diff --git a/shared/defines.h b/shared/defines.h
index 515a35fd..1fd50a73 100644
--- a/shared/defines.h
+++ b/shared/defines.h
@@ -36,6 +36,7 @@ extern "C" {
 #define RAD(a) ((a) * 180.0 / M_PI)
 #define SIGN(a) (((a) < 0.0) ? (-1.0) : (((a) > 0.0) ? (1.0) : (0.0)))
 #define CLAMP(x, low, high)  (((x) > (high)) ? (high) : (((x) < (low)) ? (low) : (x)))
+#define SCALE(value, high, max)  MIN(MAX(((max) - (value)) / ((max) - (high)), 0.0), 1.0)
 #define MIN(a, b)  (((a) < (b)) ? (a) : (b))
 #define MAX(a, b)  (((a) > (b)) ? (a) : (b))
 
@@ -47,7 +48,7 @@ extern "C" {
 #define STRINGIFY_(x)       #x
 #define STRINGIFY(x)        STRINGIFY_(x)
 
-//TODO: change type to typeof()
+//TODO: change type to typeof(), change initial value to something more useful
 #define RISING_EDGE(sig)\
 ({static float __old_val__ = 0.0; uint8_t ret = (sig) > __old_val__; __old_val__ = (sig); ret;})
 
diff --git a/shared/version.h b/shared/version.h
index 1e5fffbe..362a150e 100644
--- a/shared/version.h
+++ b/shared/version.h
@@ -2,7 +2,7 @@
 
 #include <stdint.h>
 
-struct version_info {
+struct version_info {//TODO: typedef
     // set at link-time by add-version-info.py
     //
     uint32_t    image_crc;
diff --git a/src/comps/adc.comp b/src/comps/adc.comp
index 691b239d..738cd57c 100644
--- a/src/comps/adc.comp
+++ b/src/comps/adc.comp
@@ -40,7 +40,7 @@ RT(
    float s;
    float c;
    
-   uint32_t *ADC_DMA_Buffer;
+   volatile uint32_t *ADC_DMA_Buffer;
 
    // if(DMA_GetCurrentMemoryTarget(DMA2_Stream0) == 0){
    //    ADC_DMA_Buffer = ADC_DMA_Buffer1;
diff --git a/src/comps/curpid.comp b/src/comps/curpid.comp
index 2445005b..91e6f214 100644
--- a/src/comps/curpid.comp
+++ b/src/comps/curpid.comp
@@ -52,6 +52,7 @@ RT(
    float kiq = rq * PIN(ki) / lq;
    float kind = PIN(kind);
 
+   //TODO curpid: sqrt(di^2+qi^2) auf max_ac_cur clampen
    float idc = LIMIT(PIN(id_cmd), PIN(max_cur) * PIN(scale));
    float iqc = LIMIT(PIN(iq_cmd), PIN(max_cur) * PIN(scale));
 
diff --git a/src/comps/fault2.comp b/src/comps/fault2.comp
index 22ff4711..693b6771 100644
--- a/src/comps/fault2.comp
+++ b/src/comps/fault2.comp
@@ -1,8 +1,7 @@
 HAL_COMP(fault);
 
-#define SCALE(value, high, max)  MIN(MAX(((max) - (value)) / ((max) - (high)), 0.0), 1.0)
-
 HAL_PIN(en) = 0.0;
+HAL_PIN(reset) = 0.0;
 HAL_PIN(state) = 0.0;
 HAL_PIN(fault) = 0.0;
 HAL_PIN(en_out) = 0.0;
@@ -60,11 +59,13 @@ HAL_PIN(mot_fan) = 0.0;
 HAL_PIN(phase_with_brake) = 1.0;
 HAL_PIN(phase_on_start) = 1.0;
 
+HAL_PIN(print) = 0.0;
+
 HAL_PIN(brake_release) = 0.0;
 
-MEM(enum state_t state) = DISABLED;
+MEM(state_t state) = DISABLED;
 
-MEM(enum fault_t fault) = NO_ERROR;
+MEM(fault_t fault) = NO_ERROR;
 
 MEM(uint32_t phased) = 0;
 
@@ -106,6 +107,10 @@ RT(
       case SOFT_FAULT:
          if(PIN(en) <= 0.0){
             state = DISABLED;
+         }else if(FALLING_EDGE(PIN(reset)) & (PIN(cmd_ready) > 0.0) & (PIN(fb0_ready) > 0.0) & (PIN(fb1_ready) > 0.0) & (PIN(hv_ready) > 0.0)){
+            //TODO: phasing
+            state = ENABLED;
+            PIN(start_offset) = minus(PIN(fb), PIN(cmd));
          }
       break;
       
@@ -241,7 +246,74 @@ RT(
       PIN(mot_brake) = 1.0;
    }
 );
+NRT(
+if(EDGE(state) || PIN(print) > 0.0){
+   PIN(print) = 0.0;
+   switch((state_t)state){
+      case DISABLED:
+      printf("INFO: Disabled \n");
+      break;
 
+      case ENABLED:
+      printf("INFO: Enabled \n");
+      break;
+
+      case PHASING:
+      printf("INFO: Phasing \n");
+      break;
+
+      case SOFT_FAULT:
+      printf("ERROR: Soft fault: ");
+      switch((fault_t)fault){
+         case NO_ERROR:
+         printf("no error\n");
+         break;
+        
+         case CMD_ERROR:
+         printf("CMD error\n");
+         break;
+        
+         case FB0_ERROR:
+         printf("FB0 error\n");
+         break;
+        
+         case FB1_ERROR:
+         printf("FB1 error\n");
+         break;
+        
+         case POS_ERROR:
+         printf("position error\n");
+         break;
+       
+         case SAT_ERROR:
+         printf("saturation error\n");
+         break;
+        
+         case HV_ERROR:
+         printf("HV error\n");
+         break;
+        
+         case HV_TEMP_ERROR:
+         printf("HV overtemperture\n");
+         break;
+        
+         case HV_VOLT_ERROR:
+         printf("HV volt error\n");
+         break;
+        
+         case MOT_TEMP_ERROR:
+         printf("Motor overtemperture\n");
+         break;
+      }
+      break;
+
+      case HARD_FAULT:
+      printf("ERROR: Hard fault: \n");
+      break;
+    
+      default:
+      break;
+   }
+}
+);
 ENDCOMP;
-
-//TODO curpid: sqrt(di^2+qi^2) auf max_ac_cur clampen
diff --git a/src/comps/io.comp b/src/comps/io.comp
index 5da9d278..06d21eb1 100644
--- a/src/comps/io.comp
+++ b/src/comps/io.comp
@@ -65,7 +65,7 @@ NRT(
    uint32_t red = 0;
    uint32_t green = 0;
    
-   switch((int)PIN(state)){
+   switch((state_t)PIN(state)){
       case DISABLED:
          green = BLINK(1);
          red = 0;
diff --git a/src/comps/term.comp b/src/comps/term.comp
index 06565df5..8bcf2770 100644
--- a/src/comps/term.comp
+++ b/src/comps/term.comp
@@ -1,60 +1,23 @@
 HAL_COMP(term);
 
-HAL_PIN(wave0) = 0.0;
-HAL_PIN(gain0) = 10.0;
-HAL_PIN(offset0) = 0.0;
+#define TERM_NUM_WAVES 8
 
-HAL_PIN(wave1) = 0.0;
-HAL_PIN(gain1) = 10.0;
-HAL_PIN(offset1) = 0.0;
-
-HAL_PIN(wave2) = 0.0;
-HAL_PIN(gain2) = 10.0;
-HAL_PIN(offset2) = 0.0;
-
-HAL_PIN(wave3) = 0.0;
-HAL_PIN(gain3) = 10.0;
-HAL_PIN(offset3) = 0.0;
-
-HAL_PIN(wave4) = 0.0;
-HAL_PIN(gain4) = 10.0;
-HAL_PIN(offset4) = 0.0;
-
-HAL_PIN(wave5) = 0.0;
-HAL_PIN(gain5) = 10.0;
-HAL_PIN(offset5) = 0.0;
-
-HAL_PIN(wave6) = 0.0;
-HAL_PIN(gain6) = 10.0;
-HAL_PIN(offset6) = 0.0;
-
-HAL_PIN(wave7) = 0.0;
-HAL_PIN(gain7) = 10.0;
-HAL_PIN(offset7) = 0.0;
+HAL_PIN_ARRAY(wave, TERM_NUM_WAVES);
+HAL_PIN_ARRAY(gain, TERM_NUM_WAVES);
+HAL_PIN_ARRAY(offset, TERM_NUM_WAVES);
 
 HAL_PIN(send_step) = 10.0;
 
 HAL_PIN(buf_use) = 0.0;
 
-HAL_PIN(state) = 0.0;
-HAL_PIN(fault) = 0.0;
 HAL_PIN(con) = 0.0;
 HAL_PIN(jogvel) = 10.0;
 HAL_PIN(jogpos) = 0.0;
 HAL_PIN(jogging) = 0.0;
 
-HAL_PIN(tim2_rv) = 420.0;
-
 #define TERM_BUF_SIZE 24
 
-MEM(float w0[TERM_BUF_SIZE]);
-MEM(float w1[TERM_BUF_SIZE]);
-MEM(float w2[TERM_BUF_SIZE]);
-MEM(float w3[TERM_BUF_SIZE]);
-MEM(float w4[TERM_BUF_SIZE]);
-MEM(float w5[TERM_BUF_SIZE]);
-MEM(float w6[TERM_BUF_SIZE]);
-MEM(float w7[TERM_BUF_SIZE]);
+MEM(float wave_buf[TERM_BUF_SIZE][TERM_NUM_WAVES]);
 
 MEM(unsigned int read_pos) = 0;
 MEM(unsigned int write_pos) = 0;
@@ -77,16 +40,11 @@ RT(
    }else{
       PIN(jogging) = 0.0;
    }
-   //TIM2->ARR = (int)CLAMP(PIN(tim2_rv), 1, 1500);
+
    if(send_counter++ >= PIN(send_step) - 1){
-      w0[write_pos] = PIN(wave0);
-      w1[write_pos] = PIN(wave1);
-      w2[write_pos] = PIN(wave2);
-      w3[write_pos] = PIN(wave3);
-      w4[write_pos] = PIN(wave4);
-      w5[write_pos] = PIN(wave5);
-      w6[write_pos] = PIN(wave6);
-      w7[write_pos] = PIN(wave7);
+      for(int i = 0; i < TERM_NUM_WAVES; i++){
+         wave_buf[write_pos][i] = PIN_ARRAY(wave,i);
+      }
 
       write_pos++;
       write_pos %= TERM_BUF_SIZE;
@@ -96,7 +54,7 @@ RT(
 
 NRT(
    
-   void print_version_info(struct version_info* v){
+   void print_version_info(const volatile struct version_info* v){
       printf(
           "%s v%i.%i.%i %s\n",
           v->product_name,
@@ -296,129 +254,22 @@ NRT(
       }
    }
 
-   void fault_sender(){
-     if(EDGE(PIN(state))){
-       switch((int)PIN(state)){
-         case DISABLED:
-           printf("INFO: Disabled \n");
-         break;
-
-         case ENABLED:
-           printf("INFO: Enabled \n");
-         break;
-
-         case PHASING:
-           printf("ERROR: Phasing \n");
-         break;
-
-         case SOFT_FAULT:
-           printf("ERROR: Soft fault: ");
-           switch((int)PIN(fault)){
-             case NO_ERROR:
-               printf("no error\n");
-             break;
-             
-             case CMD_ERROR:
-               printf("CMD error\n");
-             break;
-             
-             case FB0_ERROR:
-               printf("FB0 error\n");
-             break;
-             
-             case FB1_ERROR:
-               printf("FB1 error\n");
-             break;
-             
-             case POS_ERROR:
-               printf("position error\n");
-             break;
-            
-             case SAT_ERROR:
-              printf("saturation error\n");
-             break;
-             
-             case HV_ERROR:
-               printf("HV error\n");
-             break;
-             
-             case HV_TEMP_ERROR:
-               printf("HV overtemperture\n");
-             break;
-             
-             case HV_VOLT_ERROR:
-               printf("HV volt error\n");
-             break;
-             
-             case MOT_TEMP_ERROR:
-               printf("Motor overtemperture\n");
-             break;
-          }
-         break;
-
-         case HARD_FAULT:
-           printf("ERROR: Hard fault: \n");
-         break;
-         
-         default:
-         break;
-       }
-     }
-   }
-
-
-   int e = 0;
+   int tmp = 0;
    unsigned char buf[8 + 2];
 
    buf[0] = 255;
    buf[8 + 1] = 0;
 
-   float o0 = PIN(offset0);
-   float o1 = PIN(offset1);
-   float o2 = PIN(offset2);
-   float o3 = PIN(offset3);
-   float o4 = PIN(offset4);
-   float o5 = PIN(offset5);
-   float o6 = PIN(offset6);
-   float o7 = PIN(offset7);
-   float g0 = PIN(gain0);
-   float g1 = PIN(gain1);
-   float g2 = PIN(gain2);
-   float g3 = PIN(gain3);
-   float g4 = PIN(gain4);
-   float g5 = PIN(gain5);
-   float g6 = PIN(gain6);
-   float g7 = PIN(gain7);
-
-
    unsigned int wp = write_pos;
    unsigned int bc = 0;
 
    while(read_pos != wp){
       bc++;
-      e = (w0[read_pos] + o0) * g0 + 128;
-      buf[1] = CLAMP(e,1,254);
-
-      e = (w1[read_pos] + o1) * g1 + 128;
-      buf[2] = CLAMP(e,1,254);
-
-      e = (w2[read_pos] + o2) * g2 + 128;
-      buf[3] = CLAMP(e,1,254);
-
-      e = (w3[read_pos] + o3) * g3 + 128;
-      buf[4] = CLAMP(e,1,254);
-
-      e = (w4[read_pos] + o4) * g4 + 128;
-      buf[5] = CLAMP(e,1,254);
-
-      e = (w5[read_pos] + o5) * g5 + 128;
-      buf[6] = CLAMP(e,1,254);
-
-      e = (w6[read_pos] + o6) * g6 + 128;
-      buf[7] = CLAMP(e,1,254);
-
-      e = (w7[read_pos] + o7) * g7 + 128;
-      buf[8] = CLAMP(e,1,254);
+      
+      for(int i = 0; i < TERM_NUM_WAVES; i++){
+         tmp = (wave_buf[read_pos][i] + PIN_ARRAY(offset,i)) * PIN_ARRAY(gain,i) + 128;
+         buf[i+1] = CLAMP(tmp,1,254);
+      }
 
       read_pos++;
       read_pos %= TERM_BUF_SIZE;
@@ -439,7 +290,6 @@ NRT(
       char source[APP_TX_BUF_SIZE];
       char sink[APP_TX_BUF_SIZE];
 
-      fault_sender();
       if(EDGE(hal.hal_state)){
          hal_term_print_state();
       }
@@ -447,7 +297,7 @@ NRT(
       int i = -1;
       char rx_buf[APP_TX_BUF_SIZE];
       if (USB_VCP_get_string(rx_buf)) {
-         i = sscanf_(rx_buf, "%N = %N", sink, source);
+         i = sscanf_(rx_buf, "%N = %N", sink, source);//TODO: change to lib sscanf
       }
       if(i == 2){ // read hal pin
          if(hal_is_pin(sink)){
diff --git a/src/defines_res.h b/src/defines_res.h
index 1fcf6e71..e6f90f5f 100644
--- a/src/defines_res.h
+++ b/src/defines_res.h
@@ -87,42 +87,6 @@
 #define FAN_PORT GPIOC
 #define FAN_IO_RCC RCC_AHB1Periph_GPIOC
 
-//states
-
-// state -10 = reset state, -6 = fb error, -5 = sat error, -4 = over current, -3 = pos_error, -2 = over temperature, -1 = over voltage, 0 = disabled, 1 = enabled, 2 = phasing
-// #define STATE_RESET -10
-// #define STATE_HV_ERROR -7
-// #define STATE_FB_ERROR -6
-// #define STATE_SAT_ERROR -5
-// #define STATE_OVR_CURR -4
-// #define STATE_POS_ERROR -3
-// #define STATE_OVR_TEMP -2
-// #define STATE_OVR_VOLT -1
-// #define STATE_DISABLED 0
-// #define STATE_ENABLED 1
-// #define STATE_PHASING 2
-
-enum state_t{
-   DISABLED = 0,
-   ENABLED,
-   PHASING,
-   SOFT_FAULT,
-   HARD_FAULT
-};
-
-enum fault_t{
-   NO_ERROR = 0,
-   CMD_ERROR,
-   FB0_ERROR,
-   FB1_ERROR,
-   POS_ERROR,
-   SAT_ERROR,
-   HV_ERROR,
-   HV_TEMP_ERROR,
-   HV_VOLT_ERROR,
-   MOT_TEMP_ERROR,
-};
-
 #ifdef TROLLER
 
 #define UART_DRV USART1
@@ -191,59 +155,59 @@ enum fault_t{
 
 #endif
 
-// i2c
-#define I2C I2C1
-#define I2C_RCC RCC_AHB1Periph_I2C1
-
-//// gpio
-#define I2C_SDA_PIN GPIO_Pin_9
-#define I2C_SDA_PORT GPIOB
-#define I2C_SDA_IO_RCC RCC_AHB1Periph_GPIOB
-#define I2C_SDA_PIN_SOURCE GPIO_PinSource9
-#define I2C_SDA_AF_SOURCE GPIO_AF_I2C1
-
-#define I2C_SCK_PIN GPIO_Pin_8
-#define I2C_SCK_PORT GPIOB
-#define I2C_SCK_IO_RCC RCC_AHB1Periph_GPIOB
-#define I2C_SCK_PIN_SOURCE GPIO_PinSource8
-#define I2C_SCK_AF_SOURCE GPIO_AF_I2C1
-
-// spi
-#define SPI SPI1
-#define SPI_RCC RCC_AHB1Periph_SPI1
-
-//// gpio
-#define SPI_MOSI_PIN GPIO_Pin_5
-#define SPI_MOSI_PORT GPIOB
-#define SPI_MOSI_IO_RCC RCC_AHB1Periph_GPIOB
-#define SPI_MOSI_PIN_SOURCE GPIO_PinSource5
-#define SPI_MOSI_AF_SOURCE GPIO_AF_SPI1
-
-#define SPI_MISO_PIN GPIO_Pin_4
-#define SPI_MISO_PORT GPIOB
-#define SPI_MISO_IO_RCC RCC_AHB1Periph_GPIOB
-#define SPI_MISO_PIN_SOURCE GPIO_PinSource4
-#define SPI_MISO_AF_SOURCE GPIO_AF_SPI1
-
-#define SPI_SCK_PIN GPIO_Pin_3
-#define SPI_SCK_PORT GPIOB
-#define SPI_SCK_IO_RCC RCC_AHB1Periph_GPIOB
-#define SPI_SCK_PIN_SOURCE GPIO_PinSource3
-#define SPI_SCK_AF_SOURCE GPIO_AF_SPI1
-
-// can
-#define CAN CAN1
-#define CAN_RCC RCC_AHB1Periph_CAN1
-
-//// gpio
-#define CAN_RX_PIN GPIO_Pin_8
-#define CAN_RX_PORT GPIOB
-#define CAN_RX_IO_RCC RCC_AHB1Periph_GPIOB
-#define CAN_RX_PIN_SOURCE GPIO_PinSource8
-#define CAN_RX_AF_SOURCE GPIO_AF_CAN1
-
-#define CAN_TX_PIN GPIO_Pin_9
-#define CAN_TX_PORT GPIOB
-#define CAN_TX_IO_RCC RCC_AHB1Periph_GPIOB
-#define CAN_TX_PIN_SOURCE GPIO_PinSource9
-#define CAN_TX_AF_SOURCE GPIO_AF_CAN1
+// // i2c
+// #define I2C I2C1
+// #define I2C_RCC RCC_AHB1Periph_I2C1
+//
+// //// gpio
+// #define I2C_SDA_PIN GPIO_Pin_9
+// #define I2C_SDA_PORT GPIOB
+// #define I2C_SDA_IO_RCC RCC_AHB1Periph_GPIOB
+// #define I2C_SDA_PIN_SOURCE GPIO_PinSource9
+// #define I2C_SDA_AF_SOURCE GPIO_AF_I2C1
+//
+// #define I2C_SCK_PIN GPIO_Pin_8
+// #define I2C_SCK_PORT GPIOB
+// #define I2C_SCK_IO_RCC RCC_AHB1Periph_GPIOB
+// #define I2C_SCK_PIN_SOURCE GPIO_PinSource8
+// #define I2C_SCK_AF_SOURCE GPIO_AF_I2C1
+//
+// // spi
+// #define SPI SPI1
+// #define SPI_RCC RCC_AHB1Periph_SPI1
+//
+// //// gpio
+// #define SPI_MOSI_PIN GPIO_Pin_5
+// #define SPI_MOSI_PORT GPIOB
+// #define SPI_MOSI_IO_RCC RCC_AHB1Periph_GPIOB
+// #define SPI_MOSI_PIN_SOURCE GPIO_PinSource5
+// #define SPI_MOSI_AF_SOURCE GPIO_AF_SPI1
+//
+// #define SPI_MISO_PIN GPIO_Pin_4
+// #define SPI_MISO_PORT GPIOB
+// #define SPI_MISO_IO_RCC RCC_AHB1Periph_GPIOB
+// #define SPI_MISO_PIN_SOURCE GPIO_PinSource4
+// #define SPI_MISO_AF_SOURCE GPIO_AF_SPI1
+//
+// #define SPI_SCK_PIN GPIO_Pin_3
+// #define SPI_SCK_PORT GPIOB
+// #define SPI_SCK_IO_RCC RCC_AHB1Periph_GPIOB
+// #define SPI_SCK_PIN_SOURCE GPIO_PinSource3
+// #define SPI_SCK_AF_SOURCE GPIO_AF_SPI1
+//
+// // can
+// #define CAN CAN1
+// #define CAN_RCC RCC_AHB1Periph_CAN1
+//
+// //// gpio
+// #define CAN_RX_PIN GPIO_Pin_8
+// #define CAN_RX_PORT GPIOB
+// #define CAN_RX_IO_RCC RCC_AHB1Periph_GPIOB
+// #define CAN_RX_PIN_SOURCE GPIO_PinSource8
+// #define CAN_RX_AF_SOURCE GPIO_AF_CAN1
+//
+// #define CAN_TX_PIN GPIO_Pin_9
+// #define CAN_TX_PORT GPIOB
+// #define CAN_TX_IO_RCC RCC_AHB1Periph_GPIOB
+// #define CAN_TX_PIN_SOURCE GPIO_PinSource9
+// #define CAN_TX_AF_SOURCE GPIO_AF_CAN1
diff --git a/src/hal.c b/src/hal.c
index 0faf2b99..aa54d826 100644
--- a/src/hal.c
+++ b/src/hal.c
@@ -25,7 +25,8 @@
 //global hal struct
 hal_struct_t hal;
 
-char* itoa(int i){
+//TODO: only works for single positive digit
+char* hal_itoa(int i){
   hal.tmp[0] = (i % 10) + '0';
   hal.tmp[1] = '\0';
   return(hal.tmp);
@@ -210,9 +211,10 @@ void hal_stop_frt(){
    hal.frt_state = FRT_STOP;
 }
 
+//TODO: calculate and reduce name length...
 void hal_init_pin(hal_name_t name, hal_pin_t* pin, float value){
   strncpy(pin->name, hal.comp_types[hal.comp_type], HAL_NAME_LENGTH);
-  strncat(pin->name, itoa(hal.comp_types_counter[hal.comp_type]), HAL_NAME_LENGTH);
+  strncat(pin->name, hal_itoa(hal.comp_types_counter[hal.comp_type]), HAL_NAME_LENGTH);
   strncat(pin->name, ".", HAL_NAME_LENGTH);
   strncat(pin->name, name, HAL_NAME_LENGTH);
   pin->value = value;
diff --git a/src/hal.h b/src/hal.h
index c0b32d6f..f17d43c0 100644
--- a/src/hal.h
+++ b/src/hal.h
@@ -167,6 +167,8 @@ extern uint32_t hal_get_systick_value();
 extern uint32_t hal_get_systick_reload();
 extern uint32_t hal_get_systick_freq();
 
+char* hal_itoa(int i);
+
 #define HAL_COMP(type)                  \
 {                                   \
   static hal_comp_t self; \
@@ -190,6 +192,16 @@ extern uint32_t hal_get_systick_freq();
   hal_init_pin(#name, &name##_hal_pin, 0.0);  \
   (name##_hal_pin.value)
 
+//TODO: clamp loads of stuff, like count... check length...
+#define HAL_PIN_ARRAY(name,count) \
+  static hal_pin_t name##_hal_pin[count]; \
+  for(uint32_t i = 0; i < count; i++){ \
+    char pinname[HAL_NAME_LENGTH]; \
+    strncpy(pinname,#name,HAL_NAME_LENGTH); \
+    strncat(pinname,hal_itoa(i),HAL_NAME_LENGTH); \
+    hal_init_pin(pinname, &name##_hal_pin[i], 0.0); \
+  }
+
 #define GLOBAL_HAL_PIN(name)               \
   volatile hal_pin_t name##_hal_pin;
 
@@ -198,6 +210,9 @@ extern uint32_t hal_get_systick_freq();
 #define PIN(name)                       \
   (name##_hal_pin.source->source->value)
 
+#define PIN_ARRAY(name,index)                       \
+  (name##_hal_pin[index].source->source->value)
+
 #define INIT(func)                    \
  self.nrt_init = ({ void function(){func} function;});
 
@@ -273,6 +288,7 @@ if(ht_time_count < (time)){ \
 } \
 jump_label_pointer = jump_label_pointer_old;
 
+  //TODO: rename HAL_ENDCOMP
 #define ENDCOMP \
   self.hal_pin_count = hal.hal_pin_count - self.hal_pin_start_index; \
   hal_add_comp(&self); \
diff --git a/src/hal_conf.c b/src/hal_conf.c
index 2f7d0368..55d9e112 100644
--- a/src/hal_conf.c
+++ b/src/hal_conf.c
@@ -2,6 +2,7 @@
 #include "eeprom.h"
 #include "crc16.h"
 #include "link.h"
+#include "main.h" // for Wait
 #include <stdio.h>
 
 uint16_t hal_conf_init(){
@@ -14,7 +15,7 @@ uint16_t hal_conf_init(){
 void hal_conf_save(){
    if(hal.rt_state != RT_STOP || hal.frt_state != FRT_STOP){
       printf("cannot save while hal is running(run 'stop' command)\n");
-      return(-1);
+      return;
    }
    typedef union{
       float f;
@@ -45,7 +46,7 @@ void hal_conf_save(){
          if(elo != FLASH_COMPLETE || ehi != FLASH_COMPLETE){
             FLASH_Lock();
             printf("error writing to address %i: error: %i,%i\n",address,elo,ehi);
-            return -1;
+            return;
          }
          address+=2;
       }
@@ -56,7 +57,7 @@ void hal_conf_save(){
    if(elo != FLASH_COMPLETE){
       printf("error writing crc to address %i: error: %i\n",address,elo);
       FLASH_Lock();
-      return -1;
+      return;
    }
    FLASH_Lock();
    printf("flash save OK\n");
diff --git a/src/hal_term.c b/src/hal_term.c
index f3d8d8b6..47510cc0 100644
--- a/src/hal_term.c
+++ b/src/hal_term.c
@@ -1,5 +1,6 @@
 #include <stdio.h>
 #include "hal_term.h"
+#include "main.h" // for Wait
 
 void hal_term_print_pin(hal_pin_t* pin){
    if(pin == pin->source){//if pin is not linked
diff --git a/src/link.c b/src/link.c
index 80cdeb0c..e37912ee 100644
--- a/src/link.c
+++ b/src/link.c
@@ -123,12 +123,12 @@ void link_pid(){
 
    // fault
    hal_link_pins("conf0.max_dc_cur", "fault0.max_dc_cur");
-   hal_link_pins("conf0.max_ac_cur", "fault0.max_ac_cur");
-   hal_link_pins("conf0.max_dc_volt", "fault0.max_dc_volt");
+   // hal_link_pins("conf0.max_ac_cur", "fault0.max_ac_cur");
+   hal_link_pins("conf0.max_dc_volt", "fault0.max_hv_volt");
    hal_link_pins("conf0.max_hv_temp", "fault0.max_hv_temp");
    hal_link_pins("conf0.max_motor_temp", "fault0.max_mot_temp");
    hal_link_pins("conf0.max_pos_error", "fault0.max_pos_error");
-   hal_link_pins("conf0.high_dc_volt", "fault0.high_dc_volt");
+   hal_link_pins("conf0.high_dc_volt", "fault0.high_hv_volt");
    hal_link_pins("conf0.high_hv_temp", "fault0.high_hv_temp");
    hal_link_pins("conf0.high_motor_temp", "fault0.high_mot_temp");
    hal_link_pins("conf0.low_dc_volt", "fault0.min_hv_volt");
@@ -169,8 +169,6 @@ void link_pid(){
    hal_link_pins("fault0.fault", "io0.fault");
    hal_link_pins("fault0.state", "io0.state");
 
-   hal_link_pins("fault0.state", "term0.state"); //sent state to terminal
-   hal_link_pins("fault0.fault", "term0.fault"); //sent fault to terminal
    // cauto
 
    hal_link_pins("conf0.fb_offset", "cauto0.mag_offset");
@@ -271,8 +269,8 @@ int update_fb(){
    hal_set_pin("enc_fb0.frt_prio", -1.0);
    hal_set_pin("res0.rt_prio", -1.0);
    hal_set_pin("encm0.rt_prio", -1.0);
-   hal_set_pin("encs0.rt_prio", -1.0);
-   hal_set_pin("yaskawa0.rt_prio", -1.0);
+   // hal_set_pin("encs0.rt_prio", -1.0);
+   // hal_set_pin("yaskawa0.rt_prio", -1.0);
    switch((protocol_t)hal_get_pin("conf0.fb_type")){
       case ENC:
          hal_link_pins("enc_fb0.pos", "rev1.in");
@@ -341,8 +339,8 @@ int update_fb(){
 int update_cmd(){
    hal_set_pin("enc_cmd0.rt_prio", -1.0);
    hal_set_pin("enc_cmd0.frt_prio", -1.0);
-   hal_set_pin("step_cmd0.rt_prio", -1.0);
-   hal_set_pin("step_cmd0.frt_prio", -1.0);
+   // hal_set_pin("step_cmd0.rt_prio", -1.0);
+   // hal_set_pin("step_cmd0.frt_prio", -1.0);
    hal_set_pin("sserial0.rt_prio", -1.0);
    hal_set_pin("sserial0.frt_prio", -1.0);
    hal_set_pin("en0.rt_prio", -1.0);
diff --git a/src/main.c b/src/main.c
index 04edd83b..0f824748 100644
--- a/src/main.c
+++ b/src/main.c
@@ -33,6 +33,7 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include "usb_cdc.h"
+#include "main.h"
 
 GLOBAL_HAL_PIN(rt_time);
 GLOBAL_HAL_PIN(frt_time);
@@ -240,8 +241,6 @@ int main(void)
    HAL_PIN(fb_error) = 0.0;
    HAL_PIN(cmd_d) = 0.0;
    HAL_PIN(fb_d) = 0.0;
-   HAL_PIN(core_temp0) = 0.0;
-   HAL_PIN(core_temp1) = 0.0;
    HAL_PIN(motor_temp) = 0.0;
    HAL_PIN(rt_calc_time) = 0.0;
    HAL_PIN(frt_calc_time) = 0.0;
@@ -280,9 +279,9 @@ int main(void)
    HAL_PIN(cmd_unit) = 0.0;//pos,vel,torque
    HAL_PIN(cmd_rev) = 0.0;
    HAL_PIN(cmd_res) = 2000.0;
-   HAL_PIN(en_condition) = 0.0;
+   HAL_PIN(en_condition) = 0.0;//enable condition
    HAL_PIN(error_out) = 0.0;
-   HAL_PIN(pos_static) = 0.0;//track pos in disabled and error condition
+   HAL_PIN(pos_static) = 0.0;//track pos in disabled and error condition TODO: not implemented
 
    HAL_PIN(sin_offset) = 0.0;
    HAL_PIN(cos_offset) = 0.0;
diff --git a/src/main.h b/src/main.h
new file mode 100644
index 00000000..b258e29c
--- /dev/null
+++ b/src/main.h
@@ -0,0 +1,24 @@
+//fault state
+typedef enum{
+   DISABLED = 0,
+   ENABLED,
+   PHASING,
+   SOFT_FAULT,
+   HARD_FAULT
+} state_t;
+
+//fault errors
+typedef enum{
+   NO_ERROR = 0,
+   CMD_ERROR,
+   FB0_ERROR,
+   FB1_ERROR,
+   POS_ERROR,
+   SAT_ERROR,
+   HV_ERROR,
+   HV_TEMP_ERROR,
+   HV_VOLT_ERROR,
+   MOT_TEMP_ERROR,
+} fault_t;
+
+void Wait(uint32_t ms);
diff --git a/src/syscalls.c b/src/syscalls.c
index e39fb235..8b9aef4a 100644
--- a/src/syscalls.c
+++ b/src/syscalls.c
@@ -67,9 +67,12 @@ ssize_t _read(int fd, void *ptr, size_t len)
 	return len;
 }
 
-
+//TODO: check if connected?
 int _write(int fd, const char *ptr, int len)
 {
+	if(!USB_CDC_is_connected()){
+	   return 0;
+	}
 	char *c = (char *) ptr;
 	(void) fd;
 	int sent = 0;
diff --git a/stm32f103/src/main.c b/stm32f103/src/main.c
index ae6dfccf..9bdfecdd 100644
--- a/stm32f103/src/main.c
+++ b/stm32f103/src/main.c
@@ -57,14 +57,14 @@ uint32_t w_error = 0;
 #define TOFLOAT32(a) ((uint32_t)((a) / 65536))
 
 #define TEMP_RES 32
-#define SCALE (TEMP_RES / ARES)
+#define TEMP_SCALE (TEMP_RES / ARES)
 int16_t temp_buf[TEMP_RES];
 
 float tempb(float i){
-	unsigned int x = (int)(i * SCALE);
+	unsigned int x = (int)(i * TEMP_SCALE);
 	float a = TOFLOAT(temp_buf[x]);
 	float b = TOFLOAT(temp_buf[x + 1]);
-	return(a + (b - a) * (i * SCALE - x));
+	return(a + (b - a) * (i * TEMP_SCALE - x));
 }
 
 volatile uint32_t timeout = 99999;
@@ -474,7 +474,7 @@ int main(void)
 	packet_from_hv.head.key = 0;
 #ifndef TROLLER
 	for(int i = 0; i < TEMP_RES; i++){
-		temp_buf[i] = TOFIXED(TEMP(i / SCALE));
+		temp_buf[i] = TOFIXED(TEMP(i / TEMP_SCALE));
 	}
 #endif
 	while(1){