diff --git a/src/main.c b/src/main.c
index 817254fc..d00d0f75 100644
--- a/src/main.c
+++ b/src/main.c
@@ -1,438 +1,438 @@
-#include <stm32f4_discovery.h>
-#include <stm32f4xx_conf.h>
-#include "printf.h"
-#include "scanf.h"
-#include "param.h"
-#include "setup.h"
-#include <math.h>
-
-#ifdef USBTERM
-#include "stm32_ub_usb_cdc.h"
-#endif
-
-int __errno;
-void Wait(unsigned int ms);
-
-//bosch grau, gelb, grün
-#define pole_count 4
-#define res_offset DEG(36.6) //minimaler positiver resolver output bei mag_pos = 0
-
-//mayr gelb sw, rot
-//amp zu gering!
-// #define pole_count 2
-// #define res_offset 0.5 //minimaler positiver resolver output bei mag_pos = 0
-// float p = 8.000000
-// float i = 400.000000
-// float d = 0.050000
-// float p = 3.000000
-// float i = 100.000000
-// float d = 0.004999
-
-#define pwm_scale 0.9//max/min PWM duty cycle
-
-#define NO 0
-#define YES 1
-
-#define offseta 0.0 * 2.0 * M_PI / 3.0
-#define offsetb 1.0 * 2.0 * M_PI / 3.0
-#define offsetc 2.0 * 2.0 * M_PI / 3.0
-
-volatile float mag_pos = 0;
-volatile float soll_pos = 0;
-volatile float soll_pos_old = 0;
-volatile float ist = 0;
-volatile float ist_old = 0;
-volatile float voltage_scale = 0;// -1 bis 1
-
-volatile int t1, t2;//rohdaten sin/cos
-volatile int t1_last = 0, t2_last = 0;//rohdaten sin/cos letzter aufruf
-volatile int t1_mid = 0,t2_mid = 0;//mittelpunkt sin/cos
-volatile int amp1,amp2;//betrag
-volatile int erreger = 0;//resolver erreger pin an/aus
-volatile int erreger_enable = NO;//erreger aktiv
-volatile float w = -1;
-volatile int k = 0,l = 0;
-volatile int data[10][2][2];
-volatile int rescal = 0;//potis einstellen
-volatile float calv = 0.5;//potis einstellen
-volatile float res_s_var = 0.0;
-volatile float res_c_var = 0.0;
-volatile float startpos = 0.0;
-volatile int count = 0;
-volatile int mode = 0;
-volatile float amp = 0.0;
-volatile float freq = 0.0;
-
-enum{
-	STBY,
-	RUNNING,
-	EFOLLOW,
-	EFEEDBACK
-} state;
-
-void enable(){
-	PWM_E = mag_res*0.97;
-}
-
-void disable(){
-	PWM_E = 0;
-}
-
-float get_enc_pos(){
-	return (TIM_GetCounter(TIM3) * 2 * M_PI / 2048);//nochmal in der setup
-}
-
-float get_res_pos(){
-    return ist - res_offset;
-}
-
-void output_ac_pwm(){
-	float volt = CLAMP(voltage_scale,-1.0,1.0);
-	//volt = volt*-1;
-
-    if(rescal){
-        mag_pos = 0;
-        volt = calv;
-    }else{
-        mag_pos = get_res_pos() * pole_count + DEG(90);
-    }
-
-    mag_pos = mod(mag_pos);
-	PWM_U = (sinf(mag_pos + offseta) * pwm_scale * volt + 1.0) * mag_res / 2.0;
-	PWM_V = (sinf(mag_pos + offsetb) * pwm_scale * volt + 1.0) * mag_res / 2.0;
-	PWM_W = (sinf(mag_pos + offsetc) * pwm_scale * volt + 1.0) * mag_res / 2.0;
-}
-
-void output_dc_pwm(){
-	float volt = CLAMP(voltage_scale,-1.0,1.0);
-
-	int foo = volt * mag_res * pwm_scale / 2 + mag_res / 2;
-	PWM_U = foo;//PD12 PIN1
-	PWM_V = mag_res-foo;//PD13 PIN2
-	PWM_W = 0;//PD15 PIN3
-}
-
-void DMA2_Stream2_IRQHandler(void){
-  // welches flag?
-  //DMA_ClearFlag(DMA2_FLAG_IT);
-  DMA_ClearITPendingBit(DMA2_Stream2, DMA_IT_TCIF2);
-  printf_("DMA\n");
-}
-
-void TIM2_IRQHandler(void){ //20KHz
-    TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
-	GPIO_SetBits(GPIOC,GPIO_Pin_4);//messpin
-}
-
-void ADC_IRQHandler(void) // 20khz
-{
-	while(!ADC_GetFlagStatus(ADC2, ADC_FLAG_EOC));
-	ADC_ClearITPendingBit(ADC1, ADC_IT_EOC);
-	GPIO_ResetBits(GPIOC,GPIO_Pin_4);//messpin
-
-	t1 = ADC_GetConversionValue(ADC1);
-	t2 = ADC_GetConversionValue(ADC2);
-	t1_mid = t1_mid * 0.95 + (t1+t1_last)/2 * 0.05;
-	t2_mid = t2_mid * 0.95 + (t2+t2_last)/2 * 0.05;
-	if(erreger_enable){//erreger signal aktiv
-		if(erreger){//eine halbwelle
-			GPIO_SetBits(GPIOC,GPIO_Pin_2);//erreger
-			amp1 = (t1-t1_mid)*(t1-t1_mid)+(t2-t2_mid)*(t2-t2_mid);
-            if(w >= 0){
-                data[k][0][0] = t1 - t1_mid;
-                data[k][0][1] = t2 - t2_mid;
-                k++;
-            }
-		}else{//andere halbwelle
-			GPIO_ResetBits(GPIOC,GPIO_Pin_2);//erreger
-			amp2 = (t1_mid-t1)*(t1_mid-t1)+(t2_mid-t2)*(t2_mid-t2);
-            if(w >= 0){
-                data[l][1][0] = t1_mid - t1;
-                data[l][1][1] = t2_mid - t2;
-                l++;
-            }
-		}
-        if(l == 10 && k == 10){
-            w = -1;
-            l = 0;
-            k = 0;
-        }
-	}else{//mittelpunkt messen
-		if(t1_mid == 0 && t2_mid == 0){//erster durchlauf
-			t1_mid = t1;
-			t2_mid = t2;
-		}else{//restliche durchläufe
-			t1_mid = t1_mid * 0.95 + t1 * 0.05;
-			t2_mid = t2_mid * 0.95 + t2 * 0.05;
-		}
-
-	}
-	t1_last = t1;
-	t2_last = t2;
-	erreger = !erreger; // 10khz
-}
-
-float get_cmd(float periode){
-	static float time = 0.0;
-	static float pos = 0.0;
-
-	time += periode;
-
-	switch(mode){
-		case 0: // hold
-			return(0.0);
-		case 1: // enc
-			return(get_enc_pos());
-		case 2: // vel
-			pos += amp * periode;
-			pos = mod(pos);
-			return(pos);
-		case 3: // square
-			if(sinf(freq * 2 * M_PI * time) > 0){
-				return(amp);
-			}
-			else{
-				return(-amp);
-			}
-		case 4: // sine
-			return(amp * sinf(freq * 2 * M_PI * time));
-	}
-	return(0.0);
-}
-
-void TIM5_IRQHandler(void){ //1KHz
-	TIM_ClearITPendingBit(TIM5, TIM_IT_Update);
-    float s = 0,c = 0;
-    int freq = 1000;
-		float periode = 1.0 / freq;
-    kal.periode = periode;
-    for(int i = 0;i<10;i++){
-        s += data[i][0][0] * 0.05;
-        c += data[i][0][1] * 0.05;
-    }
-    for(int i = 0;i<10;i++){
-        s += data[i][1][0] * 0.05;
-        c += data[i][1][1] * 0.05;
-    }
-    //revs = (int)(ist/(2*M_PI));
-    //ist = revs*2*M_PI+atan2f(s,c);
-    ist = atan2f(s,c);
-
-		if(count > 1000){
-			if(count < 2000){
-				res_s_var += s * s / 1000;
-				res_c_var += c * c / 1000;
-			}
-		}
-
-		count++;
-
-  soll_pos = startpos + get_cmd(periode) + res_offset;//MIN(res_pos1, res_pos2) + MIN(ABS(minus(res_pos1,res_pos2)), ABS(minus(res_pos2,res_pos1))) / 2;
-	soll_pos = mod(soll_pos);
-
-  pid.feedbacka = (minus(ist, ist_old) * freq - pid.feedbackv) * freq * 0.5 + pid.feedbacka * 0.5;
-	pid.feedbackv = minus(ist, ist_old) * freq * 0.5 + pid.feedbackv * 0.5;
-	pid.commanda = (minus(soll_pos, soll_pos_old) * freq - pid.commandv) * freq * 0.5 + pid.commanda * 0.5;
-  pid.commandv = minus(soll_pos, soll_pos_old) * freq * 0.5 + pid.commandv * 0.5;
-  pid.error = minus(soll_pos, ist);
-
-	soll_pos_old = soll_pos;
-	ist_old = ist;
-
-	/*if(ABS(pid.error) > DEG(90)){
-		disable();
-		state = EFOLLOW;
-		pid.enable = 0;
-	}*/
-
-    kal.res = ist;
-    update(&kal);
-
-	calc_pid(&pid, periode * 1000.0);
-    kal.volt = pid.output;
-    predict(&kal);
-	voltage_scale = pid.output;
-
-	if(amp1 < 1000000 || amp2 < 1000000){
-    	//voltage_scale = 0.0;
-		state = EFEEDBACK;
-    }
-	output_ac_pwm();
-    w=0;//request data
-}
-
-int main(void)
-{
-	#define MAX_WAVE 4
-	unsigned char buf[MAX_WAVE * 2 + 2];
-	int wave[MAX_WAVE];
-	int bufpos = 0;
-	char name[] = "wave ";
-	int e = 0;
-
-	setup();
-	param_init();
-
-	for(bufpos = 0; bufpos < MAX_WAVE; bufpos++){
-		name[4] = bufpos + '1';
-		register_int(name,&wave[bufpos]);
-		wave[bufpos] = 0;
-	}
-
-	register_int("e",&pid.enable);
-	register_float("p",&pid.pgain);
-	register_float("i",&pid.igain);
-	register_float("d",&pid.dgain);
-	register_float("b",&pid.bgain);
-    // register_float("ff0",&pid.ff0gain);
-	register_float("ff1",&pid.ff1gain);
-	register_float("ff2",&pid.ff2gain);
-	register_float("w",&w);
-  register_int("rescal",&rescal);
-  register_float("ist",&ist);
-  register_float("calv",&calv);
-	register_float("s_var",&res_s_var);
-	register_float("c_var",&res_c_var);
-	register_float("amp",&amp);
-	register_float("freq",&freq);
-	register_int("mode",&mode);
-	register_float("startpos",&startpos);
-
-	state = STBY;
-
-	GPIO_ResetBits(GPIOC,GPIO_Pin_2);//reset erreger
-	Wait(10);
-	TIM_Cmd(TIM2, ENABLE);//int
-	Wait(50);
-	erreger_enable = YES;
-	Wait(50);
-	TIM_Cmd(TIM4, ENABLE);//PWM
-	TIM_Cmd(TIM5, ENABLE);//PID
-	Wait(50);
-	startpos = get_res_pos();
-	pid.enable = 1;
-	enable();
-
-
-
-	while(1)  // Do not exit
-	{
-		//printf_("%f %f diff: %f\r",RAD(res_pos1),RAD(res_pos2),RAD(res_pos1-res_pos2));
-		//printf_("%i %i",t1_mid,t2_mid);
-		//printf_("%i %i diff: %i\r",amp1,amp2,amp1-amp2);
-		for(bufpos = 0; bufpos < MAX_WAVE; bufpos++){
-			switch(wave[bufpos]){
-				case 1:
-			    e = (int)RAD(pid.error);
-			    break;
-				case 2:
-			    e = (int)RAD(pid.error_d);
-			    break;
-				case 3:
-			    e = (int)RAD(pid.error_dd);
-			    break;
-				case 4:
-					e = (int)RAD(soll_pos);
-					break;
-				case 5:
-			    e = (int)RAD(pid.cmd_d);
-			    break;
-				case 6:
-			    e = (int)RAD(pid.cmd_dd);
-			    break;
-				case 7:
-					e = (int)RAD(ist);
-					break;
-				case 8:
-			    e = (int)RAD(pid.feedbackv);
-			    break;
-				case 9:
-			    e = (int)(voltage_scale * 10);
-			    break;
-				case 10:
-			    e = (int)(pid.saturated_count / 10);
-			    break;
-				case 12:
-					e = (int)RAD(mag_pos);
-					break;
-				case 13:
-					e = (int)RAD(startpos);
-					break;
-				case 14:
-					e = (int)RAD(res_offset);
-					break;
-				default:
-				    e = 0;
-			}
-			e = CLAMP(e + 128,1,255);
-
-			buf[bufpos * 2] = bufpos + 128;
-			buf[bufpos * 2 + 1] = e;
-		}
-		buf[MAX_WAVE * 2] = 255;
-		buf[MAX_WAVE * 2 + 1] = 0;
-
-
-		//printf_("e: %f\n", pid.error);
-		//printf_("soll: %f\n", soll_pos);
-
-#ifdef USBTERM
-		if(UB_USB_CDC_GetStatus()==USB_CDC_CONNECTED){
-    	UB_USB_CDC_SendString(buf, NONE);//schleppfehler senden
-            /*
-            if(w == -1){
-                w = -2;
-                printf_("pos:\n");
-                for(int i = 0;i<10;i++){
-                    printf_("%i %i\n",data[i][0][0], data[i][0][1]);
-                }
-                printf_("neg:\n");
-                for(int i = 0;i<10;i++){
-                    printf_("%i %i\n",data[i][1][0], data[i][1][1]);
-                }
-            }
-			*/
-            char name[APP_TX_BUF_SIZE];
-			float value = 0;
-			int i = scanf_("%s = %f",name,&value);
-			switch(i){
-				case 2:
-					if(is_param(name))
-						printf_("%s = %f\n",name,get_param(name));
-					else{
-						printf_("not found\n");
-                    }
-					break;
-				case 5:
-					if(is_param(name)){
-						if(set_param(name,value))
-							printf_("OK, %s = %f\n",name,get_param(name));
-						else
-							printf_("error!\n");
-					}
-					break;
-				case -1:
-					break;
-				default:
-					//if(name[0] == '?')
-						list_param();
-					//else
-					//	printf_("unknown command\n");
-					//break;
-			}
-			//if(UB_USB_CDC_ReceiveString(rx_buf)==RX_READY) {
-			//  UB_USB_CDC_SendString(rx_buf,LF);
-			//
-			//}
-		}
-#endif
-
-		Wait(20);
-	}
-}
-
-void Wait(unsigned int ms){
-	volatile unsigned int t = time + ms;
-	while(t >= time){
-	}
-}
+#include <stm32f4_discovery.h>
+#include <stm32f4xx_conf.h>
+#include "printf.h"
+#include "scanf.h"
+#include "param.h"
+#include "setup.h"
+#include <math.h>
+
+#ifdef USBTERM
+#include "stm32_ub_usb_cdc.h"
+#endif
+
+int __errno;
+void Wait(unsigned int ms);
+
+//bosch grau, gelb, grün
+#define pole_count 4
+#define res_offset DEG(36.6) //minimaler positiver resolver output bei mag_pos = 0
+
+//mayr gelb sw, rot
+//amp zu gering!
+// #define pole_count 2
+// #define res_offset 0.5 //minimaler positiver resolver output bei mag_pos = 0
+// float p = 8.000000
+// float i = 400.000000
+// float d = 0.050000
+// float p = 3.000000
+// float i = 100.000000
+// float d = 0.004999
+
+#define pwm_scale 0.9//max/min PWM duty cycle
+
+#define NO 0
+#define YES 1
+
+#define offseta 0.0 * 2.0 * M_PI / 3.0
+#define offsetb 1.0 * 2.0 * M_PI / 3.0
+#define offsetc 2.0 * 2.0 * M_PI / 3.0
+
+volatile float mag_pos = 0;
+volatile float soll_pos = 0;
+volatile float soll_pos_old = 0;
+volatile float ist = 0;
+volatile float ist_old = 0;
+volatile float voltage_scale = 0;// -1 bis 1
+
+volatile int t1, t2;//rohdaten sin/cos
+volatile int t1_last = 0, t2_last = 0;//rohdaten sin/cos letzter aufruf
+volatile int t1_mid = 0,t2_mid = 0;//mittelpunkt sin/cos
+volatile int amp1,amp2;//betrag
+volatile int erreger = 0;//resolver erreger pin an/aus
+volatile int erreger_enable = NO;//erreger aktiv
+volatile float w = -1;
+volatile int k = 0,l = 0;
+volatile int data[10][2][2];
+volatile int rescal = 0;//potis einstellen
+volatile float calv = 0.5;//potis einstellen
+volatile float res_s_var = 0.0;
+volatile float res_c_var = 0.0;
+volatile float startpos = 0.0;
+volatile int count = 0;
+volatile int mode = 0;
+volatile float amp = 0.0;
+volatile float freq = 0.0;
+
+enum{
+	STBY,
+	RUNNING,
+	EFOLLOW,
+	EFEEDBACK
+} state;
+
+void enable(){
+	PWM_E = mag_res*0.97;
+}
+
+void disable(){
+	PWM_E = 0;
+}
+
+float get_enc_pos(){
+	return (TIM_GetCounter(TIM3) * 2 * M_PI / 2048);//nochmal in der setup
+}
+
+float get_res_pos(){
+	return ist - res_offset;
+}
+
+void output_ac_pwm(){
+	float volt = CLAMP(voltage_scale,-1.0,1.0);
+	//volt = volt*-1;
+
+	if(rescal){
+		mag_pos = 0;
+		volt = calv;
+	}else{
+		mag_pos = get_res_pos() * pole_count + DEG(90);
+	}
+
+	mag_pos = mod(mag_pos);
+	PWM_U = (sinf(mag_pos + offseta) * pwm_scale * volt + 1.0) * mag_res / 2.0;
+	PWM_V = (sinf(mag_pos + offsetb) * pwm_scale * volt + 1.0) * mag_res / 2.0;
+	PWM_W = (sinf(mag_pos + offsetc) * pwm_scale * volt + 1.0) * mag_res / 2.0;
+}
+
+void output_dc_pwm(){
+	float volt = CLAMP(voltage_scale,-1.0,1.0);
+
+	int foo = volt * mag_res * pwm_scale / 2 + mag_res / 2;
+	PWM_U = foo;//PD12 PIN1
+	PWM_V = mag_res-foo;//PD13 PIN2
+	PWM_W = 0;//PD15 PIN3
+}
+
+void DMA2_Stream2_IRQHandler(void){
+	// welches flag?
+	//DMA_ClearFlag(DMA2_FLAG_IT);
+	DMA_ClearITPendingBit(DMA2_Stream2, DMA_IT_TCIF2);
+	printf_("DMA\n");
+}
+
+void TIM2_IRQHandler(void){ //20KHz
+	TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
+	GPIO_SetBits(GPIOC,GPIO_Pin_4);//messpin
+}
+
+void ADC_IRQHandler(void) // 20khz
+{
+	while(!ADC_GetFlagStatus(ADC2, ADC_FLAG_EOC));
+	ADC_ClearITPendingBit(ADC1, ADC_IT_EOC);
+	GPIO_ResetBits(GPIOC,GPIO_Pin_4);//messpin
+
+	t1 = ADC_GetConversionValue(ADC1);
+	t2 = ADC_GetConversionValue(ADC2);
+	t1_mid = t1_mid * 0.95 + (t1+t1_last)/2 * 0.05;
+	t2_mid = t2_mid * 0.95 + (t2+t2_last)/2 * 0.05;
+	if(erreger_enable){//erreger signal aktiv
+		if(erreger){//eine halbwelle
+			GPIO_SetBits(GPIOC,GPIO_Pin_2);//erreger
+			amp1 = (t1-t1_mid)*(t1-t1_mid)+(t2-t2_mid)*(t2-t2_mid);
+			if(w >= 0){
+				data[k][0][0] = t1 - t1_mid;
+				data[k][0][1] = t2 - t2_mid;
+				k++;
+			}
+		}else{//andere halbwelle
+			GPIO_ResetBits(GPIOC,GPIO_Pin_2);//erreger
+			amp2 = (t1_mid-t1)*(t1_mid-t1)+(t2_mid-t2)*(t2_mid-t2);
+			if(w >= 0){
+				data[l][1][0] = t1_mid - t1;
+				data[l][1][1] = t2_mid - t2;
+				l++;
+			}
+		}
+		if(l == 10 && k == 10){
+			w = -1;
+			l = 0;
+			k = 0;
+		}
+	}else{//mittelpunkt messen
+		if(t1_mid == 0 && t2_mid == 0){//erster durchlauf
+			t1_mid = t1;
+			t2_mid = t2;
+		}else{//restliche durchläufe
+			t1_mid = t1_mid * 0.95 + t1 * 0.05;
+			t2_mid = t2_mid * 0.95 + t2 * 0.05;
+		}
+
+	}
+	t1_last = t1;
+	t2_last = t2;
+	erreger = !erreger; // 10khz
+}
+
+float get_cmd(float periode){
+	static float time = 0.0;
+	static float pos = 0.0;
+
+	time += periode;
+
+	switch(mode){
+		case 0: // hold
+			return(0.0);
+		case 1: // enc
+			return(get_enc_pos());
+		case 2: // vel
+			pos += amp * periode;
+			pos = mod(pos);
+			return(pos);
+		case 3: // square
+			if(sinf(freq * 2 * M_PI * time) > 0){
+				return(amp);
+			}
+			else{
+				return(-amp);
+			}
+		case 4: // sine
+			return(amp * sinf(freq * 2 * M_PI * time));
+	}
+	return(0.0);
+}
+
+void TIM5_IRQHandler(void){ //1KHz
+	TIM_ClearITPendingBit(TIM5, TIM_IT_Update);
+	float s = 0,c = 0;
+	int freq = 1000;
+	float periode = 1.0 / freq;
+	kal.periode = periode;
+	for(int i = 0;i<10;i++){
+		s += data[i][0][0] * 0.05;
+		c += data[i][0][1] * 0.05;
+	}
+	for(int i = 0;i<10;i++){
+		s += data[i][1][0] * 0.05;
+		c += data[i][1][1] * 0.05;
+	}
+	//revs = (int)(ist/(2*M_PI));
+	//ist = revs*2*M_PI+atan2f(s,c);
+	ist = atan2f(s,c);
+
+	if(count > 1000){
+		if(count < 2000){
+			res_s_var += s * s / 1000;
+			res_c_var += c * c / 1000;
+		}
+	}
+
+	count++;
+
+	soll_pos = startpos + get_cmd(periode) + res_offset;//MIN(res_pos1, res_pos2) + MIN(ABS(minus(res_pos1,res_pos2)), ABS(minus(res_pos2,res_pos1))) / 2;
+	soll_pos = mod(soll_pos);
+
+	pid.feedbacka = (minus(ist, ist_old) * freq - pid.feedbackv) * freq * 0.5 + pid.feedbacka * 0.5;
+	pid.feedbackv = minus(ist, ist_old) * freq * 0.5 + pid.feedbackv * 0.5;
+	pid.commanda = (minus(soll_pos, soll_pos_old) * freq - pid.commandv) * freq * 0.5 + pid.commanda * 0.5;
+	pid.commandv = minus(soll_pos, soll_pos_old) * freq * 0.5 + pid.commandv * 0.5;
+	pid.error = minus(soll_pos, ist);
+
+	soll_pos_old = soll_pos;
+	ist_old = ist;
+
+	/*if(ABS(pid.error) > DEG(90)){
+	  disable();
+	  state = EFOLLOW;
+	  pid.enable = 0;
+	  }*/
+
+	kal.res = ist;
+	update(&kal);
+
+	calc_pid(&pid, periode * 1000.0);
+	kal.volt = pid.output;
+	predict(&kal);
+	voltage_scale = pid.output;
+
+	if(amp1 < 1000000 || amp2 < 1000000){
+		//voltage_scale = 0.0;
+		state = EFEEDBACK;
+	}
+	output_ac_pwm();
+	w=0;//request data
+}
+
+int main(void)
+{
+#define MAX_WAVE 4
+	unsigned char buf[MAX_WAVE * 2 + 2];
+	int wave[MAX_WAVE];
+	int bufpos = 0;
+	char name[] = "wave ";
+	int e = 0;
+
+	setup();
+	param_init();
+
+	for(bufpos = 0; bufpos < MAX_WAVE; bufpos++){
+		name[4] = bufpos + '1';
+		register_int(name,&wave[bufpos]);
+		wave[bufpos] = 0;
+	}
+
+	register_int("e",&pid.enable);
+	register_float("p",&pid.pgain);
+	register_float("i",&pid.igain);
+	register_float("d",&pid.dgain);
+	register_float("b",&pid.bgain);
+	// register_float("ff0",&pid.ff0gain);
+	register_float("ff1",&pid.ff1gain);
+	register_float("ff2",&pid.ff2gain);
+	register_float("w",&w);
+	register_int("rescal",&rescal);
+	register_float("ist",&ist);
+	register_float("calv",&calv);
+	register_float("s_var",&res_s_var);
+	register_float("c_var",&res_c_var);
+	register_float("amp",&amp);
+	register_float("freq",&freq);
+	register_int("mode",&mode);
+	register_float("startpos",&startpos);
+
+	state = STBY;
+
+	GPIO_ResetBits(GPIOC,GPIO_Pin_2);//reset erreger
+	Wait(10);
+	TIM_Cmd(TIM2, ENABLE);//int
+	Wait(50);
+	erreger_enable = YES;
+	Wait(50);
+	TIM_Cmd(TIM4, ENABLE);//PWM
+	TIM_Cmd(TIM5, ENABLE);//PID
+	Wait(50);
+	startpos = get_res_pos();
+	pid.enable = 1;
+	enable();
+
+
+
+	while(1)  // Do not exit
+	{
+		//printf_("%f %f diff: %f\r",RAD(res_pos1),RAD(res_pos2),RAD(res_pos1-res_pos2));
+		//printf_("%i %i",t1_mid,t2_mid);
+		//printf_("%i %i diff: %i\r",amp1,amp2,amp1-amp2);
+		for(bufpos = 0; bufpos < MAX_WAVE; bufpos++){
+			switch(wave[bufpos]){
+				case 1:
+					e = (int)RAD(pid.error);
+					break;
+				case 2:
+					e = (int)RAD(pid.error_d);
+					break;
+				case 3:
+					e = (int)RAD(pid.error_dd);
+					break;
+				case 4:
+					e = (int)RAD(soll_pos);
+					break;
+				case 5:
+					e = (int)RAD(pid.cmd_d);
+					break;
+				case 6:
+					e = (int)RAD(pid.cmd_dd);
+					break;
+				case 7:
+					e = (int)RAD(ist);
+					break;
+				case 8:
+					e = (int)RAD(pid.feedbackv);
+					break;
+				case 9:
+					e = (int)(voltage_scale * 10);
+					break;
+				case 10:
+					e = (int)(pid.saturated_count / 10);
+					break;
+				case 11:
+					e = (int)RAD(mag_pos);
+					break;
+				case 12:
+					e = (int)RAD(startpos);
+					break;
+				case 13:
+					e = (int)RAD(res_offset);
+					break;
+				default:
+					e = 0;
+			}
+			e = CLAMP(e + 128,1,255);
+
+			buf[bufpos * 2] = bufpos + 128;
+			buf[bufpos * 2 + 1] = e;
+		}
+		buf[MAX_WAVE * 2] = 255;
+		buf[MAX_WAVE * 2 + 1] = 0;
+
+
+		//printf_("e: %f\n", pid.error);
+		//printf_("soll: %f\n", soll_pos);
+
+#ifdef USBTERM
+		if(UB_USB_CDC_GetStatus()==USB_CDC_CONNECTED){
+			UB_USB_CDC_SendString(buf, NONE);//schleppfehler senden
+			/*
+			   if(w == -1){
+			   w = -2;
+			   printf_("pos:\n");
+			   for(int i = 0;i<10;i++){
+			   printf_("%i %i\n",data[i][0][0], data[i][0][1]);
+			   }
+			   printf_("neg:\n");
+			   for(int i = 0;i<10;i++){
+			   printf_("%i %i\n",data[i][1][0], data[i][1][1]);
+			   }
+			   }
+			 */
+			char name[APP_TX_BUF_SIZE];
+			float value = 0;
+			int i = scanf_("%s = %f",name,&value);
+			switch(i){
+				case 2:
+					if(is_param(name))
+						printf_("%s = %f\n",name,get_param(name));
+					else{
+						printf_("not found\n");
+					}
+					break;
+				case 5:
+					if(is_param(name)){
+						if(set_param(name,value))
+							printf_("OK, %s = %f\n",name,get_param(name));
+						else
+							printf_("error!\n");
+					}
+					break;
+				case -1:
+					break;
+				default:
+					//if(name[0] == '?')
+					list_param();
+					//else
+					//	printf_("unknown command\n");
+					//break;
+			}
+			//if(UB_USB_CDC_ReceiveString(rx_buf)==RX_READY) {
+			//  UB_USB_CDC_SendString(rx_buf,LF);
+			//
+			//}
+		}
+#endif
+
+		Wait(20);
+	}
+}
+
+void Wait(unsigned int ms){
+	volatile unsigned int t = time + ms;
+	while(t >= time){
+	}
+}
diff --git a/src/pid.c b/src/pid.c
index b21a9865..273409d6 100644
--- a/src/pid.c
+++ b/src/pid.c
@@ -49,9 +49,9 @@ void pid_init(hal_pid_t *pid){
     pid->cmd_d = 0;       /* opt. pin: differentiated command */
     pid->cmd_dd = 0;      /* opt. pin: 2nd derivative of command */
     pid->bias = 0;        /* param: steady state offset */
-    pid->pgain = 2;       /* pin: proportional gain */
-    pid->igain = 40;       /* pin: integral gain */
-    pid->dgain = 0.02;       /* pin: derivative gain */
+    pid->pgain = 4;       /* pin: proportional gain */
+    pid->igain = 0.02;       /* pin: integral gain */
+    pid->dgain = 0.01;       /* pin: derivative gain */
     pid->bgain = 0.0;       /* pin: derivative gain */
         // pid->ff0gain = 0;      /* pin: feedforward proportional */
     pid->ff1gain = 0.006;     /* pin: feedforward derivative */
diff --git a/src/printf.c b/src/printf.c
index 404d4aa2..4735e740 100755
--- a/src/printf.c
+++ b/src/printf.c
@@ -1,276 +1,276 @@
-
-/*
-+=============================================================================+
-| includes
-+=============================================================================+
-*/
-
-#include <stdarg.h>     // (...) parameter handling
-//#include "stlinky.h"
-#ifdef USBTERM
-#include "stm32_ub_usb_cdc.h"
-#endif
-
-#include "printf.h"
-#define PRINTF_BSIZE 128
-#define PRINTF_FLENGTH 6
-
-
-/*
-+=============================================================================+
-| local declarations
-+=============================================================================+
-*/
-int vfprintf_(char *, const char *format, va_list arg); //generic print
-
-
-/*
-+=============================================================================+
-| global functions
-+=============================================================================+
-*/
-int printf_(const char *format, ...)
-{
-	va_list arg;
-	char buffer[PRINTF_BSIZE];
-	int buffer_pos;
-
-	va_start(arg, format);
-	buffer_pos = vfprintf_(buffer, format, arg);
-	va_end(arg);
-
-	buffer[buffer_pos] = '\0';
-
-	#ifdef USBTERM
-	if(UB_USB_CDC_GetStatus()==USB_CDC_CONNECTED){
-		UB_USB_CDC_SendString(buffer, NONE);
-	}
-	#endif
-	//stlinky_wait_tx(&g_stlinky_term);
-  //stlinky_tx(&g_stlinky_term, buffer, buffer_pos);
-
-	return 0;
-}
-
-
-
-/*
-+=============================================================================+
-| local functions
-+=============================================================================+
-*/
-
-
-/*--------------------------------------------------------------------------------+
- * vfprintf_()
- * Prints a string to buffer. Supports %s, %c, %d, %ld %ul %02d %i %x  %lud  and %%
- *     - partly supported: long long, float (%ll %f, %F, %2.2f)
- *     - not supported: double float and exponent (%e %g %p %o \t)
- * returns length of string
- * limits string length to PRINTF_BSIZE
- *--------------------------------------------------------------------------------+
-*/
-int vfprintf_(char *buffer, const char* str,  va_list arp){
-	int buffer_pos = 0; // position in output buffer
-	int input_pos = 0; // position in input buffer
-
-	int state = 0;  // 0 = last char = normal char
-									// 1 = last char = '%'
-									// 2 = last char = '\'
-
-	int i = 0; // number to print
-	float f = 0; // float to print
-	char tmp[20]; // tmp string for numbers
-	int tmp_pos = 0; // pos in tmp
-	char *s = 0; // string to print
-	unsigned char float_length = PRINTF_FLENGTH;
-
-	while(str[input_pos] != '\0' && buffer_pos < PRINTF_BSIZE){
-		switch(state){
-			case 0: // last = normal
-				switch(str[input_pos]){
-					case '%':
-						state = 1;
-					break;
-
-					case '\'':
-						state = 2;
-					break;
-
-					default:
-						buffer[buffer_pos++] = str[input_pos];
-				}
-				input_pos++;
-			break;
-
-			case 1: // last = '%'
-				switch(str[input_pos++]){
-					case '%': // "%%"
-						buffer[buffer_pos++] = '%';
-					break;
-
-					case 'c': // "%c"
-						buffer[buffer_pos++] = (char)va_arg(arp, int);
-					break;
-
-					case 's': // "%s"
-						s = va_arg(arp, char*);
-						while(*s){
-							buffer[buffer_pos++] = *(s++);
-						}
-					break;
-
-					case 'i': // "%i"
-						tmp_pos = 0;
-						i = va_arg(arp, int);
-
-						if(i < 0){
-							buffer[buffer_pos++] = '-';
-							i *= -1;
-						}
-
-						do{
-							tmp[tmp_pos++] = i % 10 + '0';
-							i /= 10;
-
-						}
-						while(i > 0);
-
-						while(tmp_pos--){
-							buffer[buffer_pos++] = tmp[tmp_pos];
-						}
-					break;
-
-					case 'b': // "%b"
-						tmp_pos = 0;
-						i = va_arg(arp, int);
-
-						if(i < 0){
-							buffer[buffer_pos++] = '-';
-							i *= -1;
-						}
-
-						do{
-							tmp[tmp_pos++] = i % 2 + '0';
-							i /= 2;
-
-						}
-						while(i > 0);
-
-						buffer[buffer_pos++] = 'b';
-
-						while(tmp_pos--){
-							buffer[buffer_pos++] = tmp[tmp_pos];
-						}
-					break;
-
-					case 'h': // "%h"
-						tmp_pos = 0;
-						i = va_arg(arp, int);
-
-						if(i < 0){
-							buffer[buffer_pos++] = '-';
-							i *= -1;
-						}
-
-						do{
-							if(i % 16 < 10){
-								tmp[tmp_pos++] = i % 16 + '0';
-							}
-							else{
-								tmp[tmp_pos++] = i % 16 + 'A' - 10;
-							}
-							i /= 16;
-
-						}
-						while(i > 0);
-
-						buffer[buffer_pos++] = '0';
-						buffer[buffer_pos++] = 'x';
-
-						while(tmp_pos--){
-							buffer[buffer_pos++] = tmp[tmp_pos];
-						}
-					break;
-
-					case 'f': // "%f"
-						tmp_pos = 0;
-						f = va_arg(arp, double); // change to float for stm32
-
-						if(f < 0){
-							buffer[buffer_pos++] = '-';
-							f *= -1;
-						}
-
-						i = f;
-
-						do{
-							tmp[tmp_pos++] = i % 10 + '0';
-							i /= 10;
-						}
-						while(i > 0);
-
-						while(tmp_pos--){
-							buffer[buffer_pos++] = tmp[tmp_pos];
-						}
-
-						buffer[buffer_pos++] = '.';
-
-						f -= i;
-						tmp_pos = float_length - 1;
-						for(int j = 0; j < float_length; j++){
-							f *= 10;
-							tmp[tmp_pos--] = ((int)f) % 10 + '0';
-						}
-						tmp_pos = float_length;
-						while(tmp_pos--){
-							buffer[buffer_pos++] = tmp[tmp_pos];
-						}
-					break;
-
-					default:
-					break;
-				}
-				state = 0;
-			break;
-
-			case 2: // last = '\'
-				switch(str[input_pos++]){
-					case 'n': // "\n"
-						buffer[buffer_pos++] = '\n';
-						state = 0;
-					break;
-
-                    case 't': // "\t"
-						buffer[buffer_pos++] = '\t';
-						state = 0;
-					break;
-
-                    case 'r': // "\t"
-						buffer[buffer_pos++] = '\r';
-						state = 0;
-					break;
-
-					case '\'': // "\'"
-						buffer[buffer_pos++] = '\'';
-						state = 0;
-					break;
-
-					case '"': // "\""
-						buffer[buffer_pos++] = '\"';
-						state = 0;
-					break;
-
-					case '\\': // "\\"
-						buffer[buffer_pos++] = '\\';
-						state = 0;
-					break;
-
-					default:
-					break;
-				}
-			break;
-		}
-	}
-	return(buffer_pos);
-}
+
+/*
++=============================================================================+
+| includes
++=============================================================================+
+*/
+
+#include <stdarg.h>     // (...) parameter handling
+//#include "stlinky.h"
+#ifdef USBTERM
+#include "stm32_ub_usb_cdc.h"
+#endif
+
+#include "printf.h"
+#define PRINTF_BSIZE 128
+#define PRINTF_FLENGTH 6
+
+
+/*
++=============================================================================+
+| local declarations
++=============================================================================+
+*/
+int vfprintf_(char *, const char *format, va_list arg); //generic print
+
+
+/*
++=============================================================================+
+| global functions
++=============================================================================+
+*/
+int printf_(const char *format, ...)
+{
+	va_list arg;
+	char buffer[PRINTF_BSIZE];
+	int buffer_pos;
+
+	va_start(arg, format);
+	buffer_pos = vfprintf_(buffer, format, arg);
+	va_end(arg);
+
+	buffer[buffer_pos] = '\0';
+
+	#ifdef USBTERM
+	if(UB_USB_CDC_GetStatus()==USB_CDC_CONNECTED){
+		UB_USB_CDC_SendString(buffer, NONE);
+	}
+	#endif
+	//stlinky_wait_tx(&g_stlinky_term);
+  //stlinky_tx(&g_stlinky_term, buffer, buffer_pos);
+
+	return 0;
+}
+
+
+
+/*
++=============================================================================+
+| local functions
++=============================================================================+
+*/
+
+
+/*--------------------------------------------------------------------------------+
+ * vfprintf_()
+ * Prints a string to buffer. Supports %s, %c, %d, %ld %ul %02d %i %x  %lud  and %%
+ *     - partly supported: long long, float (%ll %f, %F, %2.2f)
+ *     - not supported: double float and exponent (%e %g %p %o \t)
+ * returns length of string
+ * limits string length to PRINTF_BSIZE
+ *--------------------------------------------------------------------------------+
+*/
+int vfprintf_(char *buffer, const char* str,  va_list arp){
+	int buffer_pos = 0; // position in output buffer
+	int input_pos = 0; // position in input buffer
+
+	int state = 0;  // 0 = last char = normal char
+									// 1 = last char = '%'
+									// 2 = last char = '\'
+
+	int i = 0; // number to print
+	float f = 0; // float to print
+	char tmp[20]; // tmp string for numbers
+	int tmp_pos = 0; // pos in tmp
+	char *s = 0; // string to print
+	unsigned char float_length = PRINTF_FLENGTH;
+
+	while(str[input_pos] != '\0' && buffer_pos < PRINTF_BSIZE){
+		switch(state){
+			case 0: // last = normal
+				switch(str[input_pos]){
+					case '%':
+						state = 1;
+					break;
+
+					case '\'':
+						state = 2;
+					break;
+
+					default:
+						buffer[buffer_pos++] = str[input_pos];
+				}
+				input_pos++;
+			break;
+
+			case 1: // last = '%'
+				switch(str[input_pos++]){
+					case '%': // "%%"
+						buffer[buffer_pos++] = '%';
+					break;
+
+					case 'c': // "%c"
+						buffer[buffer_pos++] = (char)va_arg(arp, int);
+					break;
+
+					case 's': // "%s"
+						s = va_arg(arp, char*);
+						while(*s){
+							buffer[buffer_pos++] = *(s++);
+						}
+					break;
+
+					case 'i': // "%i"
+						tmp_pos = 0;
+						i = va_arg(arp, int);
+
+						if(i < 0){
+							buffer[buffer_pos++] = '-';
+							i *= -1;
+						}
+
+						do{
+							tmp[tmp_pos++] = i % 10 + '0';
+							i /= 10;
+
+						}
+						while(i > 0);
+
+						while(tmp_pos--){
+							buffer[buffer_pos++] = tmp[tmp_pos];
+						}
+					break;
+
+					case 'b': // "%b"
+						tmp_pos = 0;
+						i = va_arg(arp, int);
+
+						if(i < 0){
+							buffer[buffer_pos++] = '-';
+							i *= -1;
+						}
+
+						do{
+							tmp[tmp_pos++] = i % 2 + '0';
+							i /= 2;
+
+						}
+						while(i > 0);
+
+						buffer[buffer_pos++] = 'b';
+
+						while(tmp_pos--){
+							buffer[buffer_pos++] = tmp[tmp_pos];
+						}
+					break;
+
+					case 'h': // "%h"
+						tmp_pos = 0;
+						i = va_arg(arp, int);
+
+						if(i < 0){
+							buffer[buffer_pos++] = '-';
+							i *= -1;
+						}
+
+						do{
+							if(i % 16 < 10){
+								tmp[tmp_pos++] = i % 16 + '0';
+							}
+							else{
+								tmp[tmp_pos++] = i % 16 + 'A' - 10;
+							}
+							i /= 16;
+
+						}
+						while(i > 0);
+
+						buffer[buffer_pos++] = '0';
+						buffer[buffer_pos++] = 'x';
+
+						while(tmp_pos--){
+							buffer[buffer_pos++] = tmp[tmp_pos];
+						}
+					break;
+
+					case 'f': // "%f"
+						tmp_pos = 0;
+						f = va_arg(arp, double); // change to float for stm32
+
+						if(f < 0){
+							buffer[buffer_pos++] = '-';
+							f *= -1;
+						}
+
+						i = f;
+
+						do{
+							tmp[tmp_pos++] = i % 10 + '0';
+							i /= 10;
+						}
+						while(i > 0);
+
+						while(tmp_pos--){
+							buffer[buffer_pos++] = tmp[tmp_pos];
+						}
+
+						buffer[buffer_pos++] = '.';
+
+						f -= i;
+						tmp_pos = float_length - 1;
+						for(int j = 0; j < float_length; j++){
+							f *= 10;
+							tmp[tmp_pos--] = ((int)f) % 10 + '0';
+						}
+						tmp_pos = float_length;
+						while(tmp_pos--){
+							buffer[buffer_pos++] = tmp[tmp_pos];
+						}
+					break;
+
+					default:
+					break;
+				}
+				state = 0;
+			break;
+
+			case 2: // last = '\'
+				switch(str[input_pos++]){
+					case 'n': // "\n"
+						buffer[buffer_pos++] = '\n';
+						state = 0;
+					break;
+
+                    case 't': // "\t"
+						buffer[buffer_pos++] = '\t';
+						state = 0;
+					break;
+
+                    case 'r': // "\t"
+						buffer[buffer_pos++] = '\r';
+						state = 0;
+					break;
+
+					case '\'': // "\'"
+						buffer[buffer_pos++] = '\'';
+						state = 0;
+					break;
+
+					case '"': // "\""
+						buffer[buffer_pos++] = '\"';
+						state = 0;
+					break;
+
+					case '\\': // "\\"
+						buffer[buffer_pos++] = '\\';
+						state = 0;
+					break;
+
+					default:
+					break;
+				}
+			break;
+		}
+	}
+	return(buffer_pos);
+}
diff --git a/src/stm32_ub_encoder_tim3.c b/src/stm32_ub_encoder_tim3.c
index 1d05bc14..41d0faa3 100755
--- a/src/stm32_ub_encoder_tim3.c
+++ b/src/stm32_ub_encoder_tim3.c
@@ -1,144 +1,144 @@
-//--------------------------------------------------------------
-// File     : stm32_ub_encoder_tim3.c
-// Datum    : 21.07.2013
-// Version  : 1.0
-// Autor    : UB
-// EMail    : mc-4u(@)t-online.de
-// Web      : www.mikrocontroller-4u.de
-// CPU      : STM32F4
-// IDE      : CooCox CoIDE 1.7.0
-// Module   : GPIO, TIM
-// Funktion : Drehgeber Messung (Rotary Encoder) per Timer3
-//
-// Hinweis  : mögliche Pinbelegungen
-//            CH1 : [PA6, PB4, PC6]
-//            CH2 : [PA7, PB5, PC7]
-//
-//--------------------------------------------------------------
-
-
-//--------------------------------------------------------------
-// Includes
-//--------------------------------------------------------------
-#include "stm32_ub_encoder_tim3.h"
-
-
-
-//--------------------------------------------------------------
-// interne Funktionen
-//--------------------------------------------------------------
-void P_ENCODER_InitIO(void);
-void P_ENCODER_InitTIM(ENC_TIM3_MODE_t mode, ENC_TIM3_TYP_t typ, uint16_t maxwert);
-
-
-//--------------------------------------------------------------
-// Definition der zwei Rotary-Encoder Pins
-//
-// Channel : [1 und 2]
-//--------------------------------------------------------------
-ENC_TIM3_t ENC_TIM3[] = {
-  // Name   ,Channel, PORT , PIN       , CLOCK               , Source
-  {ENC_T3_A ,1      ,GPIOB ,GPIO_Pin_4 ,RCC_AHB1Periph_GPIOB ,GPIO_PinSource4},
-  {ENC_T3_B ,2      ,GPIOB ,GPIO_Pin_5 ,RCC_AHB1Periph_GPIOB ,GPIO_PinSource5},
-};
-
-
-//--------------------------------------------------------------
-// init und start vom Encoder (Drehgeber-Messung) mit Timer3
-//
-// mode    : [ENC_MODE_2A, ENC_MODE_2B, ENC_MODE_4AB]
-// typ     : [ENC_TYP_NORMAL, ENC_TYP_REVERS]
-// maxwert : [0 bis 65535]
-//-------------------------------------------------------------- 
-void UB_ENCODER_TIM3_Init(ENC_TIM3_MODE_t mode, ENC_TIM3_TYP_t typ, uint16_t maxwert)
-{
-  // init der Funktionen
-  P_ENCODER_InitIO();
-  P_ENCODER_InitTIM(mode, typ, maxwert);
-}
-
-
-//--------------------------------------------------------------
-// auslesen der aktuellen Position vom Drehgeber
-//
-// Return_Wert : [0 bis eingestelltem Maxwert]
-//--------------------------------------------------------------
-uint16_t UB_ENCODER_TIM3_ReadPos(void)
-{
-  uint16_t ret_wert=0;
-
-  ret_wert=TIM_GetCounter(TIM3);
-
-  return(ret_wert);
-}
-
-
-
-//--------------------------------------------------------------
-// interne Funktion
-// Init aller IO-Pins (mit PullUp)
-//--------------------------------------------------------------
-void P_ENCODER_InitIO(void)
-{
-  GPIO_InitTypeDef GPIO_InitStructure;
-  ENC_TIM3_NAME_t vname;
-
-  for(vname=0;vname<2;vname++) {
-    // Clock Enable
-    RCC_AHB1PeriphClockCmd(ENC_TIM3[vname].ENC_CLK, ENABLE);
-
-    // Config des Pins als AF-Input
-    GPIO_InitStructure.GPIO_Pin = ENC_TIM3[vname].ENC_PIN;
-    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
-    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
-    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
-    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
-    GPIO_Init(ENC_TIM3[vname].ENC_PORT, &GPIO_InitStructure);
-
-    // Alternative-Funktion mit dem IO-Pin verbinden
-    GPIO_PinAFConfig(ENC_TIM3[vname].ENC_PORT, ENC_TIM3[vname].ENC_SOURCE, GPIO_AF_TIM3);
-  }
-}
-
-
-
-//--------------------------------------------------------------
-// interne Funktion
-// Init vom Timer für den Rotary-Encoder
-//--------------------------------------------------------------
-void P_ENCODER_InitTIM(ENC_TIM3_MODE_t mode, ENC_TIM3_TYP_t typ, uint16_t maxwert)
-{
-  uint16_t enc_mode, enc_edge;
-
-  // Clock enable
-  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); 
-
-  // Encoder Mode
-  if(mode==ENC_T3_MODE_2A) {
-    enc_mode=TIM_EncoderMode_TI1;
-  }
-  else if(mode==ENC_T3_MODE_2B){
-    enc_mode=TIM_EncoderMode_TI2;
-  }
-  else {
-    enc_mode=TIM_EncoderMode_TI12;
-  }
-
-  // Encoder Typ
-  if(typ==ENC_T3_TYP_NORMAL) {
-    enc_edge=TIM_ICPolarity_Rising;
-  }
-  else {
-    enc_edge=TIM_ICPolarity_Falling;
-  }
-
-  // Modus einstellen
-  TIM_EncoderInterfaceConfig(TIM3, enc_mode, enc_edge, TIM_ICPolarity_Rising);
-
-  // Maxwert setzen
-  TIM_SetAutoreload(TIM3, maxwert);
-
-  // Timer enable
-  TIM_Cmd(TIM3, ENABLE);
-}
-
+//--------------------------------------------------------------
+// File     : stm32_ub_encoder_tim3.c
+// Datum    : 21.07.2013
+// Version  : 1.0
+// Autor    : UB
+// EMail    : mc-4u(@)t-online.de
+// Web      : www.mikrocontroller-4u.de
+// CPU      : STM32F4
+// IDE      : CooCox CoIDE 1.7.0
+// Module   : GPIO, TIM
+// Funktion : Drehgeber Messung (Rotary Encoder) per Timer3
+//
+// Hinweis  : mögliche Pinbelegungen
+//            CH1 : [PA6, PB4, PC6]
+//            CH2 : [PA7, PB5, PC7]
+//
+//--------------------------------------------------------------
+
+
+//--------------------------------------------------------------
+// Includes
+//--------------------------------------------------------------
+#include "stm32_ub_encoder_tim3.h"
+
+
+
+//--------------------------------------------------------------
+// interne Funktionen
+//--------------------------------------------------------------
+void P_ENCODER_InitIO(void);
+void P_ENCODER_InitTIM(ENC_TIM3_MODE_t mode, ENC_TIM3_TYP_t typ, uint16_t maxwert);
+
+
+//--------------------------------------------------------------
+// Definition der zwei Rotary-Encoder Pins
+//
+// Channel : [1 und 2]
+//--------------------------------------------------------------
+ENC_TIM3_t ENC_TIM3[] = {
+  // Name   ,Channel, PORT , PIN       , CLOCK               , Source
+  {ENC_T3_A ,1      ,GPIOB ,GPIO_Pin_4 ,RCC_AHB1Periph_GPIOB ,GPIO_PinSource4},
+  {ENC_T3_B ,2      ,GPIOB ,GPIO_Pin_5 ,RCC_AHB1Periph_GPIOB ,GPIO_PinSource5},
+};
+
+
+//--------------------------------------------------------------
+// init und start vom Encoder (Drehgeber-Messung) mit Timer3
+//
+// mode    : [ENC_MODE_2A, ENC_MODE_2B, ENC_MODE_4AB]
+// typ     : [ENC_TYP_NORMAL, ENC_TYP_REVERS]
+// maxwert : [0 bis 65535]
+//-------------------------------------------------------------- 
+void UB_ENCODER_TIM3_Init(ENC_TIM3_MODE_t mode, ENC_TIM3_TYP_t typ, uint16_t maxwert)
+{
+  // init der Funktionen
+  P_ENCODER_InitIO();
+  P_ENCODER_InitTIM(mode, typ, maxwert);
+}
+
+
+//--------------------------------------------------------------
+// auslesen der aktuellen Position vom Drehgeber
+//
+// Return_Wert : [0 bis eingestelltem Maxwert]
+//--------------------------------------------------------------
+uint16_t UB_ENCODER_TIM3_ReadPos(void)
+{
+  uint16_t ret_wert=0;
+
+  ret_wert=TIM_GetCounter(TIM3);
+
+  return(ret_wert);
+}
+
+
+
+//--------------------------------------------------------------
+// interne Funktion
+// Init aller IO-Pins (mit PullUp)
+//--------------------------------------------------------------
+void P_ENCODER_InitIO(void)
+{
+  GPIO_InitTypeDef GPIO_InitStructure;
+  ENC_TIM3_NAME_t vname;
+
+  for(vname=0;vname<2;vname++) {
+    // Clock Enable
+    RCC_AHB1PeriphClockCmd(ENC_TIM3[vname].ENC_CLK, ENABLE);
+
+    // Config des Pins als AF-Input
+    GPIO_InitStructure.GPIO_Pin = ENC_TIM3[vname].ENC_PIN;
+    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
+    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
+    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
+    GPIO_Init(ENC_TIM3[vname].ENC_PORT, &GPIO_InitStructure);
+
+    // Alternative-Funktion mit dem IO-Pin verbinden
+    GPIO_PinAFConfig(ENC_TIM3[vname].ENC_PORT, ENC_TIM3[vname].ENC_SOURCE, GPIO_AF_TIM3);
+  }
+}
+
+
+
+//--------------------------------------------------------------
+// interne Funktion
+// Init vom Timer für den Rotary-Encoder
+//--------------------------------------------------------------
+void P_ENCODER_InitTIM(ENC_TIM3_MODE_t mode, ENC_TIM3_TYP_t typ, uint16_t maxwert)
+{
+  uint16_t enc_mode, enc_edge;
+
+  // Clock enable
+  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); 
+
+  // Encoder Mode
+  if(mode==ENC_T3_MODE_2A) {
+    enc_mode=TIM_EncoderMode_TI1;
+  }
+  else if(mode==ENC_T3_MODE_2B){
+    enc_mode=TIM_EncoderMode_TI2;
+  }
+  else {
+    enc_mode=TIM_EncoderMode_TI12;
+  }
+
+  // Encoder Typ
+  if(typ==ENC_T3_TYP_NORMAL) {
+    enc_edge=TIM_ICPolarity_Rising;
+  }
+  else {
+    enc_edge=TIM_ICPolarity_Falling;
+  }
+
+  // Modus einstellen
+  TIM_EncoderInterfaceConfig(TIM3, enc_mode, enc_edge, TIM_ICPolarity_Rising);
+
+  // Maxwert setzen
+  TIM_SetAutoreload(TIM3, maxwert);
+
+  // Timer enable
+  TIM_Cmd(TIM3, ENABLE);
+}
+
diff --git a/src/stm32_ub_encoder_tim3.h b/src/stm32_ub_encoder_tim3.h
index 969112d1..d2e4da17 100755
--- a/src/stm32_ub_encoder_tim3.h
+++ b/src/stm32_ub_encoder_tim3.h
@@ -1,73 +1,73 @@
-//--------------------------------------------------------------
-// File     : stm32_ub_encoder_tim3.h
-//--------------------------------------------------------------
-
-//--------------------------------------------------------------
-#ifndef __STM32F4_UB_ENCODER_TIM3_H
-#define __STM32F4_UB_ENCODER_TIM3_H
-
-
-//--------------------------------------------------------------
-// Includes
-//--------------------------------------------------------------
-#include "stm32f4xx.h"
-#include "stm32f4xx_gpio.h"
-#include "stm32f4xx_rcc.h"
-#include "stm32f4xx_tim.h"
-
-
-//--------------------------------------------------------------
-// Zwei Kanäle [0 und 1] werden für den Rotary-Encoder benötigt
-//--------------------------------------------------------------
-typedef enum
-{
-  ENC_T3_A  = 0,  // Encoder Kanal-A
-  ENC_T3_B  = 1   // Encoder Kanal-B
-}ENC_TIM3_NAME_t;
-
-
-//--------------------------------------------------------------
-// Mode vom Encoder
-//--------------------------------------------------------------
-typedef enum {
-  ENC_T3_MODE_2A  = 0, // Counter Zählt bei jeder Flanke von Eingang_A
-  ENC_T3_MODE_2B  = 1, // Counter Zählt bei jeder Flanke von Eingang_B
-  ENC_T3_MODE_4AB = 2  // Counter Zählt bei jeder Flanke von Eingang_A UND Eingang_B
-}ENC_TIM3_MODE_t;
-
-
-//--------------------------------------------------------------
-// Richtung vom Encoder
-//--------------------------------------------------------------
-typedef enum {
-  ENC_T3_TYP_NORMAL  = 0, // Counter incrementiert bei rechts
-  ENC_T3_TYP_REVERS  = 1  // Counter decrementiert bei rechts
-}ENC_TIM3_TYP_t;
-
-
-
-//--------------------------------------------------------------
-// Struktur von einem Encoder-Kanal
-//--------------------------------------------------------------
-typedef struct {
-  ENC_TIM3_NAME_t ENC_NAME;      // Name
-  const uint8_t CHANNEL;         // Channel [1...2]
-  GPIO_TypeDef* ENC_PORT;        // Port
-  const uint16_t ENC_PIN;        // Pin
-  const uint32_t ENC_CLK;        // Clock
-  const uint8_t ENC_SOURCE;      // Source
-}ENC_TIM3_t;
-
-
-
-//--------------------------------------------------------------
-// Globale Funktionen
-//--------------------------------------------------------------
-void UB_ENCODER_TIM3_Init(ENC_TIM3_MODE_t mode, ENC_TIM3_TYP_t typ, uint16_t maxwert);
-uint16_t UB_ENCODER_TIM3_ReadPos(void);
-
-
-
-
-//--------------------------------------------------------------
-#endif // __STM32F4_UB_ENCODER_TIM3_H
+//--------------------------------------------------------------
+// File     : stm32_ub_encoder_tim3.h
+//--------------------------------------------------------------
+
+//--------------------------------------------------------------
+#ifndef __STM32F4_UB_ENCODER_TIM3_H
+#define __STM32F4_UB_ENCODER_TIM3_H
+
+
+//--------------------------------------------------------------
+// Includes
+//--------------------------------------------------------------
+#include "stm32f4xx.h"
+#include "stm32f4xx_gpio.h"
+#include "stm32f4xx_rcc.h"
+#include "stm32f4xx_tim.h"
+
+
+//--------------------------------------------------------------
+// Zwei Kanäle [0 und 1] werden für den Rotary-Encoder benötigt
+//--------------------------------------------------------------
+typedef enum
+{
+  ENC_T3_A  = 0,  // Encoder Kanal-A
+  ENC_T3_B  = 1   // Encoder Kanal-B
+}ENC_TIM3_NAME_t;
+
+
+//--------------------------------------------------------------
+// Mode vom Encoder
+//--------------------------------------------------------------
+typedef enum {
+  ENC_T3_MODE_2A  = 0, // Counter Zählt bei jeder Flanke von Eingang_A
+  ENC_T3_MODE_2B  = 1, // Counter Zählt bei jeder Flanke von Eingang_B
+  ENC_T3_MODE_4AB = 2  // Counter Zählt bei jeder Flanke von Eingang_A UND Eingang_B
+}ENC_TIM3_MODE_t;
+
+
+//--------------------------------------------------------------
+// Richtung vom Encoder
+//--------------------------------------------------------------
+typedef enum {
+  ENC_T3_TYP_NORMAL  = 0, // Counter incrementiert bei rechts
+  ENC_T3_TYP_REVERS  = 1  // Counter decrementiert bei rechts
+}ENC_TIM3_TYP_t;
+
+
+
+//--------------------------------------------------------------
+// Struktur von einem Encoder-Kanal
+//--------------------------------------------------------------
+typedef struct {
+  ENC_TIM3_NAME_t ENC_NAME;      // Name
+  const uint8_t CHANNEL;         // Channel [1...2]
+  GPIO_TypeDef* ENC_PORT;        // Port
+  const uint16_t ENC_PIN;        // Pin
+  const uint32_t ENC_CLK;        // Clock
+  const uint8_t ENC_SOURCE;      // Source
+}ENC_TIM3_t;
+
+
+
+//--------------------------------------------------------------
+// Globale Funktionen
+//--------------------------------------------------------------
+void UB_ENCODER_TIM3_Init(ENC_TIM3_MODE_t mode, ENC_TIM3_TYP_t typ, uint16_t maxwert);
+uint16_t UB_ENCODER_TIM3_ReadPos(void);
+
+
+
+
+//--------------------------------------------------------------
+#endif // __STM32F4_UB_ENCODER_TIM3_H
diff --git a/src/stm32f4xx_it.c b/src/stm32f4xx_it.c
index 82954c5b..635a70b7 100644
--- a/src/stm32f4xx_it.c
+++ b/src/stm32f4xx_it.c
@@ -1,167 +1,167 @@
-/**
-  ******************************************************************************
-  * @file    IO_Toggle/stm32f4xx_it.c
-  * @author  MCD Application Team
-  * @version V1.0.0
-  * @date    19-September-2011
-  * @brief   Main Interrupt Service Routines.
-  *          This file provides template for all exceptions handler and
-  *          peripherals interrupt service routine.
-  ******************************************************************************
-  * @attention
-  *
-  * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
-  * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
-  * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
-  * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
-  * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
-  * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
-  *
-  * <h2><center>&copy; COPYRIGHT 2011 STMicroelectronics</center></h2>
-  ******************************************************************************
-  */
-
-/* Includes ------------------------------------------------------------------*/
-#include "stm32f4xx_it.h"
-
-/** @addtogroup STM32F4_Discovery_Peripheral_Examples
-  * @{
-  */
-
-/** @addtogroup IO_Toggle
-  * @{
-  */
-
-/* Private typedef -----------------------------------------------------------*/
-/* Private define ------------------------------------------------------------*/
-/* Private macro -------------------------------------------------------------*/
-/* Private variables ---------------------------------------------------------*/
-/* Private function prototypes -----------------------------------------------*/
-/* Private functions ---------------------------------------------------------*/
-
-/******************************************************************************/
-/*            Cortex-M4 Processor Exceptions Handlers                         */
-/******************************************************************************/
-
-/**
-  * @brief   This function handles NMI exception.
-  * @param  None
-  * @retval None
-  */
-void NMI_Handler(void)
-{
-}
-
-/**
-  * @brief  This function handles Hard Fault exception.
-  * @param  None
-  * @retval None
-  */
-void HardFault_Handler(void)
-{
-  /* Go to infinite loop when Hard Fault exception occurs */
-  while (1)
-  {
-  }
-}
-
-/**
-  * @brief  This function handles Memory Manage exception.
-  * @param  None
-  * @retval None
-  */
-void MemManage_Handler(void)
-{
-  /* Go to infinite loop when Memory Manage exception occurs */
-  while (1)
-  {
-  }
-}
-
-/**
-  * @brief  This function handles Bus Fault exception.
-  * @param  None
-  * @retval None
-  */
-void BusFault_Handler(void)
-{
-  /* Go to infinite loop when Bus Fault exception occurs */
-  while (1)
-  {
-  }
-}
-
-/**
-  * @brief  This function handles Usage Fault exception.
-  * @param  None
-  * @retval None
-  */
-void UsageFault_Handler(void)
-{
-  /* Go to infinite loop when Usage Fault exception occurs */
-  while (1)
-  {
-  }
-}
-
-/**
-  * @brief  This function handles SVCall exception.
-  * @param  None
-  * @retval None
-  */
-void SVC_Handler(void)
-{
-}
-
-/**
-  * @brief  This function handles Debug Monitor exception.
-  * @param  None
-  * @retval None
-  */
-void DebugMon_Handler(void)
-{
-}
-
-/**
-  * @brief  This function handles PendSVC exception.
-  * @param  None
-  * @retval None
-  */
-void PendSV_Handler(void)
-{
-}
-
-/**
-  * @brief  This function handles SysTick Handler.
-  * @param  None
-  * @retval None
-  */
-//void SysTick_Handler(void)
-//{
-//}
-
-/******************************************************************************/
-/*                 STM32F4xx Peripherals Interrupt Handlers                   */
-/*  Add here the Interrupt Handler for the used peripheral(s) (PPP), for the  */
-/*  available peripheral interrupt handler's name please refer to the startup */
-/*  file (startup_stm32f4xx.s).                                               */
-/******************************************************************************/
-
-/**
-  * @brief  This function handles PPP interrupt request.
-  * @param  None
-  * @retval None
-  */
-/*void PPP_IRQHandler(void)
-{
-}*/
-
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
-/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/
+/**
+  ******************************************************************************
+  * @file    IO_Toggle/stm32f4xx_it.c
+  * @author  MCD Application Team
+  * @version V1.0.0
+  * @date    19-September-2011
+  * @brief   Main Interrupt Service Routines.
+  *          This file provides template for all exceptions handler and
+  *          peripherals interrupt service routine.
+  ******************************************************************************
+  * @attention
+  *
+  * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
+  * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
+  * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
+  * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
+  * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
+  * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
+  *
+  * <h2><center>&copy; COPYRIGHT 2011 STMicroelectronics</center></h2>
+  ******************************************************************************
+  */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_it.h"
+
+/** @addtogroup STM32F4_Discovery_Peripheral_Examples
+  * @{
+  */
+
+/** @addtogroup IO_Toggle
+  * @{
+  */
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/******************************************************************************/
+/*            Cortex-M4 Processor Exceptions Handlers                         */
+/******************************************************************************/
+
+/**
+  * @brief   This function handles NMI exception.
+  * @param  None
+  * @retval None
+  */
+void NMI_Handler(void)
+{
+}
+
+/**
+  * @brief  This function handles Hard Fault exception.
+  * @param  None
+  * @retval None
+  */
+void HardFault_Handler(void)
+{
+  /* Go to infinite loop when Hard Fault exception occurs */
+  while (1)
+  {
+  }
+}
+
+/**
+  * @brief  This function handles Memory Manage exception.
+  * @param  None
+  * @retval None
+  */
+void MemManage_Handler(void)
+{
+  /* Go to infinite loop when Memory Manage exception occurs */
+  while (1)
+  {
+  }
+}
+
+/**
+  * @brief  This function handles Bus Fault exception.
+  * @param  None
+  * @retval None
+  */
+void BusFault_Handler(void)
+{
+  /* Go to infinite loop when Bus Fault exception occurs */
+  while (1)
+  {
+  }
+}
+
+/**
+  * @brief  This function handles Usage Fault exception.
+  * @param  None
+  * @retval None
+  */
+void UsageFault_Handler(void)
+{
+  /* Go to infinite loop when Usage Fault exception occurs */
+  while (1)
+  {
+  }
+}
+
+/**
+  * @brief  This function handles SVCall exception.
+  * @param  None
+  * @retval None
+  */
+void SVC_Handler(void)
+{
+}
+
+/**
+  * @brief  This function handles Debug Monitor exception.
+  * @param  None
+  * @retval None
+  */
+void DebugMon_Handler(void)
+{
+}
+
+/**
+  * @brief  This function handles PendSVC exception.
+  * @param  None
+  * @retval None
+  */
+void PendSV_Handler(void)
+{
+}
+
+/**
+  * @brief  This function handles SysTick Handler.
+  * @param  None
+  * @retval None
+  */
+//void SysTick_Handler(void)
+//{
+//}
+
+/******************************************************************************/
+/*                 STM32F4xx Peripherals Interrupt Handlers                   */
+/*  Add here the Interrupt Handler for the used peripheral(s) (PPP), for the  */
+/*  available peripheral interrupt handler's name please refer to the startup */
+/*  file (startup_stm32f4xx.s).                                               */
+/******************************************************************************/
+
+/**
+  * @brief  This function handles PPP interrupt request.
+  * @param  None
+  * @retval None
+  */
+/*void PPP_IRQHandler(void)
+{
+}*/
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/
diff --git a/src/system_stm32f4xx.c b/src/system_stm32f4xx.c
index e29a7fed..9b2a3e75 100644
--- a/src/system_stm32f4xx.c
+++ b/src/system_stm32f4xx.c
@@ -1,546 +1,546 @@
-/**
-  ******************************************************************************
-  * @file    system_stm32f4xx.c
-  * @author  MCD Application Team
-  * @version V1.0.0
-  * @date    19-September-2011
-  * @brief   CMSIS Cortex-M4 Device Peripheral Access Layer System Source File.
-  *          This file contains the system clock configuration for STM32F4xx devices,
-  *          and is generated by the clock configuration tool
-  *          stm32f4xx_Clock_Configuration_V1.0.0.xls
-  *
-  * 1.  This file provides two functions and one global variable to be called from
-  *     user application:
-  *      - SystemInit(): Setups the system clock (System clock source, PLL Multiplier
-  *                      and Divider factors, AHB/APBx prescalers and Flash settings),
-  *                      depending on the configuration made in the clock xls tool.
-  *                      This function is called at startup just after reset and
-  *                      before branch to main program. This call is made inside
-  *                      the "startup_stm32f4xx.s" file.
-  *
-  *      - SystemCoreClock variable: Contains the core clock (HCLK), it can be used
-  *                                  by the user application to setup the SysTick
-  *                                  timer or configure other parameters.
-  *
-  *      - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must
-  *                                 be called whenever the core clock is changed
-  *                                 during program execution.
-  *
-  * 2. After each device reset the HSI (16 MHz) is used as system clock source.
-  *    Then SystemInit() function is called, in "startup_stm32f4xx.s" file, to
-  *    configure the system clock before to branch to main program.
-  *
-  * 3. If the system clock source selected by user fails to startup, the SystemInit()
-  *    function will do nothing and HSI still used as system clock source. User can
-  *    add some code to deal with this issue inside the SetSysClock() function.
-  *
-  * 4. The default value of HSE crystal is set to 8 MHz, refer to "HSE_VALUE" define
-  *    in "stm32f4xx.h" file. When HSE is used as system clock source, directly or
-  *    through PLL, and you are using different crystal you have to adapt the HSE
-  *    value to your own configuration.
-  *
-  * 5. This file configures the system clock as follows:
-  *=============================================================================
-  *=============================================================================
-  *        Supported STM32F4xx device revision    | Rev A
-  *-----------------------------------------------------------------------------
-  *        System Clock source                    | PLL (HSE)
-  *-----------------------------------------------------------------------------
-  *        SYSCLK(Hz)                             | 168000000
-  *-----------------------------------------------------------------------------
-  *        HCLK(Hz)                               | 168000000
-  *-----------------------------------------------------------------------------
-  *        AHB Prescaler                          | 1
-  *-----------------------------------------------------------------------------
-  *        APB1 Prescaler                         | 4
-  *-----------------------------------------------------------------------------
-  *        APB2 Prescaler                         | 2
-  *-----------------------------------------------------------------------------
-  *        HSE Frequency(Hz)                      | 8000000
-  *-----------------------------------------------------------------------------
-  *        PLL_M                                  | 8
-  *-----------------------------------------------------------------------------
-  *        PLL_N                                  | 336
-  *-----------------------------------------------------------------------------
-  *        PLL_P                                  | 2
-  *-----------------------------------------------------------------------------
-  *        PLL_Q                                  | 7
-  *-----------------------------------------------------------------------------
-  *        PLLI2S_N                               | NA
-  *-----------------------------------------------------------------------------
-  *        PLLI2S_R                               | NA
-  *-----------------------------------------------------------------------------
-  *        I2S input clock                        | NA
-  *-----------------------------------------------------------------------------
-  *        VDD(V)                                 | 3.3
-  *-----------------------------------------------------------------------------
-  *        High Performance mode                  | Enabled
-  *-----------------------------------------------------------------------------
-  *        Flash Latency(WS)                      | 5
-  *-----------------------------------------------------------------------------
-  *        Prefetch Buffer                        | OFF
-  *-----------------------------------------------------------------------------
-  *        Instruction cache                      | ON
-  *-----------------------------------------------------------------------------
-  *        Data cache                             | ON
-  *-----------------------------------------------------------------------------
-  *        Require 48MHz for USB OTG FS,          | Enabled
-  *        SDIO and RNG clock                     |
-  *-----------------------------------------------------------------------------
-  *=============================================================================
-  ******************************************************************************
-  * @attention
-  *
-  * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
-  * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
-  * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
-  * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
-  * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
-  * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
-  *
-  * <h2><center>&copy; COPYRIGHT 2011 STMicroelectronics</center></h2>
-  ******************************************************************************
-  */
-
-/** @addtogroup CMSIS
-  * @{
-  */
-
-/** @addtogroup stm32f4xx_system
-  * @{
-  */
-
-/** @addtogroup STM32F4xx_System_Private_Includes
-  * @{
-  */
-
-#include "stm32f4xx.h"
-
-/**
-  * @}
-  */
-
-/** @addtogroup STM32F4xx_System_Private_TypesDefinitions
-  * @{
-  */
-
-/**
-  * @}
-  */
-
-/** @addtogroup STM32F4xx_System_Private_Defines
-  * @{
-  */
-
-/*!< Uncomment the following line if you need to use external SRAM mounted
-     on STM324xG_EVAL board as data memory  */
-/* #define DATA_IN_ExtSRAM */
-
-/*!< Uncomment the following line if you need to relocate your vector Table in
-     Internal SRAM. */
-/* #define VECT_TAB_SRAM */
-#define VECT_TAB_OFFSET  0x00 /*!< Vector Table base offset field.
-                                   This value must be a multiple of 0x200. */
-
-
-/* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N */
-#define PLL_M      8
-#define PLL_N      336
-
-/* SYSCLK = PLL_VCO / PLL_P */
-#define PLL_P      2
-
-/* USB OTG FS, SDIO and RNG Clock =  PLL_VCO / PLLQ */
-#define PLL_Q      7
-
-/**
-  * @}
-  */
-
-/** @addtogroup STM32F4xx_System_Private_Macros
-  * @{
-  */
-
-/**
-  * @}
-  */
-
-/** @addtogroup STM32F4xx_System_Private_Variables
-  * @{
-  */
-
-  uint32_t SystemCoreClock = 168000000;
-
-  __I uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9};
-
-/**
-  * @}
-  */
-
-/** @addtogroup STM32F4xx_System_Private_FunctionPrototypes
-  * @{
-  */
-
-static void SetSysClock(void);
-#ifdef DATA_IN_ExtSRAM
-  static void SystemInit_ExtMemCtl(void);
-#endif /* DATA_IN_ExtSRAM */
-
-/**
-  * @}
-  */
-
-/** @addtogroup STM32F4xx_System_Private_Functions
-  * @{
-  */
-
-/**
-  * @brief  Setup the microcontroller system
-  *         Initialize the Embedded Flash Interface, the PLL and update the
-  *         SystemFrequency variable.
-  * @param  None
-  * @retval None
-  */
-void SystemInit(void)
-{
-  SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2));  /* Set CP10 and CP11 to full access */
-
-  /* Reset the RCC clock configuration to the default reset state ------------*/
-  /* Set HSION bit */
-  RCC->CR |= (uint32_t)0x00000001;
-
-  /* Reset CFGR register */
-  RCC->CFGR = 0x00000000;
-
-  /* Reset HSEON, CSSON and PLLON bits */
-  RCC->CR &= (uint32_t)0xFEF6FFFF;
-
-  /* Reset PLLCFGR register */
-  RCC->PLLCFGR = 0x24003010;
-
-  /* Reset HSEBYP bit */
-  RCC->CR &= (uint32_t)0xFFFBFFFF;
-
-  /* Disable all interrupts */
-  RCC->CIR = 0x00000000;
-
-#ifdef DATA_IN_ExtSRAM
-  SystemInit_ExtMemCtl();
-#endif /* DATA_IN_ExtSRAM */
-
-  /* Configure the System clock source, PLL Multiplier and Divider factors,
-     AHB/APBx prescalers and Flash settings ----------------------------------*/
-  SetSysClock();
-
-  /* Configure the Vector Table location add offset address ------------------*/
-#ifdef VECT_TAB_SRAM
-  SCB->VTOR = SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM */
-#else
-  SCB->VTOR = FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH */
-#endif
-}
-
-/**
-   * @brief  Update SystemCoreClock variable according to Clock Register Values.
-  *         The SystemCoreClock variable contains the core clock (HCLK), it can
-  *         be used by the user application to setup the SysTick timer or configure
-  *         other parameters.
-  *
-  * @note   Each time the core clock (HCLK) changes, this function must be called
-  *         to update SystemCoreClock variable value. Otherwise, any configuration
-  *         based on this variable will be incorrect.
-  *
-  * @note   - The system frequency computed by this function is not the real
-  *           frequency in the chip. It is calculated based on the predefined
-  *           constant and the selected clock source:
-  *
-  *           - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*)
-  *
-  *           - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**)
-  *
-  *           - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**)
-  *             or HSI_VALUE(*) multiplied/divided by the PLL factors.
-  *
-  *         (*) HSI_VALUE is a constant defined in stm32f4xx.h file (default value
-  *             16 MHz) but the real value may vary depending on the variations
-  *             in voltage and temperature.
-  *
-  *         (**) HSE_VALUE is a constant defined in stm32f4xx.h file (default value
-  *              25 MHz), user has to ensure that HSE_VALUE is same as the real
-  *              frequency of the crystal used. Otherwise, this function may
-  *              have wrong result.
-  *
-  *         - The result of this function could be not correct when using fractional
-  *           value for HSE crystal.
-  *
-  * @param  None
-  * @retval None
-  */
-void SystemCoreClockUpdate(void)
-{
-  uint32_t tmp = 0, pllvco = 0, pllp = 2, pllsource = 0, pllm = 2;
-
-  /* Get SYSCLK source -------------------------------------------------------*/
-  tmp = RCC->CFGR & RCC_CFGR_SWS;
-
-  switch (tmp)
-  {
-    case 0x00:  /* HSI used as system clock source */
-      SystemCoreClock = HSI_VALUE;
-      break;
-    case 0x04:  /* HSE used as system clock source */
-      SystemCoreClock = HSE_VALUE;
-      break;
-    case 0x08:  /* PLL used as system clock source */
-
-      /* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N
-         SYSCLK = PLL_VCO / PLL_P
-         */
-      pllsource = (RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) >> 22;
-      pllm = RCC->PLLCFGR & RCC_PLLCFGR_PLLM;
-
-      if (pllsource != 0)
-      {
-        /* HSE used as PLL clock source */
-        pllvco = (HSE_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
-      }
-      else
-      {
-        /* HSI used as PLL clock source */
-        pllvco = (HSI_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
-      }
-
-      pllp = (((RCC->PLLCFGR & RCC_PLLCFGR_PLLP) >>16) + 1 ) *2;
-      SystemCoreClock = pllvco/pllp;
-      break;
-    default:
-      SystemCoreClock = HSI_VALUE;
-      break;
-  }
-  /* Compute HCLK frequency --------------------------------------------------*/
-  /* Get HCLK prescaler */
-  tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)];
-  /* HCLK frequency */
-  SystemCoreClock >>= tmp;
-}
-
-/**
-  * @brief  Configures the System clock source, PLL Multiplier and Divider factors,
-  *         AHB/APBx prescalers and Flash settings
-  * @Note   This function should be called only once the RCC clock configuration
-  *         is reset to the default reset state (done in SystemInit() function).
-  * @param  None
-  * @retval None
-  */
-static void SetSysClock(void)
-{
-/******************************************************************************/
-/*            PLL (clocked by HSE) used as System clock source                */
-/******************************************************************************/
-  __IO uint32_t StartUpCounter = 0, HSEStatus = 0;
-
-  /* Enable HSE */
-  RCC->CR |= ((uint32_t)RCC_CR_HSEON);
-
-  /* Wait till HSE is ready and if Time out is reached exit */
-  do
-  {
-    HSEStatus = RCC->CR & RCC_CR_HSERDY;
-    StartUpCounter++;
-  } while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT));
-
-  if ((RCC->CR & RCC_CR_HSERDY) != RESET)
-  {
-    HSEStatus = (uint32_t)0x01;
-  }
-  else
-  {
-    HSEStatus = (uint32_t)0x00;
-  }
-
-  if (HSEStatus == (uint32_t)0x01)
-  {
-    /* Enable high performance mode, System frequency up to 168 MHz */
-    RCC->APB1ENR |= RCC_APB1ENR_PWREN;
-    PWR->CR |= PWR_CR_PMODE;
-
-    /* HCLK = SYSCLK / 1*/
-    RCC->CFGR |= RCC_CFGR_HPRE_DIV1;
-
-    /* PCLK2 = HCLK / 2*/
-    RCC->CFGR |= RCC_CFGR_PPRE2_DIV2;
-
-    /* PCLK1 = HCLK / 4*/
-    RCC->CFGR |= RCC_CFGR_PPRE1_DIV4;
-
-    /* Configure the main PLL */
-    RCC->PLLCFGR = PLL_M | (PLL_N << 6) | (((PLL_P >> 1) -1) << 16) |
-                   (RCC_PLLCFGR_PLLSRC_HSE) | (PLL_Q << 24);
-
-    /* Enable the main PLL */
-    RCC->CR |= RCC_CR_PLLON;
-
-    /* Wait till the main PLL is ready */
-    while((RCC->CR & RCC_CR_PLLRDY) == 0)
-    {
-    }
-
-    /* Configure Flash prefetch, Instruction cache, Data cache and wait state */
-    FLASH->ACR = FLASH_ACR_ICEN |FLASH_ACR_DCEN |FLASH_ACR_LATENCY_5WS;
-
-    /* Select the main PLL as system clock source */
-    RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));
-    RCC->CFGR |= RCC_CFGR_SW_PLL;
-
-    /* Wait till the main PLL is used as system clock source */
-    while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL);
-    {
-    }
-  }
-  else
-  { /* If HSE fails to start-up, the application will have wrong clock
-         configuration. User can add here some code to deal with this error */
-  }
-
-}
-
-/**
-  * @brief  Setup the external memory controller. Called in startup_stm32f4xx.s
-  *          before jump to __main
-  * @param  None
-  * @retval None
-  */
-#ifdef DATA_IN_ExtSRAM
-/**
-  * @brief  Setup the external memory controller.
-  *         Called in startup_stm32f4xx.s before jump to main.
-  *         This function configures the external SRAM mounted on STM324xG_EVAL board
-  *         This SRAM will be used as program data memory (including heap and stack).
-  * @param  None
-  * @retval None
-  */
-void SystemInit_ExtMemCtl(void)
-{
-/*-- GPIOs Configuration -----------------------------------------------------*/
-/*
- +-------------------+--------------------+------------------+------------------+
- +                       SRAM pins assignment                                   +
- +-------------------+--------------------+------------------+------------------+
- | PD0  <-> FSMC_D2  | PE0  <-> FSMC_NBL0 | PF0  <-> FSMC_A0 | PG0 <-> FSMC_A10 |
- | PD1  <-> FSMC_D3  | PE1  <-> FSMC_NBL1 | PF1  <-> FSMC_A1 | PG1 <-> FSMC_A11 |
- | PD4  <-> FSMC_NOE | PE3  <-> FSMC_A19  | PF2  <-> FSMC_A2 | PG2 <-> FSMC_A12 |
- | PD5  <-> FSMC_NWE | PE4  <-> FSMC_A20  | PF3  <-> FSMC_A3 | PG3 <-> FSMC_A13 |
- | PD8  <-> FSMC_D13 | PE7  <-> FSMC_D4   | PF4  <-> FSMC_A4 | PG4 <-> FSMC_A14 |
- | PD9  <-> FSMC_D14 | PE8  <-> FSMC_D5   | PF5  <-> FSMC_A5 | PG5 <-> FSMC_A15 |
- | PD10 <-> FSMC_D15 | PE9  <-> FSMC_D6   | PF12 <-> FSMC_A6 | PG9 <-> FSMC_NE2 |
- | PD11 <-> FSMC_A16 | PE10 <-> FSMC_D7   | PF13 <-> FSMC_A7 |------------------+
- | PD12 <-> FSMC_A17 | PE11 <-> FSMC_D8   | PF14 <-> FSMC_A8 |
- | PD13 <-> FSMC_A18 | PE12 <-> FSMC_D9   | PF15 <-> FSMC_A9 |
- | PD14 <-> FSMC_D0  | PE13 <-> FSMC_D10  |------------------+
- | PD15 <-> FSMC_D1  | PE14 <-> FSMC_D11  |
- |                   | PE15 <-> FSMC_D12  |
- +-------------------+--------------------+
-*/
-   /* Enable GPIOD, GPIOE, GPIOF and GPIOG interface clock */
-  RCC->AHB1ENR   = 0x00000078;
-
-  /* Connect PDx pins to FSMC Alternate function */
-  GPIOD->AFR[0]  = 0x00cc00cc;
-  GPIOD->AFR[1]  = 0xcc0ccccc;
-  /* Configure PDx pins in Alternate function mode */
-  GPIOD->MODER   = 0xaaaa0a0a;
-  /* Configure PDx pins speed to 100 MHz */
-  GPIOD->OSPEEDR = 0xffff0f0f;
-  /* Configure PDx pins Output type to push-pull */
-  GPIOD->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PDx pins */
-  GPIOD->PUPDR   = 0x00000000;
-
-  /* Connect PEx pins to FSMC Alternate function */
-  GPIOE->AFR[0]  = 0xc00cc0cc;
-  GPIOE->AFR[1]  = 0xcccccccc;
-  /* Configure PEx pins in Alternate function mode */
-  GPIOE->MODER   = 0xaaaa828a;
-  /* Configure PEx pins speed to 100 MHz */
-  GPIOE->OSPEEDR = 0xffffc3cf;
-  /* Configure PEx pins Output type to push-pull */
-  GPIOE->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PEx pins */
-  GPIOE->PUPDR   = 0x00000000;
-
-  /* Connect PFx pins to FSMC Alternate function */
-  GPIOF->AFR[0]  = 0x00cccccc;
-  GPIOF->AFR[1]  = 0xcccc0000;
-  /* Configure PFx pins in Alternate function mode */
-  GPIOF->MODER   = 0xaa000aaa;
-  /* Configure PFx pins speed to 100 MHz */
-  GPIOF->OSPEEDR = 0xff000fff;
-  /* Configure PFx pins Output type to push-pull */
-  GPIOF->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PFx pins */
-  GPIOF->PUPDR   = 0x00000000;
-
-  /* Connect PGx pins to FSMC Alternate function */
-  GPIOG->AFR[0]  = 0x00cccccc;
-  GPIOG->AFR[1]  = 0x000000c0;
-  /* Configure PGx pins in Alternate function mode */
-  GPIOG->MODER   = 0x00080aaa;
-  /* Configure PGx pins speed to 100 MHz */
-  GPIOG->OSPEEDR = 0x000c0fff;
-  /* Configure PGx pins Output type to push-pull */
-  GPIOG->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PGx pins */
-  GPIOG->PUPDR   = 0x00000000;
-
-/*-- FSMC Configuration ------------------------------------------------------*/
-  /* Enable the FSMC interface clock */
-  RCC->AHB3ENR         = 0x00000001;
-
-  /* Configure and enable Bank1_SRAM2 */
-  FSMC_Bank1->BTCR[2]  = 0x00001015;
-  FSMC_Bank1->BTCR[3]  = 0x00010603;//0x00010400;
-  FSMC_Bank1E->BWTR[2] = 0x0fffffff;
-/*
-  Bank1_SRAM2 is configured as follow:
-
-  p.FSMC_AddressSetupTime = 3;//0;
-  p.FSMC_AddressHoldTime = 0;
-  p.FSMC_DataSetupTime = 6;//4;
-  p.FSMC_BusTurnAroundDuration = 1;
-  p.FSMC_CLKDivision = 0;
-  p.FSMC_DataLatency = 0;
-  p.FSMC_AccessMode = FSMC_AccessMode_A;
-
-  FSMC_NORSRAMInitStructure.FSMC_Bank = FSMC_Bank1_NORSRAM2;
-  FSMC_NORSRAMInitStructure.FSMC_DataAddressMux = FSMC_DataAddressMux_Disable;
-  FSMC_NORSRAMInitStructure.FSMC_MemoryType = FSMC_MemoryType_PSRAM;
-  FSMC_NORSRAMInitStructure.FSMC_MemoryDataWidth = FSMC_MemoryDataWidth_16b;
-  FSMC_NORSRAMInitStructure.FSMC_BurstAccessMode = FSMC_BurstAccessMode_Disable;
-  FSMC_NORSRAMInitStructure.FSMC_AsynchronousWait = FSMC_AsynchronousWait_Disable;
-  FSMC_NORSRAMInitStructure.FSMC_WaitSignalPolarity = FSMC_WaitSignalPolarity_Low;
-  FSMC_NORSRAMInitStructure.FSMC_WrapMode = FSMC_WrapMode_Disable;
-  FSMC_NORSRAMInitStructure.FSMC_WaitSignalActive = FSMC_WaitSignalActive_BeforeWaitState;
-  FSMC_NORSRAMInitStructure.FSMC_WriteOperation = FSMC_WriteOperation_Enable;
-  FSMC_NORSRAMInitStructure.FSMC_WaitSignal = FSMC_WaitSignal_Disable;
-  FSMC_NORSRAMInitStructure.FSMC_ExtendedMode = FSMC_ExtendedMode_Disable;
-  FSMC_NORSRAMInitStructure.FSMC_WriteBurst = FSMC_WriteBurst_Disable;
-  FSMC_NORSRAMInitStructure.FSMC_ReadWriteTimingStruct = &p;
-  FSMC_NORSRAMInitStructure.FSMC_WriteTimingStruct = &p;
-*/
-
-}
-#endif /* DATA_IN_ExtSRAM */
-
-
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/
+/**
+  ******************************************************************************
+  * @file    system_stm32f4xx.c
+  * @author  MCD Application Team
+  * @version V1.0.0
+  * @date    19-September-2011
+  * @brief   CMSIS Cortex-M4 Device Peripheral Access Layer System Source File.
+  *          This file contains the system clock configuration for STM32F4xx devices,
+  *          and is generated by the clock configuration tool
+  *          stm32f4xx_Clock_Configuration_V1.0.0.xls
+  *
+  * 1.  This file provides two functions and one global variable to be called from
+  *     user application:
+  *      - SystemInit(): Setups the system clock (System clock source, PLL Multiplier
+  *                      and Divider factors, AHB/APBx prescalers and Flash settings),
+  *                      depending on the configuration made in the clock xls tool.
+  *                      This function is called at startup just after reset and
+  *                      before branch to main program. This call is made inside
+  *                      the "startup_stm32f4xx.s" file.
+  *
+  *      - SystemCoreClock variable: Contains the core clock (HCLK), it can be used
+  *                                  by the user application to setup the SysTick
+  *                                  timer or configure other parameters.
+  *
+  *      - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must
+  *                                 be called whenever the core clock is changed
+  *                                 during program execution.
+  *
+  * 2. After each device reset the HSI (16 MHz) is used as system clock source.
+  *    Then SystemInit() function is called, in "startup_stm32f4xx.s" file, to
+  *    configure the system clock before to branch to main program.
+  *
+  * 3. If the system clock source selected by user fails to startup, the SystemInit()
+  *    function will do nothing and HSI still used as system clock source. User can
+  *    add some code to deal with this issue inside the SetSysClock() function.
+  *
+  * 4. The default value of HSE crystal is set to 8 MHz, refer to "HSE_VALUE" define
+  *    in "stm32f4xx.h" file. When HSE is used as system clock source, directly or
+  *    through PLL, and you are using different crystal you have to adapt the HSE
+  *    value to your own configuration.
+  *
+  * 5. This file configures the system clock as follows:
+  *=============================================================================
+  *=============================================================================
+  *        Supported STM32F4xx device revision    | Rev A
+  *-----------------------------------------------------------------------------
+  *        System Clock source                    | PLL (HSE)
+  *-----------------------------------------------------------------------------
+  *        SYSCLK(Hz)                             | 168000000
+  *-----------------------------------------------------------------------------
+  *        HCLK(Hz)                               | 168000000
+  *-----------------------------------------------------------------------------
+  *        AHB Prescaler                          | 1
+  *-----------------------------------------------------------------------------
+  *        APB1 Prescaler                         | 4
+  *-----------------------------------------------------------------------------
+  *        APB2 Prescaler                         | 2
+  *-----------------------------------------------------------------------------
+  *        HSE Frequency(Hz)                      | 8000000
+  *-----------------------------------------------------------------------------
+  *        PLL_M                                  | 8
+  *-----------------------------------------------------------------------------
+  *        PLL_N                                  | 336
+  *-----------------------------------------------------------------------------
+  *        PLL_P                                  | 2
+  *-----------------------------------------------------------------------------
+  *        PLL_Q                                  | 7
+  *-----------------------------------------------------------------------------
+  *        PLLI2S_N                               | NA
+  *-----------------------------------------------------------------------------
+  *        PLLI2S_R                               | NA
+  *-----------------------------------------------------------------------------
+  *        I2S input clock                        | NA
+  *-----------------------------------------------------------------------------
+  *        VDD(V)                                 | 3.3
+  *-----------------------------------------------------------------------------
+  *        High Performance mode                  | Enabled
+  *-----------------------------------------------------------------------------
+  *        Flash Latency(WS)                      | 5
+  *-----------------------------------------------------------------------------
+  *        Prefetch Buffer                        | OFF
+  *-----------------------------------------------------------------------------
+  *        Instruction cache                      | ON
+  *-----------------------------------------------------------------------------
+  *        Data cache                             | ON
+  *-----------------------------------------------------------------------------
+  *        Require 48MHz for USB OTG FS,          | Enabled
+  *        SDIO and RNG clock                     |
+  *-----------------------------------------------------------------------------
+  *=============================================================================
+  ******************************************************************************
+  * @attention
+  *
+  * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
+  * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
+  * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
+  * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
+  * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
+  * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
+  *
+  * <h2><center>&copy; COPYRIGHT 2011 STMicroelectronics</center></h2>
+  ******************************************************************************
+  */
+
+/** @addtogroup CMSIS
+  * @{
+  */
+
+/** @addtogroup stm32f4xx_system
+  * @{
+  */
+
+/** @addtogroup STM32F4xx_System_Private_Includes
+  * @{
+  */
+
+#include "stm32f4xx.h"
+
+/**
+  * @}
+  */
+
+/** @addtogroup STM32F4xx_System_Private_TypesDefinitions
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/** @addtogroup STM32F4xx_System_Private_Defines
+  * @{
+  */
+
+/*!< Uncomment the following line if you need to use external SRAM mounted
+     on STM324xG_EVAL board as data memory  */
+/* #define DATA_IN_ExtSRAM */
+
+/*!< Uncomment the following line if you need to relocate your vector Table in
+     Internal SRAM. */
+/* #define VECT_TAB_SRAM */
+#define VECT_TAB_OFFSET  0x00 /*!< Vector Table base offset field.
+                                   This value must be a multiple of 0x200. */
+
+
+/* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N */
+#define PLL_M      8
+#define PLL_N      336
+
+/* SYSCLK = PLL_VCO / PLL_P */
+#define PLL_P      2
+
+/* USB OTG FS, SDIO and RNG Clock =  PLL_VCO / PLLQ */
+#define PLL_Q      7
+
+/**
+  * @}
+  */
+
+/** @addtogroup STM32F4xx_System_Private_Macros
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/** @addtogroup STM32F4xx_System_Private_Variables
+  * @{
+  */
+
+  uint32_t SystemCoreClock = 168000000;
+
+  __I uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9};
+
+/**
+  * @}
+  */
+
+/** @addtogroup STM32F4xx_System_Private_FunctionPrototypes
+  * @{
+  */
+
+static void SetSysClock(void);
+#ifdef DATA_IN_ExtSRAM
+  static void SystemInit_ExtMemCtl(void);
+#endif /* DATA_IN_ExtSRAM */
+
+/**
+  * @}
+  */
+
+/** @addtogroup STM32F4xx_System_Private_Functions
+  * @{
+  */
+
+/**
+  * @brief  Setup the microcontroller system
+  *         Initialize the Embedded Flash Interface, the PLL and update the
+  *         SystemFrequency variable.
+  * @param  None
+  * @retval None
+  */
+void SystemInit(void)
+{
+  SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2));  /* Set CP10 and CP11 to full access */
+
+  /* Reset the RCC clock configuration to the default reset state ------------*/
+  /* Set HSION bit */
+  RCC->CR |= (uint32_t)0x00000001;
+
+  /* Reset CFGR register */
+  RCC->CFGR = 0x00000000;
+
+  /* Reset HSEON, CSSON and PLLON bits */
+  RCC->CR &= (uint32_t)0xFEF6FFFF;
+
+  /* Reset PLLCFGR register */
+  RCC->PLLCFGR = 0x24003010;
+
+  /* Reset HSEBYP bit */
+  RCC->CR &= (uint32_t)0xFFFBFFFF;
+
+  /* Disable all interrupts */
+  RCC->CIR = 0x00000000;
+
+#ifdef DATA_IN_ExtSRAM
+  SystemInit_ExtMemCtl();
+#endif /* DATA_IN_ExtSRAM */
+
+  /* Configure the System clock source, PLL Multiplier and Divider factors,
+     AHB/APBx prescalers and Flash settings ----------------------------------*/
+  SetSysClock();
+
+  /* Configure the Vector Table location add offset address ------------------*/
+#ifdef VECT_TAB_SRAM
+  SCB->VTOR = SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM */
+#else
+  SCB->VTOR = FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH */
+#endif
+}
+
+/**
+   * @brief  Update SystemCoreClock variable according to Clock Register Values.
+  *         The SystemCoreClock variable contains the core clock (HCLK), it can
+  *         be used by the user application to setup the SysTick timer or configure
+  *         other parameters.
+  *
+  * @note   Each time the core clock (HCLK) changes, this function must be called
+  *         to update SystemCoreClock variable value. Otherwise, any configuration
+  *         based on this variable will be incorrect.
+  *
+  * @note   - The system frequency computed by this function is not the real
+  *           frequency in the chip. It is calculated based on the predefined
+  *           constant and the selected clock source:
+  *
+  *           - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*)
+  *
+  *           - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**)
+  *
+  *           - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**)
+  *             or HSI_VALUE(*) multiplied/divided by the PLL factors.
+  *
+  *         (*) HSI_VALUE is a constant defined in stm32f4xx.h file (default value
+  *             16 MHz) but the real value may vary depending on the variations
+  *             in voltage and temperature.
+  *
+  *         (**) HSE_VALUE is a constant defined in stm32f4xx.h file (default value
+  *              25 MHz), user has to ensure that HSE_VALUE is same as the real
+  *              frequency of the crystal used. Otherwise, this function may
+  *              have wrong result.
+  *
+  *         - The result of this function could be not correct when using fractional
+  *           value for HSE crystal.
+  *
+  * @param  None
+  * @retval None
+  */
+void SystemCoreClockUpdate(void)
+{
+  uint32_t tmp = 0, pllvco = 0, pllp = 2, pllsource = 0, pllm = 2;
+
+  /* Get SYSCLK source -------------------------------------------------------*/
+  tmp = RCC->CFGR & RCC_CFGR_SWS;
+
+  switch (tmp)
+  {
+    case 0x00:  /* HSI used as system clock source */
+      SystemCoreClock = HSI_VALUE;
+      break;
+    case 0x04:  /* HSE used as system clock source */
+      SystemCoreClock = HSE_VALUE;
+      break;
+    case 0x08:  /* PLL used as system clock source */
+
+      /* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N
+         SYSCLK = PLL_VCO / PLL_P
+         */
+      pllsource = (RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) >> 22;
+      pllm = RCC->PLLCFGR & RCC_PLLCFGR_PLLM;
+
+      if (pllsource != 0)
+      {
+        /* HSE used as PLL clock source */
+        pllvco = (HSE_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
+      }
+      else
+      {
+        /* HSI used as PLL clock source */
+        pllvco = (HSI_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
+      }
+
+      pllp = (((RCC->PLLCFGR & RCC_PLLCFGR_PLLP) >>16) + 1 ) *2;
+      SystemCoreClock = pllvco/pllp;
+      break;
+    default:
+      SystemCoreClock = HSI_VALUE;
+      break;
+  }
+  /* Compute HCLK frequency --------------------------------------------------*/
+  /* Get HCLK prescaler */
+  tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)];
+  /* HCLK frequency */
+  SystemCoreClock >>= tmp;
+}
+
+/**
+  * @brief  Configures the System clock source, PLL Multiplier and Divider factors,
+  *         AHB/APBx prescalers and Flash settings
+  * @Note   This function should be called only once the RCC clock configuration
+  *         is reset to the default reset state (done in SystemInit() function).
+  * @param  None
+  * @retval None
+  */
+static void SetSysClock(void)
+{
+/******************************************************************************/
+/*            PLL (clocked by HSE) used as System clock source                */
+/******************************************************************************/
+  __IO uint32_t StartUpCounter = 0, HSEStatus = 0;
+
+  /* Enable HSE */
+  RCC->CR |= ((uint32_t)RCC_CR_HSEON);
+
+  /* Wait till HSE is ready and if Time out is reached exit */
+  do
+  {
+    HSEStatus = RCC->CR & RCC_CR_HSERDY;
+    StartUpCounter++;
+  } while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT));
+
+  if ((RCC->CR & RCC_CR_HSERDY) != RESET)
+  {
+    HSEStatus = (uint32_t)0x01;
+  }
+  else
+  {
+    HSEStatus = (uint32_t)0x00;
+  }
+
+  if (HSEStatus == (uint32_t)0x01)
+  {
+    /* Enable high performance mode, System frequency up to 168 MHz */
+    RCC->APB1ENR |= RCC_APB1ENR_PWREN;
+    PWR->CR |= PWR_CR_PMODE;
+
+    /* HCLK = SYSCLK / 1*/
+    RCC->CFGR |= RCC_CFGR_HPRE_DIV1;
+
+    /* PCLK2 = HCLK / 2*/
+    RCC->CFGR |= RCC_CFGR_PPRE2_DIV2;
+
+    /* PCLK1 = HCLK / 4*/
+    RCC->CFGR |= RCC_CFGR_PPRE1_DIV4;
+
+    /* Configure the main PLL */
+    RCC->PLLCFGR = PLL_M | (PLL_N << 6) | (((PLL_P >> 1) -1) << 16) |
+                   (RCC_PLLCFGR_PLLSRC_HSE) | (PLL_Q << 24);
+
+    /* Enable the main PLL */
+    RCC->CR |= RCC_CR_PLLON;
+
+    /* Wait till the main PLL is ready */
+    while((RCC->CR & RCC_CR_PLLRDY) == 0)
+    {
+    }
+
+    /* Configure Flash prefetch, Instruction cache, Data cache and wait state */
+    FLASH->ACR = FLASH_ACR_ICEN |FLASH_ACR_DCEN |FLASH_ACR_LATENCY_5WS;
+
+    /* Select the main PLL as system clock source */
+    RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));
+    RCC->CFGR |= RCC_CFGR_SW_PLL;
+
+    /* Wait till the main PLL is used as system clock source */
+    while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL);
+    {
+    }
+  }
+  else
+  { /* If HSE fails to start-up, the application will have wrong clock
+         configuration. User can add here some code to deal with this error */
+  }
+
+}
+
+/**
+  * @brief  Setup the external memory controller. Called in startup_stm32f4xx.s
+  *          before jump to __main
+  * @param  None
+  * @retval None
+  */
+#ifdef DATA_IN_ExtSRAM
+/**
+  * @brief  Setup the external memory controller.
+  *         Called in startup_stm32f4xx.s before jump to main.
+  *         This function configures the external SRAM mounted on STM324xG_EVAL board
+  *         This SRAM will be used as program data memory (including heap and stack).
+  * @param  None
+  * @retval None
+  */
+void SystemInit_ExtMemCtl(void)
+{
+/*-- GPIOs Configuration -----------------------------------------------------*/
+/*
+ +-------------------+--------------------+------------------+------------------+
+ +                       SRAM pins assignment                                   +
+ +-------------------+--------------------+------------------+------------------+
+ | PD0  <-> FSMC_D2  | PE0  <-> FSMC_NBL0 | PF0  <-> FSMC_A0 | PG0 <-> FSMC_A10 |
+ | PD1  <-> FSMC_D3  | PE1  <-> FSMC_NBL1 | PF1  <-> FSMC_A1 | PG1 <-> FSMC_A11 |
+ | PD4  <-> FSMC_NOE | PE3  <-> FSMC_A19  | PF2  <-> FSMC_A2 | PG2 <-> FSMC_A12 |
+ | PD5  <-> FSMC_NWE | PE4  <-> FSMC_A20  | PF3  <-> FSMC_A3 | PG3 <-> FSMC_A13 |
+ | PD8  <-> FSMC_D13 | PE7  <-> FSMC_D4   | PF4  <-> FSMC_A4 | PG4 <-> FSMC_A14 |
+ | PD9  <-> FSMC_D14 | PE8  <-> FSMC_D5   | PF5  <-> FSMC_A5 | PG5 <-> FSMC_A15 |
+ | PD10 <-> FSMC_D15 | PE9  <-> FSMC_D6   | PF12 <-> FSMC_A6 | PG9 <-> FSMC_NE2 |
+ | PD11 <-> FSMC_A16 | PE10 <-> FSMC_D7   | PF13 <-> FSMC_A7 |------------------+
+ | PD12 <-> FSMC_A17 | PE11 <-> FSMC_D8   | PF14 <-> FSMC_A8 |
+ | PD13 <-> FSMC_A18 | PE12 <-> FSMC_D9   | PF15 <-> FSMC_A9 |
+ | PD14 <-> FSMC_D0  | PE13 <-> FSMC_D10  |------------------+
+ | PD15 <-> FSMC_D1  | PE14 <-> FSMC_D11  |
+ |                   | PE15 <-> FSMC_D12  |
+ +-------------------+--------------------+
+*/
+   /* Enable GPIOD, GPIOE, GPIOF and GPIOG interface clock */
+  RCC->AHB1ENR   = 0x00000078;
+
+  /* Connect PDx pins to FSMC Alternate function */
+  GPIOD->AFR[0]  = 0x00cc00cc;
+  GPIOD->AFR[1]  = 0xcc0ccccc;
+  /* Configure PDx pins in Alternate function mode */
+  GPIOD->MODER   = 0xaaaa0a0a;
+  /* Configure PDx pins speed to 100 MHz */
+  GPIOD->OSPEEDR = 0xffff0f0f;
+  /* Configure PDx pins Output type to push-pull */
+  GPIOD->OTYPER  = 0x00000000;
+  /* No pull-up, pull-down for PDx pins */
+  GPIOD->PUPDR   = 0x00000000;
+
+  /* Connect PEx pins to FSMC Alternate function */
+  GPIOE->AFR[0]  = 0xc00cc0cc;
+  GPIOE->AFR[1]  = 0xcccccccc;
+  /* Configure PEx pins in Alternate function mode */
+  GPIOE->MODER   = 0xaaaa828a;
+  /* Configure PEx pins speed to 100 MHz */
+  GPIOE->OSPEEDR = 0xffffc3cf;
+  /* Configure PEx pins Output type to push-pull */
+  GPIOE->OTYPER  = 0x00000000;
+  /* No pull-up, pull-down for PEx pins */
+  GPIOE->PUPDR   = 0x00000000;
+
+  /* Connect PFx pins to FSMC Alternate function */
+  GPIOF->AFR[0]  = 0x00cccccc;
+  GPIOF->AFR[1]  = 0xcccc0000;
+  /* Configure PFx pins in Alternate function mode */
+  GPIOF->MODER   = 0xaa000aaa;
+  /* Configure PFx pins speed to 100 MHz */
+  GPIOF->OSPEEDR = 0xff000fff;
+  /* Configure PFx pins Output type to push-pull */
+  GPIOF->OTYPER  = 0x00000000;
+  /* No pull-up, pull-down for PFx pins */
+  GPIOF->PUPDR   = 0x00000000;
+
+  /* Connect PGx pins to FSMC Alternate function */
+  GPIOG->AFR[0]  = 0x00cccccc;
+  GPIOG->AFR[1]  = 0x000000c0;
+  /* Configure PGx pins in Alternate function mode */
+  GPIOG->MODER   = 0x00080aaa;
+  /* Configure PGx pins speed to 100 MHz */
+  GPIOG->OSPEEDR = 0x000c0fff;
+  /* Configure PGx pins Output type to push-pull */
+  GPIOG->OTYPER  = 0x00000000;
+  /* No pull-up, pull-down for PGx pins */
+  GPIOG->PUPDR   = 0x00000000;
+
+/*-- FSMC Configuration ------------------------------------------------------*/
+  /* Enable the FSMC interface clock */
+  RCC->AHB3ENR         = 0x00000001;
+
+  /* Configure and enable Bank1_SRAM2 */
+  FSMC_Bank1->BTCR[2]  = 0x00001015;
+  FSMC_Bank1->BTCR[3]  = 0x00010603;//0x00010400;
+  FSMC_Bank1E->BWTR[2] = 0x0fffffff;
+/*
+  Bank1_SRAM2 is configured as follow:
+
+  p.FSMC_AddressSetupTime = 3;//0;
+  p.FSMC_AddressHoldTime = 0;
+  p.FSMC_DataSetupTime = 6;//4;
+  p.FSMC_BusTurnAroundDuration = 1;
+  p.FSMC_CLKDivision = 0;
+  p.FSMC_DataLatency = 0;
+  p.FSMC_AccessMode = FSMC_AccessMode_A;
+
+  FSMC_NORSRAMInitStructure.FSMC_Bank = FSMC_Bank1_NORSRAM2;
+  FSMC_NORSRAMInitStructure.FSMC_DataAddressMux = FSMC_DataAddressMux_Disable;
+  FSMC_NORSRAMInitStructure.FSMC_MemoryType = FSMC_MemoryType_PSRAM;
+  FSMC_NORSRAMInitStructure.FSMC_MemoryDataWidth = FSMC_MemoryDataWidth_16b;
+  FSMC_NORSRAMInitStructure.FSMC_BurstAccessMode = FSMC_BurstAccessMode_Disable;
+  FSMC_NORSRAMInitStructure.FSMC_AsynchronousWait = FSMC_AsynchronousWait_Disable;
+  FSMC_NORSRAMInitStructure.FSMC_WaitSignalPolarity = FSMC_WaitSignalPolarity_Low;
+  FSMC_NORSRAMInitStructure.FSMC_WrapMode = FSMC_WrapMode_Disable;
+  FSMC_NORSRAMInitStructure.FSMC_WaitSignalActive = FSMC_WaitSignalActive_BeforeWaitState;
+  FSMC_NORSRAMInitStructure.FSMC_WriteOperation = FSMC_WriteOperation_Enable;
+  FSMC_NORSRAMInitStructure.FSMC_WaitSignal = FSMC_WaitSignal_Disable;
+  FSMC_NORSRAMInitStructure.FSMC_ExtendedMode = FSMC_ExtendedMode_Disable;
+  FSMC_NORSRAMInitStructure.FSMC_WriteBurst = FSMC_WriteBurst_Disable;
+  FSMC_NORSRAMInitStructure.FSMC_ReadWriteTimingStruct = &p;
+  FSMC_NORSRAMInitStructure.FSMC_WriteTimingStruct = &p;
+*/
+
+}
+#endif /* DATA_IN_ExtSRAM */
+
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/
diff --git a/term/basicdrawpane.cpp b/term/basicdrawpane.cpp
index 62146f6f..1592fc22 100644
--- a/term/basicdrawpane.cpp
+++ b/term/basicdrawpane.cpp
@@ -1,11 +1,14 @@
 #include "basicdrawpane.hpp"
 
+const wxPen BasicDrawPane::pen[] = {*wxRED_PEN, *wxBLUE_PEN, *wxGREEN_PEN, *wxYELLOW_PEN};
+
 BasicDrawPane::BasicDrawPane(wxFrame* parent, int ch) : wxPanel(parent){
     time = 0;
     diff = 0;
     Bind(wxEVT_PAINT, &BasicDrawPane::paintEvent, this);
     xpos = 0;
     channels = ch;
+
     for (int i = 0; i<channels; i++) {
         data.push_back(std::vector<float>());
         for (int j = 0; j<1024/2; j++) {
@@ -14,6 +17,15 @@ BasicDrawPane::BasicDrawPane(wxFrame* parent, int ch) : wxPanel(parent){
     }
 }
 
+void BasicDrawPane::Clear(){
+    for (int i = 0; i<channels; i++) {
+        for (auto &d : data[i]){
+            d = 0;
+        }
+    }
+    xpos = 0;
+}
+
 /*
  * Called by the system of by wxWidgets when the panel needs
  * to be redrawn. You can also trigger this call by
@@ -84,15 +96,10 @@ void BasicDrawPane::render(wxDC&  dc)
     
     // ursprung oben links
     // draw some text
-    const wxPen pen[] = {*wxRED_PEN, *wxYELLOW_PEN, *wxGREEN_PEN, *wxBLUE_PEN};
     
     dc.SetBrush(*wxTRANSPARENT_BRUSH);
     
-    dc.SetPen(*wxGREY_PEN);
-    dc.DrawLine( 0, h/2, w, h/2 );
-    
     dc.SetPen(*wxBLACK_PEN);
-
     dc.DrawText(wxString::Format(wxT("%i"),diff*50), 40, 60);
     dc.DrawLine( 40, 60, 40+50, 60 );
     
@@ -112,5 +119,9 @@ void BasicDrawPane::render(wxDC&  dc)
             x += xstep;
         }
     }
+    
+    //mittellinie
+    dc.SetPen(*wxGREY_PEN);
+    dc.DrawLine( 0, h/2, w, h/2 );
     // Look at the wxDC docs to learn how to draw other stuff
 }
diff --git a/term/basicdrawpane.hpp b/term/basicdrawpane.hpp
index 86d324a4..8b069693 100644
--- a/term/basicdrawpane.hpp
+++ b/term/basicdrawpane.hpp
@@ -22,8 +22,10 @@ public:
     void paintNow();
     void plotvalue(int[]);
     void plotvalue(int);
+    void Clear();
     void render(wxDC& dc);
     int channels;
+    static const wxPen pen[];
 private:
     wxLongLong time;
     wxLongLong diff;
diff --git a/term/mainframe.cpp b/term/mainframe.cpp
index 056e00d8..19b3caa1 100644
--- a/term/mainframe.cpp
+++ b/term/mainframe.cpp
@@ -43,16 +43,38 @@ MainFrame::MainFrame(const wxString& title) : wxFrame(NULL, wxID_ANY, title){
 	drawpanel = new BasicDrawPane((wxFrame*)top,4);
     
     topsizer->Add(drawpanel, 1,wxEXPAND,0);
+    wxArrayString waves;
+    waves.push_back("-");
+    waves.push_back("error");
+    waves.push_back("error_d");
+    waves.push_back("error_dd");
+    waves.push_back("soll_pos");
+    waves.push_back("pid.cmd_d");
+    waves.push_back("pid.cmd_dd");
+    waves.push_back("ist");
+    waves.push_back("feedbackv");
+    waves.push_back("voltage_scale");
+    waves.push_back("saturated_count");
+    waves.push_back("mag_pos");
+    waves.push_back("startpos");
+    waves.push_back("res_offset");
+
+    //channels
     for(int i = 0;i<drawpanel->channels;i++){
         channelchoice.push_back(new wxChoice (top, wxID_ANY));
         channelchoice.back()->SetClientData(new int(i));
         channelchoice.back()->Bind(wxEVT_CHOICE,&MainFrame::OnChannelChange, this, wxID_ANY);
         channelchoice.back()->Append(wxT("-"));
-        for(int j = 1; j < 15; j++){
-            channelchoice.back()->Append(std::to_string(j));
-        }
+        channelchoice.back()->Set(waves);
+        
+        wxPanel *c_panel;
+        c_panel = new wxPanel(top, wxID_NEW, wxPoint(150, 20), wxSize(20, 20), wxBORDER_NONE);
+        c_panel->SetBackgroundColour(drawpanel->pen[i].GetColour());
+        channelleiste->Add(c_panel, 0,wxALIGN_LEFT|wxALL,3);
+        
         channelleiste->Add(channelchoice.back(), 0,wxALIGN_LEFT|wxALL,3);
     }
+    
 	topsizer->Add(channelleiste);
     
     top->SetSizer(topsizer);
@@ -95,21 +117,23 @@ void MainFrame::OnKeyDown(wxKeyEvent& event){
 }
 
 void MainFrame::OnChannelChange(wxCommandEvent& event){
-    std::cout << *(int*)event.GetClientData() << "->" << event.GetSelection() << std::endl;
-    std::string df = "wave";
-    df += std::to_string(*(int*)event.GetClientData() + 1);
-    df += " = ";
-    df += std::to_string(event.GetSelection());
-    
-    if((history.size()==0 || history.back() != df) && df != wxEmptyString){
-        history.push_back(df);
-    }
-    histpos = history.size();
-    int ret1 = sp_nonblocking_write(port, df.c_str(), df.length());
-    int ret2 = sp_nonblocking_write(port, "\r", 1);
-    if(ret1 != df.length() || ret2!=1){
-        wxMessageBox( wxT("Fehler beim senden"), wxT("Error"), wxICON_EXCLAMATION);
-        disconnect();
+    if(connected){
+        std::cout << *(int*)event.GetClientData() << "->" << event.GetSelection() << std::endl;
+        std::string df = "wave";
+        df += std::to_string(*(int*)event.GetClientData() + 1);
+        df += " = ";
+        df += std::to_string(event.GetSelection());
+        
+        if((history.size()==0 || history.back() != df) && df != wxEmptyString){
+            history.push_back(df);
+        }
+        histpos = history.size();
+        int ret1 = sp_nonblocking_write(port, df.c_str(), df.length());
+        int ret2 = sp_nonblocking_write(port, "\r", 1);
+        if(ret1 != df.length() || ret2!=1){
+            wxMessageBox( wxT("Fehler beim senden"), wxT("Error"), wxICON_EXCLAMATION);
+            disconnect();
+        }
     }
 }
 
@@ -175,6 +199,7 @@ void MainFrame::listports(){
 
 void MainFrame::OnClear(wxCommandEvent& WXUNUSED(event)){
 	text->Clear();
+    drawpanel->Clear();
 }
 
 void MainFrame::OnConnect(wxCommandEvent& WXUNUSED(event)){
@@ -201,6 +226,8 @@ void MainFrame::connect(){
 		connectbutton->SetLabel(wxT("&Disonnect"));
 		refresh->Disable();
 		choose_port->Disable();
+        uhu->Disable();
+        stmbl->Disable();
 		textinput->SetFocus();
 	}else{
 		wxMessageBox( wxT("Fehler beim Öffnen"), wxT("Error"), wxICON_EXCLAMATION);
@@ -214,6 +241,8 @@ void MainFrame::disconnect(){
 		connectbutton->SetLabel(wxT("&Connect"));
 		refresh->Enable();
 		choose_port->Enable();
+        uhu->Enable();
+        stmbl->Enable();
 	}
 }