diff --git a/Makefile b/Makefile
index 0457a84d..98cbf925 100644
--- a/Makefile
+++ b/Makefile
@@ -30,6 +30,10 @@ HWVERSION = v4
 ifeq ($(HWVERSION),v3)
 	COMPS += src/comps/hw/io3.c
 	COMPS += src/comps/hvf1.c
+	COMPS += shared/comps/pmsm.c
+	COMPS += shared/comps/curpid.c
+	COMPS += shared/comps/dq.c
+	COMPS += shared/comps/idq.c
 	SOURCES += shared/common_f1.c
 	CFLAGS += -DV3
 else
@@ -42,6 +46,7 @@ else
 	COMPS += src/comps/yaskawa.c
 	COMPS += src/comps/encs.c
 	COMPS += src/comps/encf.c
+	COMPS += src/comps/endat.c
 	CFLAGS += -DV4
 endif
 
@@ -55,20 +60,17 @@ COMPS += src/comps/hx711.c
 
 COMPS += shared/comps/sim.c
 COMPS += shared/comps/term.c
-COMPS += shared/comps/curpid.c
 COMPS += shared/comps/svm.c
-COMPS += shared/comps/dq.c
-COMPS += shared/comps/idq.c
+
 COMPS += shared/comps/vel.c
 COMPS += shared/comps/rev.c
 COMPS += shared/comps/hal_test.c
-COMPS += shared/comps/dc.c
+# COMPS += shared/comps/dc.c
 COMPS += shared/comps/ypid.c
 COMPS += shared/comps/fault.c
 COMPS += shared/comps/pid.c
 COMPS += shared/comps/spid.c
 COMPS += shared/comps/pe.c
-COMPS += shared/comps/pmsm.c
 COMPS += shared/comps/pmsm_limits.c
 COMPS += shared/comps/pmsm_ttc.c
 COMPS += shared/comps/dc_limits.c
@@ -98,9 +100,20 @@ COMPS += shared/comps/velbuf.c
 COMPS += shared/comps/avg.c
 COMPS += shared/comps/mux.c
 COMPS += shared/comps/veltopos.c
-COMPS += shared/comps/wobl.c
+# COMPS += shared/comps/wobl.c
 COMPS += shared/comps/debounce.c
 COMPS += shared/comps/pos_filter.c
+COMPS += shared/comps/rl.c
+COMPS += shared/comps/mad.c
+COMPS += shared/comps/sensorless.c
+COMPS += shared/comps/field.c
+COMPS += shared/comps/gain.c
+COMPS += shared/comps/rlpsij.c
+COMPS += shared/comps/veltime.c
+COMPS += shared/comps/mpid.c
+COMPS += shared/comps/fmove.c
+COMPS += shared/comps/home.c
+COMPS += shared/comps/en.c
 
 SOURCES += $(COMPS)
 
@@ -111,6 +124,7 @@ SOURCES += src/syscalls.c
 
 SOURCES += shared/crc8.c
 SOURCES += shared/yaskawa_crc16.c
+SOURCES += shared/endat.c
 SOURCES += shared/angle.c
 SOURCES += shared/hal.c
 SOURCES += shared/commands.c
diff --git a/conf/haas_spindle_slip.txt b/conf/haas_spindle_slip.txt
new file mode 100644
index 00000000..b1d377c1
--- /dev/null
+++ b/conf/haas_spindle_slip.txt
@@ -0,0 +1,45 @@
+link pid
+link acim
+link enc_fb0
+link misc
+
+link sserial
+linrev0.scale = 1
+
+conf0.r = 0.5
+conf0.l = 0.005
+conf0.j = 0.015
+conf0.max_force = 30
+conf0.max_ac_cur = 25
+conf0.polecount = 2
+conf0.vel_p = 100
+conf0.vel_i = 5
+conf0.max_sat = 1
+conf0.max_pos_error = 0
+conf0.max_vel = 840
+conf0.max_acc = 2000
+conf0.mot_fb_res = 2000
+conf0.max_dc_volt = 390
+conf0.high_dc_volt = 375
+conf0.mot_fb_rev = 1
+
+iit0.cur_boost = 1.3
+iit0.max_time = 60
+
+acim_ttc0.vel_n = 182.7
+acim_ttc0.torque_n = 23.0
+acim_ttc0.cur_n = 17.0
+acim_ttc0.freq_n = 60.0
+acim_ttc0.u_n = 80.0
+acim_ttc0.u_boost = 7.0
+acim_ttc0.t_boost = 1.3
+
+load ramp
+ramp0.rt_prio = 1.95
+ramp0.vel_ext_cmd = rev0.out_d
+ramp0.en = sserial0.en
+ramp0.max_vel = 838
+ramp0.max_acc = 500
+
+fault0.en = ramp0.en_out
+pid0.pos_en = 0
\ No newline at end of file
diff --git a/conf/haas_spindle_slip_uf.txt b/conf/haas_spindle_slip_uf.txt
new file mode 100644
index 00000000..7188ad9e
--- /dev/null
+++ b/conf/haas_spindle_slip_uf.txt
@@ -0,0 +1,68 @@
+link pid
+link acim
+link enc_fb0
+link misc
+
+link sserial_uf
+load idx_home
+load linrev
+linrev0.rt_prio = 2.1
+idx_home0.rt_prio = 2.3
+linrev0.fb_in = idx_home0.pos_out
+linrev0.fb_d_in = vel1.vel
+idx_home0.fb = enc_fb0.pos
+idx_home0.fb_abs = enc_fb0.abs_pos
+idx_home0.mot_state = enc_fb0.state
+enc_fb0.amp = 5
+
+idx_home0.index_en = sserial0.index_out
+idx_home0.mot_state = fb_switch0.mot_state
+sserial0.index_clear = idx_home0.index_clear
+linrev0.rev_clear = sserial0.index_clear
+sserial0.pos_fb = linrev0.fb_out
+sserial0.vel_fb = linrev0.fb_d_out
+linrev0.scale = -1
+
+conf0.r = 1.4
+conf0.l = 0.0013
+conf0.j = 0.015
+conf0.max_force = 50
+conf0.max_ac_cur = 25
+acim_ttc0.cur_n = 20
+acim_ttc0.torque_n = 19
+acim_ttc0.freq_n = 50
+acim_ttc0.slip_n = 1.8
+acim_ttc0.u_n = 230
+acim_ttc0.u_boost = 5
+conf0.polecount = 2
+conf0.vel_p = 500
+conf0.vel_i = 1
+conf0.max_sat = 0.5
+iit0.cur_boost = 2
+iit0.max_time = 60
+conf0.max_pos_error = 0
+conf0.max_vel = 900
+conf0.max_acc = 9000
+conf0.mot_fb_res = 2000
+conf0.max_dc_volt = 390
+conf0.high_dc_volt = 375
+
+pid0.max_vel = conf0.max_vel
+pid0.max_torque = 50
+pid0.min_torque = -50
+
+load ramp
+ramp0.rt_prio = 1.95
+ramp0.vel_ext_cmd = sserial0.pos_cmd_d
+ramp0.en = sserial0.out3
+ramp0.max_vel = 837
+ramp0.max_acc = 837
+
+load not
+not0.rt_prio = 2
+not0.in = sserial0.out3
+
+pid0.vel_ext_cmd = ramp0.vel_cmd
+pid0.pos_en = not0.out
+
+acim_ttc0.mode = 2
\ No newline at end of file
diff --git a/conf/move.txt b/conf/move.txt
new file mode 100644
index 00000000..eccd80e5
--- /dev/null
+++ b/conf/move.txt
@@ -0,0 +1,60 @@
+link pid
+link pmsm
+link enc_fb0
+enc_fb0.en_index = 0
+link jog_cmd
+link misc
+conf0.r = 2
+conf0.l = 0.007
+conf0.j = 0.000067
+conf0.j_load = 0.00005
+conf0.polecount = 5
+conf0.max_ac_cur = 5
+conf0.mot_fb_res = 20000
+
+load hx
+hx0.rt_prio = 9
+hx0.gain = 1
+
+load en
+en0.rt_prio = 2
+en0.en_in = 1
+fault0.en = en0.en_out0
+en0.fault = fault0.fault
+en0.time = 3
+conf0.phase_cur = 3
+conf0.phase_time = 1
+
+load home
+home0.rt_prio = 9
+home0.en_in = en0.en_out1
+rev0.in = home0.pos_out
+home0.home_in = io0.ind0n
+home0.home_vel = -12
+
+load fmove
+fmove0.rt_prio = 10
+fmove0.en = home0.en_out
+fmove0.force_in = hx0.out
+home0.pos_in = fmove0.mpos
+fmove0.max_usr_vel = 0.1
+fmove0.max_usr_acc = 0.1
+term0.wave0 = fmove0.mpos
+hx0.gain = 870
+hx0.offset = -5.5
+
+fmove0.damping = 0
+fmove0.real_mass = 0
+fmove0.virtual_mass = 5
+fmove0.friction = 0.5
+fmove0.min_pos = 0
+fmove0.max_pos = 1
+fmove0.scale = 340
+fmove0.max_vel = 0.025
+fmove0.max_acc = 0.15
+fmove0.max_usr_vel = 0.35
+fmove0.max_usr_acc = 5
+fmove0.force_th = 2.5
+term0.send_step = 0
+fmove0.print_freq = 10
+fmove0.force_offset_lpf = 0.05
\ No newline at end of file
diff --git a/conf/sensorless_perske.txt b/conf/sensorless_perske.txt
new file mode 100644
index 00000000..f355d558
--- /dev/null
+++ b/conf/sensorless_perske.txt
@@ -0,0 +1,38 @@
+link pid
+link acim
+link jog_cmd
+link misc
+conf0.r = 4.3
+conf0.l = 0.008
+conf0.max_ac_cur = 2
+load sensorless
+sensorless0.rt_prio = 5
+sensorless0.r = conf0.r
+sensorless0.l = conf0.l
+sensorless0.ud = hv0.ud_fb
+sensorless0.uq = hv0.uq_fb
+sensorless0.id = hv0.id_fb
+sensorless0.iq = hv0.iq_fb
+term0.wave0 = sensorless0.udd
+term0.wave1 = sensorless0.udd
+term0.wave2 = sensorless0.ed
+term0.wave3 = sensorless0.eq
+term0.wave4 = sensorless0.vel
+term0.gain0 = 10
+term0.gain1 = 10
+term0.gain2 = 10
+term0.gain3 = 10
+term0.gain4 = 0.5
+term0.gain5 = 0.5
+term0.gain6 = 0.5
+#link rl
+hv0.d_cmd = 0.55
+hv0.q_cmd = 0
+hv0.pos = sensorless0.pos
+sensorless0.drop = 1.5
+sensorless0.ki = 0.5
+sensorless0.min_vel = 20
+sensorless0.vel_boost = 0.2
+conf0.r = 4
+conf0.max_ac_cur = 6
+sensorless0.kb = 1
diff --git a/conf/spindle_slip_uf.txt b/conf/spindle_slip_uf.txt
new file mode 100644
index 00000000..59a66d96
--- /dev/null
+++ b/conf/spindle_slip_uf.txt
@@ -0,0 +1,81 @@
+link pid
+link acim
+link res_fb0
+link enc_cmd
+link misc
+conf0.r = 2
+conf0.l = 0.016
+conf0.j = 0.0003
+conf0.max_force = 20
+conf0.max_ac_cur = 12
+acim_ttc0.cur_n = 3
+acim_ttc0.torque_n = 1.9
+acim_ttc0.freq_n = 100
+acim_ttc0.u_n = 160
+acim_ttc0.u_boost = 5
+conf0.polecount = 2
+conf0.mot_fb_rev = 1
+conf0.vel_p = 300
+conf0.vel_i = 2
+conf0.max_sat = 0.2
+iit0.cur_boost = 4
+iit0.max_time = 60
+pid0.max_vel = conf0.max_vel
+pid0.max_torque = 20
+pid0.min_torque = -20
+conf0.max_pos_error = 0
+conf0.max_vel = 1100
+conf0.mot_fb_res = 8000
+
+load mad
+mad0.rt_prio = 1.9
+mad0.in = io0.in1
+mad0.mult = 84
+
+load ramp
+ramp0.rt_prio = 1.95
+ramp0.vel_ext_cmd = mad0.out
+ramp0.en = io0.ind0
+ramp0.max_vel = 1050
+ramp0.max_acc = 500
+
+load mux
+mux0.rt_prio = 2
+pid0.pos_en = mux0.out0
+mux0.in0 = 1
+mux0.in10 = 0
+
+pid0.vel_ext_cmd = mux0.out1
+mux0.in1 = vel0.vel
+mux0.in11 = ramp0.vel_cmd
+
+acim_ttc0.mode = mux0.out2
+mux0.in2 = 0
+mux0.in12 = 2
+
+acim_ttc0.slip_n = mux0.out3
+mux0.in3 = 1
+mux0.in13 = 2
+
+fault0.max_sat = mux0.out4
+mux0.in4 = conf0.max_sat
+mux0.in14 = 2
+
+mux0.mux = io0.ind0
+
+res0.freq = 5000
+res0.phase = 0.89
+
+enc_cmd0.mode = 1
+enc_cmd0.remap = 3
+
+load not
+not0.rt_prio = 2
+not0.in = io0.C12
+fault0.en = not0.out
+
+enc_cmd0.fault = fault0.fault
+term0.wave2 = mux0.out1
+term0.gain2 = 0.1
+term0.gain3 = 0.1
+conf0.max_dc_volt = 390
\ No newline at end of file
diff --git a/conf/template/acim.txt b/conf/template/acim.txt
index fa7c29f4..605fc63f 100644
--- a/conf/template/acim.txt
+++ b/conf/template/acim.txt
@@ -1,25 +1,15 @@
-load pmsm_limits
 load acim_ttc
-pmsm_limits0.rt_prio = 7
 acim_ttc0.rt_prio = 9
-pmsm_limits0.r = conf0.r
-pmsm_limits0.ld = conf0.l
-pmsm_limits0.lq = conf0.l
-pmsm_limits0.psi = conf0.psi
-pmsm_limits0.j = conf0.j
-pmsm_limits0.polecount = conf0.polecount
-pmsm_limits0.ac_volt = hv0.pwm_volt
-pmsm_limits0.iq = hv0.q_fb
-pmsm_limits0.id = hv0.d_fb
-pid0.max_torque = pmsm_limits0.max_torque
-pid0.min_torque = pmsm_limits0.min_torque
-pid0.max_vel = pmsm_limits0.abs_max_vel
+pid0.max_torque = acim_ttc0.t_max
+pid0.min_torque = acim_ttc0.t_min
+pid0.max_vel = conf0.max_vel
 acim_ttc0.torque = pid0.torque_cor_cmd
 acim_ttc0.polecount = conf0.polecount
-acim_ttc0.vel = vel1.vel
+acim_ttc0.vel_m = vel1.vel
 acim_ttc0.mode = 0
-hv0.q_cmd = acim_ttc0.iq
-hv0.d_cmd = acim_ttc0.id
-hv0.cmd_mode = 1
+acim_ttc0.sensorless = 0
+hv0.q_cmd = acim_ttc0.q_cmd
+hv0.d_cmd = acim_ttc0.d_cmd
+hv0.cmd_mode = acim_ttc0.cmd_mode
 hv0.phase_mode = 2
 hv0.pos = acim_ttc0.pos
\ No newline at end of file
diff --git a/conf/template/conf.txt b/conf/template/conf.txt
index 5608ee82..ebde4ec0 100644
--- a/conf/template/conf.txt
+++ b/conf/template/conf.txt
@@ -35,5 +35,5 @@ conf0.vel_p = 2000
 conf0.vel_i = 5
 conf0.vel_g = 1
 conf0.cur_p = 0.2
-conf0.cur_i = 0.0001
+conf0.cur_i = 1.5
 conf0.max_sat = 0.2
diff --git a/conf/template/dc.txt b/conf/template/dc.txt
index 8bccd104..28ee8550 100644
--- a/conf/template/dc.txt
+++ b/conf/template/dc.txt
@@ -8,7 +8,7 @@ dc_limits0.lq = conf0.l
 dc_limits0.psi = conf0.psi
 dc_ttc0.psi = conf0.psi
 dc_limits0.ac_volt = hv0.pwm_volt
-dc_limits0.iq = hv0.q_fb
+dc_limits0.iq = hv0.iq_fb
 pid0.max_torque = dc_limits0.max_torque
 pid0.min_torque = dc_limits0.min_torque
 pid0.max_vel = dc_limits0.abs_max_vel
diff --git a/conf/template/enc_fb0.txt b/conf/template/enc_fb0.txt
index 34b12efa..f65eab6f 100644
--- a/conf/template/enc_fb0.txt
+++ b/conf/template/enc_fb0.txt
@@ -13,3 +13,4 @@ io0.fb0y = enc_fb0.error
 io0.fb0g = 1
 enc_fb0.vel = vel1.vel
 enc_fb0.amp = adc0.amp0
+enc_fb0.en_index = 1
\ No newline at end of file
diff --git a/conf/template/enc_ws_fb0.txt b/conf/template/enc_ws_fb0.txt
new file mode 100644
index 00000000..65145de9
--- /dev/null
+++ b/conf/template/enc_ws_fb0.txt
@@ -0,0 +1,30 @@
+load enc_fb
+enc_fb0.rt_prio = 2
+enc_fb0.res = conf0.mot_fb_res
+enc_fb0.sin = adc0.sin0l
+enc_fb0.cos = adc0.cos0l
+enc_fb0.quad = adc0.quad
+fb_switch0.mot_pos = enc_fb0.pos
+fb_switch0.mot_abs_pos = enc_fb0.abs_pos
+fb_switch0.mot_polecount = 1
+fb_switch0.mot_state = enc_fb0.state
+fault0.mot_fb_error = enc_fb0.error
+io0.fb0y = enc_fb0.error
+io0.fb0g = 1
+enc_fb0.vel = vel1.vel
+enc_fb0.amp = adc0.amp0
+
+load uvw
+uvw0.rt_prio = 2
+uvw0.u = io0.fb0a
+uvw0.v = io0.fb0b
+uvw0.w = io0.fb0z
+fb_switch0.com_pos = uvw0.pos
+fb_switch0.com_abs_pos = uvw0.pos
+fb_switch0.com_state = uvw0.state
+fb_switch0.com_polecount = conf0.com_fb_polecount
+conf0.com_fb_polecount = conf0.polecount
+uvw0.amp = adc0.amp0
+fault0.com_fb_error = uvw0.error
+enc_fb0.en_index = uvw0.state
+uvw0.mode = 1
\ No newline at end of file
diff --git a/conf/template/linkv3.txt b/conf/template/linkv3.txt
index 3e2acd9f..61ffaaa2 100644
--- a/conf/template/linkv3.txt
+++ b/conf/template/linkv3.txt
@@ -34,8 +34,7 @@ curpid0.id_cmd = fb_switch0.id
 curpid0.iq_cmd = pmsm_ttc0.cur
 curpid0.dc_volt = hv0.dc_volt
 curpid0.ac_volt = hv0.ac_volt
-curpid0.rd = conf0.r
-curpid0.rq = conf0.r
+curpid0.r = conf0.r
 curpid0.ld = conf0.l
 curpid0.lq = conf0.l
 curpid0.ff = conf0.cur_ff
@@ -57,15 +56,3 @@ fb_switch0.phase_time = conf0.phase_time
 
 pid0.min_torque = pmsm_limits0.next_min_torque
 pid0.max_torque = pmsm_limits0.next_max_torque
-
-
-
-curpid0.max_cur = 5
-
-
-pid0.max_vel = conf0.
-pid0.max_torque = 5.000000
-pid0.min_torque = -5.000000
-pmsm0.vel = 
-curpid0.cmd_mode = 1 ? CURRENT_MODE
-
diff --git a/conf/template/mpid.txt b/conf/template/mpid.txt
new file mode 100644
index 00000000..2080448e
--- /dev/null
+++ b/conf/template/mpid.txt
@@ -0,0 +1,118 @@
+load adc
+load reslimit
+load rev
+load fb_switch
+load veltime
+load veltime
+load vel
+load mpid
+load fault
+load hv
+load sim
+load io
+load iit
+link conf
+hv0.rt_prio = 0.9
+hv0.frt_prio = 1
+adc0.rt_prio = 1
+reslimit0.rt_prio = 3
+rev0.rt_prio = 4
+fb_switch0.rt_prio = 5
+veltime0.frt_prio = 6
+veltime1.frt_prio = 6
+vel0.rt_prio = 6
+io0.rt_prio = 7
+mpid0.rt_prio = 8
+fault0.rt_prio = 10
+iit0.rt_prio = 13
+sim0.rt_prio = 13
+term0.rt_prio = 16
+rev0.rev = conf0.cmd_rev
+fb_switch0.mot_rev = conf0.mot_fb_rev
+fb_switch0.com_rev = conf0.com_fb_rev
+fb_switch0.joint_rev = conf0.joint_fb_rev
+reslimit0.res = conf0.mot_fb_res
+mpid0.j = conf0.j
+mpid0.pos_p = conf0.pos_p
+mpid0.vel_p = conf0.vel_p
+mpid0.vel_i = conf0.vel_i
+mpid0.max_vel = conf0.max_vel
+mpid0.max_acc = conf0.max_acc
+mpid0.max_torque = conf0.max_force
+fault0.max_sat = conf0.max_sat
+fault0.max_pos_error = conf0.max_pos_error
+fault0.max_vel_error = conf0.max_vel_error
+fault0.max_dc_cur = conf0.max_dc_cur
+fault0.max_ac_cur = conf0.max_ac_cur
+fault0.max_dc_volt = conf0.max_dc_volt
+fault0.high_dc_volt = conf0.max_dc_volt
+fault0.min_dc_volt = conf0.min_dc_volt
+fault0.max_hv_temp = conf0.max_hv_temp
+fault0.max_mot_temp = conf0.max_mot_temp
+fault0.high_hv_temp = conf0.high_hv_temp
+fault0.high_mot_temp = conf0.high_mot_temp
+fault0.fan_hv_temp = conf0.fan_hv_temp
+fault0.fan_mot_temp = conf0.fan_mot_temp
+fault0.ac_cur = hv0.abs_cur
+hv0.rev = conf0.out_rev
+hv0.r = conf0.r
+hv0.l = conf0.l
+hv0.psi = conf0.psi
+hv0.cur_p = conf0.cur_p
+hv0.cur_i = conf0.cur_i
+hv0.cur_ff = conf0.cur_ff
+hv0.cur_ind = conf0.cur_ind
+hv0.max_cur = conf0.max_ac_cur
+reslimit0.pos_in = rev0.out
+fb_switch0.cmd_pos = reslimit0.pos_out
+fb_switch0.polecount = conf0.polecount
+fb_switch0.en = fault0.en_fb
+fb_switch0.mot_polecount = conf0.mot_fb_polecount
+fb_switch0.joint_polecount = conf0.joint_fb_polecount
+fb_switch0.com_polecount = conf0.com_fb_polecount
+fb_switch0.mot_offset = conf0.mot_fb_offset
+fb_switch0.joint_offset = conf0.joint_fb_offset
+fb_switch0.com_offset = conf0.com_fb_offset
+fb_switch0.phase_time = conf0.phase_time
+fb_switch0.phase_cur = conf0.phase_cur
+veltime0.pos = rev0.out
+veltime1.pos = fb_switch0.vel_fb
+vel0.pos_in = fb_switch0.com_fb
+vel0.en = fault0.en_fb
+vel0.torque = mpid0.torque_cor_cmd
+mpid0.en = fault0.en_pid
+mpid0.pos_ext_cmd = reslimit0.pos_out
+mpid0.vel_ext_cmd = veltime0.vel_lp
+mpid0.pos_fb = fb_switch0.pos_fb
+mpid0.vel_fb = veltime1.vel_lp
+rev0.in_d = veltime0.vel_lp
+fault0.pos_error = mpid0.pos_error
+fault0.vel_error = mpid0.vel_error
+fault0.dc_volt = hv0.dc_volt
+fault0.hv_temp = hv0.hv_temp
+fault0.dc_cur = hv0.dc_cur
+fault0.hv_error = hv0.fault
+fault0.fb_ready = fb_switch0.state
+hv0.en = fault0.en_out
+hv0.pos = vel2.pos_out
+hv0.vel = vel2.vel
+hv0.scale = fault0.scale
+io0.fan = fault0.hv_fan
+io0.fault = fault0.fault
+io0.state = fault0.state
+pe0.udc = hv0.dc_volt
+pe0.idc = 0
+pe0.ud = 0
+pe0.uq = 0
+pe0.id = hv0.id_fb
+pe0.iq = hv0.iq_fb
+pe0.torque = mpid0.torque_cmd
+pe0.vel = vel1.vel
+pe0.r = conf0.r
+pe0.j = conf0.j
+pe0.cap = 0.00054
+iit0.max_temp = conf0.max_mot_temp
+iit0.high_temp = conf0.high_mot_temp
+iit0.max_cur = conf0.max_ac_cur
+fault0.mot_temp = iit0.temp
+iit0.cur = hv0.abs_cur
\ No newline at end of file
diff --git a/conf/template/mpmsm.txt b/conf/template/mpmsm.txt
new file mode 100644
index 00000000..8ba37ab4
--- /dev/null
+++ b/conf/template/mpmsm.txt
@@ -0,0 +1,11 @@
+load pmsm_ttc
+pmsm_ttc0.rt_prio = 9
+pmsm_ttc0.psi = conf0.psi
+pmsm_ttc0.polecount = conf0.polecount
+pmsm_ttc0.pos_in = vel0.pos_out
+pmsm_ttc0.torque = mpid0.torque_cmd
+hv0.d_cmd = fb_switch0.id
+hv0.q_cmd = pmsm_ttc0.cur
+hv0.cmd_mode = 1
+hv0.phase_mode = 2
+hv0.pos = pmsm_ttc0.pos_out
\ No newline at end of file
diff --git a/conf/template/pid.txt b/conf/template/pid.txt
index ba4a3eca..f0a1e99c 100644
--- a/conf/template/pid.txt
+++ b/conf/template/pid.txt
@@ -115,8 +115,8 @@ pe0.udc = hv0.dc_volt
 pe0.idc = 0
 pe0.ud = 0
 pe0.uq = 0
-pe0.id = hv0.d_fb
-pe0.iq = hv0.q_fb
+pe0.id = hv0.id_fb
+pe0.iq = hv0.iq_fb
 pe0.torque = pid0.torque_cor_cmd
 pe0.vel = vel1.vel
 pe0.r = conf0.r
diff --git a/conf/template/pmsm.txt b/conf/template/pmsm.txt
index a0f3c4bb..c6a94479 100644
--- a/conf/template/pmsm.txt
+++ b/conf/template/pmsm.txt
@@ -11,8 +11,8 @@ pmsm_limits0.polecount = conf0.polecount
 pmsm_ttc0.psi = conf0.psi
 pmsm_ttc0.polecount = conf0.polecount
 pmsm_limits0.ac_volt = hv0.pwm_volt
-pmsm_limits0.iq = hv0.q_fb
-pmsm_limits0.id = hv0.d_fb
+pmsm_limits0.iq = hv0.iq_fb
+pmsm_limits0.id = hv0.id_fb
 pmsm_ttc0.pos_in = vel2.pos_out
 pid0.max_torque = pmsm_limits0.max_torque
 pid0.min_torque = pmsm_limits0.min_torque
diff --git a/conf/template/rl.txt b/conf/template/rl.txt
new file mode 100644
index 00000000..817b246a
--- /dev/null
+++ b/conf/template/rl.txt
@@ -0,0 +1,22 @@
+link pid
+link pmsm
+conf0.max_ac_cur = 15
+load rl
+rl0.rt_prio = 6
+hv0.en = rl0.en_out
+hv0.d_cmd = rl0.ud_cmd
+hv0.q_cmd = rl0.uq_cmd
+rl0.id_fb = hv0.id_fb
+rl0.iq_fb = hv0.iq_fb
+rl0.ud_fb = hv0.ud_fb
+rl0.uq_fb = hv0.uq_fb
+hv0.cmd_mode = 0
+hv0.pos = 0
+term0.wave0 = rl0.ud_cmd
+term0.wave1 = hv0.id_fb
+term0.wave2 = rl0.r
+term0.wave3 = rl0.ld
+term0.gain0 = 5
+term0.gain1 = 5
+term0.gain2 = 30
+term0.gain3 = 3000
\ No newline at end of file
diff --git a/conf/template/sserial.txt b/conf/template/sserial.txt
index 6224b0fe..33ce84aa 100644
--- a/conf/template/sserial.txt
+++ b/conf/template/sserial.txt
@@ -40,5 +40,5 @@ io0.out1 = sserial0.out1
 io0.out2 = sserial0.out2
 fault0.brake_release = sserial0.out3
 term0.wave2 = linrev0.cmd_d_out
-sserial0.current = hv0.q_fb
+sserial0.current = hv0.iq_fb
 linrev0.scale = sserial0.scale
diff --git a/conf/template/uvw_fb1.txt b/conf/template/uvw_fb1.txt
index ec23dbe8..317272bf 100644
--- a/conf/template/uvw_fb1.txt
+++ b/conf/template/uvw_fb1.txt
@@ -10,3 +10,5 @@ fb_switch0.com_polecount = conf0.com_fb_polecount
 io0.fb1g = 1
 io0.fb1y = uvw0.led
 conf0.com_fb_polecount = conf0.polecount
+uvw0.amp = adc0.amp1
+fault0.com_fb_error = uvw0.error
\ No newline at end of file
diff --git a/conf/uf.txt b/conf/uf.txt
index db230335..2b6185fe 100644
--- a/conf/uf.txt
+++ b/conf/uf.txt
@@ -11,7 +11,7 @@ hv0.pos = uf0.pos
 hv0.d_cmd = uf0.ud
 hv0.q_cmd = 0
 term0.wave0 = hv0.d_cmd
-term0.wave1 = hv0.d_fb
+term0.wave1 = hv0.id_fb
 term0.wave2 = uf0.f_cmd
 term0.wave3 = uf0.f_fb
 term0.gain0 = 1
diff --git a/hw/kicad/diff_driver/diff_driver.kicad_pcb b/hw/kicad/diff_driver/diff_driver.kicad_pcb
index 3cbe7b40..50a5dac4 100644
--- a/hw/kicad/diff_driver/diff_driver.kicad_pcb
+++ b/hw/kicad/diff_driver/diff_driver.kicad_pcb
@@ -1,12 +1,12 @@
-(kicad_pcb (version 20171130) (host pcbnew "(5.1.0-rc1-120-gc4fe6785a)")
+(kicad_pcb (version 20171130) (host pcbnew "(5.1.4-0-10_14)")
 
   (general
     (thickness 1.6)
-    (drawings 10)
-    (tracks 111)
+    (drawings 13)
+    (tracks 100)
     (zones 0)
-    (modules 11)
-    (nets 17)
+    (modules 14)
+    (nets 16)
   )
 
   (page A4)
@@ -36,7 +36,7 @@
   (setup
     (last_trace_width 0.25)
     (trace_clearance 0.2)
-    (zone_clearance 0.254)
+    (zone_clearance 0.25)
     (zone_45_only no)
     (trace_min 0.2)
     (via_size 0.8)
@@ -55,8 +55,8 @@
     (mod_edge_width 0.12)
     (mod_text_size 1 1)
     (mod_text_width 0.15)
-    (pad_size 1.524 1.524)
-    (pad_drill 0.762)
+    (pad_size 1.3 1.3)
+    (pad_drill 1)
     (pad_to_mask_clearance 0.051)
     (solder_mask_min_width 0.25)
     (aux_axis_origin 0 0)
@@ -105,8 +105,7 @@
   (net 12 "Net-(J2-Pad6)")
   (net 13 "Net-(J2-Pad10)")
   (net 14 "Net-(J2-Pad12)")
-  (net 15 "Net-(U1-Pad14)")
-  (net 16 "Net-(U1-Pad13)")
+  (net 15 +3V3)
 
   (net_class Default "This is the default net class."
     (clearance 0.2)
@@ -115,6 +114,7 @@
     (via_drill 0.4)
     (uvia_dia 0.3)
     (uvia_drill 0.1)
+    (add_net +3V3)
     (add_net +5V)
     (add_net A)
     (add_net B)
@@ -133,115 +133,161 @@
     (add_net "Net-(U1-Pad14)")
   )
 
-  (module Connector_PinHeader_2.54mm:PinHeader_1x05_P2.54mm_Vertical (layer F.Cu) (tedit 59FED5CC) (tstamp 5C70F6C0)
-    (at 146.6 95.88 180)
-    (descr "Through hole straight pin header, 1x05, 2.54mm pitch, single row")
-    (tags "Through hole pin header THT 1x05 2.54mm single row")
+  (module stmbl:Pin_Header_RM2.54_1x7_UP (layer F.Cu) (tedit 5DA83A6C) (tstamp 5DC30DFC)
+    (at 146.5 98.62 180)
     (path /5C795FC3)
-    (fp_text reference J1 (at 0 -2.33 180) (layer F.SilkS)
+    (fp_text reference J1 (at 0 2.5) (layer F.SilkS) hide
+      (effects (font (size 1.5 1.5) (thickness 0.3)))
+    )
+    (fp_text value CONN_01X07 (at 0 -2) (layer F.SilkS) hide
       (effects (font (size 1 1) (thickness 0.15)))
     )
-    (fp_text value CONN_01X05 (at 0 12.49 180) (layer F.Fab)
-      (effects (font (size 1 1) (thickness 0.15)))
-    )
-    (fp_text user %R (at 0 5.08 270) (layer F.Fab)
-      (effects (font (size 1 1) (thickness 0.15)))
-    )
-    (fp_line (start 1.8 -1.8) (end -1.8 -1.8) (layer F.CrtYd) (width 0.05))
-    (fp_line (start 1.8 11.95) (end 1.8 -1.8) (layer F.CrtYd) (width 0.05))
-    (fp_line (start -1.8 11.95) (end 1.8 11.95) (layer F.CrtYd) (width 0.05))
-    (fp_line (start -1.8 -1.8) (end -1.8 11.95) (layer F.CrtYd) (width 0.05))
-    (fp_line (start -1.33 -1.33) (end 0 -1.33) (layer F.SilkS) (width 0.12))
-    (fp_line (start -1.33 0) (end -1.33 -1.33) (layer F.SilkS) (width 0.12))
-    (fp_line (start -1.33 1.27) (end 1.33 1.27) (layer F.SilkS) (width 0.12))
-    (fp_line (start 1.33 1.27) (end 1.33 11.49) (layer F.SilkS) (width 0.12))
-    (fp_line (start -1.33 1.27) (end -1.33 11.49) (layer F.SilkS) (width 0.12))
-    (fp_line (start -1.33 11.49) (end 1.33 11.49) (layer F.SilkS) (width 0.12))
-    (fp_line (start -1.27 -0.635) (end -0.635 -1.27) (layer F.Fab) (width 0.1))
-    (fp_line (start -1.27 11.43) (end -1.27 -0.635) (layer F.Fab) (width 0.1))
-    (fp_line (start 1.27 11.43) (end -1.27 11.43) (layer F.Fab) (width 0.1))
-    (fp_line (start 1.27 -1.27) (end 1.27 11.43) (layer F.Fab) (width 0.1))
-    (fp_line (start -0.635 -1.27) (end 1.27 -1.27) (layer F.Fab) (width 0.1))
-    (pad 5 thru_hole oval (at 0 10.16 180) (size 1.7 1.7) (drill 1) (layers *.Cu *.Mask)
+    (fp_line (start -1.27 1.27) (end -1.27 -1.27) (layer F.SilkS) (width 0.15))
+    (fp_line (start 1.27 1.27) (end -1.27 1.27) (layer F.SilkS) (width 0.15))
+    (fp_line (start 1.27 -1.27) (end 1.27 1.27) (layer F.SilkS) (width 0.15))
+    (fp_line (start -1.27 -1.27) (end 1.27 -1.27) (layer F.SilkS) (width 0.15))
+    (fp_line (start -1.27 16.51) (end -1.27 -1.27) (layer F.SilkS) (width 0.15))
+    (fp_line (start 1.27 16.51) (end -1.27 16.51) (layer F.SilkS) (width 0.15))
+    (fp_line (start 1.27 -1.27) (end 1.27 16.51) (layer F.SilkS) (width 0.15))
+    (fp_line (start -1.27 -1.27) (end 1.27 -1.27) (layer F.SilkS) (width 0.15))
+    (pad 7 thru_hole circle (at 0 15.24 180) (size 1.3 1.3) (drill 1) (layers *.Cu *.Mask)
+      (net 15 +3V3))
+    (pad 7 smd circle (at 0 15.24 180) (size 1.75 1.75) (layers B.Cu B.Mask)
+      (net 15 +3V3))
+    (pad 6 thru_hole circle (at 0 12.7 180) (size 1.3 1.3) (drill 1) (layers *.Cu *.Mask)
       (net 1 GND))
-    (pad 4 thru_hole oval (at 0 7.62 180) (size 1.7 1.7) (drill 1) (layers *.Cu *.Mask)
+    (pad 6 smd circle (at 0 12.7 180) (size 1.75 1.75) (layers B.Cu B.Mask)
+      (net 1 GND))
+    (pad 5 thru_hole circle (at 0 10.16 180) (size 1.3 1.3) (drill 1) (layers *.Cu *.Mask)
       (net 3 IDX))
-    (pad 3 thru_hole oval (at 0 5.08 180) (size 1.7 1.7) (drill 1) (layers *.Cu *.Mask)
+    (pad 5 smd circle (at 0 10.16 180) (size 1.75 1.75) (layers B.Cu B.Mask)
+      (net 3 IDX))
+    (pad 4 thru_hole circle (at 0 7.62 180) (size 1.3 1.3) (drill 1) (layers *.Cu *.Mask)
       (net 4 A))
-    (pad 2 thru_hole oval (at 0 2.54 180) (size 1.7 1.7) (drill 1) (layers *.Cu *.Mask)
+    (pad 4 smd circle (at 0 7.62 180) (size 1.75 1.75) (layers B.Cu B.Mask)
+      (net 4 A))
+    (pad 3 thru_hole circle (at 0 5.08 180) (size 1.3 1.3) (drill 1) (layers *.Cu *.Mask)
       (net 2 +5V))
-    (pad 1 thru_hole rect (at 0 0 180) (size 1.7 1.7) (drill 1) (layers *.Cu *.Mask)
+    (pad 3 smd circle (at 0 5.08 180) (size 1.75 1.75) (layers B.Cu B.Mask)
+      (net 2 +5V))
+    (pad 2 thru_hole circle (at 0 2.54 180) (size 1.3 1.3) (drill 1) (layers *.Cu *.Mask)
       (net 5 B))
-    (model ${KISYS3DMOD}/Connector_PinHeader_2.54mm.3dshapes/PinHeader_1x05_P2.54mm_Vertical.wrl
+    (pad 2 smd circle (at 0 2.54 180) (size 1.75 1.75) (layers B.Cu B.Mask)
+      (net 5 B))
+    (pad 1 thru_hole circle (at 0 0 180) (size 1.3 1.3) (drill 1) (layers *.Cu *.Mask)
+      (net 6 GNDA))
+    (pad 1 smd roundrect (at 0 0 180) (size 1.75 1.75) (layers B.Cu B.Mask) (roundrect_rratio 0.25)
+      (net 6 GNDA))
+  )
+
+  (module stmbl:SOT-89-3 (layer F.Cu) (tedit 5DA64954) (tstamp 5DC309D1)
+    (at 154.4165 83.75)
+    (descr SOT-89-3)
+    (tags SOT-89-3)
+    (path /5DD6ED30)
+    (attr smd)
+    (fp_text reference U2 (at 0.45 -3.2) (layer F.SilkS)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text value HT75XX-1 (at 0.45 3.25) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_text user %R (at 0.38 0 90) (layer F.Fab)
+      (effects (font (size 0.6 0.6) (thickness 0.09)))
+    )
+    (fp_line (start 1.78 1.2) (end 1.78 2.4) (layer F.SilkS) (width 0.12))
+    (fp_line (start 1.78 2.4) (end -0.92 2.4) (layer F.SilkS) (width 0.12))
+    (fp_line (start -2.22 -2.4) (end 1.78 -2.4) (layer F.SilkS) (width 0.12))
+    (fp_line (start 1.78 -2.4) (end 1.78 -1.2) (layer F.SilkS) (width 0.12))
+    (fp_line (start -0.92 -1.51) (end -0.13 -2.3) (layer F.Fab) (width 0.1))
+    (fp_line (start 1.68 -2.3) (end 1.68 2.3) (layer F.Fab) (width 0.1))
+    (fp_line (start 1.68 2.3) (end -0.92 2.3) (layer F.Fab) (width 0.1))
+    (fp_line (start -0.92 2.3) (end -0.92 -1.51) (layer F.Fab) (width 0.1))
+    (fp_line (start -0.13 -2.3) (end 1.68 -2.3) (layer F.Fab) (width 0.1))
+    (fp_line (start 3.23 -2.55) (end 3.23 2.55) (layer F.CrtYd) (width 0.05))
+    (fp_line (start 3.23 -2.55) (end -2.48 -2.55) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -2.48 2.55) (end 3.23 2.55) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -2.48 2.55) (end -2.48 -2.55) (layer F.CrtYd) (width 0.05))
+    (pad 2 smd trapezoid (at 2.667 0 270) (size 1.6 0.85) (rect_delta 0 0.6 ) (layers F.Cu F.Paste F.Mask)
+      (net 2 +5V))
+    (pad 1 smd roundrect (at -1.5 -1.5 270) (size 1 1.5) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+      (net 1 GND))
+    (pad 2 smd roundrect (at -1 0 90) (size 1 2.5) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+      (net 2 +5V))
+    (pad 3 smd roundrect (at -1.5 1.5 270) (size 1 1.5) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+      (net 15 +3V3))
+    (pad 2 smd rect (at 1.3335 0 270) (size 2.2 1.84) (layers F.Cu F.Paste F.Mask)
+      (net 2 +5V) (zone_connect 2))
+    (pad 2 smd trapezoid (at -0.0762 0 90) (size 1.5 1) (rect_delta 0 0.7 ) (layers F.Cu F.Paste F.Mask)
+      (net 2 +5V))
+    (model ${KISYS3DMOD}/Package_TO_SOT_SMD.3dshapes/SOT-89-3.wrl
       (at (xyz 0 0 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
     )
   )
 
-  (module Package_SO:SOIC-16_3.9x9.9mm_P1.27mm (layer F.Cu) (tedit 5A02F2D3) (tstamp 5C70F74E)
-    (at 154.2 91 180)
+  (module stmbl:SOIC-16 (layer F.Cu) (tedit 5DC2FC18) (tstamp 5DC30FD3)
+    (at 154.25 91.75 180)
     (descr "16-Lead Plastic Small Outline (SL) - Narrow, 3.90 mm Body [SOIC] (see Microchip Packaging Specification 00000049BS.pdf)")
     (tags "SOIC 1.27")
-    (path /5C78CB18)
+    (path /5DD226B1)
     (attr smd)
-    (fp_text reference U1 (at 0 -6 180) (layer F.SilkS)
+    (fp_text reference U1 (at 0 -6) (layer F.SilkS)
       (effects (font (size 1 1) (thickness 0.15)))
     )
-    (fp_text value LTC1688 (at 0 6 180) (layer F.Fab)
+    (fp_text value am26ls31 (at 0 6) (layer F.Fab)
       (effects (font (size 1 1) (thickness 0.15)))
     )
-    (fp_line (start -2.075 -5.05) (end -3.45 -5.05) (layer F.SilkS) (width 0.15))
-    (fp_line (start -2.075 5.075) (end 2.075 5.075) (layer F.SilkS) (width 0.15))
-    (fp_line (start -2.075 -5.075) (end 2.075 -5.075) (layer F.SilkS) (width 0.15))
-    (fp_line (start -2.075 5.075) (end -2.075 4.97) (layer F.SilkS) (width 0.15))
-    (fp_line (start 2.075 5.075) (end 2.075 4.97) (layer F.SilkS) (width 0.15))
-    (fp_line (start 2.075 -5.075) (end 2.075 -4.97) (layer F.SilkS) (width 0.15))
-    (fp_line (start -2.075 -5.075) (end -2.075 -5.05) (layer F.SilkS) (width 0.15))
-    (fp_line (start -3.7 5.25) (end 3.7 5.25) (layer F.CrtYd) (width 0.05))
-    (fp_line (start -3.7 -5.25) (end 3.7 -5.25) (layer F.CrtYd) (width 0.05))
-    (fp_line (start 3.7 -5.25) (end 3.7 5.25) (layer F.CrtYd) (width 0.05))
-    (fp_line (start -3.7 -5.25) (end -3.7 5.25) (layer F.CrtYd) (width 0.05))
-    (fp_line (start -1.95 -3.95) (end -0.95 -4.95) (layer F.Fab) (width 0.15))
-    (fp_line (start -1.95 4.95) (end -1.95 -3.95) (layer F.Fab) (width 0.15))
-    (fp_line (start 1.95 4.95) (end -1.95 4.95) (layer F.Fab) (width 0.15))
-    (fp_line (start 1.95 -4.95) (end 1.95 4.95) (layer F.Fab) (width 0.15))
-    (fp_line (start -0.95 -4.95) (end 1.95 -4.95) (layer F.Fab) (width 0.15))
-    (fp_text user %R (at 0 0 180) (layer F.Fab)
+    (fp_text user %R (at 0 0) (layer F.Fab)
       (effects (font (size 0.9 0.9) (thickness 0.135)))
     )
-    (pad 16 smd rect (at 2.7 -4.445 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask)
-      (net 2 +5V))
-    (pad 15 smd rect (at 2.7 -3.175 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask)
-      (net 1 GND))
-    (pad 14 smd rect (at 2.7 -1.905 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask)
-      (net 15 "Net-(U1-Pad14)"))
-    (pad 13 smd rect (at 2.7 -0.635 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask)
-      (net 16 "Net-(U1-Pad13)"))
-    (pad 12 smd rect (at 2.7 0.635 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask)
-      (net 1 GND))
-    (pad 11 smd rect (at 2.7 1.905 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask)
-      (net 10 "Net-(J2-Pad4)"))
-    (pad 10 smd rect (at 2.7 3.175 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask)
-      (net 11 "Net-(J2-Pad5)"))
-    (pad 9 smd rect (at 2.7 4.445 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask)
-      (net 3 IDX))
-    (pad 8 smd rect (at -2.7 4.445 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask)
-      (net 1 GND))
-    (pad 7 smd rect (at -2.7 3.175 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask)
-      (net 5 B))
-    (pad 6 smd rect (at -2.7 1.905 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask)
-      (net 9 "Net-(J2-Pad3)"))
-    (pad 5 smd rect (at -2.7 0.635 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask)
-      (net 12 "Net-(J2-Pad6)"))
-    (pad 4 smd rect (at -2.7 -0.635 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask)
-      (net 2 +5V))
-    (pad 3 smd rect (at -2.7 -1.905 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask)
-      (net 8 "Net-(J2-Pad2)"))
-    (pad 2 smd rect (at -2.7 -3.175 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask)
-      (net 7 "Net-(J2-Pad1)"))
-    (pad 1 smd rect (at -2.7 -4.445 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask)
+    (fp_line (start -0.95 -4.95) (end 1.95 -4.95) (layer F.Fab) (width 0.15))
+    (fp_line (start 1.95 -4.95) (end 1.95 4.95) (layer F.Fab) (width 0.15))
+    (fp_line (start 1.95 4.95) (end -1.95 4.95) (layer F.Fab) (width 0.15))
+    (fp_line (start -1.95 4.95) (end -1.95 -3.95) (layer F.Fab) (width 0.15))
+    (fp_line (start -1.95 -3.95) (end -0.95 -4.95) (layer F.Fab) (width 0.15))
+    (fp_line (start -3.7 -5.25) (end -3.7 5.25) (layer F.CrtYd) (width 0.05))
+    (fp_line (start 3.7 -5.25) (end 3.7 5.25) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -3.7 -5.25) (end 3.7 -5.25) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -3.7 5.25) (end 3.7 5.25) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -2.075 -5.075) (end -2.075 -5.05) (layer F.SilkS) (width 0.15))
+    (fp_line (start 2.075 -5.075) (end 2.075 -4.97) (layer F.SilkS) (width 0.15))
+    (fp_line (start 2.075 5.075) (end 2.075 4.97) (layer F.SilkS) (width 0.15))
+    (fp_line (start -2.075 5.075) (end -2.075 4.97) (layer F.SilkS) (width 0.15))
+    (fp_line (start -2.075 -5.075) (end 2.075 -5.075) (layer F.SilkS) (width 0.15))
+    (fp_line (start -2.075 5.075) (end 2.075 5.075) (layer F.SilkS) (width 0.15))
+    (fp_line (start -2.075 -5.05) (end -3.45 -5.05) (layer F.SilkS) (width 0.15))
+    (pad 1 smd roundrect (at -2.7 -4.445 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
       (net 4 A))
+    (pad 2 smd roundrect (at -2.7 -3.175 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+      (net 7 "Net-(J2-Pad1)"))
+    (pad 3 smd roundrect (at -2.7 -1.905 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+      (net 8 "Net-(J2-Pad2)"))
+    (pad 4 smd roundrect (at -2.7 -0.635 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+      (net 2 +5V))
+    (pad 5 smd roundrect (at -2.7 0.635 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+      (net 12 "Net-(J2-Pad6)"))
+    (pad 6 smd roundrect (at -2.7 1.905 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+      (net 9 "Net-(J2-Pad3)"))
+    (pad 7 smd roundrect (at -2.7 3.175 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+      (net 5 B))
+    (pad 8 smd roundrect (at -2.7 4.445 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+      (net 1 GND))
+    (pad 9 smd roundrect (at 2.7 4.445 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+      (net 3 IDX))
+    (pad 10 smd roundrect (at 2.7 3.175 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+      (net 11 "Net-(J2-Pad5)"))
+    (pad 11 smd roundrect (at 2.7 1.905 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+      (net 10 "Net-(J2-Pad4)"))
+    (pad 12 smd roundrect (at 2.7 0.635 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+      (net 1 GND))
+    (pad 13 smd roundrect (at 2.7 -0.635 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25))
+    (pad 14 smd roundrect (at 2.7 -1.905 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25))
+    (pad 15 smd roundrect (at 2.7 -3.175 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+      (net 1 GND))
+    (pad 16 smd roundrect (at 2.7 -4.445 180) (size 1.5 0.6) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+      (net 2 +5V))
     (model ${KISYS3DMOD}/Package_SO.3dshapes/SOIC-16_3.9x9.9mm_P1.27mm.wrl
       (at (xyz 0 0 0))
       (scale (xyz 1 1 1))
@@ -249,8 +295,107 @@
     )
   )
 
-  (module stmbl:R_0603 (layer F.Cu) (tedit 5AC562FC) (tstamp 5C70F729)
-    (at 158.9 84.7 90)
+  (module stmbl:C_0603 (layer F.Cu) (tedit 5DA644E2) (tstamp 5DC30902)
+    (at 153.5 97.75)
+    (descr "Capacitor SMD 0603, reflow soldering, AVX (see smccp.pdf)")
+    (tags "capacitor 0603")
+    (path /5DD58169)
+    (attr smd)
+    (fp_text reference C5 (at -0.834 1.416) (layer F.SilkS)
+      (effects (font (size 0.8 0.8) (thickness 0.2)))
+    )
+    (fp_text value 1n (at 0 1.4) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_line (start 0.5 -0.4) (end 0.5 0.4) (layer F.SilkS) (width 0.15))
+    (fp_line (start -0.5 -0.4) (end -0.5 0.4) (layer F.SilkS) (width 0.15))
+    (fp_line (start 0.8 -0.4) (end -0.8 -0.4) (layer F.SilkS) (width 0.15))
+    (fp_line (start 0.8 0.4) (end 0.8 -0.4) (layer F.SilkS) (width 0.15))
+    (fp_line (start -0.8 0.4) (end 0.8 0.4) (layer F.SilkS) (width 0.15))
+    (fp_line (start -0.8 -0.4) (end -0.8 0.4) (layer F.SilkS) (width 0.15))
+    (fp_line (start -1.3 -0.6) (end 1.3 -0.6) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -1.3 0.6) (end 1.3 0.6) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -1.3 -0.6) (end -1.3 0.6) (layer F.CrtYd) (width 0.05))
+    (fp_line (start 1.3 -0.6) (end 1.3 0.6) (layer F.CrtYd) (width 0.05))
+    (pad 2 smd roundrect (at 0.75 0) (size 0.59 0.8) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+      (net 1 GND))
+    (pad 1 smd roundrect (at -0.75 0) (size 0.59 0.8) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+      (net 2 +5V))
+    (model ${KISYS3DMOD}/Capacitor_SMD.3dshapes/C_0603_1608Metric.step
+      (at (xyz 0 0 0))
+      (scale (xyz 1 1 1))
+      (rotate (xyz 0 0 0))
+    )
+  )
+
+  (module stmbl:C_0603 (layer F.Cu) (tedit 5DA644E2) (tstamp 5DC308F2)
+    (at 150.5 85.25 180)
+    (descr "Capacitor SMD 0603, reflow soldering, AVX (see smccp.pdf)")
+    (tags "capacitor 0603")
+    (path /5DD7DCEF)
+    (attr smd)
+    (fp_text reference C4 (at -0.834 1.416) (layer F.SilkS)
+      (effects (font (size 0.8 0.8) (thickness 0.2)))
+    )
+    (fp_text value 1n (at 0 1.4) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_line (start 0.5 -0.4) (end 0.5 0.4) (layer F.SilkS) (width 0.15))
+    (fp_line (start -0.5 -0.4) (end -0.5 0.4) (layer F.SilkS) (width 0.15))
+    (fp_line (start 0.8 -0.4) (end -0.8 -0.4) (layer F.SilkS) (width 0.15))
+    (fp_line (start 0.8 0.4) (end 0.8 -0.4) (layer F.SilkS) (width 0.15))
+    (fp_line (start -0.8 0.4) (end 0.8 0.4) (layer F.SilkS) (width 0.15))
+    (fp_line (start -0.8 -0.4) (end -0.8 0.4) (layer F.SilkS) (width 0.15))
+    (fp_line (start -1.3 -0.6) (end 1.3 -0.6) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -1.3 0.6) (end 1.3 0.6) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -1.3 -0.6) (end -1.3 0.6) (layer F.CrtYd) (width 0.05))
+    (fp_line (start 1.3 -0.6) (end 1.3 0.6) (layer F.CrtYd) (width 0.05))
+    (pad 2 smd roundrect (at 0.75 0 180) (size 0.59 0.8) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+      (net 1 GND))
+    (pad 1 smd roundrect (at -0.75 0 180) (size 0.59 0.8) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+      (net 15 +3V3))
+    (model ${KISYS3DMOD}/Capacitor_SMD.3dshapes/C_0603_1608Metric.step
+      (at (xyz 0 0 0))
+      (scale (xyz 1 1 1))
+      (rotate (xyz 0 0 0))
+    )
+  )
+
+  (module stmbl:C_0603 (layer F.Cu) (tedit 5DA644E2) (tstamp 5DC308E2)
+    (at 151.25 83 90)
+    (descr "Capacitor SMD 0603, reflow soldering, AVX (see smccp.pdf)")
+    (tags "capacitor 0603")
+    (path /5DD85645)
+    (attr smd)
+    (fp_text reference C3 (at -0.834 1.416 90) (layer F.SilkS)
+      (effects (font (size 0.8 0.8) (thickness 0.2)))
+    )
+    (fp_text value 100n (at 0 1.4 90) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_line (start 0.5 -0.4) (end 0.5 0.4) (layer F.SilkS) (width 0.15))
+    (fp_line (start -0.5 -0.4) (end -0.5 0.4) (layer F.SilkS) (width 0.15))
+    (fp_line (start 0.8 -0.4) (end -0.8 -0.4) (layer F.SilkS) (width 0.15))
+    (fp_line (start 0.8 0.4) (end 0.8 -0.4) (layer F.SilkS) (width 0.15))
+    (fp_line (start -0.8 0.4) (end 0.8 0.4) (layer F.SilkS) (width 0.15))
+    (fp_line (start -0.8 -0.4) (end -0.8 0.4) (layer F.SilkS) (width 0.15))
+    (fp_line (start -1.3 -0.6) (end 1.3 -0.6) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -1.3 0.6) (end 1.3 0.6) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -1.3 -0.6) (end -1.3 0.6) (layer F.CrtYd) (width 0.05))
+    (fp_line (start 1.3 -0.6) (end 1.3 0.6) (layer F.CrtYd) (width 0.05))
+    (pad 2 smd roundrect (at 0.75 0 90) (size 0.59 0.8) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+      (net 1 GND))
+    (pad 1 smd roundrect (at -0.75 0 90) (size 0.59 0.8) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+      (net 15 +3V3))
+    (model ${KISYS3DMOD}/Capacitor_SMD.3dshapes/C_0603_1608Metric.step
+      (at (xyz 0 0 0))
+      (scale (xyz 1 1 1))
+      (rotate (xyz 0 0 0))
+    )
+  )
+
+  (module stmbl:R_0603 (layer F.Cu) (tedit 5DA6478D) (tstamp 5C70F729)
+    (at 159 85 90)
     (descr "Resistor SMD 0603, reflow soldering, Vishay (see dcrcw.pdf)")
     (tags "resistor 0603")
     (path /5C7AE616)
@@ -258,7 +403,7 @@
     (fp_text reference R5 (at -3.248 0.04 90) (layer F.SilkS) hide
       (effects (font (size 0.8 0.8) (thickness 0.2)))
     )
-    (fp_text value R (at 0 1.4 90) (layer F.Fab)
+    (fp_text value 560 (at 0 1.4 90) (layer F.Fab)
       (effects (font (size 1 1) (thickness 0.15)))
     )
     (fp_line (start 0.5 -0.4) (end 0.5 0.4) (layer F.SilkS) (width 0.15))
@@ -272,18 +417,18 @@
     (fp_line (start -1.3 -0.6) (end -1.3 0.6) (layer F.CrtYd) (width 0.05))
     (fp_line (start 1.3 -0.6) (end 1.3 0.6) (layer F.CrtYd) (width 0.05))
     (pad 2 smd roundrect (at 0.75 0 90) (size 0.59 0.8) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
-      (net 13 "Net-(J2-Pad10)") (solder_mask_margin 0.1))
+      (net 13 "Net-(J2-Pad10)"))
     (pad 1 smd roundrect (at -0.75 0 90) (size 0.59 0.8) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
-      (net 9 "Net-(J2-Pad3)") (solder_mask_margin 0.1))
-    (model Resistors_SMD.3dshapes/R_0603.wrl
+      (net 11 "Net-(J2-Pad5)"))
+    (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0603_1608Metric.step
       (at (xyz 0 0 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
     )
   )
 
-  (module stmbl:R_0603 (layer F.Cu) (tedit 5AC562FC) (tstamp 5C70F719)
-    (at 159.1 95.2 270)
+  (module stmbl:R_0603 (layer F.Cu) (tedit 5DA6478D) (tstamp 5C70F719)
+    (at 159.1 96.25 90)
     (descr "Resistor SMD 0603, reflow soldering, Vishay (see dcrcw.pdf)")
     (tags "resistor 0603")
     (path /5C7AD89A)
@@ -291,7 +436,7 @@
     (fp_text reference R4 (at -3.248 0.04 270) (layer F.SilkS) hide
       (effects (font (size 0.8 0.8) (thickness 0.2)))
     )
-    (fp_text value R (at 0 1.4 270) (layer F.Fab)
+    (fp_text value 560 (at 0 1.4 270) (layer F.Fab)
       (effects (font (size 1 1) (thickness 0.15)))
     )
     (fp_line (start 0.5 -0.4) (end 0.5 0.4) (layer F.SilkS) (width 0.15))
@@ -304,19 +449,19 @@
     (fp_line (start -1.3 0.6) (end 1.3 0.6) (layer F.CrtYd) (width 0.05))
     (fp_line (start -1.3 -0.6) (end -1.3 0.6) (layer F.CrtYd) (width 0.05))
     (fp_line (start 1.3 -0.6) (end 1.3 0.6) (layer F.CrtYd) (width 0.05))
-    (pad 2 smd roundrect (at 0.75 0 270) (size 0.59 0.8) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
-      (net 14 "Net-(J2-Pad12)") (solder_mask_margin 0.1))
-    (pad 1 smd roundrect (at -0.75 0 270) (size 0.59 0.8) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
-      (net 7 "Net-(J2-Pad1)") (solder_mask_margin 0.1))
-    (model Resistors_SMD.3dshapes/R_0603.wrl
+    (pad 2 smd roundrect (at 0.75 0 90) (size 0.59 0.8) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+      (net 14 "Net-(J2-Pad12)"))
+    (pad 1 smd roundrect (at -0.75 0 90) (size 0.59 0.8) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+      (net 2 +5V))
+    (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0603_1608Metric.step
       (at (xyz 0 0 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
     )
   )
 
-  (module stmbl:R_0603 (layer F.Cu) (tedit 5AC562FC) (tstamp 5C70F709)
-    (at 149.4 88.6 90)
+  (module stmbl:R_0603 (layer F.Cu) (tedit 5DA6478D) (tstamp 5C70F709)
+    (at 149.25 89 90)
     (descr "Resistor SMD 0603, reflow soldering, Vishay (see dcrcw.pdf)")
     (tags "resistor 0603")
     (path /5C7BBC89)
@@ -324,7 +469,7 @@
     (fp_text reference R3 (at -3.248 0.04 90) (layer F.SilkS) hide
       (effects (font (size 0.8 0.8) (thickness 0.2)))
     )
-    (fp_text value R (at 0 1.4 90) (layer F.Fab)
+    (fp_text value 3.9k (at 0 1.4 90) (layer F.Fab)
       (effects (font (size 1 1) (thickness 0.15)))
     )
     (fp_line (start 0.5 -0.4) (end 0.5 0.4) (layer F.SilkS) (width 0.15))
@@ -338,18 +483,18 @@
     (fp_line (start -1.3 -0.6) (end -1.3 0.6) (layer F.CrtYd) (width 0.05))
     (fp_line (start 1.3 -0.6) (end 1.3 0.6) (layer F.CrtYd) (width 0.05))
     (pad 2 smd roundrect (at 0.75 0 90) (size 0.59 0.8) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
-      (net 3 IDX) (solder_mask_margin 0.1))
+      (net 3 IDX))
     (pad 1 smd roundrect (at -0.75 0 90) (size 0.59 0.8) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
-      (net 2 +5V) (solder_mask_margin 0.1))
-    (model Resistors_SMD.3dshapes/R_0603.wrl
+      (net 2 +5V))
+    (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0603_1608Metric.step
       (at (xyz 0 0 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
     )
   )
 
-  (module stmbl:R_0603 (layer F.Cu) (tedit 5AC562FC) (tstamp 5C70F6F9)
-    (at 149.4 94.8 270)
+  (module stmbl:R_0603 (layer F.Cu) (tedit 5DA6478D) (tstamp 5DC31058)
+    (at 149.25 95.25 270)
     (descr "Resistor SMD 0603, reflow soldering, Vishay (see dcrcw.pdf)")
     (tags "resistor 0603")
     (path /5C7BBB0C)
@@ -357,7 +502,7 @@
     (fp_text reference R2 (at -3.248 0.04 270) (layer F.SilkS) hide
       (effects (font (size 0.8 0.8) (thickness 0.2)))
     )
-    (fp_text value R (at 0 1.4 270) (layer F.Fab)
+    (fp_text value 3.9k (at 0 1.4 270) (layer F.Fab)
       (effects (font (size 1 1) (thickness 0.15)))
     )
     (fp_line (start 0.5 -0.4) (end 0.5 0.4) (layer F.SilkS) (width 0.15))
@@ -371,18 +516,18 @@
     (fp_line (start -1.3 -0.6) (end -1.3 0.6) (layer F.CrtYd) (width 0.05))
     (fp_line (start 1.3 -0.6) (end 1.3 0.6) (layer F.CrtYd) (width 0.05))
     (pad 2 smd roundrect (at 0.75 0 270) (size 0.59 0.8) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
-      (net 5 B) (solder_mask_margin 0.1))
+      (net 5 B))
     (pad 1 smd roundrect (at -0.75 0 270) (size 0.59 0.8) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
-      (net 2 +5V) (solder_mask_margin 0.1))
-    (model Resistors_SMD.3dshapes/R_0603.wrl
+      (net 2 +5V))
+    (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0603_1608Metric.step
       (at (xyz 0 0 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
     )
   )
 
-  (module stmbl:R_0603 (layer F.Cu) (tedit 5AC562FC) (tstamp 5C70F6E9)
-    (at 149.4 91.75 90)
+  (module stmbl:R_0603 (layer F.Cu) (tedit 5DA6478D) (tstamp 5C70F6E9)
+    (at 149.25 91.75 90)
     (descr "Resistor SMD 0603, reflow soldering, Vishay (see dcrcw.pdf)")
     (tags "resistor 0603")
     (path /5C7BB4F1)
@@ -390,7 +535,7 @@
     (fp_text reference R1 (at -3.248 0.04 90) (layer F.SilkS) hide
       (effects (font (size 0.8 0.8) (thickness 0.2)))
     )
-    (fp_text value R (at 0 1.4 90) (layer F.Fab)
+    (fp_text value 3.9k (at 0 1.4 90) (layer F.Fab)
       (effects (font (size 1 1) (thickness 0.15)))
     )
     (fp_line (start 0.5 -0.4) (end 0.5 0.4) (layer F.SilkS) (width 0.15))
@@ -404,18 +549,18 @@
     (fp_line (start -1.3 -0.6) (end -1.3 0.6) (layer F.CrtYd) (width 0.05))
     (fp_line (start 1.3 -0.6) (end 1.3 0.6) (layer F.CrtYd) (width 0.05))
     (pad 2 smd roundrect (at 0.75 0 90) (size 0.59 0.8) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
-      (net 4 A) (solder_mask_margin 0.1))
+      (net 4 A))
     (pad 1 smd roundrect (at -0.75 0 90) (size 0.59 0.8) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
-      (net 2 +5V) (solder_mask_margin 0.1))
-    (model Resistors_SMD.3dshapes/R_0603.wrl
+      (net 2 +5V))
+    (model ${KISYS3DMOD}/Resistor_SMD.3dshapes/R_0603_1608Metric.step
       (at (xyz 0 0 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
     )
   )
 
-  (module stmbl:RJ45_LED (layer B.Cu) (tedit 58E701F3) (tstamp 5C70F6D9)
-    (at 175.4 90.8 90)
+  (module stmbl:RJ45_LED (layer B.Cu) (tedit 58E701F3) (tstamp 5DC30F35)
+    (at 175.5 91 90)
     (path /5C78E60A)
     (fp_text reference J2 (at 6.194 -16.462 90) (layer B.SilkS)
       (effects (font (size 1.5 1.5) (thickness 0.3)) (justify mirror))
@@ -467,87 +612,16 @@
     )
   )
 
-  (module Capacitor_Tantalum_SMD:CP_EIA-2012-15_AVX-P (layer F.Cu) (tedit 5B301BBE) (tstamp 5C70F6A2)
-    (at 156.8875 98 180)
-    (descr "Tantalum Capacitor SMD AVX-P (2012-15 Metric), IPC_7351 nominal, (Body size from: https://www.vishay.com/docs/40182/tmch.pdf), generated with kicad-footprint-generator")
-    (tags "capacitor tantalum")
-    (path /5C799DAB)
-    (attr smd)
-    (fp_text reference C3 (at 0 -1.58 180) (layer F.SilkS)
-      (effects (font (size 1 1) (thickness 0.15)))
-    )
-    (fp_text value CP (at 0 1.58 180) (layer F.Fab)
-      (effects (font (size 1 1) (thickness 0.15)))
-    )
-    (fp_text user %R (at 0 0 180) (layer F.Fab)
-      (effects (font (size 0.5 0.5) (thickness 0.08)))
-    )
-    (fp_line (start 1.7 0.88) (end -1.7 0.88) (layer F.CrtYd) (width 0.05))
-    (fp_line (start 1.7 -0.88) (end 1.7 0.88) (layer F.CrtYd) (width 0.05))
-    (fp_line (start -1.7 -0.88) (end 1.7 -0.88) (layer F.CrtYd) (width 0.05))
-    (fp_line (start -1.7 0.88) (end -1.7 -0.88) (layer F.CrtYd) (width 0.05))
-    (fp_line (start -1.71 0.785) (end 1 0.785) (layer F.SilkS) (width 0.12))
-    (fp_line (start -1.71 -0.785) (end -1.71 0.785) (layer F.SilkS) (width 0.12))
-    (fp_line (start 1 -0.785) (end -1.71 -0.785) (layer F.SilkS) (width 0.12))
-    (fp_line (start 1 0.625) (end 1 -0.625) (layer F.Fab) (width 0.1))
-    (fp_line (start -1 0.625) (end 1 0.625) (layer F.Fab) (width 0.1))
-    (fp_line (start -1 -0.3125) (end -1 0.625) (layer F.Fab) (width 0.1))
-    (fp_line (start -0.6875 -0.625) (end -1 -0.3125) (layer F.Fab) (width 0.1))
-    (fp_line (start 1 -0.625) (end -0.6875 -0.625) (layer F.Fab) (width 0.1))
-    (pad 2 smd roundrect (at 0.8875 0 180) (size 1.125 1.05) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.238095)
-      (net 1 GND))
-    (pad 1 smd roundrect (at -0.8875 0 180) (size 1.125 1.05) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.238095)
-      (net 2 +5V))
-    (model ${KISYS3DMOD}/Capacitor_Tantalum_SMD.3dshapes/CP_EIA-2012-15_AVX-P.wrl
-      (at (xyz 0 0 0))
-      (scale (xyz 1 1 1))
-      (rotate (xyz 0 0 0))
-    )
-  )
-
-  (module stmbl:C_0603 (layer F.Cu) (tedit 5AC56310) (tstamp 5C70F68F)
-    (at 159.1 91.2 90)
+  (module stmbl:C_0603 (layer F.Cu) (tedit 5DA644E2) (tstamp 5C70F68F)
+    (at 150.75 97.75 180)
     (descr "Capacitor SMD 0603, reflow soldering, AVX (see smccp.pdf)")
     (tags "capacitor 0603")
     (path /5C79998F)
     (attr smd)
-    (fp_text reference C2 (at -0.834 1.416 90) (layer F.SilkS)
+    (fp_text reference C2 (at -0.834 1.416) (layer F.SilkS)
       (effects (font (size 0.8 0.8) (thickness 0.2)))
     )
-    (fp_text value C (at 0 1.4 90) (layer F.Fab)
-      (effects (font (size 1 1) (thickness 0.15)))
-    )
-    (fp_line (start 0.5 -0.4) (end 0.5 0.4) (layer F.SilkS) (width 0.15))
-    (fp_line (start -0.5 -0.4) (end -0.5 0.4) (layer F.SilkS) (width 0.15))
-    (fp_line (start 0.8 -0.4) (end -0.8 -0.4) (layer F.SilkS) (width 0.15))
-    (fp_line (start 0.8 0.4) (end 0.8 -0.4) (layer F.SilkS) (width 0.15))
-    (fp_line (start -0.8 0.4) (end 0.8 0.4) (layer F.SilkS) (width 0.15))
-    (fp_line (start -0.8 -0.4) (end -0.8 0.4) (layer F.SilkS) (width 0.15))
-    (fp_line (start -1.3 -0.6) (end 1.3 -0.6) (layer F.CrtYd) (width 0.05))
-    (fp_line (start -1.3 0.6) (end 1.3 0.6) (layer F.CrtYd) (width 0.05))
-    (fp_line (start -1.3 -0.6) (end -1.3 0.6) (layer F.CrtYd) (width 0.05))
-    (fp_line (start 1.3 -0.6) (end 1.3 0.6) (layer F.CrtYd) (width 0.05))
-    (pad 2 smd roundrect (at 0.75 0 90) (size 0.59 0.8) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
-      (net 1 GND))
-    (pad 1 smd roundrect (at -0.75 0 90) (size 0.59 0.8) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
-      (net 2 +5V))
-    (model Capacitors_SMD.3dshapes/C_0603.wrl
-      (at (xyz 0 0 0))
-      (scale (xyz 1 1 1))
-      (rotate (xyz 0 0 0))
-    )
-  )
-
-  (module stmbl:C_0603 (layer F.Cu) (tedit 5AC56310) (tstamp 5C70F67F)
-    (at 151.1 97.1 180)
-    (descr "Capacitor SMD 0603, reflow soldering, AVX (see smccp.pdf)")
-    (tags "capacitor 0603")
-    (path /5C799546)
-    (attr smd)
-    (fp_text reference C1 (at -0.834 1.416 180) (layer F.SilkS)
-      (effects (font (size 0.8 0.8) (thickness 0.2)))
-    )
-    (fp_text value C (at 0 1.4 180) (layer F.Fab)
+    (fp_text value 100n (at 0 1.4) (layer F.Fab)
       (effects (font (size 1 1) (thickness 0.15)))
     )
     (fp_line (start 0.5 -0.4) (end 0.5 0.4) (layer F.SilkS) (width 0.15))
@@ -564,624 +638,740 @@
       (net 1 GND))
     (pad 1 smd roundrect (at -0.75 0 180) (size 0.59 0.8) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
       (net 2 +5V))
-    (model Capacitors_SMD.3dshapes/C_0603.wrl
+    (model ${KISYS3DMOD}/Capacitor_SMD.3dshapes/C_0603_1608Metric.step
       (at (xyz 0 0 0))
       (scale (xyz 1 1 1))
       (rotate (xyz 0 0 0))
     )
   )
 
-  (gr_text "STMBL single-ended \nto diff adapter" (at 152.4 82.6) (layer F.SilkS)
+  (module stmbl:C_0603 (layer F.Cu) (tedit 5DA644E2) (tstamp 5C70F67F)
+    (at 159 82.25 90)
+    (descr "Capacitor SMD 0603, reflow soldering, AVX (see smccp.pdf)")
+    (tags "capacitor 0603")
+    (path /5C799546)
+    (attr smd)
+    (fp_text reference C1 (at -0.834 1.416 270) (layer F.SilkS)
+      (effects (font (size 0.8 0.8) (thickness 0.2)))
+    )
+    (fp_text value 100n (at 0 1.4 270) (layer F.Fab)
+      (effects (font (size 1 1) (thickness 0.15)))
+    )
+    (fp_line (start 0.5 -0.4) (end 0.5 0.4) (layer F.SilkS) (width 0.15))
+    (fp_line (start -0.5 -0.4) (end -0.5 0.4) (layer F.SilkS) (width 0.15))
+    (fp_line (start 0.8 -0.4) (end -0.8 -0.4) (layer F.SilkS) (width 0.15))
+    (fp_line (start 0.8 0.4) (end 0.8 -0.4) (layer F.SilkS) (width 0.15))
+    (fp_line (start -0.8 0.4) (end 0.8 0.4) (layer F.SilkS) (width 0.15))
+    (fp_line (start -0.8 -0.4) (end -0.8 0.4) (layer F.SilkS) (width 0.15))
+    (fp_line (start -1.3 -0.6) (end 1.3 -0.6) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -1.3 0.6) (end 1.3 0.6) (layer F.CrtYd) (width 0.05))
+    (fp_line (start -1.3 -0.6) (end -1.3 0.6) (layer F.CrtYd) (width 0.05))
+    (fp_line (start 1.3 -0.6) (end 1.3 0.6) (layer F.CrtYd) (width 0.05))
+    (pad 2 smd roundrect (at 0.75 0 90) (size 0.59 0.8) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+      (net 1 GND))
+    (pad 1 smd roundrect (at -0.75 0 90) (size 0.59 0.8) (layers F.Cu F.Paste F.Mask) (roundrect_rratio 0.25)
+      (net 2 +5V))
+    (model ${KISYS3DMOD}/Capacitor_SMD.3dshapes/C_0603_1608Metric.step
+      (at (xyz 0 0 0))
+      (scale (xyz 1 1 1))
+      (rotate (xyz 0 0 0))
+    )
+  )
+
+  (gr_text "3\n0\nZ\nA\n5\nB\nS" (at 145.25 91) (layer F.SilkS) (tstamp 5DC33CFE)
+    (effects (font (size 1.55 1.55) (thickness 0.25)) (justify right))
+  )
+  (gr_text "8 GND\n7   5V\n5/4 Z\n3/6 B\n1/2 A" (at 168.75 91) (layer F.SilkS) (tstamp 5DC33CAE)
+    (effects (font (size 1 1) (thickness 0.2)) (justify left))
+  )
+  (gr_text "8 GND\n7   5V\n5/4 Z\n3/6 B\n1/2 A" (at 159.5 91) (layer B.SilkS) (tstamp 5DC3402A)
+    (effects (font (size 1 1) (thickness 0.2)) (justify left mirror))
+  )
+  (gr_arc (start 174 81) (end 175 81) (angle -90) (layer Edge.Cuts) (width 0.1) (tstamp 5DC3259E))
+  (gr_arc (start 174 101) (end 174 102) (angle -90) (layer Edge.Cuts) (width 0.1) (tstamp 5DC3258E))
+  (gr_arc (start 144 101) (end 143 101) (angle -90) (layer Edge.Cuts) (width 0.1) (tstamp 5DC32585))
+  (gr_arc (start 144 81) (end 144 80) (angle -90) (layer Edge.Cuts) (width 0.1))
+  (gr_text "3.3V\nGND\nZ/W\nA/U\n5V\nB/V\nSHIELD" (at 147.75 91) (layer B.SilkS)
+    (effects (font (size 1.55 1.55) (thickness 0.25)) (justify right mirror))
+  )
+  (gr_text "STMBL single-ended \nto RS422 adapter V2" (at 156.75 100) (layer F.SilkS)
     (effects (font (size 1 1) (thickness 0.25)))
   )
-  (gr_text B/V (at 150.1 95.9) (layer B.SilkS)
-    (effects (font (size 1.5 1.5) (thickness 0.3)) (justify mirror))
-  )
-  (gr_text 5V (at 149.3 93.5) (layer B.SilkS)
-    (effects (font (size 1.5 1.5) (thickness 0.3)) (justify mirror))
-  )
-  (gr_text A/U (at 150 90.9) (layer B.SilkS)
-    (effects (font (size 1.5 1.5) (thickness 0.3)) (justify mirror))
-  )
-  (gr_text IDX/W (at 151.2 88.3) (layer B.SilkS)
-    (effects (font (size 1.5 1.5) (thickness 0.3)) (justify mirror))
-  )
-  (gr_text GND (at 150.1 85.8) (layer B.SilkS)
-    (effects (font (size 1.5 1.5) (thickness 0.3)) (justify mirror))
-  )
-  (gr_line (start 143 102) (end 143 80) (layer Edge.Cuts) (width 0.05) (tstamp 5C7110E9))
-  (gr_line (start 175 102) (end 143 102) (layer Edge.Cuts) (width 0.05))
-  (gr_line (start 175 80) (end 175 102) (layer Edge.Cuts) (width 0.05))
-  (gr_line (start 143 80) (end 175 80) (layer Edge.Cuts) (width 0.05))
+  (gr_line (start 143 101) (end 143 81) (layer Edge.Cuts) (width 0.1) (tstamp 5C7110E9))
+  (gr_line (start 174 102) (end 144 102) (layer Edge.Cuts) (width 0.1))
+  (gr_line (start 175 81) (end 175 101) (layer Edge.Cuts) (width 0.1))
+  (gr_line (start 144 80) (end 174 80) (layer Edge.Cuts) (width 0.1))
 
-  (via (at 163.7 90.4) (size 0.8) (drill 0.4) (layers F.Cu B.Cu) (net 1))
-  (via (at 160.3 90.4) (size 0.8) (drill 0.4) (layers F.Cu B.Cu) (net 1))
-  (via (at 154.2 92) (size 0.8) (drill 0.4) (layers F.Cu B.Cu) (net 1))
-  (via (at 153.6 95) (size 0.8) (drill 0.4) (layers F.Cu B.Cu) (net 1))
-  (segment (start 157.215 91.95) (end 156.9 91.635) (width 0.25) (layer F.Cu) (net 2))
-  (segment (start 159.1 91.95) (end 157.215 91.95) (width 0.25) (layer F.Cu) (net 2))
-  (via (at 157.8 99.7) (size 0.8) (drill 0.4) (layers F.Cu B.Cu) (net 2))
-  (segment (start 157.775 99.675) (end 157.8 99.7) (width 0.5) (layer F.Cu) (net 2))
-  (segment (start 157.775 98) (end 157.775 99.675) (width 0.5) (layer F.Cu) (net 2))
-  (segment (start 152.52501 97.02499) (end 152.510694 97.039306) (width 0.5) (layer F.Cu) (net 2))
-  (segment (start 156.79999 97.02499) (end 152.52501 97.02499) (width 0.5) (layer F.Cu) (net 2))
-  (segment (start 157.775 98) (end 156.79999 97.02499) (width 0.5) (layer F.Cu) (net 2))
-  (segment (start 152.45 97.1) (end 151.85 97.1) (width 0.5) (layer F.Cu) (net 2))
-  (segment (start 152.52501 97.02499) (end 152.45 97.1) (width 0.5) (layer F.Cu) (net 2))
-  (segment (start 151.5 96.75) (end 151.85 97.1) (width 0.5) (layer F.Cu) (net 2))
-  (segment (start 151.5 95.445) (end 151.5 96.75) (width 0.5) (layer F.Cu) (net 2))
-  (segment (start 150.795 95.445) (end 149.4 94.05) (width 0.5) (layer F.Cu) (net 2))
-  (segment (start 151.5 95.445) (end 150.795 95.445) (width 0.5) (layer F.Cu) (net 2))
-  (segment (start 149.4 92.5) (end 149.4 94.05) (width 0.5) (layer F.Cu) (net 2))
-  (segment (start 147.31 94.05) (end 146.6 93.34) (width 0.5) (layer F.Cu) (net 2))
-  (segment (start 149.4 94.05) (end 147.31 94.05) (width 0.5) (layer F.Cu) (net 2))
-  (via (at 158.1 96.7) (size 0.8) (drill 0.4) (layers F.Cu B.Cu) (net 2))
-  (segment (start 157.775 98) (end 157.775 97.025) (width 0.5) (layer F.Cu) (net 2))
-  (segment (start 157.775 97.025) (end 158.1 96.7) (width 0.5) (layer F.Cu) (net 2))
-  (via (at 160.5 92.1) (size 0.8) (drill 0.4) (layers F.Cu B.Cu) (net 2))
-  (segment (start 159.719999 92.880001) (end 160.5 92.1) (width 0.5) (layer B.Cu) (net 2))
-  (segment (start 158.1 96.7) (end 158.1 94.5) (width 0.5) (layer B.Cu) (net 2))
-  (segment (start 158.1 94.5) (end 159.719999 92.880001) (width 0.5) (layer B.Cu) (net 2))
-  (segment (start 159.25 92.1) (end 159.1 91.95) (width 0.5) (layer F.Cu) (net 2))
-  (segment (start 160.5 92.1) (end 159.25 92.1) (width 0.5) (layer F.Cu) (net 2))
-  (segment (start 160.408002 99.7) (end 157.8 99.7) (width 0.5) (layer B.Cu) (net 2))
-  (segment (start 168.15 88.25) (end 169.15 89.25) (width 0.5) (layer B.Cu) (net 2))
-  (segment (start 167.46 88.25) (end 168.15 88.25) (width 0.5) (layer B.Cu) (net 2))
-  (segment (start 169.15 89.25) (end 169.15 94.595998) (width 0.5) (layer B.Cu) (net 2))
-  (segment (start 169.15 94.595998) (end 166.095999 97.649999) (width 0.5) (layer B.Cu) (net 2))
-  (segment (start 166.095999 97.649999) (end 162.458003 97.649999) (width 0.5) (layer B.Cu) (net 2))
-  (segment (start 162.458003 97.649999) (end 160.408002 99.7) (width 0.5) (layer B.Cu) (net 2))
-  (segment (start 148.9 89.35) (end 149.4 89.35) (width 0.25) (layer F.Cu) (net 2))
-  (segment (start 149 92.1) (end 145.9 92.1) (width 0.25) (layer F.Cu) (net 2))
-  (segment (start 149.4 92.5) (end 149 92.1) (width 0.25) (layer F.Cu) (net 2))
-  (segment (start 145.9 92.1) (end 145.2 91.4) (width 0.25) (layer F.Cu) (net 2))
-  (segment (start 145.2 91.4) (end 145.2 90.2) (width 0.25) (layer F.Cu) (net 2))
-  (segment (start 145.2 90.2) (end 145.9 89.5) (width 0.25) (layer F.Cu) (net 2))
-  (segment (start 148.75 89.5) (end 148.9 89.35) (width 0.25) (layer F.Cu) (net 2))
-  (segment (start 145.9 89.5) (end 148.75 89.5) (width 0.25) (layer F.Cu) (net 2))
-  (segment (start 147.01 87.85) (end 146.6 88.26) (width 0.25) (layer F.Cu) (net 3))
-  (segment (start 149.4 87.85) (end 147.01 87.85) (width 0.25) (layer F.Cu) (net 3))
-  (segment (start 151.5 86.555) (end 149.845 86.555) (width 0.25) (layer F.Cu) (net 3))
-  (segment (start 149.845 86.555) (end 149.4 87) (width 0.25) (layer F.Cu) (net 3))
-  (segment (start 149.4 87) (end 149.4 87.85) (width 0.25) (layer F.Cu) (net 3))
-  (segment (start 149.2 90.8) (end 149.4 91) (width 0.25) (layer F.Cu) (net 4))
-  (segment (start 146.6 90.8) (end 149.2 90.8) (width 0.25) (layer F.Cu) (net 4))
-  (segment (start 155.675002 95.445) (end 156.9 95.445) (width 0.25) (layer F.Cu) (net 4))
-  (segment (start 149.760694 91.550694) (end 150.489999 92.279999) (width 0.25) (layer F.Cu) (net 4))
-  (segment (start 150.489999 92.279999) (end 152.510001 92.279999) (width 0.25) (layer F.Cu) (net 4))
-  (segment (start 149.4 91) (end 149.760694 91.360694) (width 0.25) (layer F.Cu) (net 4))
-  (segment (start 152.510001 92.279999) (end 155.675002 95.445) (width 0.25) (layer F.Cu) (net 4))
-  (segment (start 149.760694 91.360694) (end 149.760694 91.550694) (width 0.25) (layer F.Cu) (net 4))
-  (segment (start 149.07 95.88) (end 149.4 95.55) (width 0.25) (layer F.Cu) (net 5))
-  (segment (start 146.6 95.88) (end 149.07 95.88) (width 0.25) (layer F.Cu) (net 5))
-  (via (at 149.4 96.4) (size 0.8) (drill 0.4) (layers F.Cu B.Cu) (net 5))
-  (segment (start 149.4 95.55) (end 149.4 96.4) (width 0.25) (layer F.Cu) (net 5))
-  (via (at 155.5 87.9) (size 0.8) (drill 0.4) (layers F.Cu B.Cu) (net 5))
-  (segment (start 149.4 96.4) (end 149.4 94) (width 0.25) (layer B.Cu) (net 5))
-  (segment (start 149.4 94) (end 155.5 87.9) (width 0.25) (layer B.Cu) (net 5))
-  (segment (start 156.825 87.9) (end 156.9 87.825) (width 0.25) (layer F.Cu) (net 5))
-  (segment (start 155.5 87.9) (end 156.825 87.9) (width 0.25) (layer F.Cu) (net 5))
-  (segment (start 158.825 94.175) (end 159.1 94.45) (width 0.25) (layer F.Cu) (net 7))
-  (segment (start 156.9 94.175) (end 158.825 94.175) (width 0.25) (layer F.Cu) (net 7))
-  (segment (start 166.540762 94.37) (end 167.46 94.37) (width 0.25) (layer F.Cu) (net 7))
-  (segment (start 166.310762 94.6) (end 166.540762 94.37) (width 0.25) (layer F.Cu) (net 7))
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diff --git a/hw/kicad/diff_driver/diff_driver.sch b/hw/kicad/diff_driver/diff_driver.sch
index 248f8eac..0ec82ac8 100644
--- a/hw/kicad/diff_driver/diff_driver.sch
+++ b/hw/kicad/diff_driver/diff_driver.sch
@@ -1,6 +1,5 @@
 EESchema Schematic File Version 4
-LIBS:diff_driver-cache
-EELAYER 29 0
+EELAYER 30 0
 EELAYER END
 $Descr A4 11693 8268
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 Comment4 ""
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-F 2 "Package_SO:SOIC-16_3.9x9.9mm_P1.27mm" H 6200 3200 50  0001 C CNN
-F 3 "http://cds.linear.com/docs/en/datasheet/16889fa.pdf" H 5200 3950 50  0001 C CNN
-	1    5200 4050
-	1    0    0    -1  
-$EndComp
-$Comp
 L stmbl:RJ45_LED J2
 U 1 1 5C78E60A
 P 7200 4150
@@ -37,12 +25,12 @@ F 3 "" H 7200 4100 60  0000 C CNN
 	0    1    1    0   
 $EndComp
 $Comp
-L stmbl:CONN_01X05 J1
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 U 1 1 5C795FC3
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-F 0 "J1" H 3218 3575 50  0000 C CNN
-F 1 "CONN_01X05" H 3218 3666 50  0000 C CNN
-F 2 "Connector_PinHeader_2.54mm:PinHeader_1x05_P2.54mm_Vertical" H 3300 4000 50  0001 C CNN
+F 0 "J1" H 3300 4300 50  0000 C CNN
+F 1 "CONN_01X07" H 3300 3600 50  0000 C CNN
+F 2 "stmbl:Pin_Header_RM2.54_1x7_UP" H 3300 4000 50  0001 C CNN
 F 3 "" H 3300 4000 50  0001 C CNN
 	1    3300 4000
 	-1   0    0    1   
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 $Comp
 L stmbl:GND #PWR0101
 U 1 1 5C796D5F
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-F 1 "GND" H 5305 4877 50  0000 C CNN
-F 2 "" H 5300 5050 50  0001 C CNN
-F 3 "" H 5300 5050 50  0001 C CNN
-	1    5300 5050
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+	1    5050 4850
 	1    0    0    -1  
 $EndComp
 $Comp
 L stmbl:+5V #PWR0102
 U 1 1 5C79742A
-P 5300 3050
-F 0 "#PWR0102" H 5300 2900 50  0001 C CNN
-F 1 "+5V" H 5315 3223 50  0000 C CNN
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-	1    5300 3050
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 $EndComp
 $Comp
@@ -98,126 +86,88 @@ Wire Wire Line
 $Comp
 L stmbl:+5V #PWR0105
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-F 3 "" H 6700 5000 50  0001 C CNN
-	1    6700 5000
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 	1    0    0    -1  
 $EndComp
 $Comp
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-F 0 "#PWR0106" H 6700 5250 50  0001 C CNN
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-F 3 "" H 6700 5500 50  0001 C CNN
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 	1    0    0    -1  
 $EndComp
 $Comp
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-F 3 "~" H 6400 5250 50  0001 C CNN
-	1    6400 5250
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 $EndComp
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-	1    7000 5250
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-F 2 "" H 4600 3950 50  0001 C CNN
-F 3 "" H 4600 3950 50  0001 C CNN
-	1    4600 3950
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+	1    4550 4400
 	0    -1   -1   0   
 $EndComp
 Wire Wire Line
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 $Comp
 L stmbl:R R4
 U 1 1 5C7AD89A
 P 8050 3750
 F 0 "R4" V 7843 3750 50  0000 C CNN
-F 1 "R" V 7934 3750 50  0000 C CNN
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 F 2 "stmbl:R_0603" V 7980 3750 50  0001 C CNN
 F 3 "" H 8050 3750 50  0000 C CNN
 	1    8050 3750
@@ -228,7 +178,7 @@ L stmbl:R R5
 U 1 1 5C7AE616
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 F 0 "R5" V 7843 4450 50  0000 C CNN
-F 1 "R" V 7934 4450 50  0000 C CNN
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 F 2 "stmbl:R_0603" V 7980 4450 50  0001 C CNN
 F 3 "" H 8050 4450 50  0000 C CNN
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@@ -272,55 +222,49 @@ Connection ~ 7800 4550
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-Wire Wire Line
-	8400 4450 8400 3650
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-	8400 3650 6500 3650
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 $Comp
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 	0    -1   -1   0   
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 Wire Wire Line
-	3500 3800 3550 3800
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 IDX
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 $Comp
 L stmbl:+5V #PWR0112
 U 1 1 5C7B78DE
-P 3550 4100
-F 0 "#PWR0112" H 3550 3950 50  0001 C CNN
-F 1 "+5V" V 3565 4228 50  0000 L CNN
-F 2 "" H 3550 4100 50  0001 C CNN
-F 3 "" H 3550 4100 50  0001 C CNN
-	1    3550 4100
+P 3600 4100
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+F 2 "" H 3600 4100 50  0001 C CNN
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+	1    3600 4100
 	0    1    1    0   
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 Wire Wire Line
-	3500 3900 3550 3900
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 Wire Wire Line
-	3500 4000 3550 4000
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 Wire Wire Line
-	3500 4100 3550 4100
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 Wire Wire Line
-	3500 4200 3550 4200
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 Text GLabel 3300 3150 0    50   Input ~ 0
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@@ -332,7 +276,7 @@ L stmbl:R R1
 U 1 1 5C7BB4F1
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 F 0 "R1" V 3343 3150 50  0000 C CNN
-F 1 "R" V 3434 3150 50  0000 C CNN
+F 1 "3.9k" V 3434 3150 50  0000 C CNN
 F 2 "stmbl:R_0603" V 3480 3150 50  0001 C CNN
 F 3 "" H 3550 3150 50  0000 C CNN
 	1    3550 3150
@@ -343,7 +287,7 @@ L stmbl:R R2
 U 1 1 5C7BBB0C
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 F 0 "R2" V 3343 3250 50  0000 C CNN
-F 1 "R" V 3434 3250 50  0000 C CNN
+F 1 "3.9k" V 3434 3250 50  0000 C CNN
 F 2 "stmbl:R_0603" V 3480 3250 50  0001 C CNN
 F 3 "" H 3550 3250 50  0000 C CNN
 	1    3550 3250
@@ -354,7 +298,7 @@ L stmbl:R R3
 U 1 1 5C7BBC89
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 F 0 "R3" V 3343 3350 50  0000 C CNN
-F 1 "R" V 3434 3350 50  0000 C CNN
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 F 2 "stmbl:R_0603" V 3480 3350 50  0001 C CNN
 F 3 "" H 3550 3350 50  0000 C CNN
 	1    3550 3350
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 	1    3800 3050
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 $EndComp
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 Wire Wire Line
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 Wire Wire Line
-	4600 3750 4700 3750
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 Wire Wire Line
-	4600 3450 4700 3450
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 $Comp
 L stmbl:GND #PWR0114
 U 1 1 5C7C8CA5
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-	1    4600 4650
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 Wire Wire Line
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 Wire Wire Line
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 Wire Wire Line
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 Wire Wire Line
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 Wire Wire Line
-	6700 5450 6700 5500
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+L stmbl:am26ls31 U1
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 Wire Wire Line
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 Wire Wire Line
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+	6000 3550 6000 3850
 Wire Wire Line
-	6700 3400 5700 3400
-Connection ~ 6700 3400
+	6000 3850 6700 3850
 Wire Wire Line
-	5700 3700 6500 3700
-Connection ~ 6500 3700
+	6700 3950 5900 3950
 Wire Wire Line
-	6500 3700 6500 3950
+	5900 3950 5900 3700
 Wire Wire Line
-	6250 4350 6250 3900
+	5900 3700 5450 3700
 Wire Wire Line
-	6250 3900 5700 3900
+	5450 3800 5800 3800
 Wire Wire Line
-	5700 3900 5700 3850
+	5800 3800 5800 4350
+Wire Wire Line
+	5800 4350 6700 4350
+Wire Wire Line
+	6700 4050 5450 4050
+Wire Wire Line
+	5450 3950 5700 3950
+Wire Wire Line
+	5700 3950 5700 4250
+Wire Wire Line
+	5700 4250 6700 4250
+$Comp
+L stmbl:+5V #PWR0107
+U 1 1 5DD53ACA
+P 8300 3650
+F 0 "#PWR0107" H 8300 3500 50  0001 C CNN
+F 1 "+5V" H 8315 3823 50  0000 C CNN
+F 2 "" H 8300 3650 50  0001 C CNN
+F 3 "" H 8300 3650 50  0001 C CNN
+	1    8300 3650
+	1    0    0    -1  
+$EndComp
+$Comp
+L stmbl:C C5
+U 1 1 5DD58169
+P 5450 5800
+F 0 "C5" H 5565 5846 50  0000 L CNN
+F 1 "1u" H 5565 5755 50  0000 L CNN
+F 2 "stmbl:C_0603" H 5488 5650 50  0001 C CNN
+F 3 "~" H 5450 5800 50  0001 C CNN
+	1    5450 5800
+	1    0    0    -1  
+$EndComp
+Wire Wire Line
+	8300 4450 8300 5200
+$Comp
+L stmbl:GND #PWR0115
+U 1 1 5DD62120
+P 5100 2450
+F 0 "#PWR0115" H 5100 2200 50  0001 C CNN
+F 1 "GND" H 5105 2277 50  0000 C CNN
+F 2 "" H 5100 2450 50  0001 C CNN
+F 3 "" H 5100 2450 50  0001 C CNN
+	1    5100 2450
+	1    0    0    -1  
+$EndComp
+$Comp
+L stmbl:+5V #PWR0116
+U 1 1 5DD62643
+P 4650 2000
+F 0 "#PWR0116" H 4650 1850 50  0001 C CNN
+F 1 "+5V" H 4665 2173 50  0000 C CNN
+F 2 "" H 4650 2000 50  0001 C CNN
+F 3 "" H 4650 2000 50  0001 C CNN
+	1    4650 2000
+	0    -1   -1   0   
+$EndComp
+Wire Wire Line
+	4650 2000 4750 2000
+Wire Wire Line
+	5100 2450 5100 2350
+$Comp
+L stmbl:+3.3V #PWR0117
+U 1 1 5DD66098
+P 5550 2000
+F 0 "#PWR0117" H 5550 1850 50  0001 C CNN
+F 1 "+3.3V" V 5565 2128 50  0000 L CNN
+F 2 "" H 5550 2000 50  0001 C CNN
+F 3 "" H 5550 2000 50  0001 C CNN
+	1    5550 2000
+	0    1    1    0   
+$EndComp
+Wire Wire Line
+	5450 2000 5550 2000
+$Comp
+L stmbl:HT75XX-1 U2
+U 1 1 5DD6ED30
+P 5100 2000
+F 0 "U2" H 5100 2265 50  0000 C CNN
+F 1 "HT7533-1" H 5100 2174 50  0000 C CNN
+F 2 "stmbl:SOT-89-3" H 5100 2000 50  0001 C CNN
+F 3 "" H 5100 2000 50  0001 C CNN
+	1    5100 2000
+	1    0    0    -1  
+$EndComp
+$Comp
+L stmbl:+3.3V #PWR0118
+U 1 1 5DD74786
+P 3600 3700
+F 0 "#PWR0118" H 3600 3550 50  0001 C CNN
+F 1 "+3.3V" V 3615 3828 50  0000 L CNN
+F 2 "" H 3600 3700 50  0001 C CNN
+F 3 "" H 3600 3700 50  0001 C CNN
+	1    3600 3700
+	0    1    1    0   
+$EndComp
+Wire Wire Line
+	3600 3700 3500 3700
+$Comp
+L stmbl:C C4
+U 1 1 5DD7DCEF
+P 4550 5800
+F 0 "C4" H 4665 5846 50  0000 L CNN
+F 1 "1u" H 4665 5755 50  0000 L CNN
+F 2 "stmbl:C_0603" H 4588 5650 50  0001 C CNN
+F 3 "~" H 4550 5800 50  0001 C CNN
+	1    4550 5800
+	1    0    0    -1  
+$EndComp
+Wire Wire Line
+	4550 5950 4550 6000
+Wire Wire Line
+	4550 6000 4850 6000
+Connection ~ 4850 6000
+$Comp
+L stmbl:+3.3V #PWR0119
+U 1 1 5DD815EC
+P 4400 5450
+F 0 "#PWR0119" H 4400 5300 50  0001 C CNN
+F 1 "+3.3V" H 4415 5623 50  0000 C CNN
+F 2 "" H 4400 5450 50  0001 C CNN
+F 3 "" H 4400 5450 50  0001 C CNN
+	1    4400 5450
+	1    0    0    -1  
+$EndComp
+Wire Wire Line
+	4550 5550 4550 5650
+$Comp
+L stmbl:C C3
+U 1 1 5DD85645
+P 4250 5800
+F 0 "C3" H 4365 5846 50  0000 L CNN
+F 1 "100n" H 4365 5755 50  0000 L CNN
+F 2 "stmbl:C_0603" H 4288 5650 50  0001 C CNN
+F 3 "~" H 4250 5800 50  0001 C CNN
+	1    4250 5800
+	1    0    0    -1  
+$EndComp
+Wire Wire Line
+	4550 6000 4250 6000
+Wire Wire Line
+	4250 6000 4250 5950
+Connection ~ 4550 6000
+Wire Wire Line
+	4250 5650 4250 5550
+Wire Wire Line
+	4250 5550 4400 5550
+Wire Wire Line
+	4400 5450 4400 5550
+Connection ~ 4400 5550
+Wire Wire Line
+	4400 5550 4550 5550
+Wire Wire Line
+	5700 5200 5700 4250
+Wire Wire Line
+	5700 5200 8300 5200
+Connection ~ 5700 4250
+$Comp
+L stmbl:GND #PWR0120
+U 1 1 5DDCD2D9
+P 4550 4250
+F 0 "#PWR0120" H 4550 4000 50  0001 C CNN
+F 1 "GND" V 4555 4122 50  0000 R CNN
+F 2 "" H 4550 4250 50  0001 C CNN
+F 3 "" H 4550 4250 50  0001 C CNN
+	1    4550 4250
+	0    1    1    0   
+$EndComp
+$Comp
+L stmbl:GNDA #PWR0121
+U 1 1 5DDD6E36
+P 3600 4300
+F 0 "#PWR0121" H 3600 4050 50  0001 C CNN
+F 1 "GNDA" H 3605 4127 50  0000 C CNN
+F 2 "" H 3600 4300 50  0001 C CNN
+F 3 "" H 3600 4300 50  0001 C CNN
+	1    3600 4300
+	0    -1   -1   0   
+$EndComp
+Wire Wire Line
+	3600 4300 3500 4300
 $EndSCHEMATC
diff --git a/inc/hw/hw.h b/inc/hw/hw.h
index 8ce63b53..3e6e6dc6 100644
--- a/inc/hw/hw.h
+++ b/inc/hw/hw.h
@@ -135,18 +135,6 @@
 #define ADC_TIMER_FREQ 84000000
 #define RES_TIMER_FREQ 20000
 
-#define FB0_SIN_ADC ADC1
-#define FB0_SIN_ADC_RCC RCC_APB2Periph_ADC1
-#define FB0_SIN_ADC_CHAN ADC_Channel_6
-#define FB0_SIN_PIN GPIO_Pin_6
-#define FB0_SIN_PORT GPIOA
-
-#define FB0_COS_ADC ADC2
-#define FB0_COS_ADC_RCC RCC_APB2Periph_ADC2
-#define FB0_COS_ADC_CHAN ADC_Channel_7
-#define FB0_COS_PIN GPIO_Pin_7
-#define FB0_COS_PORT GPIOA
-
 #define FB1
 
 #define FB1_SIN_ADC ADC1
@@ -170,7 +158,66 @@
 #define OP_R_OUT_HIGH 22.0     //opamp out high
 #define OP_REF 1.83            //opamp reference voltage
 
-//FB UART
+// FB0 ADC
+#define FB0_SIN_ADC ADC1
+#define FB0_SIN_ADC_RCC RCC_APB2Periph_ADC1
+#define FB0_SIN_ADC_CHAN ADC_Channel_6
+#define FB0_SIN_PIN GPIO_Pin_6
+#define FB0_SIN_PORT GPIOA
+
+#define FB0_COS_ADC ADC2
+#define FB0_COS_ADC_RCC RCC_APB2Periph_ADC2
+#define FB0_COS_ADC_CHAN ADC_Channel_7
+#define FB0_COS_PIN GPIO_Pin_7
+#define FB0_COS_PORT GPIOA
+
+// FB0 TX EN
+#define FB0_A_EN_PIN GPIO_Pin_11
+#define FB0_A_EN_PORT GPIOD
+
+#define FB0_B_EN_PIN GPIO_Pin_10
+#define FB0_B_EN_PORT GPIOD
+
+#define FB0_Z_TXEN_PIN GPIO_Pin_15
+#define FB0_Z_TXEN_PORT GPIOD
+
+// FB0 TIM4
+#define FB0_A_PIN GPIO_Pin_12
+#define FB0_A_PIN_SOURCE GPIO_PinSource12
+#define FB0_A_PORT GPIOD
+
+#define FB0_B_PIN GPIO_Pin_13
+#define FB0_B_PIN_SOURCE GPIO_PinSource13
+#define FB0_B_PORT GPIOD
+
+#define FB0_Z_PIN GPIO_Pin_14
+#define FB0_Z_PIN_SOURCE GPIO_PinSource14
+#define FB0_Z_PORT GPIOD
+
+#define FB0_RES_REF_PIN GPIO_Pin_14
+#define FB0_RES_REF_PIN_SOURCE GPIO_PinSource14
+#define FB0_RES_REF_PORT GPIOD
+
+#define FB0_RES_REF_TIM_AF GPIO_AF_TIM4
+#define FB0_RES_REF_TIM TIM4
+
+#define FB0_ENC_TIM TIM4
+#define FB0_ENC_TIM_AF GPIO_AF_TIM4
+#define FB0_ENC_TIM_RCC RCC_APB1Periph_TIM4
+
+#define FB0_TIM_A_DMA DMA1_Stream0
+#define FB0_TIM_A_DMA_CHAN DMA_Channel_2
+#define FB0_TIM_A_DMA_TCIF DMA_FLAG_TCIF0
+
+#define FB0_TIM_B_DMA DMA1_Stream3
+#define FB0_TIM_B_DMA_CHAN DMA_Channel_2
+#define FB0_TIM_B_DMA_TCIF DMA_FLAG_TCIF3
+
+#define FB0_TIM_Z_DMA DMA1_Stream7
+#define FB0_TIM_Z_DMA_CHAN DMA_Channel_2
+#define FB0_TIM_Z_DMA_TCIF DMA_FLAG_TCIF7
+
+// FB0 UART
 #define FB0_UART USART6
 #define FB0_UART_RCC RCC_APB2Periph_USART6
 #define FB0_UART_CLOCK_COMMAND RCC_APB2PeriphClockCmd
@@ -183,17 +230,50 @@
 #define FB0_UART_TX_DMA_CHAN DMA_Channel_5
 #define FB0_UART_TX_DMA_TCIF DMA_FLAG_TCIF6
 
-//v4 does not have dedicated rx pin, use pc6 as rx and tx.
-//#define FB0_UART_RX_PIN GPIO_Pin_11
-//#define FB0_UART_RX_PORT GPIOB
-//#define FB0_UART_RX_PIN_SOURCE GPIO_PinSource11
-//#define FB0_UART_RX_AF_SOURCE GPIO_AF_USART3
+#define FB0_UART_RX_PIN GPIO_Pin_7
+#define FB0_UART_RX_PORT GPIOC
+#define FB0_UART_RX_PIN_SOURCE GPIO_PinSource7
+#define FB0_UART_RX_AF_SOURCE GPIO_AF_USART6
 
 #define FB0_UART_TX_PIN GPIO_Pin_6
 #define FB0_UART_TX_PORT GPIOC
 #define FB0_UART_TX_PIN_SOURCE GPIO_PinSource6
 #define FB0_UART_TX_AF_SOURCE GPIO_AF_USART6
 
+#define FB0_UART_CLK_PIN GPIO_Pin_8
+#define FB0_UART_CLK_PORT GPIOC
+#define FB0_UART_CLK_PIN_SOURCE GPIO_PinSource8
+#define FB0_UART_CLK_AF_SOURCE GPIO_AF_USART6
+
+// FB0 SPI
+#define FB0_SPI SPI3
+#define FB0_SPI_RCC RCC_APB2Perip_SPI3
+#define FB0_SPI_CLOCK_COMMAND RCC_APB1PeriphClockCmd
+
+#define FB0_SPI_RX_DMA DMA1_Stream2
+#define FB0_SPI_RX_DMA_CHAN DMA_Channel_0
+#define FB0_SPI_RX_DMA_TCIF DMA_FLAG_TCIF2
+
+#define FB0_SPI_TX_DMA DMA1_Stream7
+#define FB0_SPI_TX_DMA_CHAN DMA_Channel_0
+#define FB0_SPI_TX_DMA_TCIF DMA_FLAG_TCIF7
+
+#define FB0_SPI_RX_PIN GPIO_Pin_11
+#define FB0_SPI_RX_PORT GPIOC
+#define FB0_SPI_RX_PIN_SOURCE GPIO_PinSource11
+#define FB0_SPI_RX_AF_SOURCE GPIO_AF_SPI3
+
+#define FB0_SPI_TX_PIN GPIO_Pin_12
+#define FB0_SPI_TX_PORT GPIOC
+#define FB0_SPI_TX_PIN_SOURCE GPIO_PinSource12
+#define FB0_SPI_TX_AF_SOURCE GPIO_AF_SPI3
+
+#define FB0_SPI_CLK_PIN GPIO_Pin_10
+#define FB0_SPI_CLK_PORT GPIOC
+#define FB0_SPI_CLK_PIN_SOURCE GPIO_PinSource10
+#define FB0_SPI_CLK_AF_SOURCE GPIO_AF_SPI3
+
+
 //HV UART
 #define UART_DRV USART2
 #define UART_DRV_RCC RCC_APB1Periph_USART2
@@ -254,41 +334,6 @@
 #define CMD_D_EN_PIN_SOURCE GPIO_PinSource2
 #define CMD_D_EN_PORT GPIOB
 
-//FB0 TIM4
-#define FB0_A_PIN GPIO_Pin_12
-#define FB0_A_PIN_SOURCE GPIO_PinSource12
-#define FB0_A_PORT GPIOD
-
-#define FB0_B_PIN GPIO_Pin_13
-#define FB0_B_PIN_SOURCE GPIO_PinSource13
-#define FB0_B_PORT GPIOD
-
-#define FB0_Z_PIN GPIO_Pin_14
-#define FB0_Z_PIN_SOURCE GPIO_PinSource14
-#define FB0_Z_PORT GPIOD
-
-#define FB0_RES_REF_PIN GPIO_Pin_14
-#define FB0_RES_REF_PIN_SOURCE GPIO_PinSource14
-#define FB0_RES_REF_PORT GPIOD
-
-#define FB0_RES_REF_TIM_AF GPIO_AF_TIM4
-#define FB0_RES_REF_TIM TIM4
-
-#define FB0_A_EN_PIN GPIO_Pin_11
-#define FB0_A_EN_PIN_SOURCE GPIO_PinSource11
-#define FB0_A_EN_PORT GPIOD
-
-#define FB0_B_EN_PIN GPIO_Pin_10
-#define FB0_B_EN_PIN_SOURCE GPIO_PinSource10
-#define FB0_B_EN_PORT GPIOD
-
-#define FB0_Z_TXEN_PIN GPIO_Pin_15
-#define FB0_Z_TXEN_PORT GPIOD
-
-#define FB0_ENC_TIM TIM4
-#define FB0_ENC_TIM_AF GPIO_AF_TIM4
-#define FB0_ENC_TIM_RCC RCC_APB1Periph_TIM4
-
 //FB1, TIM1
 #define FB1_A_PIN GPIO_Pin_9
 #define FB1_A_PIN_SOURCE GPIO_PinSource9
diff --git a/shared/angle.c b/shared/angle.c
index 466e1037..fa854846 100644
--- a/shared/angle.c
+++ b/shared/angle.c
@@ -114,6 +114,10 @@ inline float mod(float a) {
   }
 }
 
+inline int modi(int v, int m){
+  return(SIGN(v) * (ABS(v) % m));
+}
+
 int quadrant(float a) {
   if(a >= 0) {
     if(a < M_PI / 2.0) {
diff --git a/shared/angle.h b/shared/angle.h
index bbbb17ee..f9e0b55d 100644
--- a/shared/angle.h
+++ b/shared/angle.h
@@ -2,6 +2,7 @@
 
 float minus(float a, float b);
 float mod(float a);
+int modi(int v, int m);
 int quadrant(float a);
 void sincos_fast(float x, float *sin, float *cos);
 float err_filter(float *ctx, float max, float dens, float err);
\ No newline at end of file
diff --git a/shared/common.h b/shared/common.h
index 0fe4a66e..719a644e 100644
--- a/shared/common.h
+++ b/shared/common.h
@@ -51,13 +51,15 @@ _Static_assert(sizeof(packet_bootloader_t) == 24, "packet_bootloader_t size erro
 //process data from f3 to f4
 typedef struct {
   stmbl_talk_header_t header;
-  float d_fb;
-  float q_fb;
+  float id_fb;
+  float iq_fb;
+  float ud_fb;
+  float uq_fb;
   uint8_t fault;
   uint8_t buf;
   uint16_t padding;
 } packet_from_hv_t;
-_Static_assert(sizeof(packet_from_hv_t) == 24, "packet_from_hv_t size error");
+_Static_assert(sizeof(packet_from_hv_t) == 32, "packet_from_hv_t size error");
 
 //process data from f4 to f3
 typedef struct {
diff --git a/shared/comps/ac.c b/shared/comps/ac.c
index e5158047..c0907036 100644
--- a/shared/comps/ac.c
+++ b/shared/comps/ac.c
@@ -10,7 +10,7 @@ struct ac_ctx_t {
   float avg;
 };
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct ac_ctx_t *ctx      = (struct ac_ctx_t *)ctx_ptr;
   struct ac_pin_ctx_t *pins = (struct ac_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/acim_ttc.c b/shared/comps/acim_ttc.c
index ef3524c9..13fef23e 100644
--- a/shared/comps/acim_ttc.c
+++ b/shared/comps/acim_ttc.c
@@ -6,67 +6,167 @@
 
 HAL_COMP(acim_ttc);
 
-HAL_PIN(mode);  // 0 = u/f, 1 = mtpa
+HAL_PIN(mode);  // 0 = slip, 1 = mtpa, 2 = u/f
+HAL_PIN(sensorless);
 
 // motor values
 HAL_PIN(torque_n);
 HAL_PIN(cur_n);
 HAL_PIN(slip_n);
 HAL_PIN(polecount);
+HAL_PIN(freq_n);
+HAL_PIN(vel_n);
+HAL_PIN(u_n);
+HAL_PIN(u_boost);
+HAL_PIN(t_boost);
+HAL_PIN(s_boost);
 
 // torque cmd in
 HAL_PIN(torque);
-HAL_PIN(vel);
+HAL_PIN(vel_m);
 
 // cur cmd out
-HAL_PIN(id);
-HAL_PIN(iq);
-HAL_PIN(freq);
-HAL_PIN(slip)
+HAL_PIN(d_cmd);
+HAL_PIN(q_cmd);
+HAL_PIN(cmd_mode);
 HAL_PIN(pos);
+HAL_PIN(vel_e);
+HAL_PIN(slip);
+HAL_PIN(t_min);
+HAL_PIN(t_max);
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+HAL_PIN(scale);
+HAL_PIN(ki);
+HAL_PIN(duty);
+HAL_PIN(duty_setpoint);
+
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
+  struct acim_ttc_pin_ctx_t *pins = (struct acim_ttc_pin_ctx_t *)pin_ptr;
+  PIN(polecount) = 2;
+  PIN(vel_n) = 1745.0 / 60.0 * 2.0 * M_PI;
+  PIN(torque_n) = 23.0;
+  PIN(cur_n) = 17.0;
+  PIN(freq_n) = 60.0;
+  PIN(u_n) = 80.0;
+  PIN(u_boost) = 7.0;
+  PIN(t_boost) = 1.3;
+  PIN(s_boost) = 2.5;
+  PIN(mode) = 0;
+  PIN(sensorless) = 0;
+  PIN(scale) = 1.0;
+  PIN(ki) = 50.0;
+  PIN(duty_setpoint) = 0.9;
+}
+
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct acim_ttc_ctx_t * ctx = (struct acim_ttc_ctx_t *)ctx_ptr;
   struct acim_ttc_pin_ctx_t *pins = (struct acim_ttc_pin_ctx_t *)pin_ptr;
 
   float poles    = MAX(PIN(polecount), 1.0);
-  float torque   = PIN(torque);
-  float vel      = PIN(vel);
-  float slip_n   = PIN(slip_n);
-  float torque_n = MAX(PIN(torque_n), 0.001);
+  float vel_n    = PIN(vel_n) * poles;
+  float t_n      = MAX(PIN(torque_n), 0.001);
+  float freq_n   = MAX(PIN(freq_n), 1.0);
+  float slip_n   = freq_n * 2.0 * M_PI - vel_n;
   float cur_n    = PIN(cur_n);
+  float u_n      = PIN(u_n);
+  float u_boost  = PIN(u_boost);
+  float t_boost  = PIN(t_boost);
 
-  float id   = 0.0;
-  float iq   = 0.0;
-  float freq = vel * poles / 2.0 / M_PI;
-  float slip = 0.0;
+  float torque   = PIN(torque);
+  float vel      = 0.0;
+  if(PIN(sensorless) > 0.0){
+    vel = PIN(vel_e);
+  }
+  else{
+    vel = PIN(vel_m) * poles;
+  }
+
+  float d_cmd    = 0.0;
+  float q_cmd    = 0.0;
+  float slip     = 0.0;
+  float cmd_mode = 0;
+
+  float id_n = cur_n / sqrtf(2.0);
+
+  PIN(scale) += (PIN(duty_setpoint) - PIN(duty)) * PIN(ki) * period;
+  PIN(scale) = CLAMP(PIN(scale), 0.01, 1);
 
   switch((int)PIN(mode)) {
-    case 0:                       // slip control
-      id   = cur_n / sqrtf(2.0);  // constant flux
-      iq   = cur_n / sqrtf(2.0) / torque_n * torque;
-      slip = slip_n / torque_n * torque;
+    case 0: // slip control
+      cmd_mode = 1.0; // cur cmd
+      // d_cmd = MIN(id_n, id_n * freq_n * 2.0 * M_PI * v_boost / vel); // constant flux
+      d_cmd = id_n * PIN(scale);
+      q_cmd = id_n / t_n * torque / PIN(scale);
+      slip = slip_n * q_cmd / d_cmd;
+
+      // id = id_n
+      // slip = slip_n * iq / id
+      // torque = 3/2 * p * K * iq * id
+
+      // id = id_n * scale
+      // // iq = toruqe / t_n * id_n * id_n / id
+      // iq = toruqe / t_n * id_n / scale
+      // slip = slip_n * iq / id
+
+      // torque = 3/2 * p * K * iq * id
+      // torque = t_n / id_n / id_n * id * iq
+      // iq = toruqe / t_n * id_n * id_n / id
       break;
 
-    case 1:  // mtpa
-      id   = 0.0;
-      iq   = cur_n / torque_n * torque;
+    case 1: // mtpa
+      cmd_mode = 1.0; // cur cmd
+      d_cmd = 0.0;
+      q_cmd = cur_n / t_n * torque;
       slip = slip_n * SIGN(torque);  // constant slip
       break;
 
+    case 2: // u/f slip
+      cmd_mode = 0; // volt cmd
+      slip = slip_n / t_n * torque;
+      d_cmd = MAX(u_n / freq_n * ABS(vel / 2.0 / M_PI), u_boost);
+      q_cmd = 0.0;
+      break;
+
     default:
-      id   = 0;
-      iq   = 0;
+      cmd_mode = 1.0; // cur cmd
+      d_cmd = 0;
+      q_cmd = 0;
       slip = 0.0;
   }
 
-  freq += slip;
+  float t_min = 0;
+  float t_max = 0;
 
-  PIN(id)   = id;
-  PIN(iq)   = iq;
-  PIN(freq) = freq;
+  if(PIN(vel_m) > 0.0){
+    t_max = t_n * t_boost * PIN(scale);
+    t_min = -t_max;
+  }
+  else{
+    t_min = -t_n * t_boost * PIN(scale);
+    t_max = -t_min;
+  }
+
+  slip = LIMIT(slip, slip_n * PIN(s_boost));
+
+  if(PIN(sensorless) > 0.0){
+    vel -= slip;
+    PIN(vel_m) = vel * poles;
+  }
+  else{
+    vel += slip;
+    PIN(vel_e) = vel;
+  }
+
+  PIN(t_min) = t_min;
+  PIN(t_max) = t_max;
+
+  PIN(cmd_mode) = cmd_mode;
+  PIN(d_cmd)   = d_cmd;
+  PIN(q_cmd)   = q_cmd;
+
+  PIN(slip_n) = slip_n;
   PIN(slip) = slip;
-  PIN(pos)  = mod(PIN(pos) + freq * period * 2.0 * M_PI);
+  PIN(pos)  = mod(PIN(pos) + vel * period);
 }
 
 hal_comp_t acim_ttc_comp_struct = {
@@ -74,7 +174,7 @@ hal_comp_t acim_ttc_comp_struct = {
     .nrt       = 0,
     .rt        = rt_func,
     .frt       = 0,
-    .nrt_init  = 0,
+    .nrt_init  = nrt_init,
     .rt_start  = 0,
     .frt_start = 0,
     .rt_stop   = 0,
diff --git a/shared/comps/and.c b/shared/comps/and.c
index 316a160f..39553570 100644
--- a/shared/comps/and.c
+++ b/shared/comps/and.c
@@ -9,7 +9,7 @@ HAL_PIN(in3);
 
 HAL_PIN(out);
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct and_pin_ctx_t *pins = (struct and_pin_ctx_t *)pin_ptr;
 
   PIN(out) = (PIN(in0) > 0.0) & (PIN(in1) > 0.0) & (PIN(in2) > 0.0) & (PIN(in3) > 0.0);
diff --git a/shared/comps/auto_ac.c b/shared/comps/auto_ac.c
index 4e04a331..19816c53 100644
--- a/shared/comps/auto_ac.c
+++ b/shared/comps/auto_ac.c
@@ -9,7 +9,7 @@ HAL_PIN(lpf);
 HAL_PIN(th);
 HAL_PIN(offset);
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct auto_ac_ctx_t * ctx = (struct auto_ac_ctx_t *)ctx_ptr;
   struct auto_ac_pin_ctx_t *pins = (struct auto_ac_pin_ctx_t *)pin_ptr;
   PIN(lpf) = 1.0;
@@ -18,7 +18,7 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
 }
 
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct auto_ac_pin_ctx_t *pins = (struct auto_ac_pin_ctx_t *)pin_ptr;
 
   if(ABS(PIN(in)) <= PIN(th)){
diff --git a/shared/comps/avg.c b/shared/comps/avg.c
index 49f6bbd2..1470ea28 100644
--- a/shared/comps/avg.c
+++ b/shared/comps/avg.c
@@ -9,7 +9,7 @@ HAL_PIN(lpf);
 HAL_PIN(mult);
 HAL_PIN(offset);
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct avg_ctx_t * ctx = (struct avg_ctx_t *)ctx_ptr;
   struct avg_pin_ctx_t *pins = (struct avg_pin_ctx_t *)pin_ptr;
   PIN(lpf) = 100;
@@ -18,7 +18,7 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
 }
 
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct avg_pin_ctx_t *pins = (struct avg_pin_ctx_t *)pin_ptr;
   PIN(out) = (PIN(in) * PIN(mult) + PIN(offset)) * LP_HZ(PIN(lpf)) + (1.0 - LP_HZ(PIN(lpf))) * PIN(out);
 }
diff --git a/shared/comps/curpid.c b/shared/comps/curpid.c
index bd07c3af..c0f1bbce 100644
--- a/shared/comps/curpid.c
+++ b/shared/comps/curpid.c
@@ -30,8 +30,7 @@ HAL_PIN(max_cur);
 HAL_PIN(pwm_volt);
 
 // d, q resistance and inductance
-HAL_PIN(rd);
-HAL_PIN(rq);
+HAL_PIN(r);
 HAL_PIN(ld);
 HAL_PIN(lq);
 
@@ -41,7 +40,11 @@ HAL_PIN(psi);
 HAL_PIN(ff);  // r feed forward
 HAL_PIN(kp);
 HAL_PIN(ki);
+HAL_PIN(ksp); // predictor
 HAL_PIN(kind);  // bemf feed forward
+HAL_PIN(kci);
+
+HAL_PIN(scale);
 
 HAL_PIN(vel);  // velocity input
 
@@ -54,34 +57,35 @@ struct curpid_ctx_t {
   float iq_error_sum;
 };
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct curpid_ctx_t * ctx = (struct curpid_ctx_t *)ctx_ptr;
   struct curpid_pin_ctx_t *pins = (struct curpid_pin_ctx_t *)pin_ptr;
 
-  PIN(rd)  = 0.5;
-  PIN(rq)  = 0.5;
+  PIN(r)  = 0.5;
   PIN(ld)  = 0.01;
   PIN(lq)  = 0.01;
   PIN(psi) = 0.05;
   PIN(kp)  = 0.1;
   PIN(ki)  = 0.005;
+  PIN(kci)  = 500.0;
+  PIN(ksp)  = 1.0;
+  PIN(scale) = 1.0;
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct curpid_ctx_t *ctx      = (struct curpid_ctx_t *)ctx_ptr;
   struct curpid_pin_ctx_t *pins = (struct curpid_pin_ctx_t *)pin_ptr;
 
-  float rd = MAX(PIN(rd), 0.1);
-  float rq = MAX(PIN(rq), 0.1);
+  float r = MAX(PIN(r), 0.1);
   float ld = MAX(PIN(ld), 0.001);
   float lq = MAX(PIN(lq), 0.001);
 
   float ff   = PIN(ff);
   float kind = PIN(kind);
   float kpd  = ld * PIN(kp) / period / 2.0;
-  float kid  = rd * PIN(ki) / ld;
+  float kid  = r * PIN(ki) / ld;
   float kpq  = lq * PIN(kp) / period / 2.0;
-  float kiq  = rq * PIN(ki) / lq;
+  float kiq  = r * PIN(ki) / lq;
 
   float max_cur = MAX(PIN(max_cur), 0.01);
   float idc     = PIN(id_cmd);
@@ -95,26 +99,24 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
   // float ac_current = id * id + iq * iq;  //sqrtf(id * id + iq * iq);
   // PIN(ac_current)  = ac_current;
 
-  float k;
   float abscur;
-  
+  float absvolt;
+
   if(PIN(cmd_mode) == VOLT_MODE) {
+    absvolt = idc * idc + iqc * iqc; // clamp cmd
+    PIN(scale) *= sqrtf(CLAMP(max_volt * max_volt / MAX(absvolt, max_volt * 0.1), 0.0, 1.0));
+
     abscur = id * id + iq * iq; // clamp over fb
-    if(abscur > max_cur * max_cur) {
-      idc = 0;
-      iqc = 0;
-    }
+    PIN(scale) += (max_cur * max_cur - abscur) * PIN(kci) * period;
   }
   else{
     abscur = idc * idc + iqc * iqc; // clamp cmd
-    if(abscur > max_cur * max_cur) {
-      k = max_cur * max_cur / abscur;
-      idc *= k;
-      iqc *= k;
-    }
+    PIN(scale) = sqrtf(max_cur * max_cur / MAX(abscur, max_cur * 0.1));
   }
-
-
+  PIN(scale) = CLAMP(PIN(scale), 0.0, 1.0);
+  
+  idc *= PIN(scale);
+  iqc *= PIN(scale);
 
   float vel   = PIN(vel);
   float psi_d = ld * id + PIN(psi);
@@ -122,15 +124,19 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
   float indd  = vel * psi_q;
   float indq  = vel * psi_d;
 
+  // predictor to cancel pwm delay
+  id += (PIN(ud) - r * id + indd) / ld * period * PIN(ksp);
+  iq += (PIN(uq) - r * iq - indq) / lq * period * PIN(ksp);
+
   float id_error = idc - id;
   float iq_error = iqc - iq;
 
-  float ud = LIMIT(ff * rd * idc - kind * indd + kpd * id_error, max_volt);
-  float uq = LIMIT(ff * rq * iqc + kind * indq + kpq * iq_error, max_volt);
+  float ud = LIMIT(ff * r * idc - kind * indd + kpd * id_error, max_volt);
+  float uq = LIMIT(ff * r * iqc + kind * indq + kpq * iq_error, max_volt);
 
   if(kpd * kid > 0.0 && kpq * kiq > 0.0) {
-    ctx->id_error_sum = LIMIT(ctx->id_error_sum + kpd * kid * id_error, max_volt - ud);
-    ctx->iq_error_sum = LIMIT(ctx->iq_error_sum + kpq * kiq * iq_error, max_volt - uq);
+    ctx->id_error_sum = LIMIT(ctx->id_error_sum + kpd * kid * id_error * period, max_volt - ud);
+    ctx->iq_error_sum = LIMIT(ctx->iq_error_sum + kpq * kiq * iq_error * period, max_volt - uq);
   } else {
     ctx->id_error_sum = 0.0;
     ctx->iq_error_sum = 0.0;
@@ -140,8 +146,8 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
   uq += ctx->iq_error_sum;
 
   if(PIN(cmd_mode) == VOLT_MODE) {
-    ud                = LIMIT(idc, max_volt);
-    uq                = LIMIT(iqc, max_volt);
+    ud                = idc;
+    uq                = iqc;
     ctx->id_error_sum = 0.0;
     ctx->iq_error_sum = 0.0;
     id_error          = 0.0;
diff --git a/shared/comps/dc.c b/shared/comps/dc.c
index 2c4f739d..4d23ab5a 100644
--- a/shared/comps/dc.c
+++ b/shared/comps/dc.c
@@ -13,7 +13,7 @@ HAL_PIN(u);
 HAL_PIN(v);
 HAL_PIN(w);
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct hv_ctx_t * ctx = (struct hv_ctx_t *)ctx_ptr;
   struct dc_pin_ctx_t *pins = (struct dc_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/dc_limits.c b/shared/comps/dc_limits.c
index 8b361c68..6f3ab01a 100644
--- a/shared/comps/dc_limits.c
+++ b/shared/comps/dc_limits.c
@@ -36,7 +36,7 @@ HAL_PIN(abs_max_vel);
 HAL_PIN(iq);
 HAL_PIN(vel);
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct dc_limits_ctx_t * ctx = (struct dc_limits_ctx_t *)ctx_ptr;
   struct dc_limits_pin_ctx_t *pins = (struct dc_limits_pin_ctx_t *)pin_ptr;
 
@@ -46,7 +46,7 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   PIN(lq)  = 0.001;
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct dc_limits_ctx_t * ctx = (struct dc_limits_ctx_t *)ctx_ptr;
   struct dc_limits_pin_ctx_t *pins = (struct dc_limits_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/dc_ttc.c b/shared/comps/dc_ttc.c
index d43674f0..64872f93 100644
--- a/shared/comps/dc_ttc.c
+++ b/shared/comps/dc_ttc.c
@@ -15,7 +15,7 @@ HAL_PIN(torque);
 // cur cmd out
 HAL_PIN(cur);
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct dc_ttc_ctx_t * ctx = (struct dc_ttc_ctx_t *)ctx_ptr;
   struct dc_ttc_pin_ctx_t *pins = (struct dc_ttc_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/debounce.c b/shared/comps/debounce.c
index f1c90815..6aeef727 100644
--- a/shared/comps/debounce.c
+++ b/shared/comps/debounce.c
@@ -11,7 +11,7 @@ HAL_PIN(out);
 HAL_PIN(debounce_time);
 HAL_PIN(timer);
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   //struct debounce_ctx_t *ctx      = (struct debounce_ctx_t *)ctx_ptr;
   struct debounce_pin_ctx_t *pins = (struct debounce_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/dq.c b/shared/comps/dq.c
index 4ed6ba86..48acdcc3 100644
--- a/shared/comps/dq.c
+++ b/shared/comps/dq.c
@@ -27,7 +27,7 @@ HAL_PIN(y);
 HAL_PIN(d);
 HAL_PIN(q);
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct dq_ctx_t * ctx = (struct dq_ctx_t *)ctx_ptr;
   struct dq_pin_ctx_t *pins = (struct dq_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/en.c b/shared/comps/en.c
new file mode 100644
index 00000000..a04fa921
--- /dev/null
+++ b/shared/comps/en.c
@@ -0,0 +1,65 @@
+#include "commands.h"
+#include "hal.h"
+#include "math.h"
+#include "defines.h"
+#include "angle.h"
+
+HAL_COMP(en);
+
+HAL_PIN(en_in);
+HAL_PIN(en_out0);
+HAL_PIN(en_out1);
+HAL_PIN(fault);
+
+HAL_PIN(time);
+HAL_PIN(timer);
+
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr){
+  struct en_pin_ctx_t *pins = (struct en_pin_ctx_t *)pin_ptr;
+  PIN(time) = 5;
+}
+
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
+  //struct en_ctx_t *ctx      = (struct en_ctx_t *)ctx_ptr;
+  struct en_pin_ctx_t *pins = (struct en_pin_ctx_t *)pin_ptr;
+
+  if(PIN(en_in) <= 0.0){
+    PIN(timer) = 0.0;
+  }
+  else{
+    PIN(timer) += period;
+  }
+
+  if(PIN(fault) > 0.0){
+    PIN(timer) = 0.0;
+  }
+
+  if(PIN(timer) > PIN(time) / 2.0){
+    PIN(en_out0) = 1.0;
+  }
+  else{
+    PIN(en_out0) = 0.0;
+  }
+
+  if(PIN(timer) > PIN(time)){
+    PIN(en_out1) = 1.0;
+    PIN(timer) = PIN(time);
+  }
+  else{
+    PIN(en_out1) = 0.0;
+  }
+}
+
+hal_comp_t en_comp_struct = {
+    .name      = "en",
+    .nrt       = 0,
+    .rt        = rt_func,
+    .frt       = 0,
+    .nrt_init  = nrt_init,
+    .rt_start  = 0,
+    .frt_start = 0,
+    .rt_stop   = 0,
+    .frt_stop  = 0,
+    .ctx_size  = 0,
+    .pin_count = sizeof(struct en_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
+};
diff --git a/shared/comps/fanuc.c b/shared/comps/fanuc.c
index 63dcec76..0cd9663f 100644
--- a/shared/comps/fanuc.c
+++ b/shared/comps/fanuc.c
@@ -15,7 +15,7 @@ HAL_PIN(C8);
 //rotor position output
 HAL_PIN(pos);
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct fanuc_ctx_t * ctx = (struct fanuc_ctx_t *)ctx_ptr;
   struct fanuc_pin_ctx_t *pins = (struct fanuc_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/fault.c b/shared/comps/fault.c
index e9d26b07..61ff5895 100644
--- a/shared/comps/fault.c
+++ b/shared/comps/fault.c
@@ -95,7 +95,7 @@ struct fault_ctx_t {
   float mot_temp_error;
 };
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct fault_ctx_t *ctx      = (struct fault_ctx_t *)ctx_ptr;
   struct fault_pin_ctx_t *pins = (struct fault_pin_ctx_t *)pin_ptr;
 
@@ -113,7 +113,7 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   PIN(fan_mot_temp)  = 60.0;
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct fault_ctx_t *ctx      = (struct fault_ctx_t *)ctx_ptr;
   struct fault_pin_ctx_t *pins = (struct fault_pin_ctx_t *)pin_ptr;
 
@@ -278,7 +278,7 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
 }
 
 
-static void nrt_func(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_func(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct fault_ctx_t *ctx      = (struct fault_ctx_t *)ctx_ptr;
   struct fault_pin_ctx_t *pins = (struct fault_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/fb_switch.c b/shared/comps/fb_switch.c
index 6567fc22..6851b759 100644
--- a/shared/comps/fb_switch.c
+++ b/shared/comps/fb_switch.c
@@ -65,7 +65,7 @@ struct fb_switch_ctx_t {
   int32_t phase_state;
 };
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct fb_switch_ctx_t *ctx      = (struct fb_switch_ctx_t *)ctx_ptr;
   struct fb_switch_pin_ctx_t *pins = (struct fb_switch_pin_ctx_t *)pin_ptr;
 
@@ -78,7 +78,7 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   PIN(offset_first_enable) = 1.0;
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct fb_switch_ctx_t *ctx      = (struct fb_switch_ctx_t *)ctx_ptr;
   struct fb_switch_pin_ctx_t *pins = (struct fb_switch_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/field.c b/shared/comps/field.c
new file mode 100644
index 00000000..028ba726
--- /dev/null
+++ b/shared/comps/field.c
@@ -0,0 +1,152 @@
+/*
+* This file is part of the stmbl project.
+*
+* Copyright (C) 2013-2016 Rene Hopf <renehopf@mac.com>
+* Copyright (C) 2013-2016 Nico Stute <crinq@crinq.de>
+*
+* 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 shou l have received a copy of the GNU General Public License
+* along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "commands.h"
+#include "hal.h"
+#include "math.h"
+#include "defines.h"
+#include "angle.h"
+
+
+HAL_COMP(field);
+
+//in
+HAL_PIN(vele_n);
+HAL_PIN(velm_n);
+HAL_PIN(i_n);
+HAL_PIN(t_n);
+HAL_PIN(vel_boost);
+HAL_PIN(t_boost);
+
+HAL_PIN(vel);
+
+HAL_PIN(vel_mode);
+HAL_PIN(in_mode);
+
+// inout
+HAL_PIN(t);
+HAL_PIN(iq);
+
+//out
+HAL_PIN(id);
+
+HAL_PIN(iq_max);
+HAL_PIN(iq_min);
+
+HAL_PIN(t_max);
+HAL_PIN(t_min);
+
+HAL_PIN(slip);
+HAL_PIN(velm);
+HAL_PIN(vele);
+
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
+  // struct field_ctx_t *ctx      = (struct field_ctx_t *)ctx_ptr;
+  struct field_pin_ctx_t *pins = (struct field_pin_ctx_t *)pin_ptr;
+  PIN(vele_n) = 60.0 * 2.0 * M_PI / 2.0;
+  PIN(velm_n) = 1745.0 / 60.0 * 2.0 * M_PI;
+  PIN(i_n) = 15.0;
+  PIN(t_n) = 23.0;
+  PIN(vel_boost) = 1.0;
+  PIN(t_boost) = 1.5;
+}
+
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
+  // struct field_ctx_t *ctx      = (struct field_ctx_t *)ctx_ptr;
+  struct field_pin_ctx_t *pins = (struct field_pin_ctx_t *)pin_ptr;
+
+  float vel = MAX(ABS(PIN(vele)), 0.01);
+  float i_n = PIN(i_n);
+  float t_n = MAX(PIN(t_n), 0.01);
+  float vele_n = PIN(vele_n);
+  float velm_n = PIN(velm_n);
+  float t_boost = PIN(t_boost);
+  float vel_boost = PIN(vel_boost);
+  float slip_n = vele_n - velm_n;
+  float t = 0;
+  float iq = 0;
+  float slip = 0;
+  
+
+  // float p_max = vel_n * t_n * vel_boost;
+  // float t_max = MIN(t_n * t_boost, p_max / vel);
+
+  float id_n = i_n / sqrtf(2.0);
+  float id = MIN(id_n, id_n * vele_n * vel_boost / vel);
+
+  float iq_max = 0;
+  float iq_min = 0;
+  
+  if(PIN(vel) > 0.0){
+    iq_max = MIN(id_n * t_boost, id_n * vele_n * vel_boost / vel);
+    iq_min = -id_n * t_boost;
+  }
+  else{
+    iq_max = id_n * t_boost;
+    iq_min = -MIN(id_n * t_boost, id_n * vele_n * vel_boost / vel);
+  }
+
+  float t_max = iq_max * id / id_n / id_n * t_n;
+  float t_min = iq_min * id / id_n / id_n * t_n;
+  
+  if(PIN(in_mode) > 0){ // ipnut = torque
+    t = PIN(t);
+    t = CLAMP(t, t_min, t_max);
+    iq = t / t_n / id * id_n * id_n;
+    PIN(iq) = iq;
+  }
+  else{ // input = iq
+    iq = PIN(iq);
+    iq = CLAMP(iq, iq_min, iq_max);
+    t = iq * id / id_n / id_n * t_n;
+    PIN(t) = t;
+  }
+  slip = slip_n / t_n * t;
+
+  if(PIN(vel_mode) > 0){ // input = velm
+    PIN(vele) = PIN(vel) + slip;
+    PIN(velm) = PIN(vel);
+  }
+  else{ // input = vele
+    PIN(vele) = PIN(vel);
+    PIN(velm) = PIN(vel) - slip;
+  }
+
+  PIN(slip) = slip;
+  PIN(id) = id;
+  PIN(iq_max) = iq_max;
+  PIN(iq_min) = iq_min;
+  PIN(t_max) = t_max;
+  PIN(t_min) = t_min;  
+}
+
+hal_comp_t field_comp_struct = {
+    .name      = "field",
+    .nrt       = 0,
+    .rt        = rt_func,
+    .frt       = 0,
+    .nrt_init  = nrt_init,
+    .rt_start  = 0,
+    .frt_start = 0,
+    .rt_stop   = 0,
+    .frt_stop  = 0,
+    .ctx_size  = 0,
+    .pin_count = sizeof(struct field_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
+};
diff --git a/shared/comps/fmove.c b/shared/comps/fmove.c
new file mode 100644
index 00000000..86a5ceff
--- /dev/null
+++ b/shared/comps/fmove.c
@@ -0,0 +1,152 @@
+#include "commands.h"
+#include "hal.h"
+#include "math.h"
+#include "defines.h"
+#include "angle.h"
+
+HAL_COMP(fmove);
+
+HAL_PIN(en);
+
+HAL_PIN(gravity);
+HAL_PIN(real_mass);
+HAL_PIN(virtual_mass);
+HAL_PIN(damping);
+HAL_PIN(friction);
+
+HAL_PIN(min_pos);
+HAL_PIN(max_pos);
+HAL_PIN(max_vel);
+HAL_PIN(max_acc);
+HAL_PIN(max_usr_vel);
+HAL_PIN(max_usr_acc);
+HAL_PIN(scale);
+
+HAL_PIN(force_in);
+HAL_PIN(force);
+HAL_PIN(force_offset);
+HAL_PIN(force_offset_lpf);
+HAL_PIN(pos);
+HAL_PIN(mpos);
+HAL_PIN(vel);
+HAL_PIN(vel_old);
+HAL_PIN(acc);
+HAL_PIN(target);
+
+HAL_PIN(force_time);
+HAL_PIN(force_timer);
+HAL_PIN(force_th);
+
+HAL_PIN(print_freq);
+HAL_PIN(print_timer);
+
+HAL_PIN(mode);
+
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
+  struct fmove_pin_ctx_t *pins = (struct fmove_pin_ctx_t *)pin_ptr;
+  PIN(force_time) = 5.0;
+  PIN(max_acc) = 1;
+  PIN(max_vel) = 0.1;
+  PIN(max_usr_acc) = 2;
+  PIN(max_usr_vel) = 0.1;
+  PIN(min_pos) = 0.0;
+  PIN(max_pos) = 0.5;
+  PIN(real_mass) = 0.0;
+  PIN(virtual_mass) = 1.0;
+  PIN(damping) = 1.0;
+  PIN(friction) = 0.01;
+  PIN(scale) = 1000.0 / 25.0 * 2.0 * M_PI * 2.0;
+  PIN(force_th) = 0.1;
+  PIN(gravity) = 0.0;
+  PIN(force_offset_lpf) = 0.001;
+}
+
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
+  struct fmove_pin_ctx_t *pins = (struct fmove_pin_ctx_t *)pin_ptr;
+
+  PIN(vel_old) = PIN(vel);
+
+  PIN(force) = PIN(force_in) - PIN(gravity) * PIN(real_mass) - PIN(acc) * PIN(real_mass);
+  PIN(force) -= PIN(force_offset);
+  PIN(force_offset) += PIN(force) * PIN(force_offset_lpf) * period;
+  PIN(force) -= SIGN(PIN(vel)) * PIN(friction) + PIN(vel) * PIN(damping);
+
+  PIN(force_timer) += period;
+  if(ABS(PIN(force)) > PIN(force_th)){
+    PIN(force_timer) = 0.0;
+    PIN(mode) = 1;
+  }
+  else if(PIN(mode) > 0 && ABS(PIN(vel)) > PIN(max_usr_vel) * 0.05){
+    PIN(force_timer) = 0.0;
+  }
+  else if(PIN(force_timer) > PIN(force_time)){
+    PIN(force_timer) = PIN(force_time);
+    PIN(mode) = 0;
+  }
+
+  PIN(target) = CLAMP(PIN(target), PIN(min_pos), PIN(max_pos));
+
+  switch((int) PIN(mode)){
+    case 0: // auto move
+      PIN(vel) = SIGN(PIN(target) - PIN(pos)) * sqrtf(ABS(PIN(target) - PIN(pos)) * 2.0 * PIN(max_acc));
+      PIN(vel) = CLAMP(PIN(vel), PIN(vel_old) - PIN(max_acc) * period, PIN(vel_old) + PIN(max_acc) * period);
+      PIN(vel) = LIMIT(PIN(vel), PIN(max_vel));
+    break;
+    case 1: // force move
+      PIN(acc) = PIN(force) / PIN(virtual_mass);
+      PIN(acc) = LIMIT(PIN(acc), PIN(max_usr_acc));
+      PIN(vel) += PIN(acc) * period;
+      PIN(vel) = CLAMP(PIN(vel), PIN(vel_old) - PIN(max_usr_acc) * period, PIN(vel_old) + PIN(max_usr_acc) * period);
+      PIN(vel) = LIMIT(PIN(vel), PIN(max_usr_vel));
+    break;
+  }
+
+  PIN(vel) = CLAMP(PIN(vel), -sqrtf(ABS(PIN(pos) - PIN(min_pos)) * 2.0 * MAX(PIN(max_acc), PIN(max_usr_acc))), sqrtf(ABS(PIN(pos) - PIN(max_pos)) * 2.0 * MAX(PIN(max_acc), PIN(max_usr_acc))));
+  PIN(acc) = (PIN(vel) - PIN(vel_old)) / period;
+
+  PIN(pos) += PIN(vel) * period;
+  PIN(pos) = CLAMP(PIN(pos), PIN(min_pos), PIN(max_pos));
+  PIN(mpos) = mod(PIN(pos) * PIN(scale));
+  PIN(print_timer) += period;
+
+  if(PIN(en) <= 0.0){
+    PIN(pos) = 0.0;
+    PIN(mpos) = 0.0;
+    PIN(vel) = 0.0;
+  }
+}
+
+static void nrt_func(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
+  struct fmove_pin_ctx_t *pins = (struct fmove_pin_ctx_t *)pin_ptr;
+  if(PIN(print_freq) > 0.0){
+    if(PIN(print_timer) > 1.0 / PIN(print_freq)){
+      PIN(print_timer) = 0.0;
+      if(PIN(mode) > 0.0){
+        printf("force_move %f\n", PIN(pos));
+      }
+      else if(ABS(PIN(target) - PIN(pos)) < 0.01 & ABS(PIN(vel)) < PIN(max_vel) * 0.1){
+        printf("on_target %f\n", PIN(pos));
+      }
+      else{
+        printf("moving %f\n", PIN(pos));
+      }
+    }
+  }
+  else{
+    PIN(print_timer) = 0.0;
+  }
+}
+
+hal_comp_t fmove_comp_struct = {
+    .name      = "fmove",
+    .nrt       = nrt_func,
+    .rt        = rt_func,
+    .frt       = 0,
+    .nrt_init  = nrt_init,
+    .rt_start  = 0,
+    .frt_start = 0,
+    .rt_stop   = 0,
+    .frt_stop  = 0,
+    .ctx_size  = 0,
+    .pin_count = sizeof(struct fmove_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
+};
\ No newline at end of file
diff --git a/shared/comps/gain.c b/shared/comps/gain.c
new file mode 100644
index 00000000..7acb8bbb
--- /dev/null
+++ b/shared/comps/gain.c
@@ -0,0 +1,35 @@
+#include "commands.h"
+#include "hal.h"
+#include "math.h"
+#include "defines.h"
+#include "angle.h"
+
+HAL_COMP(gain);
+
+HAL_PIN(vel);
+HAL_PIN(max_vel);
+
+HAL_PIN(scale);
+
+
+
+static void rt_func(float  gainriod, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
+  // struct gain_ctx_t * ctx = (struct gain_ctx_t *)ctx_ptr;
+  struct gain_pin_ctx_t *pins = (struct gain_pin_ctx_t *)pin_ptr;
+
+  PIN(scale) = CLAMP(ABS(PIN(vel) / MAX(PIN(max_vel), 0.1)), 0.0, 1.0);
+}
+
+hal_comp_t gain_comp_struct = {
+    .name      = "gain",
+    .nrt       = 0,
+    .rt        = rt_func,
+    .frt       = 0,
+    .nrt_init  = 0,
+    .rt_start  = 0,
+    .frt_start = 0,
+    .rt_stop   = 0,
+    .frt_stop  = 0,
+    .ctx_size  = 0,
+    .pin_count = sizeof(struct gain_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
+};
diff --git a/shared/comps/hal_test.c b/shared/comps/hal_test.c
index 6ff9ae09..41b29a89 100644
--- a/shared/comps/hal_test.c
+++ b/shared/comps/hal_test.c
@@ -5,7 +5,7 @@ HAL_COMP(hal_test);
 HAL_PIN(rt_wait);
 HAL_PIN(frt_wait);
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct rev_ctx_t * ctx = (struct rev_ctx_t *)ctx_ptr;
   struct hal_test_pin_ctx_t *pins = (struct hal_test_pin_ctx_t *)pin_ptr;
 
@@ -16,7 +16,7 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
   }
 }
 
-static void frt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void frt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct rev_ctx_t * ctx = (struct rev_ctx_t *)ctx_ptr;
   struct hal_test_pin_ctx_t *pins = (struct hal_test_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/home.c b/shared/comps/home.c
index c3cb4d32..0cd8bf0f 100644
--- a/shared/comps/home.c
+++ b/shared/comps/home.c
@@ -6,57 +6,56 @@
 
 HAL_COMP(home);
 
-HAL_PIN(en);
-
 HAL_PIN(home_vel);
 HAL_PIN(home_acc);
-HAL_PIN(home_pos);
 
 HAL_PIN(pos_in);
 HAL_PIN(pos_out);
-HAL_PIN(vel_cmd);
+HAL_PIN(vel);
 
 HAL_PIN(home_in);
 HAL_PIN(home_polarity);
 
-HAL_PIN(limit_in0);
-HAL_PIN(limit_in1);
-HAL_PIN(limit_polarity);
-
-HAL_PIN(state);
-HAL_PIN(en_out);
-HAL_PIN(target);
+HAL_PIN(offset);
 HAL_PIN(home_offset);
 
-HAL_PIN(re_home);
-HAL_PIN(limit_fault);
+HAL_PIN(state);
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr){
+HAL_PIN(en_in);
+HAL_PIN(en_out);
+
+HAL_PIN(re_home);
+
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr){
   struct home_pin_ctx_t *pins = (struct home_pin_ctx_t *)pin_ptr;
   PIN(state) = 0;
   PIN(re_home) = 1;
   PIN(home_polarity) = 1.0;
+  PIN(home_vel) = 2.0 * M_PI;
+  PIN(home_acc) = 2.0 * M_PI / 0.1;
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   //struct home_ctx_t *ctx      = (struct home_ctx_t *)ctx_ptr;
   struct home_pin_ctx_t *pins = (struct home_pin_ctx_t *)pin_ptr;
 
   float vel = 0.0;
 
-  if(PIN(en) <= 0.0){
+  if(PIN(en_in) <= 0.0){
     if(PIN(re_home) > 0.0){
       PIN(state) = 0;
     }
     PIN(en_out) = 0;
-    PIN(limit_fault) = 0;
   }
 
   switch((int)PIN(state)){
     case 0: // not homed
-      if(PIN(en) > 0.0){
+      if(PIN(en_in) > 0.0){
         PIN(state) = 1;
         PIN(en_out) = 0;
+        PIN(offset) = 0.0;
+        PIN(home_offset) = 0.0;
+        PIN(vel) = 0.0;
       }
     break;
 
@@ -75,9 +74,11 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
     case 2: // search home falling
       if(PIN(home_polarity) <= 0.0 && PIN(home_in) > 0.0){
         PIN(state) = 3;
+        PIN(home_offset) = PIN(offset);
       }
       else if(PIN(home_polarity) > 0.0 && PIN(home_in) <= 0.0){
         PIN(state) = 3;
+        PIN(home_offset) = PIN(offset);
       }
       else{
         vel = -PIN(home_vel);
@@ -85,47 +86,27 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
     break;
 
     case 3: // set home pos
-      PIN(target) = PIN(home_pos);
-      PIN(state) = 4;
-    break;
+      vel = SIGN(PIN(home_offset) - PIN(offset)) * sqrtf(ABS(PIN(home_offset) - PIN(offset)) * 2.0 * PIN(home_acc));
 
-
-    case 4: // go to home pos
-      vel = PIN(target) * 10;
-      if(ABS(PIN(target)) < 0.0001){
-        PIN(state) = 5;
+      if(ABS(PIN(offset) - PIN(home_offset)) < 0.0001 && PIN(vel) < PIN(home_vel) * 0.001){
+        PIN(state) = 4;
       }
     break;
 
-    case 5: // homed
+    case 4: // homed
       PIN(en_out) = 1;
-
-      if(PIN(limit_polarity) > 0.0 && (PIN(limit_in0) > 0.0 || PIN(limit_in1) > 0.0)){
-        PIN(state) = 6;
-        PIN(en_out) = 0;
-        PIN(limit_fault) = 1;
-      }
-      else if(PIN(limit_polarity) <= 0.0 && (PIN(limit_in0) <= 0.0 || PIN(limit_in1) <= 0.0)){
-        PIN(state) = 6;
-        PIN(en_out) = 0;
-        PIN(limit_fault) = 1;
-      }
-    break;
-
-    case 6: // fault
-      PIN(en_out) = 0;
-      PIN(limit_fault) = 1;
+      PIN(offset) = PIN(home_offset);
+      PIN(vel) = 0.0;
     break;
   }
 
   vel = LIMIT(vel, ABS(PIN(home_vel)));
-  PIN(vel_cmd) = CLAMP(vel, PIN(vel_cmd) - PIN(home_acc) * period, PIN(vel_cmd) + PIN(home_acc) * period);
+  PIN(vel) = CLAMP(vel, PIN(vel) - PIN(home_acc) * period, PIN(vel) + PIN(home_acc) * period);
 
-  PIN(target) -= PIN(vel_cmd) * period;
-  PIN(home_offset) += PIN(vel_cmd) * period;
-  PIN(pos_out) = PIN(pos_in) + PIN(home_offset);
-  PIN(pos_out) = mod(PIN(pos_out));
-  
+  PIN(offset) += PIN(vel) * period;
+  PIN(offset) = mod(PIN(offset));
+
+  PIN(pos_out) = mod(PIN(pos_in) + PIN(offset));
 }
 
 hal_comp_t home_comp_struct = {
diff --git a/shared/comps/idq.c b/shared/comps/idq.c
index adb2ef33..e68f3c9c 100644
--- a/shared/comps/idq.c
+++ b/shared/comps/idq.c
@@ -26,7 +26,7 @@ HAL_PIN(u);
 HAL_PIN(v);
 HAL_PIN(w);
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct idq_ctx_t * ctx = (struct idq_ctx_t *)ctx_ptr;
   struct idq_pin_ctx_t *pins = (struct idq_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/idx_home.c b/shared/comps/idx_home.c
index b356f582..b8aaddb2 100644
--- a/shared/comps/idx_home.c
+++ b/shared/comps/idx_home.c
@@ -19,7 +19,7 @@ struct idx_home_ctx_t {
   int waitabs;
 };
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct idx_home_ctx_t *ctx      = (struct idx_home_ctx_t *)ctx_ptr;
   struct idx_home_pin_ctx_t *pins = (struct idx_home_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/iit.c b/shared/comps/iit.c
index 47494cbb..1a870b77 100644
--- a/shared/comps/iit.c
+++ b/shared/comps/iit.c
@@ -22,7 +22,7 @@ struct iit_ctx_t {
   float e;
 };
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct iit_ctx_t *ctx      = (struct iit_ctx_t *)ctx_ptr;
   struct iit_pin_ctx_t *pins = (struct iit_pin_ctx_t *)pin_ptr;
   PIN(amb_temp) = 30.0;
@@ -33,7 +33,7 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   ctx->e = 0.0;
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct iit_ctx_t *ctx      = (struct iit_ctx_t *)ctx_ptr;
   struct iit_pin_ctx_t *pins = (struct iit_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/iit_old.c b/shared/comps/iit_old.c
index 4ac14eb8..7f013c6f 100644
--- a/shared/comps/iit_old.c
+++ b/shared/comps/iit_old.c
@@ -27,7 +27,7 @@ struct iit_ctx_t {
   float mot_temp;
 };
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct iit_ctx_t *ctx      = (struct iit_ctx_t *)ctx_ptr;
   struct iit_pin_ctx_t *pins = (struct iit_pin_ctx_t *)pin_ptr;
   ctx->mot_temp              = 25.0;
@@ -49,7 +49,7 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   PIN(flow)                  = 0.0;
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct iit_ctx_t *ctx      = (struct iit_ctx_t *)ctx_ptr;
   struct iit_pin_ctx_t *pins = (struct iit_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/jog.c b/shared/comps/jog.c
index 57519ca8..9ffa7359 100644
--- a/shared/comps/jog.c
+++ b/shared/comps/jog.c
@@ -28,12 +28,12 @@ COMMAND("jogl", jog_left, "Jog left");
 COMMAND("jogr", jog_right, "Jog right");
 COMMAND("jogx", jog_stop, "Stop jog");
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   jog_timeout = 0.0;
   jog         = 0.0;
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct jog_pin_ctx_t *pins = (struct jog_pin_ctx_t *)pin_ptr;
 
   if(jog_timeout < 0.75) {
diff --git a/shared/comps/linrev.c b/shared/comps/linrev.c
index daed8983..cb2b1490 100644
--- a/shared/comps/linrev.c
+++ b/shared/comps/linrev.c
@@ -41,7 +41,7 @@ struct linrev_ctx_t {
   int32_t rev;  //current multiturn
 };
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct linrev_ctx_t *ctx      = (struct linrev_ctx_t *)ctx_ptr;
   struct linrev_pin_ctx_t *pins = (struct linrev_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/mad.c b/shared/comps/mad.c
new file mode 100644
index 00000000..0f772ab1
--- /dev/null
+++ b/shared/comps/mad.c
@@ -0,0 +1,30 @@
+#include "hal.h"
+
+HAL_COMP(mad);
+
+HAL_PIN(in);
+HAL_PIN(mult);
+HAL_PIN(add);
+
+HAL_PIN(out);
+
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
+  struct mad_pin_ctx_t *pins = (struct mad_pin_ctx_t *)pin_ptr;
+
+  PIN(out) = PIN(in) * PIN(mult) + PIN(add);
+}
+
+const hal_comp_t mad_comp_struct = {
+    .name      = "mad",
+    .nrt       = 0,
+    .rt        = rt_func,
+    .frt       = 0,
+    .nrt_init  = 0,
+    .hw_init   = 0,
+    .rt_start  = 0,
+    .frt_start = 0,
+    .rt_stop   = 0,
+    .frt_stop  = 0,
+    .ctx_size  = 0,
+    .pin_count = sizeof(struct mad_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
+};
diff --git a/shared/comps/move.c b/shared/comps/move.c
index 289c8799..ee445c29 100644
--- a/shared/comps/move.c
+++ b/shared/comps/move.c
@@ -11,7 +11,7 @@ HAL_PIN(rev);
 HAL_PIN(scale);
 HAL_PIN(out);
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct move_pin_ctx_t *pins = (struct move_pin_ctx_t *)pin_ptr;
   PIN(out)                    = PIN(scale) * PIN(fwd) + PIN(scale) * PIN(rev) * -1;
 }
diff --git a/shared/comps/mpid.c b/shared/comps/mpid.c
new file mode 100644
index 00000000..d59e4e9b
--- /dev/null
+++ b/shared/comps/mpid.c
@@ -0,0 +1,92 @@
+#include "commands.h"
+#include "hal.h"
+#include "math.h"
+#include "defines.h"
+#include "angle.h"
+
+HAL_COMP(mpid);
+
+HAL_PIN(pos_ext_cmd);
+HAL_PIN(pos_fb);
+HAL_PIN(old_pos_ext_cmd);
+HAL_PIN(old_pos_fb);
+HAL_PIN(pos_error);
+
+HAL_PIN(vel_ext_cmd);
+HAL_PIN(vel_fb);
+HAL_PIN(vel_error);
+HAL_PIN(vel_cmd);
+
+HAL_PIN(acc_cmd);
+
+HAL_PIN(torque_ext_cmd);
+HAL_PIN(torque_sum);
+HAL_PIN(torque_cmd);
+
+HAL_PIN(min_pos_error);
+HAL_PIN(max_vel);
+HAL_PIN(max_acc);
+HAL_PIN(max_torque);
+
+HAL_PIN(pos_p);
+HAL_PIN(vel_i);
+HAL_PIN(vel_p);
+HAL_PIN(j);
+HAL_PIN(scale);
+
+HAL_PIN(en);
+
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
+  // struct mpid_ctx_t *ctx      = (struct mpid_ctx_t *)ctx_ptr;
+  struct mpid_pin_ctx_t *pins = (struct mpid_pin_ctx_t *)pin_ptr;
+
+  if(PIN(en) > 0.0){
+    PIN(pos_error) += minus(PIN(pos_ext_cmd), PIN(old_pos_ext_cmd)) * PIN(scale);
+    PIN(pos_error) -= minus(PIN(pos_fb), PIN(old_pos_fb));
+    
+    PIN(vel_cmd) = LIMIT(PIN(pos_error) * PIN(pos_p), PIN(max_vel));
+
+    if(ABS(PIN(pos_error)) < PIN(min_pos_error)){
+      PIN(vel_cmd) = 0.0;
+    }
+
+    PIN(vel_cmd) += PIN(vel_ext_cmd);
+
+    PIN(vel_error) = PIN(vel_cmd) - PIN(vel_fb);
+
+    PIN(acc_cmd) = LIMIT(PIN(vel_error) * PIN(vel_p), PIN(max_acc));
+
+    PIN(torque_cmd) = LIMIT(PIN(acc_cmd) * PIN(j), PIN(max_torque));
+
+    PIN(torque_sum) += PIN(vel_error) * PIN(vel_i) * period;
+    PIN(torque_sum) = CLAMP(PIN(torque_sum), -PIN(max_torque) - PIN(torque_cmd), PIN(max_torque) - PIN(torque_cmd));
+
+    PIN(torque_cmd) += PIN(torque_ext_cmd);
+    PIN(torque_cmd) += PIN(torque_sum);
+  }
+  else{
+    PIN(pos_error) = 0.0;
+    PIN(vel_cmd) = 0.0;
+    PIN(vel_error) = 0.0;
+    PIN(acc_cmd) = 0.0;
+    PIN(torque_sum) = 0.0;
+    PIN(torque_cmd) = 0.0;
+  }
+
+  PIN(old_pos_fb) = PIN(pos_fb);
+  PIN(old_pos_ext_cmd) = PIN(pos_ext_cmd);
+}
+
+hal_comp_t mpid_comp_struct = {
+    .name      = "mpid",
+    .nrt       = 0,
+    .rt        = rt_func,
+    .frt       = 0,
+    .nrt_init  = 0,
+    .rt_start  = 0,
+    .frt_start = 0,
+    .rt_stop   = 0,
+    .frt_stop  = 0,
+    .ctx_size  = 0,
+    .pin_count = sizeof(struct mpid_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
+};
\ No newline at end of file
diff --git a/shared/comps/mux.c b/shared/comps/mux.c
index 72db672b..51f9069d 100644
--- a/shared/comps/mux.c
+++ b/shared/comps/mux.c
@@ -9,10 +9,10 @@ HAL_PIN(mux);
 
 
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct mux_pin_ctx_t *pins = (struct mux_pin_ctx_t *)pin_ptr;
   for(int i = 0; i < 10; i++){
-    PINA(out, i) = PINA(in, i + (int)MIN(MAX(PIN(mux), 0.0), 8.0 - 1.0));
+    PINA(out, i) = PINA(in, i + (int)MIN(MAX(PIN(mux), 0.0), 7.0) * 10);
   }
 }
 
diff --git a/shared/comps/not.c b/shared/comps/not.c
index 7c49a2b0..d5bd5375 100644
--- a/shared/comps/not.c
+++ b/shared/comps/not.c
@@ -5,7 +5,7 @@ HAL_COMP(not);
 HAL_PIN(in);
 HAL_PIN(out);
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct not_pin_ctx_t *pins = (struct not_pin_ctx_t *)pin_ptr;
 
   PIN(out) = PIN(in) <= 0.0;
diff --git a/shared/comps/or.c b/shared/comps/or.c
index 76de38e7..56f55c74 100644
--- a/shared/comps/or.c
+++ b/shared/comps/or.c
@@ -9,7 +9,7 @@ HAL_PIN(in3);
 
 HAL_PIN(out);
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct or_pin_ctx_t *pins = (struct or_pin_ctx_t *)pin_ptr;
 
   PIN(out) = (PIN(in0) > 0.0) | (PIN(in1) > 0.0) | (PIN(in2) > 0.0) | (PIN(in3) > 0.0);
diff --git a/shared/comps/pe.c b/shared/comps/pe.c
index 065200c7..11ebe976 100644
--- a/shared/comps/pe.c
+++ b/shared/comps/pe.c
@@ -25,7 +25,7 @@ HAL_PIN(p_el_ac);
 HAL_PIN(p_m);
 HAL_PIN(p_t);
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct pe_ctx_t * ctx = (struct pe_ctx_t *)ctx_ptr;
   struct pe_pin_ctx_t *pins = (struct pe_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/pid.c b/shared/comps/pid.c
index 2f965284..f3c45c4b 100644
--- a/shared/comps/pid.c
+++ b/shared/comps/pid.c
@@ -60,6 +60,11 @@ HAL_PIN(vel_p);  // (1/s)
 HAL_PIN(vel_i);
 HAL_PIN(vel_g);
 
+HAL_PIN(scale);
+HAL_PIN(pos_p_scale);
+HAL_PIN(vel_p_scale);
+HAL_PIN(vel_i_scale);
+
 HAL_PIN(j_lpf);
 
 HAL_PIN(acc_g);
@@ -91,7 +96,7 @@ struct pid_ctx_t {
   float acc_cmd_lp;
 };
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct pid_ctx_t *ctx      = (struct pid_ctx_t *)ctx_ptr;
   struct pid_pin_ctx_t *pins = (struct pid_pin_ctx_t *)pin_ptr;
 
@@ -108,9 +113,14 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   PIN(vel_g)      = 1.0;
   PIN(acc_g)      = 1.0;
   PIN(g)          = 0.99;  // model limit scaling
+
+  PIN(scale) = 1.0;
+  PIN(pos_p_scale) = 1.0;
+  PIN(vel_p_scale) = 1.0;
+  PIN(vel_i_scale) = 1.0;
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct pid_ctx_t *ctx      = (struct pid_ctx_t *)ctx_ptr;
   struct pid_pin_ctx_t *pins = (struct pid_pin_ctx_t *)pin_ptr;
 
@@ -150,6 +160,10 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
   float vel_g = CLAMP(PIN(vel_g), 0.0, 1.0);
   float acc_g = CLAMP(PIN(acc_g), 0.0, 1.0);
 
+  float scale = CLAMP(PIN(scale), 0, 1);
+  pos_p *= scale + (1 - scale) * PIN(pos_p_scale);
+  vel_p *= scale + (1 - scale) * PIN(vel_p_scale);
+  vel_i *= scale + (1 - scale) * PIN(vel_i_scale);  
 
   float pos_en    = PIN(pos_en);
   float vel_en    = PIN(vel_en);
@@ -241,6 +255,7 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
     acc_sat         = 0.0;
     torque_sat      = 0.0;
     ctx->sat        = 0.0;
+    PIN(torque_cmd) = 0.0;
   }
 
   PIN(pos_error)      = pos_error;
diff --git a/shared/comps/pmsm.c b/shared/comps/pmsm.c
index 76a4ec84..8cd89cf8 100644
--- a/shared/comps/pmsm.c
+++ b/shared/comps/pmsm.c
@@ -47,47 +47,19 @@ HAL_PIN(iq);
 HAL_PIN(psi_d);
 HAL_PIN(psi_q);
 HAL_PIN(torque);
-HAL_PIN(drop_q);
-HAL_PIN(drop_d);
-HAL_PIN(drop_v);
-HAL_PIN(drop_exp);
 
-struct pmsm_ctx_t {
-  float id;
-  float iq;
-};
-
-
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
-  struct pmsm_ctx_t *ctx      = (struct pmsm_ctx_t *)ctx_ptr;
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
+  // struct pmsm_ctx_t *ctx      = (struct pmsm_ctx_t *)ctx_ptr;
   struct pmsm_pin_ctx_t *pins = (struct pmsm_pin_ctx_t *)pin_ptr;
-
-  ctx->id = 0.0;
-  ctx->iq = 0.0;
-
   PIN(psi)       = 0.01;
   PIN(r)         = 1.0;
   PIN(ld)        = 0.001;
   PIN(lq)        = 0.001;
   PIN(polecount) = 1.0;
-
-  PIN(drop_v)   = 0.7;
-  PIN(drop_exp) = 0.04;
 }
 
-// TODO: ifdef Troller, move to curpid
-float drop(float i, float v) {
-  if(i < -v) {
-    return (-1.0);
-  }
-  if(i > v) {
-    return (1.0);
-  }
-  return (i / v);
-}
-
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
-  struct pmsm_ctx_t *ctx      = (struct pmsm_ctx_t *)ctx_ptr;
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
+  // struct pmsm_ctx_t *ctx      = (struct pmsm_ctx_t *)ctx_ptr;
   struct pmsm_pin_ctx_t *pins = (struct pmsm_pin_ctx_t *)pin_ptr;
 
 
@@ -99,46 +71,36 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
   float uq    = PIN(uq);
   float psi_m = MAX(PIN(psi), 0.01);
   float r     = MAX(PIN(r), 0.01);
+  float id    = PIN(id);
+  float iq    = PIN(iq);
 
-  float psi_d = ld * ctx->id + psi_m;
-  float psi_q = lq * ctx->iq;
+  float psi_d = ld * id + psi_m;
+  float psi_q = lq * iq;
 
   float indd = vel_e * psi_q;  // todo redundant calculation
   float indq = vel_e * psi_d;
 
-  float dropv = PIN(drop_v);
-  float drope = PIN(drop_exp);
-  float dropq = dropv * drop(ctx->iq, drope);
-  float dropd = dropv * drop(ctx->id, drope);
+  id += (ud - r * id + indd) / ld * period / 4.0;
+  iq += (uq - r * iq - indq) / lq * period / 4.0;
 
-  uq -= dropq;
-  ud -= dropd;
+  id += (ud - r * id + indd) / ld * period / 4.0;
+  iq += (uq - r * iq - indq) / lq * period / 4.0;
 
+  id += (ud - r * id + indd) / ld * period / 4.0;
+  iq += (uq - r * iq - indq) / lq * period / 4.0;
 
-  ctx->id += (ud - r * ctx->id + indd) / ld * period / 4.0;
-  ctx->iq += (uq - r * ctx->iq - indq) / lq * period / 4.0;
+  id += (ud - r * id + indd) / ld * period / 4.0;
+  iq += (uq - r * iq - indq) / lq * period / 4.0;
 
-  ctx->id += (ud - r * ctx->id + indd) / ld * period / 4.0;
-  ctx->iq += (uq - r * ctx->iq - indq) / lq * period / 4.0;
+  float t = 3.0 / 2.0 * p * (psi_m * iq + (ld - lq) * id * iq);
 
-  ctx->id += (ud - r * ctx->id + indd) / ld * period / 4.0;
-  ctx->iq += (uq - r * ctx->iq - indq) / lq * period / 4.0;
-
-  ctx->id += (ud - r * ctx->id + indd) / ld * period / 4.0;
-  ctx->iq += (uq - r * ctx->iq - indq) / lq * period / 4.0;
-
-  float t = 3.0 / 2.0 * p * (psi_m * ctx->iq + (ld - lq) * ctx->id * ctx->iq);
-
-  PIN(id)     = ctx->id;
-  PIN(iq)     = ctx->iq;
+  PIN(id)     = id;
+  PIN(iq)     = iq;
   PIN(indd)   = indd;
   PIN(indq)   = indq;
   PIN(psi_d)  = psi_d;
   PIN(psi_q)  = psi_q;
   PIN(torque) = t;
-
-  PIN(drop_q) = dropq;
-  PIN(drop_d) = dropd;
 }
 
 hal_comp_t pmsm_comp_struct = {
@@ -151,6 +113,6 @@ hal_comp_t pmsm_comp_struct = {
     .frt_start = 0,
     .rt_stop   = 0,
     .frt_stop  = 0,
-    .ctx_size  = sizeof(struct pmsm_ctx_t),
+    .ctx_size  = 0,
     .pin_count = sizeof(struct pmsm_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
 };
diff --git a/shared/comps/pmsm_limits.c b/shared/comps/pmsm_limits.c
index c32f32c6..1c2c3dd5 100644
--- a/shared/comps/pmsm_limits.c
+++ b/shared/comps/pmsm_limits.c
@@ -37,7 +37,7 @@ HAL_PIN(abs_max_vel);
 HAL_PIN(iq);
 HAL_PIN(indq);
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct pmsm_limits_ctx_t * ctx = (struct pmsm_limits_ctx_t *)ctx_ptr;
   struct pmsm_limits_pin_ctx_t *pins = (struct pmsm_limits_pin_ctx_t *)pin_ptr;
 
@@ -48,7 +48,7 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   PIN(polecount) = 1.0;
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct pmsm_limits_ctx_t * ctx = (struct pmsm_limits_ctx_t *)ctx_ptr;
   struct pmsm_limits_pin_ctx_t *pins = (struct pmsm_limits_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/pmsm_ttc.c b/shared/comps/pmsm_ttc.c
index 7532625e..80ac7f98 100644
--- a/shared/comps/pmsm_ttc.c
+++ b/shared/comps/pmsm_ttc.c
@@ -33,7 +33,7 @@ HAL_PIN(torque);
 // cur cmd out
 HAL_PIN(cur);
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct sim_ctx_t * ctx = (struct sim_ctx_t *)ctx_ptr;
   struct pmsm_ttc_pin_ctx_t *pins = (struct pmsm_ttc_pin_ctx_t *)pin_ptr;
 
@@ -42,7 +42,7 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   PIN(block_gain) = 0.0;
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct pmsm_ttc_ctx_t * ctx = (struct pmsm_ttc_ctx_t *)ctx_ptr;
   struct pmsm_ttc_pin_ctx_t *pins = (struct pmsm_ttc_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/pos_filter.c b/shared/comps/pos_filter.c
index cd837319..98c4aaea 100644
--- a/shared/comps/pos_filter.c
+++ b/shared/comps/pos_filter.c
@@ -15,7 +15,7 @@ HAL_PIN(bandwidth);
 
 HAL_PIN(en);
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   //struct pos_filter_ctx_t *ctx      = (struct pos_filter_ctx_t *)ctx_ptr;
   struct pos_filter_pin_ctx_t *pins = (struct pos_filter_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/psi.c b/shared/comps/psi.c
index aaa8a2e3..970cf927 100644
--- a/shared/comps/psi.c
+++ b/shared/comps/psi.c
@@ -11,7 +11,6 @@ HAL_PIN(u);
 HAL_PIN(v);
 HAL_PIN(w);
 HAL_PIN(polecount);
-HAL_PIN(drop);
 HAL_PIN(psi);
 HAL_PIN(max_psi);
 
@@ -19,16 +18,14 @@ struct psi_ctx_t {
   float max_f;
 };
 
-//HALL_PIN(polecount) = 1.0;
-//HALL_PIN(drop) = 0.8;
 
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct psi_ctx_t *ctx      = (struct psi_ctx_t *)ctx_ptr;
   struct psi_pin_ctx_t *pins = (struct psi_pin_ctx_t *)pin_ptr;
 
   float f  = ABS(PIN(vel)) / 2.0 / M_PI * PIN(polecount);
-  float u  = PIN(dc_volt) + PIN(drop);
+  float u  = PIN(dc_volt);
   float u2 = MAX3(PIN(u), PIN(v), PIN(w)) - MIN3(PIN(u), PIN(v), PIN(w));
   u        = MIN(u, u2) / M_SQRT3;  // TODO: fix
   if(f > 1.0) {
diff --git a/shared/comps/ramp.c b/shared/comps/ramp.c
index 41b1b5bc..cc058a51 100644
--- a/shared/comps/ramp.c
+++ b/shared/comps/ramp.c
@@ -9,7 +9,7 @@ HAL_PIN(vel_ext_cmd);
 
 HAL_PIN(en);
 
-HAL_PIN(load);
+HAL_PIN(scale);
 
 HAL_PIN(max_vel);
 HAL_PIN(max_acc);
@@ -20,16 +20,19 @@ HAL_PIN(vel_cmd);
 
 HAL_PIN(at_speed);
 HAL_PIN(en_out);
+HAL_PIN(en_timer);
+HAL_PIN(en_delay);
 
-
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct ramp_ctx_t *ctx      = (struct ramp_ctx_t *)ctx_ptr;
   struct ramp_pin_ctx_t *pins = (struct ramp_pin_ctx_t *)pin_ptr;
 
   PIN(at_speed_th) = 0.01;
+  PIN(en_delay) = 0.25;
+  PIN(scale) = 1.0;
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct ramp_ctx_t *ctx      = (struct ramp_ctx_t *)ctx_ptr;
   struct ramp_pin_ctx_t *pins = (struct ramp_pin_ctx_t *)pin_ptr;
   
@@ -40,8 +43,11 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
   }
 
   float vel_error = vel_ext_cmd - PIN(vel_cmd);
-
-  PIN(vel_cmd) += LIMIT(vel_error, PIN(max_acc) * period * (1 - CLAMP(ABS(PIN(load)), 0, 1)));
+  float max_acc = PIN(max_acc) * PIN(scale);
+  
+  if(PIN(en_timer) >= PIN(en_delay) * 0.9){
+    PIN(vel_cmd) += LIMIT(vel_error, max_acc * period);
+  }
 
   if(ABS(PIN(vel_ext_cmd) - PIN(vel_cmd)) < PIN(max_vel) * PIN(at_speed_th)){
     PIN(at_speed) = 1;
@@ -50,7 +56,13 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
     PIN(at_speed) = 0;
   }
 
-  if(ABS(PIN(vel_cmd)) > 0.1){
+  if((ABS(PIN(vel_cmd)) > 0.01) | (ABS(PIN(vel_ext_cmd)) > 0.01)){
+	PIN(en_timer) = CLAMP(PIN(en_timer) + period, 0, PIN(en_delay));
+  }
+  else{
+	PIN(en_timer) = CLAMP(PIN(en_timer) - period, 0, PIN(en_delay));
+  }
+  if(PIN(en_timer) > 0.0){
     PIN(en_out) = 1;
   }
   else{
@@ -70,4 +82,4 @@ hal_comp_t ramp_comp_struct = {
     .frt_stop  = 0,
     .ctx_size  = 0,
     .pin_count = sizeof(struct ramp_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
-};
\ No newline at end of file
+};
diff --git a/shared/comps/reslimit.c b/shared/comps/reslimit.c
index 3fe457a6..3daf4822 100644
--- a/shared/comps/reslimit.c
+++ b/shared/comps/reslimit.c
@@ -11,7 +11,7 @@ HAL_PIN(pos_out);
 
 HAL_PIN(res);
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct reslimit_ctx_t * ctx = (struct reslimit_ctx_t *)ctx_ptr;
   struct reslimit_pin_ctx_t *pins = (struct reslimit_pin_ctx_t *)pin_ptr;
   //TODO: offset at zerocross
diff --git a/shared/comps/rev.c b/shared/comps/rev.c
index 791ad33b..8ffd18fe 100644
--- a/shared/comps/rev.c
+++ b/shared/comps/rev.c
@@ -12,7 +12,7 @@ HAL_PIN(in_d);
 HAL_PIN(out_d);
 HAL_PIN(rev);
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct rev_ctx_t * ctx = (struct rev_ctx_t *)ctx_ptr;
   struct rev_pin_ctx_t *pins = (struct rev_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/rl.c b/shared/comps/rl.c
new file mode 100644
index 00000000..4280c28b
--- /dev/null
+++ b/shared/comps/rl.c
@@ -0,0 +1,144 @@
+#include "hal.h"
+#include "angle.h"
+#include "defines.h"
+
+HAL_COMP(rl);
+
+HAL_PIN(r_test_cur);
+HAL_PIN(l_test_volt);
+HAL_PIN(r_test_time);
+HAL_PIN(l_test_time);
+
+HAL_PIN(ud_cmd);
+HAL_PIN(ud_fb);
+HAL_PIN(id_fb);
+
+HAL_PIN(uq_cmd);
+HAL_PIN(uq_fb);
+HAL_PIN(iq_fb);
+
+HAL_PIN(ki);
+
+HAL_PIN(en);
+HAL_PIN(en_out);
+
+HAL_PIN(state);
+
+HAL_PIN(timer);
+HAL_PIN(counter);
+
+HAL_PIN(r);
+HAL_PIN(ur);
+HAL_PIN(ir);
+
+HAL_PIN(ld);
+HAL_PIN(lq);
+HAL_PIN(u0);
+HAL_PIN(u1);
+HAL_PIN(i0);
+HAL_PIN(i1);
+
+HAL_PIN(et);
+
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
+  struct rl_pin_ctx_t *pins = (struct rl_pin_ctx_t *)pin_ptr;
+
+  PIN(r_test_cur) = 5;
+  PIN(r_test_time) = 0.5;
+  PIN(l_test_volt) = 10;
+  PIN(l_test_time) = 1.5;
+  PIN(ki) = 10;
+}
+
+
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
+  //struct rl_ctx_t *ctx      = (struct rl_ctx_t *)ctx_ptr;
+  struct rl_pin_ctx_t *pins = (struct rl_pin_ctx_t *)pin_ptr;
+
+
+  if(PIN(en) <= 0.0){
+    PIN(state) = 0;
+  }
+
+  switch((int) PIN(state)){
+    case 0: // off
+      PIN(ud_cmd) = 0.0;
+      PIN(uq_cmd) = 0.0;
+      PIN(en_out) = 0.0;
+      PIN(timer) = 0.0;
+      
+      if(PIN(en) > 0.0){
+        PIN(state) = 1;
+      }
+      break;
+
+    case 1: // ramp up ud_cmd
+      PIN(en_out) = 1;
+      PIN(ud_cmd) += PIN(ki) * period * (PIN(r_test_cur) - PIN(id_fb));
+
+      PIN(timer) += period;
+
+      if(PIN(timer) > PIN(r_test_time)){
+        if(ABS(PIN(id_fb)) > ABS(PIN(r_test_cur)) * 0.1){
+          PIN(ur) = PIN(ur) * 0.99 + PIN(ud_fb) * 0.01;
+          PIN(ir) = PIN(ir) * 0.99 + PIN(id_fb) * 0.01;
+          PIN(r) = PIN(ur) / PIN(ir);
+        }
+      }
+
+      if(PIN(timer) > PIN(r_test_time) * 2.0){
+        PIN(state) = 2;
+        PIN(timer) = 0;
+        PIN(counter) = 1;
+      }
+      break;
+
+      case 2:
+        PIN(timer) += period;
+        PIN(counter) *= -1;
+
+        if(PIN(counter) > 0){
+          PIN(ud_cmd) = PIN(l_test_volt) * 0.1;
+          PIN(u1) = PIN(u1) * 0.998 + PIN(ud_fb) * 0.002;
+          PIN(i1) = PIN(i1) * 0.998 + PIN(id_fb) * 0.002;
+        }
+        else{
+          PIN(ud_cmd) = PIN(l_test_volt);
+          PIN(u0) = PIN(u0) * 0.998 + PIN(ud_fb) * 0.002;
+          PIN(i0) = PIN(i0) * 0.998 + PIN(id_fb) * 0.002;
+        }
+
+        float dv = (PIN(u1) - PIN(u0)) / 2.0;
+        float di = PIN(i1) - PIN(i0);
+
+        PIN(ld) = ABS(dv / di) * period;
+
+        if(PIN(timer) > PIN(l_test_time)){
+          PIN(state) = 3;
+        }
+        break;
+
+      case 3:
+        PIN(ud_cmd) = 0.0;
+        PIN(uq_cmd) = 0.0;
+        PIN(en_out) = 0.0;
+        PIN(timer) = 0.0;
+        PIN(et) = PIN(ld) / PIN(r);
+        PIN(en) = 0;
+  }
+}
+
+const hal_comp_t rl_comp_struct = {
+    .name      = "rl",
+    .nrt       = 0,
+    .rt        = rt_func,
+    .frt       = 0,
+    .nrt_init  = nrt_init,
+    .hw_init   = 0,
+    .rt_start  = 0,
+    .frt_start = 0,
+    .rt_stop   = 0,
+    .frt_stop  = 0,
+    .ctx_size  = 0,
+    .pin_count = sizeof(struct rl_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
+};
diff --git a/shared/comps/rlpsij.c b/shared/comps/rlpsij.c
new file mode 100644
index 00000000..1e1928fc
--- /dev/null
+++ b/shared/comps/rlpsij.c
@@ -0,0 +1,227 @@
+#include "commands.h"
+#include "hal.h"
+#include "math.h"
+#include "defines.h"
+#include "angle.h"
+
+HAL_COMP(rlpsij);
+
+HAL_PIN(r);
+HAL_PIN(l);
+HAL_PIN(psi);
+HAL_PIN(j);
+HAL_PIN(load);
+HAL_PIN(friction);
+HAL_PIN(damping);
+HAL_PIN(polecount);
+HAL_PIN(fb_offset);
+
+HAL_PIN(cmd_mode);
+HAL_PIN(q_cmd);
+HAL_PIN(d_cmd);
+HAL_PIN(iq_fb);
+HAL_PIN(id_fb);
+HAL_PIN(uq_fb);
+HAL_PIN(ud_fb);
+
+HAL_PIN(abs_pos_fb);
+HAL_PIN(com_pos);
+HAL_PIN(en_out);
+
+HAL_PIN(en);
+HAL_PIN(test_cur);
+HAL_PIN(test_vel);
+HAL_PIN(rl_ki);
+HAL_PIN(vel_ki);
+HAL_PIN(vel_kp);
+HAL_PIN(rl_time);
+HAL_PIN(vel_time);
+HAL_PIN(lpf);
+
+HAL_PIN(timer);
+HAL_PIN(multi_pos);
+HAL_PIN(state);
+HAL_PIN(vel);
+HAL_PIN(acc);
+HAL_PIN(last_pos);
+HAL_PIN(error_sum);
+HAL_PINA(i, 4);
+
+
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
+  struct rlpsij_pin_ctx_t *pins = (struct rlpsij_pin_ctx_t *)pin_ptr;
+  PIN(test_cur) = 1.0;
+  PIN(test_vel) = 2.0 * M_PI * 1.0;
+  PIN(rl_ki) = 10.0;
+  PIN(vel_ki) = 0.01;
+  PIN(vel_kp) = 0.1;
+  PIN(rl_time) = 1.0;
+  PIN(vel_time) = 4.0;
+  PIN(lpf) = 0.9955;
+}
+
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
+  // struct rlpsij_ctx_t * ctx = (struct rlpsij_ctx_t *)ctx_ptr;
+  struct rlpsij_pin_ctx_t *pins = (struct rlpsij_pin_ctx_t *)pin_ptr;
+
+  float vel = minus(PIN(abs_pos_fb), PIN(last_pos)) / period;
+  float acc = (vel - PIN(vel)) / period;
+  PIN(vel) = PIN(vel) * 0.99 + vel * (1.0 - 0.99);
+  PIN(acc) = PIN(acc) * 0.99 + acc * (1.0 - 0.99);
+  PIN(last_pos) = PIN(abs_pos_fb);
+
+  PIN(timer) += period;
+
+  float vel_cmd = 0.0;
+  float error = 0.0;
+
+  switch((int)PIN(state)){
+    case 0: // disabled
+      PIN(timer) = 0.0;
+      PIN(en_out) = 0.0;
+      
+      if(PIN(en) > 0.0){
+        PIN(state) = 1;
+      }
+    break;
+
+    case 1: // r, fb_offset
+      PIN(en_out) = 1.0;
+      PIN(com_pos) = 0.0;
+      PIN(cmd_mode) = 0.0; // volt mode
+
+      PIN(d_cmd) += PIN(rl_ki) * period * (PIN(test_cur) - PIN(id_fb));
+
+      if(PIN(id_fb) > PIN(test_cur) * 0.5){
+        PIN(r) = PIN(r) * PIN(lpf) + PIN(ud_fb) / PIN(id_fb) * (1.0 - PIN(lpf));
+      }
+
+      if(PIN(timer) > PIN(rl_time)){
+        PIN(fb_offset) = PIN(abs_pos_fb);
+        PIN(timer) = 0.0;
+        PIN(state) = 2.0;
+      }
+    break;
+
+    case 2: // l
+      PIN(timer) = 0.0;
+      PIN(state) = 3.0;
+      PIN(polecount) = 0.0;
+      PIN(d_cmd) = 0.0;
+    break;
+
+    case 3: // polecount
+      PIN(cmd_mode) = 1.0;
+      PIN(d_cmd) = PIN(test_cur);
+
+      PIN(com_pos) += 2.0 * M_PI * period;
+
+      if(PIN(com_pos) >= M_PI){
+        PIN(polecount) += 1.0;
+        PIN(com_pos) = -M_PI;
+      }
+      if(PIN(timer) > 1.0 && ABS(minus(PIN(abs_pos_fb), PIN(fb_offset))) < 2.0 * M_PI * 0.01){
+        PIN(d_cmd) = 0.0;
+        PIN(com_pos) = 0.0;
+        PIN(error_sum) = 0.0;
+        PIN(timer) = 0.0;
+        PIN(state) = 4.0;
+      }
+    break;
+
+    case 4: // psi, friction, damping, load
+      vel_cmd = PIN(test_vel) / 10.0;
+      int phase = 0;
+      if(PIN(timer) > PIN(vel_time) / 4.0){
+        phase = 1;
+        vel_cmd = PIN(test_vel);
+      }
+      if(PIN(timer) > PIN(vel_time) / 4.0 * 2.0)
+      {
+        phase = 2;
+        vel_cmd = -PIN(test_vel) / 10.0;
+      }
+      if(PIN(timer) > PIN(vel_time) / 4.0 * 3.0)
+      {
+        phase = 3;
+        vel_cmd = -PIN(test_vel);
+      }
+
+      PIN(com_pos) = mod(minus(PIN(abs_pos_fb), PIN(fb_offset)) * PIN(polecount));
+
+      error = vel_cmd - PIN(vel);
+      PIN(error_sum) += PIN(vel_ki) * period * (vel_cmd - PIN(vel));
+      PIN(error_sum) = LIMIT(PIN(error_sum), PIN(test_cur));
+      PIN(q_cmd) = PIN(vel_kp) * error + PIN(error_sum);
+      PIN(q_cmd) = LIMIT(PIN(q_cmd), PIN(test_cur));
+
+      if(ABS(vel_cmd - PIN(vel)) < PIN(test_vel) * 0.05){
+        float bemf = PIN(uq_fb) - PIN(iq_fb) * PIN(r);
+        PIN(psi) = PIN(psi) * PIN(lpf) + bemf / PIN(vel) / PIN(polecount) * (1.0 - PIN(lpf));
+
+        PINA(i, phase) = PINA(i, phase) * PIN(lpf) + PIN(iq_fb) * (1.0 - PIN(lpf));        
+      }
+
+      if(PIN(timer) > PIN(vel_time)){
+        PIN(load) = (PINA(i, 0) + PINA(i, 1) + PINA(i, 2) + PINA(i, 3)) / 4.0;
+        PIN(damping) = (PINA(i, 1) - PINA(i, 0) - PINA(i, 3) + PINA(i, 2)) / 2.0 / (PIN(test_vel) * 0.9);
+        PIN(friction) = (PINA(i, 1) - PIN(damping) * PIN(test_vel) - PINA(i, 3) - PIN(damping) * PIN(test_vel)) / 2.0;
+
+        PIN(load) *= 3.0 / 2.0 * PIN(polecount) * PIN(psi);
+        PIN(damping) *= 3.0 / 2.0 * PIN(polecount) * PIN(psi);
+        PIN(load) *= 3.0 / 2.0 * PIN(polecount) * PIN(psi);
+
+        PIN(q_cmd) = 0.0;
+        PIN(timer) = 0.0;
+        PIN(state) = 5.0;
+      }
+    break;
+
+    case 5: // j
+      if(PIN(timer) < PIN(vel_time) / 2.0){
+        PIN(q_cmd) = PIN(test_cur);
+      }
+      else{
+        PIN(q_cmd) = -PIN(test_cur);
+      }
+
+      PIN(com_pos) = mod(minus(PIN(abs_pos_fb), PIN(fb_offset)) * PIN(polecount));
+
+      float t = 3.0 / 2.0 * PIN(polecount) * PIN(psi) * PIN(iq_fb);
+      t -= PIN(load);
+      t -= PIN(friction) * SIGN(PIN(vel));
+      t -= PIN(damping) * PIN(vel);
+
+      if(ABS(PIN(acc)) > PIN(test_vel)){
+        PIN(j) = PIN(j) * PIN(lpf) + t / PIN(acc) * (1.0 - PIN(lpf));
+      }
+
+      if(PIN(timer) > PIN(vel_time)){
+        PIN(state) = 6.0;
+        PIN(q_cmd) = 0.0;
+        PIN(d_cmd) = 0.0;
+      }
+    break;
+
+    case 6:
+      PIN(com_pos) = mod(minus(PIN(abs_pos_fb), PIN(fb_offset)) * PIN(polecount));
+      if(PIN(en) <= 0.0){
+        PIN(state) = 0.0;
+      }
+    break;
+  }
+}
+
+hal_comp_t rlpsij_comp_struct = {
+    .name      = "rlpsij",
+    .nrt       = 0,
+    .rt        = rt_func,
+    .frt       = 0,
+    .nrt_init  = nrt_init,
+    .rt_start  = 0,
+    .frt_start = 0,
+    .rt_stop   = 0,
+    .frt_stop  = 0,
+    .ctx_size  = 0,
+    .pin_count = sizeof(struct rlpsij_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
+};
diff --git a/shared/comps/scale.c b/shared/comps/scale.c
index 4162e099..72d63c2e 100644
--- a/shared/comps/scale.c
+++ b/shared/comps/scale.c
@@ -12,7 +12,7 @@ HAL_PIN(in1);
 HAL_PIN(out1);
 HAL_PIN(scale);
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct scale_ctx_t * ctx = (struct scale_ctx_t *)ctx_ptr;
   struct scale_pin_ctx_t *pins = (struct scale_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/sensorless.c b/shared/comps/sensorless.c
new file mode 100644
index 00000000..31e26199
--- /dev/null
+++ b/shared/comps/sensorless.c
@@ -0,0 +1,141 @@
+/*
+* This file is part of the stmbl project.
+*
+* Copyright (C) 2013-2016 Rene Hopf <renehopf@mac.com>
+* Copyright (C) 2013-2016 Nico Stute <crinq@crinq.de>
+*
+* 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 shou l have received a copy of the GNU General Public License
+* along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "commands.h"
+#include "hal.h"
+#include "math.h"
+#include "defines.h"
+#include "angle.h"
+
+
+HAL_COMP(sensorless);
+
+//in
+HAL_PIN(r);
+HAL_PIN(l);
+
+HAL_PIN(ki);
+HAL_PIN(kb);
+HAL_PIN(kl);
+HAL_PIN(min_vel);
+HAL_PIN(vel_boost);
+HAL_PIN(max_vel);
+
+HAL_PIN(id);
+HAL_PIN(iq);
+HAL_PIN(ud);
+HAL_PIN(uq);
+HAL_PIN(ud1);
+HAL_PIN(uq1);
+HAL_PIN(ud2);
+HAL_PIN(uq2);
+
+
+//out
+HAL_PIN(vel);
+HAL_PIN(pos);
+
+HAL_PIN(ed);
+HAL_PIN(eq);
+
+HAL_PIN(old_id);
+HAL_PIN(old_iq);
+
+HAL_PIN(delta_id);
+HAL_PIN(delta_iq);
+
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
+  // struct sensorless_ctx_t *ctx      = (struct sensorless_ctx_t *)ctx_ptr;
+  struct sensorless_pin_ctx_t *pins = (struct sensorless_pin_ctx_t *)pin_ptr;
+  PIN(ki) = 1500.0;
+  PIN(kb) = 1;
+  PIN(kl) = 0.75;
+  PIN(min_vel) = 3.0 * 2.0 * M_PI;
+  PIN(vel_boost) = 0.2;
+  PIN(max_vel) = 500.0 * 2.0 * M_PI * 1.1;
+}
+
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
+  // struct sensorless_ctx_t *ctx      = (struct sensorless_ctx_t *)ctx_ptr;
+  struct sensorless_pin_ctx_t *pins = (struct sensorless_pin_ctx_t *)pin_ptr;
+
+  float l = MAX(PIN(l), 0.00001);
+  float r = MAX(PIN(r), 0.01);
+
+  float ud = PIN(ud2);
+  float uq = PIN(uq2);
+  PIN(ud2) = PIN(ud1);
+  PIN(uq2) = PIN(uq1);
+  PIN(ud1) = PIN(ud);
+  PIN(uq1) = PIN(uq);
+  
+  float id = PIN(id);
+  float iq = PIN(iq);
+
+  float kb = CLAMP(PIN(kb), 0, 1);
+  float ki = CLAMP(PIN(ki), 0, 1.0 / period);
+  float kl = CLAMP(PIN(kl), 0, 1);
+
+  float vel = PIN(vel);
+  float pos = PIN(pos);
+
+  // lowpass current change
+  PIN(delta_id) = PIN(delta_id) * kl + (id - PIN(old_id)) * (1 - kl);
+  PIN(delta_iq) = PIN(delta_iq) * kl + (iq - PIN(old_iq)) * (1 - kl);
+  
+  PIN(old_id) = id;
+  PIN(old_iq) = iq;
+
+  // calc bemf
+  float ed = ud - r * id - PIN(delta_id) * l / period + vel * l * iq * kb;
+  float eq = uq - r * iq - PIN(delta_iq) * l / period - vel * l * id * kb;
+
+  // velocity compensation, bemf_d -> 0
+  vel -= SIGN2(eq, 1.0) * ed * ki * period;
+
+  // startup boost
+  if(ABS(vel) < PIN(min_vel)){
+    vel += SIGN2(id * iq, 0.1) * PIN(vel_boost);
+  }
+
+  vel = LIMIT(vel, PIN(max_vel));
+
+  pos += vel * period;
+  
+  PIN(ed) = ed;
+  PIN(eq) = eq;
+
+  PIN(vel) = vel;
+  PIN(pos) = mod(pos);
+}
+
+hal_comp_t sensorless_comp_struct = {
+    .name      = "sensorless",
+    .nrt       = 0,
+    .rt        = rt_func,
+    .frt       = 0,
+    .nrt_init  = nrt_init,
+    .rt_start  = 0,
+    .frt_start = 0,
+    .rt_stop   = 0,
+    .frt_stop  = 0,
+    .ctx_size  = 0,
+    .pin_count = sizeof(struct sensorless_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
+};
\ No newline at end of file
diff --git a/shared/comps/sim.c b/shared/comps/sim.c
index 544ef536..11a5d4f7 100644
--- a/shared/comps/sim.c
+++ b/shared/comps/sim.c
@@ -26,7 +26,7 @@ struct sim_ctx_t {
   float vel;
 };
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct sim_ctx_t * ctx = (struct sim_ctx_t *)ctx_ptr;
   struct sim_pin_ctx_t *pins = (struct sim_pin_ctx_t *)pin_ptr;
 
@@ -35,7 +35,7 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   PIN(res)  = 100000.0;
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct sim_ctx_t *ctx      = (struct sim_ctx_t *)ctx_ptr;
   struct sim_pin_ctx_t *pins = (struct sim_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/spid.c b/shared/comps/spid.c
index a347d708..6fe5ebef 100644
--- a/shared/comps/spid.c
+++ b/shared/comps/spid.c
@@ -37,7 +37,7 @@ struct spid_ctx_t {
   float last_cmd;
 };
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct spid_ctx_t *ctx      = (struct spid_ctx_t *)ctx_ptr;
   struct spid_pin_ctx_t *pins = (struct spid_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/stp.c b/shared/comps/stp.c
index 94ebfa3b..0b7e03be 100644
--- a/shared/comps/stp.c
+++ b/shared/comps/stp.c
@@ -24,7 +24,7 @@ HAL_PIN(dtg);
 HAL_PIN(ttg);
 HAL_PIN(at_target);
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct stp_ctx_t *ctx      = (struct stp_ctx_t *)ctx_ptr;
   struct stp_pin_ctx_t *pins = (struct stp_pin_ctx_t *)pin_ptr;
   PIN(target)                = 0.0;
@@ -34,7 +34,7 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   PIN(min_pos)               = -10.0 * 2.0 * M_PI;
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct stp_ctx_t *ctx      = (struct stp_ctx_t *)ctx_ptr;
   struct stp_pin_ctx_t *pins = (struct stp_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/svm.c b/shared/comps/svm.c
index 81994069..bb880f05 100644
--- a/shared/comps/svm.c
+++ b/shared/comps/svm.c
@@ -30,7 +30,7 @@ HAL_PIN(enu);
 HAL_PIN(env);
 HAL_PIN(enw);
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct svm_ctx_t * ctx = (struct svm_ctx_t *)ctx_ptr;
   struct svm_pin_ctx_t *pins = (struct svm_pin_ctx_t *)pin_ptr;
 
@@ -40,7 +40,7 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   PIN(enw)  = 1.0;
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct svm_ctx_t * ctx = (struct svm_ctx_t *)ctx_ptr;
   struct svm_pin_ctx_t *pins = (struct svm_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/term.c b/shared/comps/term.c
index b8c01055..2794cff7 100644
--- a/shared/comps/term.c
+++ b/shared/comps/term.c
@@ -25,7 +25,7 @@ struct term_ctx_t {
 };
 
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct term_ctx_t * ctx = (struct sim_ctx_t *)ctx_ptr;
   struct term_pin_ctx_t *pins = (struct term_pin_ctx_t *)pin_ptr;
 
@@ -35,7 +35,7 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   }
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct term_ctx_t *ctx      = (struct term_ctx_t *)ctx_ptr;
   struct term_pin_ctx_t *pins = (struct term_pin_ctx_t *)pin_ptr;
 
@@ -50,7 +50,7 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
   }
 }
 
-static void nrt_func(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_func(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct term_ctx_t *ctx      = (struct term_ctx_t *)ctx_ptr;
   struct term_pin_ctx_t *pins = (struct term_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/uf.c b/shared/comps/uf.c
index a2f8e193..fb92eb0e 100644
--- a/shared/comps/uf.c
+++ b/shared/comps/uf.c
@@ -15,7 +15,7 @@ HAL_PIN(ud);
 HAL_PIN(max_acc);
 HAL_PIN(min_acc);
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct uf_ctx_t * ctx = (struct uf_ctx_t *)ctx_ptr;
   struct uf_pin_ctx_t *pins = (struct uf_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/uf2.c b/shared/comps/uf2.c
index 47ee3d4c..12805b9c 100644
--- a/shared/comps/uf2.c
+++ b/shared/comps/uf2.c
@@ -26,7 +26,7 @@ struct uf_ctx_t {
   float cur;
 };
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct uf_ctx_t *ctx      = (struct uf_ctx_t *)ctx_ptr;
   struct uf_pin_ctx_t *pins = (struct uf_pin_ctx_t *)pin_ptr;
 
@@ -37,7 +37,7 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   ctx->cur = 0.0;
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct uf_ctx_t *ctx      = (struct uf_ctx_t *)ctx_ptr;
   struct uf_pin_ctx_t *pins = (struct uf_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/uvw.c b/shared/comps/uvw.c
index a4685415..53675c13 100644
--- a/shared/comps/uvw.c
+++ b/shared/comps/uvw.c
@@ -11,6 +11,11 @@ HAL_PIN(u);
 HAL_PIN(v);
 HAL_PIN(w);
 
+HAL_PIN(amp);
+HAL_PIN(timer);
+HAL_PIN(en_time);
+HAL_PIN(mode); // 0 = uvw, 1 = uvw line saving
+
 HAL_PIN(led);
 
 HAL_PIN(p0);
@@ -26,30 +31,31 @@ HAL_PIN(p7);
 HAL_PIN(pos);
 HAL_PIN(rpos);
 HAL_PIN(state);
+HAL_PIN(error);
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct uvw_ctx_t * ctx = (struct io_ctx_t *)ctx_ptr;
   struct uvw_pin_ctx_t *pins = (struct uvw_pin_ctx_t *)pin_ptr;
 
-  PIN(p0)    = 0;  //fault
+  PIN(p0)    = -1;  //fault
   PIN(p1)    = 0;  //u      = 0
   PIN(p2)    = 2;  //v      = 2.094395
   PIN(p3)    = 1;  //u + v  = 1.047198
   PIN(p4)    = 4;  //w      = -2.094395
   PIN(p5)    = 5;  //u + w  = -1.047198
   PIN(p6)    = 3;  //v + w  = -3.141593
-  PIN(p7)    = 0;  //fault
-  PIN(state) = 3.0;
+  PIN(p7)    = -1;  //fault
+  PIN(en_time) = 0.02;
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct uvw_ctx_t * ctx = (struct uvw_ctx_t *)ctx_ptr;
   struct uvw_pin_ctx_t *pins = (struct uvw_pin_ctx_t *)pin_ptr;
 
   uint32_t rpos = (PIN(u) > 0.0) * 1.0 + (PIN(v) > 0.0) * 2.0 + (PIN(w) > 0.0) * 4.0;
   PIN(led)      = (PIN(u) > 0.0) ^ (PIN(v) > 0.0) ^ (PIN(w) > 0.0);
   //TODO: make this const, fault output
-  uint32_t t[8];
+  int32_t t[8];
   t[0]      = PIN(p0);
   t[1]      = PIN(p1);
   t[2]      = PIN(p2);
@@ -59,7 +65,31 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
   t[6]      = PIN(p6);
   t[7]      = PIN(p7);
   PIN(rpos) = rpos;
-  PIN(pos)  = mod((float)t[rpos] / 6.0 * 2.0 * M_PI);
+  if(rpos < 0 | PIN(amp) < 0.5){
+    PIN(error) = 1.0;
+    PIN(state) = 0.0;
+    PIN(timer) = 0.0;
+  }
+  else{
+    switch((int) PIN(mode)){
+      case 0:
+        PIN(state) = 3.0;
+        PIN(error) = 0.0;
+        PIN(pos)  = mod((float)t[rpos] / 6.0 * 2.0 * M_PI);
+        break;
+      case 1:
+        if(PIN(timer) < PIN(en_time) / 2.0){
+          PIN(pos)  = mod((float)t[rpos] / 6.0 * 2.0 * M_PI);
+        }
+        if(PIN(timer) > PIN(en_time)){
+          PIN(state) = 2.0;
+          PIN(error) = 0.0;
+        }
+        else{
+          PIN(timer) += period;
+        }
+    }
+  }
 }
 
 hal_comp_t uvw_comp_struct = {
diff --git a/shared/comps/vel.c b/shared/comps/vel.c
index 504d8329..63adaf57 100644
--- a/shared/comps/vel.c
+++ b/shared/comps/vel.c
@@ -27,7 +27,7 @@ struct vel_ctx_t {
   float vel_sum;
 };
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct vel_ctx_t * ctx = (struct vel_ctx_t *)ctx_ptr;
   struct vel_pin_ctx_t *pins = (struct vel_pin_ctx_t *)pin_ptr;
 
@@ -40,7 +40,7 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   PIN(en) = 1.0;
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct vel_ctx_t *ctx      = (struct vel_ctx_t *)ctx_ptr;
   struct vel_pin_ctx_t *pins = (struct vel_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/vel_int.c b/shared/comps/vel_int.c
index 1321c765..b895b49b 100644
--- a/shared/comps/vel_int.c
+++ b/shared/comps/vel_int.c
@@ -24,7 +24,7 @@ struct vel_int_ctx_t {
   float cmd_freq;
 };
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct vel_int_ctx_t *ctx      = (struct vel_int_ctx_t *)ctx_ptr;
   struct vel_int_pin_ctx_t *pins = (struct vel_int_pin_ctx_t *)pin_ptr;
 
@@ -43,7 +43,7 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   ctx->cmd_freq = PIN(cmd_freq);
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct vel_int_ctx_t *ctx      = (struct vel_int_ctx_t *)ctx_ptr;
   struct vel_int_pin_ctx_t *pins = (struct vel_int_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/velbuf.c b/shared/comps/velbuf.c
index aa132758..a8896fe4 100644
--- a/shared/comps/velbuf.c
+++ b/shared/comps/velbuf.c
@@ -24,7 +24,7 @@ struct velbuf_ctx_t {
   float frt_period;
 };
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct velbuf_ctx_t *ctx      = (struct velbuf_ctx_t *)ctx_ptr;
   struct velbuf_pin_ctx_t *pins = (struct velbuf_pin_ctx_t *)pin_ptr;
   
@@ -38,7 +38,7 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
 }
 
 
-static void frt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void frt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct velbuf_ctx_t *ctx      = (struct velbuf_ctx_t *)ctx_ptr;
   struct velbuf_pin_ctx_t *pins = (struct velbuf_pin_ctx_t *)pin_ptr;
 
@@ -48,7 +48,7 @@ static void frt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst
 }
 
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct velbuf_ctx_t *ctx      = (struct velbuf_ctx_t *)ctx_ptr;
   struct velbuf_pin_ctx_t *pins = (struct velbuf_pin_ctx_t *)pin_ptr;
 
@@ -68,13 +68,13 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
         break;
     }
   }
-   
-   float diff_pos = minus(pos, old_pos);
-   PIN(diff_pos) = diff_pos;
-   PIN(diff_time) = diff_time;
-   PIN(vel) = diff_pos / diff_time;
+  
+  float diff_pos = minus(pos, old_pos);
+  PIN(diff_pos) = diff_pos;
+  PIN(diff_time) = diff_time;
+  PIN(vel) = diff_pos / diff_time;
 
-   PIN(vel_lp) = PIN(vel) * LP_HZ(PIN(lpf)) + PIN(vel_lp) * (1.0 - LP_HZ(PIN(lpf)));
+  PIN(vel_lp) = PIN(vel) * LP_HZ(PIN(lpf)) + PIN(vel_lp) * (1.0 - LP_HZ(PIN(lpf)));
 }
 
 hal_comp_t velbuf_comp_struct = {
diff --git a/shared/comps/veltime.c b/shared/comps/veltime.c
new file mode 100644
index 00000000..e4701867
--- /dev/null
+++ b/shared/comps/veltime.c
@@ -0,0 +1,62 @@
+#include "commands.h"
+#include "hal.h"
+#include "math.h"
+#include "defines.h"
+#include "angle.h"
+
+HAL_COMP(veltime);
+
+HAL_PIN(pos);
+HAL_PIN(old_pos);
+HAL_PIN(timer);
+HAL_PIN(vel);
+HAL_PIN(vel_lp);
+
+HAL_PIN(max_time);
+HAL_PIN(lpf)
+
+
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
+  // struct veltime_ctx_t *ctx      = (struct veltime_ctx_t *)ctx_ptr;
+  struct veltime_pin_ctx_t *pins = (struct veltime_pin_ctx_t *)pin_ptr;
+  
+  PIN(max_time) = 0.1;
+
+  PIN(lpf) = 100.0;
+}
+
+
+static void frt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
+  // struct veltime_ctx_t *ctx      = (struct veltime_ctx_t *)ctx_ptr;
+  struct veltime_pin_ctx_t *pins = (struct veltime_pin_ctx_t *)pin_ptr;
+
+  PIN(timer) += period;
+
+  if(PIN(pos) != PIN(old_pos)){
+    PIN(vel) = minus(PIN(pos), PIN(old_pos)) / PIN(timer);
+    PIN(old_pos) = PIN(pos);
+    PIN(timer) = 0.0;
+  }
+
+  if(PIN(timer) > PIN(max_time)){
+    PIN(timer) = PIN(max_time);
+    PIN(vel) = 0.0;
+  }
+
+    PIN(vel_lp) = PIN(vel) * LP_HZ(PIN(lpf)) + PIN(vel_lp) * (1.0 - LP_HZ(PIN(lpf)));
+
+}
+
+hal_comp_t veltime_comp_struct = {
+    .name      = "veltime",
+    .nrt       = 0,
+    .rt        = 0,
+    .frt       = frt_func,
+    .nrt_init  = nrt_init,
+    .rt_start  = 0,
+    .frt_start = 0,
+    .rt_stop   = 0,
+    .frt_stop  = 0,
+    .ctx_size  = 0,
+    .pin_count = sizeof(struct veltime_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
+};
\ No newline at end of file
diff --git a/shared/comps/veltopos.c b/shared/comps/veltopos.c
index fc67fade..9b9af853 100644
--- a/shared/comps/veltopos.c
+++ b/shared/comps/veltopos.c
@@ -18,7 +18,7 @@ struct veltopos_ctx_t {
   float vel;
 };
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct veltopos_ctx_t *ctx      = (struct veltopos_ctx_t *)ctx_ptr;
   struct veltopos_pin_ctx_t *pins = (struct veltopos_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/comps/wobl.c b/shared/comps/wobl.c
index bd01631d..1a8b7e1c 100644
--- a/shared/comps/wobl.c
+++ b/shared/comps/wobl.c
@@ -22,7 +22,7 @@ struct wobl_ctx_t {
   float ang2;
 };
 
-static void frt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void frt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct wobl_ctx_t *ctx      = (struct wobl_ctx_t *)ctx_ptr;
   struct wobl_pin_ctx_t *pins = (struct wobl_pin_ctx_t *)pin_ptr;
     
diff --git a/shared/comps/ypid.c b/shared/comps/ypid.c
index b7cadd9c..50e048f5 100644
--- a/shared/comps/ypid.c
+++ b/shared/comps/ypid.c
@@ -59,7 +59,7 @@ struct ypid_ctx_t {
   float vel_error_sum;
 };
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct ypid_ctx_t *ctx      = (struct ypid_ctx_t *)ctx_ptr;
   struct ypid_pin_ctx_t *pins = (struct ypid_pin_ctx_t *)pin_ptr;
 
diff --git a/shared/defines.h b/shared/defines.h
index ad3ef33a..2a90c1c4 100644
--- a/shared/defines.h
+++ b/shared/defines.h
@@ -29,8 +29,8 @@ extern "C" {
 #define NO 0
 #define YES 1
 #define ABS(a) (((a) < 0.0) ? -(a) : (a))
-#define LIMIT(x, lowhigh) (((x) > (lowhigh)) ? (lowhigh) : (((x) < (-lowhigh)) ? (-lowhigh) : (x)))
-#define SAT(x, lowhigh) (((x) > (lowhigh)) ? (1.0) : (((x) < (-lowhigh)) ? (-1.0) : (0.0)))
+#define LIMIT(x, lowhigh) (((x) > (lowhigh)) ? (lowhigh) : (((x) < (-(lowhigh))) ? (-(lowhigh)) : (x)))
+#define SAT(x, lowhigh) (((x) > (lowhigh)) ? (1.0) : (((x) < (-(lowhigh))) ? (-1.0) : (0.0)))
 #define SAT2(x, low, high) (((x) > (high)) ? (1.0) : (((x) < (low)) ? (-1.0) : (0.0)))
 #define STEP(from, to, step) (((from) < (to)) ? (MIN((from) + (step), (to))) : (MAX((from) - (step), (to))))
 #define DEG(a) ((a)*M_PI / 180.0)
@@ -43,6 +43,8 @@ extern "C" {
 #define MIN3(a, b, c) MIN(a, MIN(b, c))
 #define MAX3(a, b, c) MAX(a, MAX(b, c))
 
+#define SIGN2(a, b) (CLAMP((a) / (b), -1, 1))
+
 #define ARRAY_SIZE(arr) (sizeof(arr) / sizeof((arr)[0]))
 #define FIELD_SIZEOF(t, f) (sizeof(((t *)0)->f))
 
diff --git a/shared/endat.c b/shared/endat.c
new file mode 100644
index 00000000..cf8efd6e
--- /dev/null
+++ b/shared/endat.c
@@ -0,0 +1,298 @@
+#include "endat.h"
+#include "math.h"
+
+uint32_t endat_tx(endat_cmd_t cmd, uint8_t p1, uint16_t p2, uint8_t* buf, endat_data_t* data){
+  uint32_t len = 0;
+
+  buf[0] = flip8(cmd);
+
+  buf[1] = flip8(p1);
+
+  buf[2] = flip16(p2) & 0xff;
+  buf[3] = (flip16(p2) >> 8) & 0xff;
+
+  data->current_cmd = cmd;
+  data->current_addr = p1;
+  data->current_value = p2;
+
+  switch(cmd){
+    case ENDAT_READ_POS:
+      len = 2 + 6;
+    break;
+
+    case ENDAT_SELECT_MEM:
+      len = 2 + 6 + 8 + 16;
+      data->current_mem = p1;
+    break;
+
+    case ENDAT_READ_ADDR:
+      len = 2 + 6 + 8 + 16;
+    break;
+
+    case ENDAT_WRITE_ADDR:
+
+      len = 2 + 6 + 8 + 16;
+    break;
+
+    case ENDAT_RESET:
+      len = 2 + 6 + 8 + 16;
+    break;
+
+    default:
+      len = 0;
+  }
+
+  return(len);
+}
+
+uint32_t endat_rx(uint8_t* buf, uint32_t max_len, endat_data_t* data){
+  union{
+    uint64_t data64;
+    uint32_t data32[2];
+    uint16_t data16[4];
+    uint8_t data8[8];
+  }df;
+
+  uint32_t len = 0;
+
+  endat_cmd_t cmd = data->current_cmd;
+  data->current_cmd = 0;
+
+  uint8_t addr = data->current_addr;
+  data->current_addr = 0;
+
+  uint16_t value = data->current_value;
+  data->current_value = 0;
+
+  switch(cmd){
+    case ENDAT_READ_POS:
+      len = 1 + 1 + data->pos_bits + data->mpos_bits + 5;
+    break;
+
+    case ENDAT_SELECT_MEM:
+      len = 1 + 8 + 16 + 5;
+    break;
+
+    case ENDAT_READ_ADDR:
+      len = 1 + 8 + 16 + 5;
+    break;
+
+    case ENDAT_WRITE_ADDR:
+      len = 1 + 8 + 16 + 5;
+    break;
+
+    case ENDAT_RESET:
+      len = 1 + 8 + 16 + 5;
+    break;
+
+    default:
+      return(0);
+  }
+
+  if(max_len < len){ // too short
+    return(0);
+  }
+
+  for(int i = 0; i < (len + 7) / 8; i++){ // local copy
+    df.data8[i] = buf[i];
+  }
+
+  uint8_t error_bit = 0;
+  uint64_t temp1 = 0;
+  uint64_t temp2 = 0;
+  uint8_t p1;
+  uint16_t p2;
+
+  switch(cmd){
+    case ENDAT_READ_POS:
+      error_bit = df.data8[0] & 0x10;
+
+      df.data64 >>= 2; // remove start + error bit
+      temp1 = df.data64 & bitmask[data->pos_bits];
+      df.data64 >>= data->pos_bits; // remove pos
+      temp2 = df.data64 & bitmask[data->mpos_bits];
+      df.data64 >>= data->mpos_bits; // remove mutliturn pos
+      data->crc = df.data64 & bitmask[5];
+
+      //check crc
+      data->error_bit = 0;
+      if(error_bit){
+        data->error_bit = 1;
+        //return(0);
+      }
+      data->pos = temp1;
+      data->mpos = temp2;
+    break;
+
+    case ENDAT_SELECT_MEM:
+      p1 = (df.data16[0] >> 1) & 0xff;
+      data->crc = (df.data8[3] >> 1) & 0b11111;
+      p1 = flip8(p1);
+
+      //check crc
+      if(data->current_mem != p1){
+        data->current_mem = 0;
+        return(0);
+      }
+    break;
+
+    case ENDAT_READ_ADDR:
+      p1 = (df.data16[0] >> 1) & 0xff;
+      p2 = (df.data32[0] >> (1 + 8)) & 0xffff;
+      data->crc = (df.data8[3] >> 1) & 0b11111;
+      p1 = flip8(p1);
+      p2 = flip16(p2);
+
+      //check crc
+      if(addr != p1){
+        return(0);
+      }
+
+      switch(data->current_mem){
+        case ENDAT_MEM_STATE:
+          switch(p1){
+            case 0: // error register
+              // data->error = *((endat_state_error_t*) &p2);
+              data->error.reg = p2;
+            break;
+
+            case 1: // warning register
+              // data->warning = *((endat_state_warning_t*) &p2);
+              data->warning.reg = p2;
+            break;
+
+            default:
+              return(0);
+          }
+        break;
+
+        case ENDAT_MEM_PARAM0:
+          switch(p1){
+            case ENDAT_ADDR_POS_LEN:
+              data->pos_len = p2;
+              data->pos_bits = data->pos_len - data->mpos_bits;
+            break;
+
+            case ENDAT_ADDR_TYPE:
+              data->fb_type = p2;
+            break;
+
+            default:
+              return(0);
+          }
+        break;
+
+        case ENDAT_MEM_PARAM1:
+          switch(p1){
+            case ENDAT_ADDR_MULTITURN:
+              data->mpos_bits = log2f(p2) + 0.99;
+              data->pos_bits = data->pos_len - data->mpos_bits;
+            break;
+
+            case ENDAT_ADDR_RES_LOW:
+              data->pos_res = (data->pos_res & 0xffff0000) | p2;
+            break;
+
+            case ENDAT_ADDR_RES_HIGH:
+              data->pos_res = (data->pos_res & 0xffff) | (p2 << 16);
+            break;
+
+            default:
+              return(0);
+          }
+        break;
+
+        case ENDAT_MEM_PARAM2:
+          switch(p1){
+            case ENDAT_ADDR_MAX_VEL:
+              data->max_vel = p2;
+            break;
+
+            default:
+              return(0);
+          }
+        break;
+
+        default:
+          return(0);
+      }
+
+    break;
+
+    case ENDAT_WRITE_ADDR:
+      p1 = (df.data16[0] >> 1) & 0xff;
+      p2 = (df.data32[0] >> (1 + 8)) & 0xffff;
+      data->crc = (df.data8[3] >> 1) & 0b11111;
+      p1 = flip8(p1);
+      p2 = flip16(p2);
+
+      //check crc
+      if(addr != p1){
+        return(0);
+      }
+      if(value != p2){
+        return(0);
+      }
+    break;
+
+    case ENDAT_RESET:
+      data->crc = (df.data8[3] >> 1) & 0b11111;
+
+      //check crc
+    break;
+  }
+
+  return(1);
+}
+
+const uint64_t bitmask[] = {
+  0b0,
+  0b1,
+  0b11,
+  0b111,
+  0b1111,
+  0b11111,
+  0b111111,
+  0b1111111,
+  0b11111111,
+  0b111111111,
+  0b1111111111,
+  0b11111111111,
+  0b111111111111,
+  0b1111111111111,
+  0b11111111111111,
+  0b111111111111111,
+  0b1111111111111111,
+  0b11111111111111111,
+  0b111111111111111111,
+  0b1111111111111111111,
+  0b11111111111111111111,
+  0b111111111111111111111,
+  0b1111111111111111111111,
+  0b11111111111111111111111,
+  0b111111111111111111111111,
+  0b1111111111111111111111111,
+  0b11111111111111111111111111,
+  0b111111111111111111111111111,
+  0b1111111111111111111111111111,
+  0b11111111111111111111111111111,
+  0b111111111111111111111111111111,
+  0b1111111111111111111111111111111,
+  0b11111111111111111111111111111111,
+  0b111111111111111111111111111111111,
+  0b1111111111111111111111111111111111,
+  0b11111111111111111111111111111111111,
+  0b111111111111111111111111111111111111,
+  0b1111111111111111111111111111111111111,
+  0b11111111111111111111111111111111111111,
+  0b111111111111111111111111111111111111111,
+  0b1111111111111111111111111111111111111111,
+  0b11111111111111111111111111111111111111111,
+  0b111111111111111111111111111111111111111111,
+  0b1111111111111111111111111111111111111111111,
+  0b11111111111111111111111111111111111111111111,
+  0b111111111111111111111111111111111111111111111,
+  0b1111111111111111111111111111111111111111111111,
+  0b11111111111111111111111111111111111111111111111,
+  0b111111111111111111111111111111111111111111111111,  
+};
\ No newline at end of file
diff --git a/shared/endat.h b/shared/endat.h
new file mode 100644
index 00000000..bd18fcb9
--- /dev/null
+++ b/shared/endat.h
@@ -0,0 +1,127 @@
+#include "stdint.h"
+
+#ifndef ENDAT_H
+#define ENDAT_h
+
+typedef enum{
+  ENDAT_READ_POS   = 0b00000111, // 0b11100000,// 0b000111,
+  ENDAT_SELECT_MEM = 0b00001110, // 0b01110000,// 0b001110,
+  ENDAT_READ_ADDR  = 0b00100011, // 0b11000100,// 0b100011,
+  ENDAT_WRITE_ADDR = 0b00011100, // 0b00111000,// 0b011100,
+  ENDAT_RESET      = 0b00101010, // 0b01010100,// 0b101010,
+} endat_cmd_t; 
+
+typedef enum{
+  ENDAT_MEM_STATE  = 0b10111001, // 0b10011101,// 0b10111001,
+  ENDAT_MEM_PARAM0 = 0b10100001, // 0b10000101,// 0b10100001,
+  ENDAT_MEM_PARAM1 = 0b10100011, // 0b11000101,// 0b10100011,
+  ENDAT_MEM_PARAM2 = 0b10100101, // 0b10100101,// 0b10100101,
+  // ENDAT_MEM_PARAM_3 = 0b10100111,
+} endat_mem_t;
+
+typedef enum{
+  ENDAT_ADDR_ERROR = 0,
+  ENDAT_ADDR_WARNING = 1,
+  ENDAT_ADDR_POS_LEN = 13,
+  ENDAT_ADDR_TYPE = 14,
+  ENDAT_ADDR_MULTITURN = 1,
+  ENDAT_ADDR_RES_LOW = 4,
+  ENDAT_ADDR_RES_HIGH = 5,
+  ENDAT_ADDR_MAX_VEL = 0,
+} endat_mem_addr_t;
+
+extern const uint64_t bitmask[];
+
+typedef union{
+  struct{
+    uint16_t ilumination : 1;
+    uint16_t amplitude : 1;
+    uint16_t pos : 1;
+    uint16_t over_voltage : 1;
+    uint16_t under_voltage : 1;
+    uint16_t over_current : 1;
+    uint16_t battery : 1;
+  };
+  uint16_t reg;
+} endat_state_error_t;
+
+typedef union{
+  struct{
+    uint16_t freq : 1;
+    uint16_t temp : 1;
+    uint16_t ilumination : 1;
+    uint16_t battery : 1;
+    uint16_t ref : 1;
+  };
+  uint16_t reg;
+} endat_state_warning_t;
+
+typedef struct{
+  uint64_t pos;
+  uint64_t mpos;
+  uint32_t pos_bits;
+  uint32_t pos_len; // param 13
+  uint32_t mpos_bits; // param 17
+  uint32_t fb_type; // param 14
+  uint32_t pos_res; // param 20, 21
+  uint32_t max_vel; // param 32
+  uint32_t error_bit; // error bit
+  // state mem 0
+  endat_state_error_t error;
+  // state mem 1
+  endat_state_warning_t warning;
+
+  endat_mem_t current_mem;
+  endat_cmd_t current_cmd;
+  uint8_t current_addr;
+  uint8_t crc;
+  uint16_t current_value;
+} endat_data_t;
+
+uint32_t endat_tx(endat_cmd_t cmd, uint8_t p1, uint16_t p2, uint8_t* buf, endat_data_t* data);
+uint32_t endat_rx(uint8_t* buf, uint32_t max_len, endat_data_t* data);
+
+inline uint8_t flip8(uint8_t d){
+  uint8_t r = d & 1;
+  for(int i = 0; i < sizeof(r) * 8 - 1; i++){
+    r <<= 1;
+    d >>= 1;
+    r |= d & 1;
+  }
+
+  return(r);
+}
+
+inline uint16_t flip16(uint16_t d){
+  uint16_t r = d & 1;
+  for(int i = 0; i < sizeof(r) * 8 - 1; i++){
+    r <<= 1;
+    d >>= 1;
+    r |= d & 1;
+  }
+
+  return(r);
+}
+
+inline uint32_t flip32(uint32_t d){
+  uint32_t r = d & 1;
+  for(int i = 0; i < sizeof(r) * 8 - 1; i++){
+    r <<= 1;
+    d >>= 1;
+    r |= d & 1;
+  }
+
+  return(r);
+}
+
+inline uint64_t flip64(uint64_t d){
+  uint64_t r = d & 1;
+  for(int i = 0; i < sizeof(r) * 8 - 1; i++){
+    r <<= 1;
+    d >>= 1;
+    r |= d & 1;
+  }
+
+  return(r);
+}
+#endif
\ No newline at end of file
diff --git a/shared/hal.c b/shared/hal.c
index fbc3fb13..9a43614a 100644
--- a/shared/hal.c
+++ b/shared/hal.c
@@ -37,7 +37,7 @@ hal_comp_t *comp_by_name(NAME name) {
   return (0);
 }
 
-volatile hal_comp_inst_t *comp_inst_by_name(NAME name, uint32_t instance) {
+hal_comp_inst_t *comp_inst_by_name(NAME name, uint32_t instance) {
   hal_comp_t *comp = comp_by_name(name);
   if(comp) {
     for(int i = 0; i < hal.comp_inst_count; i++) {
@@ -63,8 +63,8 @@ pin_t *pin_by_name(NAME comp_name, NAME pin_name) {
   return (0);
 }
 
-volatile hal_pin_inst_t *pin_inst_by_name(NAME comp_name, uint32_t instance, NAME pin_name) {
-  volatile hal_comp_inst_t *comp = comp_inst_by_name(comp_name, instance);
+hal_pin_inst_t *pin_inst_by_name(NAME comp_name, uint32_t instance, NAME pin_name) {
+  hal_comp_inst_t *comp = comp_inst_by_name(comp_name, instance);
   if(comp) {
     for(int i = 0; i < comp->comp->pin_count; i++) {
       if(!strncmp(pin_name, comp->pins[i], sizeof(NAME))) {
@@ -75,7 +75,7 @@ volatile hal_pin_inst_t *pin_inst_by_name(NAME comp_name, uint32_t instance, NAM
   return (0);
 }
 
-pin_t *pin_by_pin_inst(volatile hal_pin_inst_t *p) {
+pin_t *pin_by_pin_inst(hal_pin_inst_t *p) {
   for(int i = 0; i < hal.comp_inst_count; i++) {
     for(int j = 0; j < hal.comp_insts[i].comp->pin_count; j++) {
       if(&(hal.comp_insts[i].pin_insts[j]) == p) {
@@ -86,7 +86,7 @@ pin_t *pin_by_pin_inst(volatile hal_pin_inst_t *p) {
   return (0);
 }
 
-volatile hal_comp_inst_t *comp_inst_by_pin_inst(volatile hal_pin_inst_t *p) {
+hal_comp_inst_t *comp_inst_by_pin_inst(hal_pin_inst_t *p) {
   for(int i = 0; i < hal.comp_inst_count; i++) {
     for(int j = 0; j < hal.comp_insts[i].comp->pin_count; j++) {
       if(&(hal.comp_insts[i].pin_insts[j]) == p) {
@@ -554,7 +554,7 @@ void list(char *ptr) {
         printf("unknown\n");
     }
     for(int j = 0; j < hal.comp_insts[i].comp->pin_count; j++) {
-      volatile hal_comp_inst_t *comp = comp_inst_by_pin_inst(hal.comp_insts[i].pin_insts[j].source->source);
+      hal_comp_inst_t *comp = comp_inst_by_pin_inst(hal.comp_insts[i].pin_insts[j].source->source);
       printf("-  %s <= %s%lu.%s = %f\n", hal.comp_insts[i].pins[j], comp->comp->name, comp->instance, (char *)pin_by_pin_inst(hal.comp_insts[i].pin_insts[j].source->source), hal.comp_insts[i].pin_insts[j].source->source->value);
     }
   }
@@ -564,7 +564,7 @@ COMMAND("list", list, "show comp instances");
 void show_hal(char *ptr) {
   for(int i = 0; i < hal.comp_inst_count; i++) {
     for(int j = 0; j < hal.comp_insts[i].comp->pin_count; j++) {
-      volatile hal_comp_inst_t *comp = comp_inst_by_pin_inst(hal.comp_insts[i].pin_insts[j].source->source);
+      hal_comp_inst_t *comp = comp_inst_by_pin_inst(hal.comp_insts[i].pin_insts[j].source->source);
       printf("%s%lu.%s <= %s%lu.%s = %f\n", hal.comp_insts[i].comp->name, hal.comp_insts[i].instance, hal.comp_insts[i].pins[j], comp->comp->name, comp->instance, (char *)pin_by_pin_inst(hal.comp_insts[i].pin_insts[j].source->source), hal.comp_insts[i].pin_insts[j].source->source->value);
     }
   }
@@ -736,14 +736,14 @@ void hal_init(float rt_period, float frt_period) {
   hal.nrt_max_ticks = 0.0;
 }
 
-void hal_print_pin(volatile hal_pin_inst_t *p) {
+void hal_print_pin(hal_pin_inst_t *p) {
   pin_t *pin                     = pin_by_pin_inst(p);
-  volatile hal_comp_inst_t *comp = comp_inst_by_pin_inst(p);
+  hal_comp_inst_t *comp = comp_inst_by_pin_inst(p);
 
   pin_t *pin2;
-  volatile hal_comp_inst_t *comp2;
+  hal_comp_inst_t *comp2;
   pin_t *pin3;
-  volatile hal_comp_inst_t *comp3;
+  hal_comp_inst_t *comp3;
 
   if(p && pin && comp) {
     if(p == p->source) {  //if pin is not linked
@@ -808,8 +808,8 @@ uint32_t hal_parse_(char *cmd) {
   int32_t sourcei = 0;
   char sourcep[64];
 
-  volatile hal_pin_inst_t *sink;
-  volatile hal_pin_inst_t *source;
+  hal_pin_inst_t *sink;
+  hal_pin_inst_t *source;
 
   uint32_t found = 0;
 
@@ -844,7 +844,7 @@ uint32_t hal_parse_(char *cmd) {
       for(int i = 0; i < hal.comp_inst_count; i++) {
         if(hal.comp_insts[i].instance == sinki && !strcmp(hal.comp_insts[i].comp->name, sinkc)) {
           for(int j = 0; j < hal.comp_insts[i].comp->pin_count; j++) {
-            //volatile hal_comp_inst_t * comp = comp_inst_by_pin_inst(hal.comp_insts[i].pin_insts[j].source->source);
+            //hal_comp_inst_t * comp = comp_inst_by_pin_inst(hal.comp_insts[i].pin_insts[j].source->source);
             //printf("%s%lu.%s <= %s%lu.%s = %f\n", hal.comp_insts[i].comp->name, hal.comp_insts[i].instance, hal.comp_insts[i].pins[j], comp->comp->name, comp->instance, (char *)pin_by_pin_inst(hal.comp_insts[i].pin_insts[j].source->source), hal.comp_insts[i].pin_insts[j].source->source->value);
             hal_print_pin(&(hal.comp_insts[i].pin_insts[j]));
             found = 1;
@@ -895,7 +895,7 @@ uint32_t hal_parse_(char *cmd) {
         for(int i = 0; i < hal.comp_inst_count; i++) {
           if(hal.comp_insts[i].instance == sinki && !strcmp(hal.comp_insts[i].comp->name, sinkc)) {
             for(int j = 0; j < hal.comp_insts[i].comp->pin_count; j++) {
-              //volatile hal_comp_inst_t * comp = comp_inst_by_pin_inst(hal.comp_insts[i].pin_insts[j].source->source);
+              //hal_comp_inst_t * comp = comp_inst_by_pin_inst(hal.comp_insts[i].pin_insts[j].source->source);
               if(!strncmp(hal.comp_insts[i].pins[j], sinkp, strlen(sinkp))) {
                 hal_print_pin(&(hal.comp_insts[i].pin_insts[j]));
                 //printf("%s%lu.%s <= %s%lu.%s = %f\n", hal.comp_insts[i].comp->name, hal.comp_insts[i].instance, hal.comp_insts[i].pins[j], comp->comp->name, comp->instance, (char *)pin_by_pin_inst(hal.comp_insts[i].pin_insts[j].source->source), hal.comp_insts[i].pin_insts[j].source->source->value);
@@ -944,7 +944,7 @@ void hal_error(uint32_t error_handler) {
 
 void fault(char *ptr) {
   printf("trigger fault handler\n");
-  volatile uint32_t *p = (uint32_t *)0x08010000;
+  uint32_t *p = (uint32_t *)0x08010000;
   p[0]                 = 1;
 }
 
diff --git a/shared/hal.h b/shared/hal.h
index ba84ae83..88e684f1 100644
--- a/shared/hal.h
+++ b/shared/hal.h
@@ -53,22 +53,22 @@ typedef char NAME[32];
 typedef NAME const pin_t;
 
 typedef struct hal_pin_inst_t {
-  volatile float value;
-  volatile struct hal_pin_inst_t *source;
+  float value;
+  struct hal_pin_inst_t *source;
 } hal_pin_inst_t;
 
 typedef const struct {
   NAME name;
-  void (*nrt)(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr);
-  void (*rt)(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr);
-  void (*frt)(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr);
+  void (*nrt)(void *ctx_ptr, hal_pin_inst_t *pin_ptr);
+  void (*rt)(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr);
+  void (*frt)(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr);
 
-  void (*nrt_init)(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr);
-  void (*hw_init)(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr);
-  void (*rt_start)(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr);
-  void (*frt_start)(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr);
-  void (*rt_stop)(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr);
-  void (*frt_stop)(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr);
+  void (*nrt_init)(void *ctx_ptr, hal_pin_inst_t *pin_ptr);
+  void (*hw_init)(void *ctx_ptr, hal_pin_inst_t *pin_ptr);
+  void (*rt_start)(void *ctx_ptr, hal_pin_inst_t *pin_ptr);
+  void (*frt_start)(void *ctx_ptr, hal_pin_inst_t *pin_ptr);
+  void (*rt_stop)(void *ctx_ptr, hal_pin_inst_t *pin_ptr);
+  void (*frt_stop)(void *ctx_ptr, hal_pin_inst_t *pin_ptr);
 
   uint32_t ctx_size;
   uint32_t pin_count;
@@ -77,19 +77,19 @@ typedef const struct {
 typedef struct hal_comp_inst_t {
   hal_comp_t *comp;
   uint32_t instance;
-  volatile void *ctx;
-  volatile hal_pin_inst_t *pin_insts;
+  void *ctx;
+  hal_pin_inst_t *pin_insts;
   pin_t *pins;
   uint32_t ctx_size;
-  volatile int32_t rt_ticks;
-  volatile int32_t frt_ticks;
-  volatile int32_t nrt_ticks;
+  int32_t rt_ticks;
+  int32_t frt_ticks;
+  int32_t nrt_ticks;
 
-  volatile int32_t rt_max_ticks;
-  volatile int32_t frt_max_ticks;
-  volatile int32_t nrt_max_ticks;
+  int32_t rt_max_ticks;
+  int32_t frt_max_ticks;
+  int32_t nrt_max_ticks;
 
-  volatile enum {
+  enum {
     PRE_INIT,
     PRE_HW_INIT,
     STARTED,
@@ -100,10 +100,10 @@ typedef struct hal_comp_inst_t {
 #define PINA(p, i) (pins->p[i].source->value)
 
 typedef struct {
-  volatile uint32_t active_rt_func;
-  volatile uint32_t active_frt_func;
-  volatile uint32_t active_nrt_func;
-  volatile enum {
+  uint32_t active_rt_func;
+  uint32_t active_frt_func;
+  uint32_t active_nrt_func;
+  enum {
     HardFault,
     NMI,
     MemManage,
@@ -113,15 +113,15 @@ typedef struct {
 } hal_error_t;
 
 typedef struct {
-  volatile enum thread_state_t {
+  enum thread_state_t {
     RT_CALC,
     RT_SLEEP,
     RT_STOP
   } rt_state;
 
-  volatile enum thread_state_t frt_state;
+  enum thread_state_t frt_state;
 
-  volatile enum hal_state_t {
+  enum hal_state_t {
     FRT_TOO_LONG,
     RT_TOO_LONG,
     MISC_ERROR,
@@ -132,36 +132,36 @@ typedef struct {
     HAL_OK2
   } hal_state;
 
-  volatile struct hal_comp_inst_t *rt_comps[HAL_MAX_COMPS];
-  volatile struct hal_comp_inst_t *frt_comps[HAL_MAX_COMPS];
+  struct hal_comp_inst_t *rt_comps[HAL_MAX_COMPS];
+  struct hal_comp_inst_t *frt_comps[HAL_MAX_COMPS];
 
-  volatile int32_t active_rt_func;
-  volatile int32_t active_frt_func;
-  volatile int32_t active_nrt_func;
+  int32_t active_rt_func;
+  int32_t active_frt_func;
+  int32_t active_nrt_func;
 
   struct hal_comp_inst_t comp_insts[HAL_MAX_COMPS];
   struct hal_pin_inst_t pin_insts[HAL_MAX_PINS];
-  volatile uint8_t ctxs[HAL_MAX_CTX];  // create runtime ctx print in python based on COMP_ctx_t
+  uint8_t ctxs[HAL_MAX_CTX];  // create runtime ctx print in python based on COMP_ctx_t
   uint32_t comp_inst_count;
   uint32_t rt_comp_count;
   uint32_t frt_comp_count;
   uint32_t pin_inst_count;
   uint32_t ctx_count;
 
-  volatile uint32_t rt_ticks;
-  volatile uint32_t frt_ticks;
-  volatile uint32_t nrt_ticks;
+  uint32_t rt_ticks;
+  uint32_t frt_ticks;
+  uint32_t nrt_ticks;
 
-  volatile uint32_t rt_max_ticks;
-  volatile uint32_t frt_max_ticks;
-  volatile uint32_t nrt_max_ticks;
+  uint32_t rt_max_ticks;
+  uint32_t frt_max_ticks;
+  uint32_t nrt_max_ticks;
 
-  volatile float rt_period;
-  volatile float frt_period;
+  float rt_period;
+  float frt_period;
 
   hal_error_t error_info;
 
-  volatile enum {
+  enum {
     PRINT_ALL,
     PRINT_ERRORS,
     NO_PRINT,
@@ -171,14 +171,14 @@ typedef struct {
 extern hal_t hal;
 
 hal_comp_t *comp_by_name(NAME name);
-volatile hal_comp_inst_t *comp_inst_by_name(NAME name, uint32_t instance);
+hal_comp_inst_t *comp_inst_by_name(NAME name, uint32_t instance);
 uint32_t pin_offset_by_comp_name(NAME name);
 pin_t *pin_by_name(NAME comp_name, NAME pin_name);
-volatile hal_pin_inst_t *pin_inst_by_name(NAME comp_name, uint32_t instance, NAME pin_name);
+hal_pin_inst_t *pin_inst_by_name(NAME comp_name, uint32_t instance, NAME pin_name);
 uint32_t load_comp(hal_comp_t *comp);
-pin_t *pin_by_pin_inst(volatile hal_pin_inst_t *p);
-volatile hal_comp_inst_t *comp_inst_by_pin_inst(volatile hal_pin_inst_t *p);
-void hal_print_pin(volatile hal_pin_inst_t *p);
+pin_t *pin_by_pin_inst(hal_pin_inst_t *p);
+hal_comp_inst_t *comp_inst_by_pin_inst(hal_pin_inst_t *p);
+void hal_print_pin(hal_pin_inst_t *p);
 
 void hal_init(float rt_period, float frt_period);
 // void hal_init_nrt();
diff --git a/src/comps/adc.c b/src/comps/adc.c
index c2b7a251..584d56ff 100644
--- a/src/comps/adc.c
+++ b/src/comps/adc.c
@@ -48,7 +48,7 @@ struct adc_ctx_t {
   volatile uint32_t send;  //send buffer state 0=filling, 1=sending
 };
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct adc_ctx_t *ctx      = (struct adc_ctx_t *)ctx_ptr;
   struct adc_pin_ctx_t *pins = (struct adc_pin_ctx_t *)pin_ptr;
   PINA(gain, 0)              = 150;
@@ -63,7 +63,7 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   ctx->send                  = 0;
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct adc_ctx_t *ctx      = (struct adc_ctx_t *)ctx_ptr;
   struct adc_pin_ctx_t *pins = (struct adc_pin_ctx_t *)pin_ptr;
 
@@ -177,7 +177,7 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
 }
 
 
-static void nrt_func(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_func(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct adc_ctx_t *ctx      = (struct adc_ctx_t *)ctx_ptr;
   struct adc_pin_ctx_t *pins = (struct adc_pin_ctx_t *)pin_ptr;
 
diff --git a/src/comps/enc_cmd.c b/src/comps/enc_cmd.c
index a0abf93b..20c81266 100644
--- a/src/comps/enc_cmd.c
+++ b/src/comps/enc_cmd.c
@@ -24,7 +24,7 @@ struct enc_cmd_ctx_t {
   TIM_TypeDef *tim;
 };
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct enc_cmd_ctx_t *ctx      = (struct enc_cmd_ctx_t *)ctx_ptr;
   struct enc_cmd_pin_ctx_t *pins = (struct enc_cmd_pin_ctx_t *)pin_ptr;
   ctx->e_res                     = 0;
@@ -32,7 +32,7 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   PIN(input_filter) = 3;
 }
 
-static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void hw_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct enc_cmd_ctx_t *ctx      = (struct enc_cmd_ctx_t *)ctx_ptr;
   struct enc_cmd_pin_ctx_t *pins = (struct enc_cmd_pin_ctx_t *)pin_ptr;
 
@@ -160,7 +160,7 @@ static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   TIM_Cmd(ctx->tim, ENABLE);
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct enc_cmd_ctx_t *ctx      = (struct enc_cmd_ctx_t *)ctx_ptr;
   struct enc_cmd_pin_ctx_t *pins = (struct enc_cmd_pin_ctx_t *)pin_ptr;
 
diff --git a/src/comps/enc_fb.c b/src/comps/enc_fb.c
index a5789ec8..37fee408 100644
--- a/src/comps/enc_fb.c
+++ b/src/comps/enc_fb.c
@@ -27,6 +27,7 @@ HAL_PIN(error);
 HAL_PIN(amp);
 HAL_PIN(vel);
 HAL_PIN(ccr3);
+HAL_PIN(en_index);
 HAL_PIN(indexprint);
 
 
@@ -38,7 +39,7 @@ struct enc_fb_ctx_t {
 int indexpos   = 0;
 int indexprint = 0;
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct enc_fb_ctx_t *ctx      = (struct enc_fb_ctx_t *)ctx_ptr;
   struct enc_fb_pin_ctx_t *pins = (struct enc_fb_pin_ctx_t *)pin_ptr;
   ctx->e_res                    = 0;
@@ -47,7 +48,7 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   PIN(ires)                     = 1024.0;
 }
 
-static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void hw_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct enc_fb_ctx_t *ctx      = (struct enc_fb_ctx_t *)ctx_ptr;
   struct enc_fb_pin_ctx_t *pins = (struct enc_fb_pin_ctx_t *)pin_ptr;
   GPIO_InitTypeDef GPIO_InitStructure;
@@ -98,7 +99,7 @@ static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
 }
 
 
-// static void frt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+// static void frt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
 //   struct enc_fb_ctx_t *ctx      = (struct enc_fb_ctx_t *)ctx_ptr;
 //   struct enc_fb_pin_ctx_t *pins = (struct enc_fb_pin_ctx_t *)pin_ptr;
 
@@ -115,7 +116,7 @@ static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
 //   PIN(abs_pos) = mod(p + ctx->absoffset);
 // }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct enc_fb_ctx_t *ctx      = (struct enc_fb_ctx_t *)ctx_ptr;
   struct enc_fb_pin_ctx_t *pins = (struct enc_fb_pin_ctx_t *)pin_ptr;
 
@@ -186,7 +187,7 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
   p        = mod(tim * 2.0f * M_PI / (float)ctx->e_res);
   PIN(pos) = p;
 
-  if(FB0_ENC_TIM->SR & TIM_SR_CC3IF) {
+  if(PIN(en_index) > 0.0 & FB0_ENC_TIM->SR & TIM_SR_CC3IF) {
     int cc         = FB0_ENC_TIM->CCR3;
     PIN(state)     = 3.0;
     ctx->absoffset = mod(cc * 2.0f * M_PI / (float)ctx->e_res);
@@ -213,7 +214,7 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
   }
 }
 
-static void nrt_func(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_func(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct enc_fb_ctx_t *ctx      = (struct enc_fb_ctx_t *)ctx_ptr;
   // struct enc_fb_pin_ctx_t *pins = (struct enc_fb_pin_ctx_t *)pin_ptr;
   if(indexprint == 1) {
diff --git a/src/comps/encf.c b/src/comps/encf.c
index 2755eceb..06374e1c 100644
--- a/src/comps/encf.c
+++ b/src/comps/encf.c
@@ -95,7 +95,7 @@ uint8_t print_buf[10];
 int32_t pos_offset;
 uint32_t state_counter;
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct encf_ctx_t *ctx = (struct encf_ctx_t *)ctx_ptr;
   struct encf_pin_ctx_t *pins = (struct encf_pin_ctx_t *)pin_ptr;
   GPIO_InitTypeDef GPIO_InitStruct;
@@ -177,7 +177,7 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   state_counter = 0;
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct encf_ctx_t *ctx      = (struct encf_ctx_t *)ctx_ptr;
   struct encf_pin_ctx_t *pins = (struct encf_pin_ctx_t *)pin_ptr;
 
@@ -282,7 +282,7 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
   DMA_Cmd(DMA1_Stream0, ENABLE);
 }
 
-static void nrt_func(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_func(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct encf_ctx_t *ctx = (struct encf_ctx_t *)ctx_ptr;
   struct encf_pin_ctx_t *pins = (struct encf_pin_ctx_t *)pin_ptr;
 
diff --git a/src/comps/encm.c b/src/comps/encm.c
index a3ad4fb5..a8402150 100644
--- a/src/comps/encm.c
+++ b/src/comps/encm.c
@@ -18,7 +18,7 @@ struct encm_ctx_t {
   uint8_t rxbuf[15];
 };
 
-static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void hw_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct encm_ctx_t *ctx = (struct encm_ctx_t *)ctx_ptr;
   // struct encm_pin_ctx_t * pins = (struct encm_pin_ctx_t *)pin_ptr;
   GPIO_InitTypeDef GPIO_InitStruct;
@@ -86,7 +86,7 @@ static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   USART_DMACmd(USART6, USART_DMAReq_Rx, ENABLE);
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct encm_ctx_t *ctx      = (struct encm_ctx_t *)ctx_ptr;
   struct encm_pin_ctx_t *pins = (struct encm_pin_ctx_t *)pin_ptr;
   PIN(dma)                    = DMA_GetCurrDataCounter(DMA2_Stream1);
diff --git a/src/comps/encs.c b/src/comps/encs.c
index 2848c921..22e11b2f 100644
--- a/src/comps/encs.c
+++ b/src/comps/encs.c
@@ -76,7 +76,7 @@ typedef union {
 
 sanyo_t data;
 
-static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void hw_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct encs_ctx_t *ctx = (struct encs_ctx_t *)ctx_ptr;
   // struct encs_pin_ctx_t *pins = (struct encs_pin_ctx_t *)pin_ptr;
 
@@ -200,7 +200,7 @@ static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   TIM_Cmd(TIM8, ENABLE);
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct encs_ctx_t *ctx      = (struct encs_ctx_t *)ctx_ptr;
   struct encs_pin_ctx_t *pins = (struct encs_pin_ctx_t *)pin_ptr;
 
diff --git a/src/comps/endat.c b/src/comps/endat.c
index 69552760..2b268d47 100644
--- a/src/comps/endat.c
+++ b/src/comps/endat.c
@@ -6,12 +6,40 @@
 #include "stm32f4xx_conf.h"
 #include "hw/hw.h"
 #include <string.h>
+#include <endat.h>
 
 HAL_COMP(endat);
 
-HAL_PINA(byte, 6);
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+
+HAL_PIN(pos);
+HAL_PIN(mpos);
+
+HAL_PIN(f1);
+HAL_PIN(crc);
+HAL_PIN(shift);
+HAL_PIN(timer);
+HAL_PIN(swap);
+HAL_PIN(skip);
+HAL_PIN(bytes);
+
+HAL_PIN(error);
+HAL_PIN(state);
+
+HAL_PIN(endat_error);
+HAL_PIN(endat_warning);
+HAL_PIN(endat_state);
+HAL_PIN(pos_len);
+HAL_PIN(mpos_len);
+HAL_PIN(pos_res);
+HAL_PIN(type);
+HAL_PIN(max_vel);
+
+HAL_PIN(req);
+
+HAL_PIN(print_time);
+
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct endat_ctx_t *ctx = (struct endat_ctx_t *)ctx_ptr;
   struct endat_pin_ctx_t *pins = (struct endat_pin_ctx_t *)pin_ptr;
   GPIO_InitTypeDef GPIO_InitStruct;
@@ -57,34 +85,357 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
 
   GPIO_SetBits(GPIOD, GPIO_Pin_10);  //clock tx enable
 
+  // DMA_InitTypeDef dma_rx_config;
+  // dma_rx_config.DMA_Channel            = DMA_Channel_0;
+  // dma_rx_config.DMA_PeripheralBaseAddr = (uint32_t)&FB0_SPI->DR;
+  // dma_rx_config.DMA_Memory0BaseAddr    = (uint32_t)&tim_data;
+  // dma_rx_config.DMA_DIR                = DMA_DIR_PeripheralToMemory;
+  // dma_rx_config.DMA_BufferSize         = ARRAY_SIZE(tim_data);
+  // dma_rx_config.DMA_PeripheralInc      = DMA_PeripheralInc_Disable;
+  // dma_rx_config.DMA_MemoryInc          = DMA_MemoryInc_Enable;
+  // dma_rx_config.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
+  // dma_rx_config.DMA_MemoryDataSize     = DMA_PeripheralDataSize_HalfWord;
+  // dma_rx_config.DMA_Mode               = DMA_Mode_Normal;
+  // dma_rx_config.DMA_Priority           = DMA_Priority_VeryHigh;
+  // dma_rx_config.DMA_FIFOMode           = DMA_FIFOMode_Disable;
+  // dma_rx_config.DMA_FIFOThreshold      = DMA_FIFOThreshold_HalfFull;
+  // dma_rx_config.DMA_MemoryBurst        = DMA_MemoryBurst_Single;
+  // dma_rx_config.DMA_PeripheralBurst    = DMA_PeripheralBurst_Single;
+
+  // DMA_Cmd(DMA1_Stream2, DISABLE);
+  // DMA_DeInit(DMA1_Stream2);
+  // DMA_Init(DMA1_Stream2, &dma_rx_config);
+
+  PIN(pos_len) = 18; // 17
+  PIN(mpos_len) = 12; // 15
+  PIN(endat_state) = 13;
+  PIN(swap) = 1;
+  PIN(skip) = 10;
+  PIN(bytes) = 7;
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
-  // struct endat_ctx_t *ctx      = (struct endat_ctx_t *)ctx_ptr;
+union{
+  uint64_t data;
+  uint8_t dataa[8];
+} df, df1, df2;
+
+endat_cmd_t req;
+
+struct endat_ctx_t {
+  endat_data_t data;
+};
+
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
+  struct endat_ctx_t *ctx      = (struct endat_ctx_t *)ctx_ptr;
   struct endat_pin_ctx_t *pins = (struct endat_pin_ctx_t *)pin_ptr;
 
+  req = 0;
+  uint8_t addr = 0; 
+
+  ctx->data.pos_bits = PIN(pos_len);
+  ctx->data.mpos_bits = PIN(mpos_len);
+
+  switch((int)PIN(endat_state)){
+    case 0: // reset error
+      req = ENDAT_RESET;
+    break;
+
+    case 1: // select mem state
+      req = ENDAT_SELECT_MEM;
+      addr = ENDAT_MEM_STATE;
+    break;
+
+    case 2: // read error
+      req = ENDAT_READ_ADDR;
+      addr = ENDAT_ADDR_ERROR;
+    break;
+
+    case 3: // read warning
+      req = ENDAT_READ_ADDR;
+      addr = ENDAT_ADDR_WARNING;
+    break;
+
+    case 4: // select mem 0
+      req = ENDAT_SELECT_MEM;
+      addr = ENDAT_MEM_PARAM0;
+    break;
+
+    case 5: // read len
+      req = ENDAT_READ_ADDR;
+      addr = ENDAT_ADDR_POS_LEN;
+    break;
+
+    case 6: // read type
+      req = ENDAT_READ_ADDR;
+      addr = ENDAT_ADDR_TYPE;
+    break;
+
+    case 7: // select mem 1
+      req = ENDAT_SELECT_MEM;
+      addr = ENDAT_MEM_PARAM1;
+    break;
+
+    case 8: // read multi
+      req = ENDAT_READ_ADDR;
+      addr = ENDAT_ADDR_MULTITURN;
+    break;
+
+    case 9: // read res low
+      req = ENDAT_READ_ADDR;
+      addr = ENDAT_ADDR_RES_LOW;
+    break;
+
+    case 10: // read res high
+      req = ENDAT_READ_ADDR;
+      addr = ENDAT_ADDR_RES_HIGH;
+    break;
+
+    case 11: // select mem 2
+      req = ENDAT_SELECT_MEM;
+      addr = ENDAT_MEM_PARAM2;
+    break;
+
+    case 12: // read max vel
+      req = ENDAT_READ_ADDR;
+      addr = ENDAT_ADDR_MAX_VEL;
+    break;
+
+    case 13: // read pos
+      req = ENDAT_READ_POS;
+    break;
+  }
+
+  if(PIN(req) > 0){
+    req = PIN(req);
+  }
+
+  SPI3->CR1 &= ~SPI_CR1_SPE;//disable spi
+  SPI3->CR1 = SPI_CR1_LSBFIRST | SPI_CR1_MSTR | SPI_CR1_CPOL | SPI_CR1_CPHA | SPI_CR1_SSI | SPI_CR1_SSM | SPI_CR1_BIDIMODE | SPI_BaudRatePrescaler_32;
+
+  uint32_t bits = endat_tx(req, addr, 0, df.dataa, &(ctx->data));
+  df2.data = df.data;
+
   GPIO_SetBits(GPIOD, GPIO_Pin_15);//tx enable
   SPI3->CR1 |= SPI_CR1_BIDIOE;//enable output
   SPI3->CR1 |= SPI_CR1_SPE;//enable spi
 
-  SPI3->DR = 0x07;
-  while(!(SPI3->SR & SPI_SR_TXE));
-  while(SPI3->SR & SPI_SR_BSY);
+  for(int i = 0; i < (bits + 7) / 8; i++){
+    SPI3->DR = df.dataa[i];
+    while(!(SPI3->SR & SPI_SR_TXE));
+    while(SPI3->SR & SPI_SR_BSY);
+  }
+  
   SPI3->CR1 &= ~SPI_CR1_BIDIOE;//disable output, this activates the clock
   GPIO_ResetBits(GPIOD, GPIO_Pin_15);//tx disable
-  
-  volatile uint32_t foo = SPI3->DR;//dummy read to clear flags
-  for(int i = 0;i<6;i++){
-    while(!(SPI3->SR & SPI_SR_RXNE));
-    PINA(byte,i) = SPI3->DR;
+
+  SPI3->CR1 &= ~SPI_CR1_SPE;//disable spi
+  if(PIN(swap) > 0.0){ 
+    SPI3->CR1 = SPI_CR1_LSBFIRST | SPI_CR1_MSTR | SPI_CR1_CPOL | SPI_CR1_SSI | SPI_CR1_SSM | SPI_CR1_BIDIMODE | SPI_BaudRatePrescaler_32;
   }
+  else{
+    SPI3->CR1 = SPI_CR1_LSBFIRST | SPI_CR1_MSTR | SPI_CR1_SSI | SPI_CR1_SSM | SPI_CR1_BIDIMODE | SPI_BaudRatePrescaler_32;
+  }
+  SPI3->CR1 |= SPI_CR1_SPE;//enable spi
+
+  df.data = 0;
+  for(int i = 0; i < MIN(sizeof(df.data), PIN(bytes)); i++){
+    while(!(SPI3->SR & SPI_SR_RXNE));
+    df.dataa[i] = SPI3->DR;
+  }
+
+  df1.data = df.data >> (int)PIN(skip);
+  PIN(shift) = PIN(skip);
+  while((df1.data & 1) == 0 && PIN(shift) < 32.0){
+    df1.data = df1.data >> 1;
+    PIN(shift)++;
+  }
+
+  uint32_t ret = endat_rx(df1.dataa, MIN(sizeof(df1.data), PIN(bytes)) * 8, &(ctx->data));
+
+  switch((int) PIN(endat_state)){
+    case 12:
+      if(ctx->data.error_bit){
+        PIN(endat_state) = 0;
+        PIN(error) = 1;
+        PIN(state) = 0;
+      }
+      else{
+        PIN(state) = 1;
+        PIN(error) = 0;
+      }
+
+      if(ret == 0){
+        PIN(endat_state) = 0;
+        PIN(error) = 1;
+        PIN(state) = 0;
+      }
+    break;
+
+    default:
+      PIN(state) = 0;
+      if(ret == 0){
+        PIN(endat_state) = 0;
+      }
+      else{
+        PIN(endat_state)++;
+      }
+  }
+
+  PIN(mpos) = ctx->data.mpos;
+  PIN(f1) = ctx->data.error_bit;
+  PIN(crc) = ctx->data.crc;
+  PIN(pos_len) = ctx->data.pos_bits;
+  PIN(mpos_len) = ctx->data.mpos_bits;
+  PIN(pos_res) = ctx->data.pos_res;
+  PIN(type) = ctx->data.fb_type;
+  PIN(endat_error) = ctx->data.error.reg;
+  PIN(endat_warning) = ctx->data.warning.reg;
+  PIN(max_vel) = ctx->data.max_vel;
+
+  if(ctx->data.pos_bits){
+    PIN(pos) = mod(ctx->data.pos * 2.0 * M_PI / (1 << ctx->data.pos_bits));
+  }
+
   //TODO: wait for busy flag?
   SPI3->CR1 &= ~SPI_CR1_SPE;//disable spi
+
+  if(PIN(print_time) > 0.0){
+    PIN(timer) += period;
+  }
+}
+
+static void nrt_func(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
+  struct endat_ctx_t *ctx      = (struct endat_ctx_t *)ctx_ptr;
+  struct endat_pin_ctx_t *pins = (struct endat_pin_ctx_t *)pin_ptr;
+
+  if(PIN(timer) > PIN(print_time)) {
+    PIN(timer) = 0.0;
+
+    uint64_t data = df.data;
+    uint64_t reqdata = df2.data;
+    uint64_t pos1 = ctx->data.pos;
+    uint64_t pos2 = ctx->data.mpos;
+    uint64_t crc = ctx->data.crc;
+    uint32_t shift = PIN(shift);
+
+    printf("req: ");
+    switch(req){
+      case ENDAT_SELECT_MEM:
+        printf("ENDAT_SELECT_MEM\n");
+      break;
+
+      case ENDAT_READ_ADDR:
+        printf("ENDAT_READ_ADDR\n");
+      break;
+
+      case ENDAT_WRITE_ADDR:
+        printf("ENDAT_WRITE_ADDR\n");
+      break;
+
+      case ENDAT_READ_POS:
+        printf("ENDAT_READ_POS\n");
+      break;
+
+      default:
+        printf("unkonwn req\n");
+    }
+    
+    printf("req data: ");
+    for(int i = 0; i < 64; i++){
+      if(reqdata & 1){
+        printf("1");
+      }
+      else{
+        printf("0");
+      }
+      reqdata >>= 1;
+      if(i == 8 - 1){
+        printf("-");
+      }
+      if(i == 8 + 8 - 1){
+        printf("-");
+      }
+      if(i == 8 + 8 + 16 - 1){
+        printf("-");
+      }
+      if(i == 8 + 8 + 16 + 5 - 1){
+        printf("-");
+      }
+    }
+    printf("\n");
+
+    printf("data: ");
+    for(int i = 0; i < 32; i++){
+      if(data & 1){
+        printf("1");
+      }
+      else{
+        printf("0");
+      }
+      data >>= 1;
+      if(i == shift - 1){
+        printf("-");
+      }
+      if(i == shift + 2 - 1){
+        printf("-");
+      }
+      if(i == shift + 2 + ctx->data.pos_bits - 1){
+        printf("-");
+      }
+      if(i == shift + 2 + ctx->data.pos_bits + ctx->data.mpos_bits - 1){
+        printf("-");
+      }
+    }
+    printf("\n");
+    printf("pos1: ");
+    for(int i = 0; i < 64; i++){
+      if(pos1 & 1){
+        printf("1");
+      }
+      else{
+        printf("0");
+      }
+      pos1 >>= 1;
+      if(i == ctx->data.pos_bits - 1){
+        printf("-");
+      }
+    }
+    printf("\n");
+    printf("pos2: ");
+    for(int i = 0; i < 64; i++){
+      if(pos2 & 1){
+        printf("1");
+      }
+      else{
+        printf("0");
+      }
+      pos2 >>= 1;
+      if(i == ctx->data.mpos_bits - 1){
+        printf("-");
+      }
+    }
+    printf("\n");
+
+    printf("crc:  ");
+    for(int i = 0; i < 64; i++){
+      if(crc & 1){
+        printf("1");
+      }
+      else{
+        printf("0");
+      }
+      crc >>= 1;
+      if(i == 5 - 1){
+        printf("-");
+      }
+    }
+    printf("\n\n");
+  }
 }
 
 hal_comp_t endat_comp_struct = {
     .name      = "endat",
-    .nrt       = 0,
+    .nrt       = nrt_func,
     .rt        = rt_func,
     .frt       = 0,
     .nrt_init  = nrt_init,
@@ -92,6 +443,6 @@ hal_comp_t endat_comp_struct = {
     .frt_start = 0,
     .rt_stop   = 0,
     .frt_stop  = 0,
-    .ctx_size  = 0,
+    .ctx_size  = sizeof(struct endat_ctx_t),
     .pin_count = sizeof(struct endat_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
 };
diff --git a/src/comps/hv.c b/src/comps/hv.c
index 51e79ac4..4474cee5 100644
--- a/src/comps/hv.c
+++ b/src/comps/hv.c
@@ -34,9 +34,13 @@ HAL_PIN(dac);
 
 // process data to LS
 HAL_PIN(dc_volt);
-HAL_PIN(d_fb);
-HAL_PIN(q_fb);
+HAL_PIN(id_fb);
+HAL_PIN(iq_fb);
+HAL_PIN(ud_fb);
+HAL_PIN(uq_fb);
 HAL_PIN(abs_cur);
+HAL_PIN(abs_volt);
+HAL_PIN(duty);
 
 // state data to LS
 HAL_PIN(hv_temp);
@@ -107,7 +111,7 @@ void hv_send(char *ptr) {
 }
 COMMAND("hv", hv_send, "send command to hv board");
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct hv_ctx_t *ctx      = (struct hv_ctx_t *)ctx_ptr;
   struct hv_pin_ctx_t *pins = (struct hv_pin_ctx_t *)pin_ptr;
 
@@ -208,12 +212,12 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   PIN(ignore_fault_pin) = 1;
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct hv_ctx_t *ctx = (struct hv_ctx_t *)ctx_ptr;
   ctx->frt_slot        = 0;
 }
 
-static void frt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void frt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct hv_ctx_t *ctx      = (struct hv_ctx_t *)ctx_ptr;
   struct hv_pin_ctx_t *pins = (struct hv_pin_ctx_t *)pin_ptr;
   ctx->frt_slot++;
@@ -249,10 +253,16 @@ static void frt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst
             case SLAVE_IN_APP:
               if(ctx->from_hv.packet_from_hv.header.slave_addr == 0 && ctx->from_hv.packet_from_hv.header.len == (sizeof(packet_from_hv_t) - sizeof(stmbl_talk_header_t)) / 4) {
                 // from f3 app
-                PIN(d_fb)    = ctx->from_hv.packet_from_hv.d_fb;
-                PIN(q_fb)    = ctx->from_hv.packet_from_hv.q_fb;
+                PIN(id_fb)    = ctx->from_hv.packet_from_hv.id_fb;
+                PIN(iq_fb)    = ctx->from_hv.packet_from_hv.iq_fb;
+                PIN(ud_fb)    = ctx->from_hv.packet_from_hv.ud_fb;
+                PIN(uq_fb)    = ctx->from_hv.packet_from_hv.uq_fb;
                 PIN(fault)   = ctx->from_hv.packet_from_hv.fault;
-                PIN(abs_cur) = sqrtf(PIN(d_fb) * PIN(d_fb) + PIN(q_fb) * PIN(q_fb));
+                PIN(abs_cur) = sqrtf(PIN(id_fb) * PIN(id_fb) + PIN(iq_fb) * PIN(iq_fb));
+                PIN(abs_volt) = sqrtf(PIN(ud_fb) * PIN(ud_fb) + PIN(uq_fb) * PIN(uq_fb));
+                if(PIN(pwm_volt) > 0.0){
+                  PIN(duty) = PIN(abs_volt) / PIN(pwm_volt);
+                }
 
                 uint16_t a         = ctx->from_hv.packet_from_hv.header.conf_addr;
                 a                  = CLAMP(a, 0, sizeof(f3_state_data_t) / 4);
@@ -524,7 +534,7 @@ void send_boot(char *ptr) {
 }
 COMMAND("hv_update", send_boot, "try hv update");
 
-static void nrt_func(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_func(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct hv_ctx_t *ctx = (struct hv_ctx_t *)ctx_ptr;
   // struct hv_pin_ctx_t *pins = (struct hv_pin_ctx_t *)pin_ptr;
   char c;
diff --git a/src/comps/hvf1.c b/src/comps/hvf1.c
index 910273b1..8143c687 100644
--- a/src/comps/hvf1.c
+++ b/src/comps/hvf1.c
@@ -36,7 +36,7 @@ struct hv_ctx_t {
   volatile packet_from_hv_t packet_from_hv;
 };
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct hv_ctx_t *ctx = (struct hv_ctx_t *)ctx_ptr;
   // struct hv_pin_ctx_t *pins = (struct hv_pin_ctx_t *)pin_ptr;
 
@@ -129,7 +129,7 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   ctx->packet_from_hv.head.key   = 0;
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct hv_ctx_t *ctx      = (struct hv_ctx_t *)ctx_ptr;
   struct hv_pin_ctx_t *pins = (struct hv_pin_ctx_t *)pin_ptr;
 
diff --git a/src/comps/hw/io3.c b/src/comps/hw/io3.c
index f7637502..9cc55c7c 100644
--- a/src/comps/hw/io3.c
+++ b/src/comps/hw/io3.c
@@ -15,7 +15,7 @@ HAL_PIN(state);
 HAL_PIN(fault);
 HAL_PIN(brake);
 
-static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void hw_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct io_ctx_t * ctx = (struct io_ctx_t *)ctx_ptr;
   // struct io_pin_ctx_t *pins = (struct io_pin_ctx_t *)pin_ptr;
 
@@ -63,7 +63,7 @@ static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   TIM_CtrlPWMOutputs(TIM8, ENABLE);
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct io_ctx_t * ctx = (struct io_ctx_t *)ctx_ptr;
   struct io_pin_ctx_t *pins = (struct io_pin_ctx_t *)pin_ptr;
   if(PIN(fan) > 0)
diff --git a/src/comps/hw/io4.c b/src/comps/hw/io4.c
index c039a07c..1831018a 100644
--- a/src/comps/hw/io4.c
+++ b/src/comps/hw/io4.c
@@ -76,7 +76,7 @@ HAL_PIN(fb1z);
 
 HAL_PIN(fbsd);  //fb shutdown
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct io_pin_ctx_t *pins = (struct io_pin_ctx_t *)pin_ptr;
   PIN(th0)                  = 12.0;
   PIN(th1)                  = 12.0;
@@ -85,7 +85,7 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   PIN(out_freq)             = 15000;
 }
 
-static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void hw_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct io_ctx_t * ctx = (struct io_ctx_t *)ctx_ptr;
   struct io_pin_ctx_t *pins = (struct io_pin_ctx_t *)pin_ptr;
 
@@ -253,7 +253,7 @@ static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
 #define ARES 4096.0
 #define AREF 3.3
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct io_ctx_t * ctx = (struct io_ctx_t *)ctx_ptr;
   struct io_pin_ctx_t *pins = (struct io_pin_ctx_t *)pin_ptr;
   uint32_t red              = 0;
diff --git a/src/comps/hx711.c b/src/comps/hx711.c
index fc8d858f..efd302e9 100644
--- a/src/comps/hx711.c
+++ b/src/comps/hx711.c
@@ -43,7 +43,7 @@ static void nopsleep(uint32_t t){
   }
 }
 
-static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void hw_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   //struct hx_ctx_t *ctx = (struct hx_ctx_t *)ctx_ptr;
   struct hx_pin_ctx_t * pins = (struct hx_pin_ctx_t *)pin_ptr;
   GPIO_InitTypeDef GPIO_InitStruct;
@@ -70,7 +70,7 @@ static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
 
 //TODO: plausibility, saturation, channel/gain config, 2 chips
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   //struct hx_ctx_t *ctx      = (struct hx_ctx_t *)ctx_ptr;
   struct hx_pin_ctx_t *pins = (struct hx_pin_ctx_t *)pin_ptr;
   uint32_t value = 0;
diff --git a/src/comps/o_fb.c b/src/comps/o_fb.c
index 1bbb82d4..1744dad9 100644
--- a/src/comps/o_fb.c
+++ b/src/comps/o_fb.c
@@ -11,7 +11,7 @@ HAL_COMP(o_fb);
 HAL_PIN(a);
 HAL_PIN(b);
 
-static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void hw_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct o_fb_ctx_t * ctx = (struct o_fb_ctx_t *)ctx_ptr;
   // struct o_fb_pin_ctx_t * pins = (struct o_fb_pin_ctx_t *)pin_ptr;
 
@@ -38,7 +38,7 @@ static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
 }
 
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct o_fb_ctx_t * ctx = (struct o_fb_ctx_t *)ctx_ptr;
   struct o_fb_pin_ctx_t *pins = (struct o_fb_pin_ctx_t *)pin_ptr;
 
diff --git a/src/comps/res.c b/src/comps/res.c
index 65f211c8..94690ce3 100644
--- a/src/comps/res.c
+++ b/src/comps/res.c
@@ -33,7 +33,7 @@ struct res_ctx_t {
   int abspos;  // multiturn position
 };
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct res_ctx_t *ctx      = (struct res_ctx_t *)ctx_ptr;
   struct res_pin_ctx_t *pins = (struct res_pin_ctx_t *)pin_ptr;
   PIN(poles)                 = 1.0;
@@ -41,7 +41,7 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   PIN(min_amp)               = 0.15;
   PIN(freq)                  = 10000;
 }
-static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void hw_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct res_ctx_t *ctx = (struct res_ctx_t *)ctx_ptr;
   // struct res_pin_ctx_t *pins = (struct res_pin_ctx_t *)pin_ptr;
 
@@ -113,7 +113,7 @@ static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   GPIO_SetBits(FB0_Z_TXEN_PORT, FB0_Z_TXEN_PIN);
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct res_ctx_t *ctx      = (struct res_ctx_t *)ctx_ptr;
   struct res_pin_ctx_t *pins = (struct res_pin_ctx_t *)pin_ptr;
   //TODO: arr can change!
diff --git a/src/comps/smartabs.c b/src/comps/smartabs.c
index 8793d60a..67791bb2 100644
--- a/src/comps/smartabs.c
+++ b/src/comps/smartabs.c
@@ -25,7 +25,7 @@ struct smartabs_ctx_t {
   uint8_t rxbuf[15];
 };
 
-static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void hw_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct smartabs_ctx_t *ctx = (struct smartabs_ctx_t *)ctx_ptr;
   // struct smartabs_pin_ctx_t * pins = (struct smartabs_pin_ctx_t *)pin_ptr;
   GPIO_InitTypeDef GPIO_InitStruct;
@@ -93,7 +93,7 @@ static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   USART_DMACmd(USART6, USART_DMAReq_Rx, ENABLE);
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct smartabs_ctx_t *ctx      = (struct smartabs_ctx_t *)ctx_ptr;
   struct smartabs_pin_ctx_t *pins = (struct smartabs_pin_ctx_t *)pin_ptr;
   PIN(dma)                    = DMA_GetCurrDataCounter(DMA2_Stream1);
diff --git a/src/comps/sserial.c b/src/comps/sserial.c
index 102b3651..bd597e0a 100644
--- a/src/comps/sserial.c
+++ b/src/comps/sserial.c
@@ -217,7 +217,7 @@ static void send(uint8_t len, uint8_t docrc) {
 
 //TODO: lbp command 0xe6 to set mode
 
-static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void hw_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct sserial_ctx_t * ctx = (struct sserial_ctx_t *)ctx_ptr;
   struct sserial_pin_ctx_t *pins = (struct sserial_pin_ctx_t *)pin_ptr;
 
@@ -330,7 +330,7 @@ static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
 }
 
 
-static void frt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void frt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct sserial_pin_ctx_t *pins = (struct sserial_pin_ctx_t *)pin_ptr;
   //next received packet will be written to bufferpos
   uint32_t bufferpos = sizeof(rxbuf) - DMA_GetCurrDataCounter(DMA2_Stream5);
diff --git a/src/comps/yaskawa.c b/src/comps/yaskawa.c
index fda0b791..aa092791 100644
--- a/src/comps/yaskawa.c
+++ b/src/comps/yaskawa.c
@@ -44,7 +44,7 @@ DMA_InitTypeDef DMA_InitStructurerx;
 uint8_t yaskawa_reply[14];
 //uint8_t yaskara_reply_len;
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct yaskawa_ctx_t *ctx = (struct yaskawa_ctx_t *)ctx_ptr;
   struct yaskawa_pin_ctx_t *pins = (struct yaskawa_pin_ctx_t *)pin_ptr;
 
@@ -55,7 +55,7 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   PIN(len5) = 59;
 }
 
-static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void hw_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct yaskawa_ctx_t *ctx = (struct yaskawa_ctx_t *)ctx_ptr;
   // struct yaskawa_pin_ctx_t *pins = (struct yaskawa_pin_ctx_t *)pin_ptr;
 
@@ -179,7 +179,7 @@ static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   dfdf = 0;
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct yaskawa_ctx_t *ctx      = (struct yaskawa_ctx_t *)ctx_ptr;
   struct yaskawa_pin_ctx_t *pins = (struct yaskawa_pin_ctx_t *)pin_ptr;
 
@@ -339,7 +339,7 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
   }
 }
 
-static void nrt_func(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_func(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct yaskawa_ctx_t *ctx      = (struct yaskawa_ctx_t *)ctx_ptr;
   struct yaskawa_pin_ctx_t *pins = (struct yaskawa_pin_ctx_t *)pin_ptr;
   if(RISING_EDGE(PIN(dump))) {
diff --git a/stm32f303/Makefile b/stm32f303/Makefile
index 623f05a2..9c884abe 100644
--- a/stm32f303/Makefile
+++ b/stm32f303/Makefile
@@ -38,7 +38,7 @@ COMPS += shared/comps/curpid.c
 COMPS += shared/comps/svm.c
 COMPS += shared/comps/dq.c
 COMPS += shared/comps/idq.c
-# COMPS += shared/comps/rev.c
+COMPS += shared/comps/sensorless.c
 # COMPS += shared/comps/vel.c
 # COMPS += shared/comps/hal_test.c
 # COMPS += shared/comps/dc.c
diff --git a/stm32f303/src/comps/enc.c b/stm32f303/src/comps/enc.c
index 912edb2c..1dbd2b7d 100644
--- a/stm32f303/src/comps/enc.c
+++ b/stm32f303/src/comps/enc.c
@@ -13,7 +13,7 @@ HAL_PIN(b);
 
 TIM_HandleTypeDef htim1;
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct enc_ctx_t * ctx = (struct enc_ctx_t *)ctx_ptr;
   // struct enc_pin_ctx_t * pins = (struct enc_pin_ctx_t *)pin_ptr;
   __HAL_RCC_TIM1_CLK_ENABLE();
@@ -59,7 +59,7 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   HAL_TIM_Encoder_Start(&htim1, TIM_CHANNEL_1 | TIM_CHANNEL_2);
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct enc_ctx_t * ctx = (struct enc_ctx_t *)ctx_ptr;
   struct enc_pin_ctx_t *pins = (struct enc_pin_ctx_t *)pin_ptr;
 
diff --git a/stm32f303/src/comps/hv.c b/stm32f303/src/comps/hv.c
index 5358f609..ca1319c0 100644
--- a/stm32f303/src/comps/hv.c
+++ b/stm32f303/src/comps/hv.c
@@ -8,6 +8,13 @@
 
 HAL_COMP(hv);
 
+HAL_PIN(drop);
+
+//IU IV IW input in amp
+HAL_PIN(iu);
+HAL_PIN(iv);
+HAL_PIN(iw);
+
 //U V W input in Volt
 HAL_PIN(u);
 HAL_PIN(v);
@@ -30,7 +37,7 @@ struct hv_ctx_t {
   int32_t pwm_res;
 };
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   // struct hv_ctx_t * ctx = (struct hv_ctx_t *)ctx_ptr;
   struct hv_pin_ctx_t *pins = (struct hv_pin_ctx_t *)pin_ptr;
 
@@ -40,9 +47,10 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   PIN(min_on)  = 0.000005;
   PIN(min_off) = 0.000005;
   PIN(arr)     = PWM_RES;
+  PIN(drop) = 0;
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct hv_ctx_t *ctx      = (struct hv_ctx_t *)ctx_ptr;
   struct hv_pin_ctx_t *pins = (struct hv_pin_ctx_t *)pin_ptr;
 
@@ -50,10 +58,15 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
   TIM8->ARR    = ctx->pwm_res;
 
   float udc = MAX(PIN(udc), 0.1);
+
+  // drop compensation
+  float uu = PIN(u) + PIN(drop) * SIGN2(PIN(iu), 0.1);
+  float uv = PIN(v) + PIN(drop) * SIGN2(PIN(iv), 0.1);
+  float uw = PIN(w) + PIN(drop) * SIGN2(PIN(iw), 0.1);
   //convert voltages to PWM output compare values
-  int32_t u = (int32_t)(CLAMP(PIN(u), 0.0, udc) / udc * (float)(ctx->pwm_res));
-  int32_t v = (int32_t)(CLAMP(PIN(v), 0.0, udc) / udc * (float)(ctx->pwm_res));
-  int32_t w = (int32_t)(CLAMP(PIN(w), 0.0, udc) / udc * (float)(ctx->pwm_res));
+  int32_t u = (int32_t)(CLAMP(uu, 0.0, udc) / udc * (float)(ctx->pwm_res));
+  int32_t v = (int32_t)(CLAMP(uv, 0.0, udc) / udc * (float)(ctx->pwm_res));
+  int32_t w = (int32_t)(CLAMP(uw, 0.0, udc) / udc * (float)(ctx->pwm_res));
   //convert on and off times to PWM output compare values
   int32_t min_on  = (int32_t)((float)(ctx->pwm_res) * 15000.0 * PIN(min_on) + 0.5);
   int32_t min_off = (int32_t)((float)(ctx->pwm_res) * 15000.0 * PIN(min_off) + 0.5);
diff --git a/stm32f303/src/comps/io.c b/stm32f303/src/comps/io.c
index c275980d..430d0fb4 100644
--- a/stm32f303/src/comps/io.c
+++ b/stm32f303/src/comps/io.c
@@ -110,7 +110,7 @@ float r2temp(float r) {
   return (temp[ARRAY_SIZE(temp) - 1] + step);  // TODO fix
 }
 
-static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct io_ctx_t *ctx      = (struct io_ctx_t *)ctx_ptr;
   struct io_pin_ctx_t *pins = (struct io_pin_ctx_t *)pin_ptr;
 
@@ -189,7 +189,7 @@ static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   PIN(dac) = 0;
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct io_ctx_t *ctx      = (struct io_ctx_t *)ctx_ptr;
   struct io_pin_ctx_t *pins = (struct io_pin_ctx_t *)pin_ptr;
 
@@ -304,7 +304,7 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
   PIN(cw) = (COMP4->CSR & COMP_CSR_COMPxOUT) > 0;
 }
 
-void nrt_func(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+void nrt_func(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct io_ctx_t *ctx      = (struct io_ctx_t *)ctx_ptr;
   struct io_pin_ctx_t *pins = (struct io_pin_ctx_t *)pin_ptr;
 
diff --git a/stm32f303/src/comps/ls.c b/stm32f303/src/comps/ls.c
index b5beae6f..2690a501 100644
--- a/stm32f303/src/comps/ls.c
+++ b/stm32f303/src/comps/ls.c
@@ -35,8 +35,10 @@ HAL_PIN(dac);
 
 // process data to LS
 HAL_PIN(dc_volt);
-HAL_PIN(d_fb);
-HAL_PIN(q_fb);
+HAL_PIN(id_fb);
+HAL_PIN(iq_fb);
+HAL_PIN(ud_fb);
+HAL_PIN(uq_fb);
 
 // state data to LS
 HAL_PIN(hv_temp);
@@ -79,7 +81,7 @@ struct ls_ctx_t {
 f3_config_data_t config;
 f3_state_data_t state;
 
-static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void hw_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct ls_ctx_t *ctx = (struct ls_ctx_t *)ctx_ptr;
   // struct ls_pin_ctx_t * pins = (struct ls_pin_ctx_t *)pin_ptr;
 
@@ -152,7 +154,7 @@ static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   ctx->packet_from_hv.header.slave_addr = 0;
 }
 
-static void rt_start(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_start(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct ls_ctx_t *ctx      = (struct ls_ctx_t *)ctx_ptr;
   struct ls_pin_ctx_t *pins = (struct ls_pin_ctx_t *)pin_ptr;
 
@@ -168,7 +170,7 @@ static void rt_start(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
   PIN(window)      = 1;
 }
 
-static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   struct ls_ctx_t *ctx      = (struct ls_ctx_t *)ctx_ptr;
   struct ls_pin_ctx_t *pins = (struct ls_pin_ctx_t *)pin_ptr;
 
@@ -290,8 +292,10 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
 
     // fill tx struct
     ctx->packet_from_hv.fault             = (uint8_t)PIN(fault_in);
-    ctx->packet_from_hv.d_fb              = PIN(d_fb);
-    ctx->packet_from_hv.q_fb              = PIN(q_fb);
+    ctx->packet_from_hv.id_fb              = PIN(id_fb);
+    ctx->packet_from_hv.iq_fb              = PIN(iq_fb);
+    ctx->packet_from_hv.ud_fb              = PIN(ud_fb);
+    ctx->packet_from_hv.uq_fb              = PIN(uq_fb);
     ctx->packet_from_hv.header.conf_addr  = ctx->tx_addr;
     ctx->packet_from_hv.header.config.f32 = state.data[ctx->tx_addr++];
     ctx->tx_addr %= sizeof(state) / 4;
diff --git a/stm32f303/src/main.c b/stm32f303/src/main.c
index 9edc9070..5a499777 100644
--- a/stm32f303/src/main.c
+++ b/stm32f303/src/main.c
@@ -315,16 +315,17 @@ int main(void) {
   hal_parse("svm0.udc = io0.udc");
   hal_parse("curpid0.id_fb = dq0.d");
   hal_parse("curpid0.iq_fb = dq0.q");
-  hal_parse("ls0.d_fb = dq0.d");
-  hal_parse("ls0.q_fb = dq0.q");
+  hal_parse("ls0.id_fb = dq0.d");
+  hal_parse("ls0.iq_fb = dq0.q");
+  hal_parse("ls0.ud_fb = curpid0.ud");
+  hal_parse("ls0.uq_fb = curpid0.uq");
   hal_parse("ls0.y = dq0.y");
   hal_parse("ls0.u_fb = io0.u");
   hal_parse("ls0.v_fb = io0.v");
   hal_parse("ls0.w_fb = io0.w");
   hal_parse("idq0.d = curpid0.ud");
   hal_parse("idq0.q = curpid0.uq");
-  hal_parse("curpid0.rd = ls0.r");
-  hal_parse("curpid0.rq = ls0.r");
+  hal_parse("curpid0.r = ls0.r");
   hal_parse("curpid0.ld = ls0.l");
   hal_parse("curpid0.lq = ls0.l");
   hal_parse("curpid0.psi = ls0.psi");
@@ -339,6 +340,18 @@ int main(void) {
   hal_parse("curpid0.cmd_mode = ls0.cmd_mode");
   hal_parse("hv0.arr = ls0.arr");
   hal_parse("io0.ignore_fault_pin = ls0.ignore_fault_pin");
+  // hal_parse("load sensorless");
+  // hal_parse("sensorless0.rt_prio = 7");
+  // hal_parse("sensorless0.r = ls0.r");
+  // hal_parse("sensorless0.l = ls0.l");
+  // hal_parse("sensorless0.id = dq0.d");
+  // hal_parse("sensorless0.iq = dq0.q");
+  // hal_parse("sensorless0.ud = curpid0.ud");
+  // hal_parse("sensorless0.uq = curpid0.uq");
+  hal_parse("hv0.iu = io0.iu");
+  hal_parse("hv0.iv = io0.iv");
+  hal_parse("hv0.iw = io0.iw");
+  
   hal_parse("debug_level 0");
 
   // hal parse config