+    }
+    if(RCC->CSR & RCC_CSR_SFTRSTF){ // software reset occured
+        SEND_BLK("SOFTRESET=1");
+    }
+    RCC->CSR |= RCC_CSR_RMVF; // remove reset flags
+    while (1){
+        IWDG->KR = IWDG_REFRESH;
+        if(usart1_getline(&txt)){ // usart1 received command, process it
+            txt = process_command(txt);
+        }else txt = NULL;
+        if(txt){ // text waits for sending
+            while(ALL_OK != usart1_send(txt, 0)){
+                IWDG->KR = IWDG_REFRESH;
+            }
+        }
+        mainloop();
+        IWDG->KR = IWDG_REFRESH;
+        usart1_sendbuf();
+    }
+}
--- a/F0-nolib/Servo/mainloop.c
+++ b/F0-nolib/Servo/mainloop.c
@ -0,0 +1,29 @@
+/*
+ * This file is part of the Chiller project.
+ * Copyright 2019 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "adc.h"
+#include "hardware.h"
+#include "mainloop.h"
+
+/**
+ * @brief mainloop - the main servos loop
+ * by timer check current states & change them
+ */
+void mainloop(){
+    ;
+}
--- a/F0-nolib/Servo/mainloop.h
+++ b/F0-nolib/Servo/mainloop.h
@ -0,0 +1,21 @@
+/*
+ * This file is part of the Chiller project.
+ * Copyright 2019 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 <stm32f0.h>
+
+void mainloop();
+
--- a/F0-nolib/Servo/protocol.c
+++ b/F0-nolib/Servo/protocol.c
@ -0,0 +1,99 @@
+/*
+ * This file is part of the Chiller project.
+ * Copyright 2018 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 "hardware.h"
+#include "protocol.h"
+#include "usart.h"
+#include "adc.h"
+#include "mainloop.h"
+
+extern uint8_t crit_error;
+
+#ifdef EBUG
+/**
+ * @brief debugging_proc - debugging functions
+ * @param command - rest of cmd
+ */
+static void debugging_proc(const char *command){
+    const char *ptr = command;
+    int i;
+    switch(*ptr++){
+        case 'w':
+            usart1_send("Test watchdog", 0);
+            while(1){nop();}
+        break;
+        case 'A': // raw ADC values depending on next symbol
+            i = *ptr++ - '0';
+            if(i < 0 || i > NUMBER_OF_ADC_CHANNELS){
+                usart1_send("Wrong channel nuber!", 0);
+                return;
+            }
+            put_string("ADC value: ");
+            put_uint(getADCval(i));
+            put_string(", ");
+            usart1_sendbuf();
+        break;
+        default:
+        break;
+    }
+}
+#endif
+
+/**
+ * @brief process_command - command parser
+ * @param command - command text (all inside [] without spaces)
+ * @return text to send over terminal or NULL
+ */
+char *process_command(const char *command){
+    const char *ptr = command;
+    char *ret = NULL;
+    usart1_sendbuf(); // send buffer (if it is already filled)
+    switch(*ptr++){
+        case '?': // help
+            SEND_BLK(
+                "R  - reset\n"
+                "t  - get MCU temperature (approx.)\n"
+                "V  - get Vdd"
+                );
+#ifdef EBUG
+            SEND_BLK("d -> goto debug:\n"
+                 "\tAx - get raw ADCx value\n"
+                 "\tw - test watchdog"
+                 );
+#endif
+        break;
+        case 'R': // reset MCU
+            NVIC_SystemReset();
+        break;
+        case 't': // get mcu T
+            put_string("MCUTEMP10=");
+            put_int(getMCUtemp());
+        break;
+        case 'V': // get Vdd
+            put_string("VDD100=");
+            put_uint(getVdd());
+        break;
+#ifdef EBUG
+        case 'd':
+            debugging_proc(ptr);
+            return NULL;
+        break;
+#endif
+    }
+    usart1_sendbuf();
+    return ret;
+}
--- a/F0-nolib/Servo/protocol.h
+++ b/F0-nolib/Servo/protocol.h
@ -0,0 +1,24 @@
+/*
+ * This file is part of the Chiller project.
+ * Copyright 2018 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/>.
+ */
+#ifndef PROTOCOL_C
+#define PROTOCOL_C
+#include <stm32f0.h>
+
+char *process_command(const char *command);
+
+#endif // PROTOCOL_C
--- a/F0-nolib/Servo/servo.bin
+++ b/F0-nolib/Servo/servo.bin
--- a/F0-nolib/Servo/usart.c
+++ b/F0-nolib/Servo/usart.c
@ -0,0 +1,294 @@
+/*
+ * usart.c
+ *
+ * Copyright 2018 Edward V. Emelianov <eddy@sao.ru, 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 2 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#include "usart.h"
+#include <string.h> // memcpy
+
+extern volatile uint32_t Tms;
+
+static int datalen[2] = {0,0}; // received data line length (including '\n')
+
+uint8_t bufovr = 0;         // input buffer overfull
+
+static uint8_t  linerdy = 0         // received data ready
+                ,dlen = 0           // length of data in current buffer
+                ,txrdy = 1          // transmission done
+;
+
+static int  rbufno = 0; // current rbuf number
+static char rbuf[2][UARTBUFSZ+1], tbuf[UARTBUFSZ]; // receive & transmit buffers
+static char *recvdata = NULL;
+
+static char trbuf[UARTBUFSZ+1]; // auxiliary buffer for data transmission
+static int trbufidx = 0;
+
+int put_char(char c){
+    if(trbufidx >= UARTBUFSZ - 1){
+        if(ALL_OK != usart1_sendbuf()) return 1;
+    }
+    trbuf[trbufidx++] = c;
+    return 0;
+}
+// write zero-terminated string
+int put_string(const char *str){
+    while(*str){
+        if(put_char(*str++)) return 1; //error! shouldn't be!!!
+    }
+    return 0; // all OK
+}
+/**
+ * Fill trbuf with integer value
+ * @param N - integer value
+ * @return 1 if buffer overflow; oterwise return 0
+ */
+int put_int(int32_t N){
+    if(N < 0){
+        if(put_char('-')) return 1;
+        N = -N;
+    }
+    return put_uint((uint32_t) N);
+}
+int put_uint(uint32_t N){
+    char buf[10];
+    int L = 0;
+    if(N){
+        while(N){
+            buf[L++] = N % 10 + '0';
+            N /= 10;
+        }
+        while(L--) if(put_char(buf[L])) return 1;
+    }else if(put_char('0')) return 1;
+    return 0;
+}
+/**
+ * @brief usart1_sendbuf - send temporary transmission buffer (trbuf) over USART
+ * @return Tx status
+ */
+TXstatus usart1_sendbuf(){
+    int len = trbufidx;
+    trbufidx = 0;
+    if(len == 0) return ALL_OK;
+    else if(len > UARTBUFSZ) len = UARTBUFSZ;
+    return usart1_send(trbuf, len);
+}
+
+void USART1_config(){
+    /* Enable the peripheral clock of GPIOA */
+    RCC->AHBENR |= RCC_AHBENR_GPIOAEN;
+    /* GPIO configuration for USART1 signals */
+    /* (1) Select AF mode (10) on PA9 and PA10 */
+    /* (2) AF1 for USART1 signals */
+    GPIOA->MODER = (GPIOA->MODER & ~(GPIO_MODER_MODER9|GPIO_MODER_MODER10))\
+                | (GPIO_MODER_MODER9_1 | GPIO_MODER_MODER10_1); /* (1) */
+    GPIOA->AFR[1] = (GPIOA->AFR[1] &~ (GPIO_AFRH_AFRH1 | GPIO_AFRH_AFRH2))\
+                | (1 << (1 * 4)) | (1 << (2 * 4)); /* (2) */
+    /* Enable the peripheral clock USART1 */
+    RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
+    /* Configure USART1 */
+    /* (1) oversampling by 16, 115200 baud */
+    /* (2) 8 data bit, 1 start bit, 1 stop bit, no parity */
+    USART1->BRR = 480000 / 1152; /* (1) */
+    USART1->CR1 = USART_CR1_TE | USART_CR1_RE | USART_CR1_UE; /* (2) */
+    /* polling idle frame Transmission */
+    while(!(USART1->ISR & USART_ISR_TC)){}
+    USART1->ICR |= USART_ICR_TCCF; /* clear TC flag */
+    USART1->CR1 |= USART_CR1_RXNEIE; /* enable TC, TXE & RXNE interrupt */
+    RCC->AHBENR |= RCC_AHBENR_DMA1EN;
+    DMA1_Channel2->CPAR = (uint32_t) &(USART1->TDR); // periph
+    DMA1_Channel2->CMAR = (uint32_t) tbuf; // mem
+    DMA1_Channel2->CCR |= DMA_CCR_MINC | DMA_CCR_DIR | DMA_CCR_TCIE; // 8bit, mem++, mem->per, transcompl irq
+    USART1->CR3 = USART_CR3_DMAT;
+    NVIC_SetPriority(DMA1_Channel2_3_IRQn, 3);
+    NVIC_EnableIRQ(DMA1_Channel2_3_IRQn);
+    /* Configure IT */
+    /* (3) Set priority for USART1_IRQn */
+    /* (4) Enable USART1_IRQn */
+    NVIC_SetPriority(USART1_IRQn, 0); /* (3) */
+    NVIC_EnableIRQ(USART1_IRQn); /* (4) */
+}
+
+void usart1_isr(){
+    static uint8_t   timeout = 1    // == 0 for human interface without timeout
+                    ,nctr = 0       // counter of '#' received
+                    ,incmd = 0      // ==1 - inside command
+                    ;
+    static uint32_t tmout = 0;
+    if(USART1->ISR & USART_ISR_RXNE){ // RX not emty - receive next char
+        // read RDR clears flag
+        uint8_t rb = USART1->RDR;
+        if(timeout && rb == '#'){ // chek '#' without timeout
+            if(++nctr == 4){ // "####" received - turn off timeout
+                timeout = 0;
+                nctr = 0;
+                datalen[rbufno] = 0; // reset all incoming data
+                incmd = 0;
+                return;
+            }
+        }else nctr = 0;
+        if(!incmd){
+            if(rb == '['){ // open command or reset previoud input
+                datalen[rbufno] = 0;
+                incmd = 1;
+            }
+            return;
+        }
+        if(timeout){ // check timeout only inside commands
+            if(tmout && Tms >= tmout){ // set overflow flag
+                bufovr = 1;
+                datalen[rbufno] = 0;
+            }else{
+                tmout = Tms + TIMEOUT_MS;
+                if(!tmout) tmout = 1; // prevent 0
+            }
+        }
+        switch(rb){
+            case '[':
+                datalen[rbufno] = 0;
+                tmout = 0;
+            break;
+            case ']': // close command - line ready!
+                dlen = datalen[rbufno];
+                if(dlen){
+                    linerdy = 1;
+                    incmd = 0;
+                    recvdata = rbuf[rbufno];
+                    rbuf[rbufno][dlen] = 0;
+                    rbufno = !rbufno;
+                    datalen[rbufno] = 0;
+                }
+                tmout = 0;
+            break;
+            case '\r':
+            case '\n':
+            case ' ':
+            case '\t':
+                return;
+            break;
+            default:
+            break;
+        }
+
+        if(datalen[rbufno] < UARTBUFSZ){ // put next char into buf
+            rbuf[rbufno][datalen[rbufno]++] = rb;
+        }else{ // buffer overrun
+            bufovr = 1;
+            datalen[rbufno] = 0;
+            incmd = 0;
+            tmout = 0;
+        }
+    }
+}
+
+void dma1_channel2_3_isr(){
+    if(DMA1->ISR & DMA_ISR_TCIF2){ // Tx
+        DMA1->IFCR |= DMA_IFCR_CTCIF2; // clear TC flag
+        txrdy = 1;
+    }
+}
+
+/**
+ * return length of received data (without trailing zero)
+ */
+int usart1_getline(char **line){
+    if(!linerdy) return 0;
+    linerdy = 0;
+    if(bufovr){
+        bufovr = 0;
+        return 0;
+    }
+    *line = recvdata;
+    return dlen;
+}
+
+/**
+ * @brief usart1_send send buffer `str` adding trailing '\n'
+ * @param str - string to send (without '\n' at end)
+ * @param len - its length or 0 to auto count
+ * @return
+ */
+TXstatus usart1_send(const char *str, int len){
+    if(!txrdy) return LINE_BUSY;
+    if(len > UARTBUFSZ - 1) return STR_TOO_LONG;
+    txrdy = 0;
+    if(len == 0){
+        const char *ptr = str;
+        while(*ptr++) ++len;
+    }
+    if(len == 0) return ALL_OK;
+    DMA1_Channel2->CCR &= ~DMA_CCR_EN;
+    memcpy(tbuf, str, len);
+    tbuf[len++] = '\n';
+    DMA1_Channel2->CNDTR = len;
+    DMA1_Channel2->CCR |= DMA_CCR_EN; // start transmission
+    return ALL_OK;
+}
+
+TXstatus usart1_send_blocking(const char *str, int len){
+    if(!txrdy) return LINE_BUSY;
+    if(len == 0){
+        const char *ptr = str;
+        while(*ptr++) ++len;
+    }
+    if(len == 0) return ALL_OK;
+    for(int i = 0; i < len; ++i){
+        USART1->TDR = *str++;
+        while(!(USART1->ISR & USART_ISR_TXE));
+    }
+    USART1->TDR = '\n';
+    while(!(USART1->ISR & USART_ISR_TC));
+    txrdy = 1;
+    return ALL_OK;
+}
+
+// read `buf` and get first integer `N` in it
+// @return pointer to first non-number if all OK or NULL if first symbol isn't a space or number
+char *getnum(const char *buf, int32_t *N){
+    char c;
+    int positive = -1;
+    int32_t val = 0;
+    //usart1_send_blocking(buf, 0);
+    while((c = *buf++)){
+        if(c == '\t' || c == ' '){
+            if(positive < 0) continue; // beginning spaces
+            else break; // spaces after number
+        }
+        if(c == '-'){
+            if(positive < 0){
+                positive = 0;
+                continue;
+            }else break; // there already was `-` or number
+        }
+        if(c < '0' || c > '9') break;
+        if(positive < 0) positive = 1;
+        val = val * 10 + (int32_t)(c - '0');
+    }
+    if(positive != -1){
+        if(positive == 0){
+            if(val == 0) return NULL; // single '-'
+            val = -val;
+        }
+        *N = val;
+    }else return NULL;
+/*    usart1_sendbuf();
+    put_uint(val);
+    put_char('\n');*/
+    return (char*)buf-1;
+}
--- a/F0-nolib/Servo/usart.h
+++ b/F0-nolib/Servo/usart.h
@ -0,0 +1,59 @@
+/*
+ * usart.h
+ *
+ * Copyright 2018 Edward V. Emelianov <eddy@sao.ru, 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 2 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+#pragma once
+#ifndef __USART_H__
+#define __USART_H__
+
+#include "stm32f0.h"
+
+// input and output buffers size
+#define UARTBUFSZ  (64)
+// timeout between data bytes
+#define TIMEOUT_MS (100)
+
+typedef enum{
+    ALL_OK,
+    LINE_BUSY,
+    STR_TOO_LONG
+} TXstatus;
+
+#define usart1ovr() (bufovr)
+
+// send constant string
+#define SEND_BLK(x)		do{while(LINE_BUSY == usart1_send_blocking(x, sizeof(x)-1));}while(0)
+#define SEND(x) 		do{while(LINE_BUSY == usart1_send(x, sizeof(x)-1));}while(0)
+
+extern uint8_t bufovr;
+
+void USART1_config();
+int usart1_getline(char **line);
+TXstatus usart1_send(const char *str, int len);
+TXstatus usart1_send_blocking(const char *str, int len);
+TXstatus usart1_sendbuf();
+
+int put_char(char c);
+int put_string(const char *str);
+int put_int(int32_t N);
+int put_uint(uint32_t N);
+
+char *getnum(const char *buf, int32_t *N);
+
+#endif // __USART_H__
--- a/F0-nolib/canbus/kicad/fp-info-cache
+++ b/F0-nolib/canbus/kicad/fp-info-cache
@ -0,0 +1 @@
+0
--- a/F0-nolib/canbus/kicad/stm32.pro
+++ b/F0-nolib/canbus/kicad/stm32.pro
@ -1,4 +1,4 @@
-update=Ср 30 янв 2019 22:57:36
+update=Вс 10 мар 2019 23:57:48
 version=1
 last_client=kicad
 [pcbnew]
--- a/F0-nolib/inc/F0/stm32f0.h
+++ b/F0-nolib/inc/F0/stm32f0.h
@ -105,19 +105,19 @@ TRUE_INLINE void sysreset(void){
    /* Wait till PLL is used as system clock source */
    while ((RCC->CFGR & RCC_CFGR_SWS) != RCC_CFGR_SWS_PLL){}
 }
-
+/* wrong
 TRUE_INLINE void StartHSE(){
    // disable PLL
    RCC->CR &= ~RCC_CR_PLLON;
    RCC->CR |= RCC_CR_HSEON;
-    while ((RCC->CIR & RCC_CIR_HSERDYF) != 0);
+    while ((RCC->CIR & RCC_CIR_HSERDYF) == 0);
    RCC->CIR |= RCC_CIR_HSERDYC; // clear rdy flag
-    /* PLL configuration = (HSE) * 12 = ~48 MHz */
+    // PLL configuration = (HSE) * 12 = ~48 MHz
    RCC->CFGR &= ~(RCC_CFGR_PLLSRC | RCC_CFGR_PLLMUL);
    RCC->CFGR |= RCC_CFGR_PLLSRC_HSE_PREDIV | RCC_CFGR_PLLMUL12;
    RCC->CR |= RCC_CR_PLLON;
    while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)RCC_CFGR_SWS_PLL){}
-}
+}       */

 #if !defined (STM32F030x4) && !defined (STM32F030x6) && !defined (STM32F030x8) && !defined (STM32F031x6) && !defined (STM32F038xx) && !defined (STM32F030xC)
 TRUE_INLINE void StartHSI48(){