diff --git a/shared/comps/d.c b/shared/comps/d.c
new file mode 100644
index 00000000..4f984389
--- /dev/null
+++ b/shared/comps/d.c
@@ -0,0 +1,38 @@
+#include "commands.h"
+#include "hal.h"
+#include "math.h"
+#include "defines.h"
+#include "angle.h"
+
+HAL_COMP(d);
+
+HAL_PIN(pwm_volt);//max volt in
+HAL_PIN(uq);//volt in
+HAL_PIN(limit);//voltage limit
+HAL_PIN(id);//d current out
+HAL_PIN(p);//gain
+
+static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+  // struct rev_ctx_t * ctx = (struct rev_ctx_t *)ctx_ptr;
+  struct d_pin_ctx_t *pins = (struct d_pin_ctx_t *)pin_ptr;
+  float reserve = PIN(pwm_volt) - ABS(PIN(uq)) - PIN(limit);
+  if(reserve <= 0){
+    PIN(id) = reserve * PIN(p);
+  }else{
+    PIN(id) = 0;
+  }
+}
+
+hal_comp_t d_comp_struct = {
+    .name      = "d",
+    .nrt       = 0,
+    .rt        = rt_func,
+    .frt       = 0,
+    .nrt_init  = 0,
+    .rt_start  = 0,
+    .frt_start = 0,
+    .rt_stop   = 0,
+    .frt_stop  = 0,
+    .ctx_size  = 0,
+    .pin_count = sizeof(struct d_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
+};
diff --git a/shared/hal.h b/shared/hal.h
index ef42d29a..472caf3d 100644
--- a/shared/hal.h
+++ b/shared/hal.h
@@ -22,8 +22,8 @@
 #include <stdint.h>
 #include <stdio.h>
 
-#define HAL_CALC_TIME
-#define HAL_COMP_CALC_TIME
+//#define HAL_CALC_TIME
+//#define HAL_COMP_CALC_TIME
 //#define HAL_WATCHDOG
 
 #ifndef HAL_MAX_PINS
diff --git a/stm32f303/Makefile b/stm32f303/Makefile
index 751a4e15..c6b06856 100644
--- a/stm32f303/Makefile
+++ b/stm32f303/Makefile
@@ -31,11 +31,11 @@ SOURCES += stm32f303/src/hal_tbl.c
 
 CFLAGS += -DHAL_MAX_CTX=1024
 COMPS += stm32f303/src/comps/hv.c
-COMPS += stm32f303/src/comps/hvdc.c
+# COMPS += stm32f303/src/comps/hvdc.c
 COMPS += stm32f303/src/comps/io.c
-COMPS += stm32f303/src/comps/ls.c
-COMPS += stm32f303/src/comps/enc.c
-COMPS += stm32f303/src/comps/uart.c
+# COMPS += stm32f303/src/comps/ls.c
+COMPS += stm32f303/src/comps/ppm.c
+# COMPS += stm32f303/src/comps/uart.c
 
 COMPS += shared/comps/sim.c
 COMPS += shared/comps/term.c
@@ -242,7 +242,7 @@ showsize: build
 btburn: build showsize $(TARGET).dfu
 	@tools/bootloader.py
 	@sleep 1
-	@dfu-util -d 0483:df11 -a 0 -s 0x8004000:leave -D $(TARGET).dfu
+	@dfu-util -d 0483:df11 -a 0 -s 0x8000000:leave -D $(TARGET).dfu
 
 flash: $(TARGET).bin
 	st-flash --reset write $(TARGET).bin 0x8004000
diff --git a/stm32f303/src/comps/hv.c b/stm32f303/src/comps/hv.c
index efe660a2..c7637e72 100644
--- a/stm32f303/src/comps/hv.c
+++ b/stm32f303/src/comps/hv.c
@@ -86,13 +86,14 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
     temp_error = 0;
   }
 
-  if(PIN(mot_temp) > 110.0) {
-    mot_error = 1;
-  }
-
-  if(PIN(mot_temp) < 85.0) {
-    mot_error = 0;
-  }
+  // if(PIN(mot_temp) > 110.0) {
+  //   mot_error = 1;
+  // }
+  // 
+  // if(PIN(mot_temp) < 85.0) {
+  //   mot_error = 0;
+  // }
+  mot_error = 0;
 
   if(PIN(en) > 0.0 && !temp_error && !mot_error){
     TIM8->BDTR |= TIM_BDTR_MOE; // on
diff --git a/stm32f303/src/comps/io.c b/stm32f303/src/comps/io.c
index 53e6af46..edce0d7e 100644
--- a/stm32f303/src/comps/io.c
+++ b/stm32f303/src/comps/io.c
@@ -144,21 +144,21 @@ static void rt_func(float period, volatile void * ctx_ptr, volatile hal_pin_inst
   PIN(iw) = -AMP((float)(a12 & 0xFFFF) / 5.0, SHUNT_GAIN) + ctx->w_offset; // 1u
   PIN(iu) = -AMP((float)(a12 >> 16) / 5.0, SHUNT_GAIN) + ctx->u_offset;
   PIN(iv) = -AMP((float)(a34 & 0xFFFF) / 5.0, SHUNT_GAIN) + ctx->v_offset;
-  PIN(w) = VOLT(adc_12_buf[5] & 0xFFFF) * 0.05 + PIN(w) * 0.95; // 0.6u
-  PIN(v) = VOLT(adc_12_buf[5] >> 16) * 0.05 + PIN(v) * 0.95;
-  PIN(u) = VOLT(adc_34_buf[5] & 0xFFFF) * 0.05 + PIN(u) * 0.95;
+  //PIN(w) = VOLT(adc_12_buf[5] & 0xFFFF) * 0.05 + PIN(w) * 0.95; // 0.6u
+  //PIN(v) = VOLT(adc_12_buf[5] >> 16) * 0.05 + PIN(v) * 0.95;
+  //PIN(u) = VOLT(adc_34_buf[5] & 0xFFFF) * 0.05 + PIN(u) * 0.95;
   PIN(udc) = VOLT(adc_34_buf[5] >> 16) * 0.05 + PIN(udc) * 0.95;
   PIN(udc_pwm) = PIN(udc) / 2.0;
 
-  PIN(temp_v) = ADC(adc_34_buf[4] >> 16);
-  toggle = !toggle;
-  if (toggle) {
+  // PIN(temp_v) = ADC(adc_34_buf[4] >> 16);
+  // toggle = !toggle;
+  // if (toggle) {
     PIN(hv_temp) = r2temp(HV_R(ADC(adc_34_buf[4] >> 16))) * 0.01 + PIN(hv_temp) * 0.99; // 5.5u
-  }
-  else {
-    PIN(mot_temp) = r2temp(HV_R(ADC(adc_34_buf[1] >> 16))) * 0.01 + PIN(mot_temp) * 0.99; // 5.5u//MOT_R(MOT_REF(ADC(adc_34_buf[0] >> 16))); // 1.4u
-  }
-  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, PIN(led) > 0 ? GPIO_PIN_SET : GPIO_PIN_RESET); // 0.1u
+  // }
+  // else {
+  //   PIN(mot_temp) = r2temp(HV_R(ADC(adc_34_buf[1] >> 16))) * 0.01 + PIN(mot_temp) * 0.99; // 5.5u//MOT_R(MOT_REF(ADC(adc_34_buf[0] >> 16))); // 1.4u
+  // }
+  //HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, PIN(led) > 0 ? GPIO_PIN_SET : GPIO_PIN_RESET); // 0.1u
 
   PIN(in0) = HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_8);
   PIN(in1) = HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_9);
diff --git a/stm32f303/src/comps/ppm.c b/stm32f303/src/comps/ppm.c
new file mode 100644
index 00000000..e9c633dd
--- /dev/null
+++ b/stm32f303/src/comps/ppm.c
@@ -0,0 +1,105 @@
+#include "commands.h"
+#include "hal.h"
+#include "math.h"
+#include "defines.h"
+#include "angle.h"
+#include "stm32f3xx_hal.h"
+
+HAL_COMP(ppm);
+
+HAL_PIN(pos);
+HAL_PIN(a);
+HAL_PIN(b);
+HAL_PIN(cnt);
+HAL_PIN(c1);
+HAL_PIN(c2);
+HAL_PIN(diff);
+HAL_PIN(out);
+HAL_PIN(zero);
+HAL_PIN(max);
+HAL_PIN(en);
+HAL_PIN(gain);
+
+float timeout = 100;
+
+static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+  // struct ppm_ctx_t * ctx = (struct ppm_ctx_t *)ctx_ptr;
+  struct ppm_pin_ctx_t * pins = (struct ppm_pin_ctx_t *)pin_ptr;
+  
+  __HAL_RCC_TIM2_CLK_ENABLE();
+
+  /**TIM1 GPIO Configuration    
+  PB10,tx    ------> TIM2_CH3
+  PA11,rx    ------> TIM2_CH4 
+  */
+  GPIO_InitTypeDef GPIO_InitStruct;
+  GPIO_InitStruct.Pin       = GPIO_PIN_10 | GPIO_PIN_11;
+  GPIO_InitStruct.Mode      = GPIO_MODE_AF_PP;
+  GPIO_InitStruct.Pull      = GPIO_PULLUP;
+  GPIO_InitStruct.Speed     = GPIO_SPEED_FREQ_LOW;
+  GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  // TIM_encoder_InitTypeDef sConfig;
+  // TIM_MasterConfigTypeDef sMasterConfig;
+  TIM_HandleTypeDef htim2;
+  htim2.Instance               = TIM2;
+  htim2.Init.Prescaler         = 10;
+  htim2.Init.CounterMode       = TIM_COUNTERMODE_UP;
+  htim2.Init.Period            = 65535;
+  htim2.Init.ClockDivision     = TIM_CLOCKDIVISION_DIV4;
+  htim2.Init.RepetitionCounter = 0;
+  HAL_TIM_Base_Init(&htim2);
+  
+  TIM2->CCMR2 |= TIM_CCMR2_CC3S_0 | TIM_CCMR2_CC4S_1;
+  TIM2->CCER |= TIM_CCER_CC3E | TIM_CCER_CC4E | TIM_CCER_CC4P;
+  //TIM2->SMCR |= TIM_SMCR_TS_2 | TIM_SMCR_TS_0 | TIM_SMCR_SMS_2;
+  TIM2->CR1 |= TIM_CR1_CEN;
+
+  PIN(zero) = 32125;
+  PIN(max) = 3350;
+  PIN(gain) = 20;
+}
+//diff: 
+
+// 28956.000000
+// 32045.000000
+// 35317.000000
+static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+  // struct ppm_ctx_t * ctx = (struct ppm_ctx_t *)ctx_ptr;
+  struct ppm_pin_ctx_t *pins = (struct ppm_pin_ctx_t *)pin_ptr;
+  PIN(cnt) = TIM2->CNT;
+  if((TIM2->SR & TIM_SR_CC3IF) && (TIM2->SR & TIM_SR_CC4IF)){
+    PIN(c1) = TIM2->CCR3;
+    PIN(c2) = TIM2->CCR4;
+    float diff = PIN(c2) - PIN(c1);
+    if(diff < 0){
+      diff += 65535;
+    }
+    if(diff > 28000 && diff < 36000){
+      PIN(diff) = diff;
+      PIN(out) = ((diff-PIN(zero))/PIN(max))*PIN(gain);
+      timeout = 0;
+      PIN(en) = 1;
+    }
+  }
+  if(timeout > 0.5){
+    PIN(en) = 0;
+    PIN(out) = 0;
+  }
+  timeout += 0.0001;
+}
+
+hal_comp_t ppm_comp_struct = {
+    .name      = "ppm",
+    .nrt       = 0,
+    .rt        = rt_func,
+    .frt       = 0,
+    .nrt_init  = nrt_init,
+    .rt_start  = 0,
+    .frt_start = 0,
+    .rt_stop   = 0,
+    .frt_stop  = 0,
+    .ctx_size  = 0,
+    .pin_count = sizeof(struct ppm_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
+};
diff --git a/stm32f303/src/main.c b/stm32f303/src/main.c
index c364b909..2f400739 100644
--- a/stm32f303/src/main.c
+++ b/stm32f303/src/main.c
@@ -227,10 +227,10 @@ int main(void) {
   load_comp(comp_by_name("hv"));
   load_comp(comp_by_name("uvw"));
   load_comp(comp_by_name("curpid"));
-  load_comp(comp_by_name("uart"));
+  load_comp(comp_by_name("ppm"));
 
   hal_parse("term0.rt_prio = 0.1");
-  hal_parse("uart0.rt_prio = 0.2");
+  hal_parse("ppm0.rt_prio = 0.2");
   hal_parse("ls0.rt_prio = 0.6");
 
   hal_parse("io0.rt_prio = 1.0");
@@ -251,7 +251,8 @@ int main(void) {
   hal_parse("term0.gain6 = 10.0");
   hal_parse("term0.gain7 = 10.0");
 
-  hal_parse("curpid0.max_cur = 100.0");
+  hal_parse("curpid0.max_cur = 80.0");
+  hal_parse("ppm0.gain = 80.0");
 
   //link LS
   hal_parse("ls0.mot_temp = io0.mot_temp");
@@ -324,9 +325,9 @@ int main(void) {
   hal_parse("idq0.mode = 2.0");
   hal_parse("dq0.mode = 2.0");
 
-  hal_parse("curpid0.iq_cmd = uart0.current");
-  hal_parse("hv0.en = uart0.en");
-  hal_parse("curpid0.en = uart0.en");
+  hal_parse("curpid0.iq_cmd = ppm0.out");
+  hal_parse("hv0.en = ppm0.en");
+  hal_parse("curpid0.en = ppm0.en");
 
   hal_parse("uart0.rpm = uvw0.rpm");
   hal_parse("uart0.iabs = curpid0.iq_fb");
diff --git a/toolchain.mak b/toolchain.mak
index ba0f8f1d..e0c4504e 100644
--- a/toolchain.mak
+++ b/toolchain.mak
@@ -1,5 +1,5 @@
 # Define programs and commands for the toolchain
-TOOLCHAIN = /home/niklas/gcc-arm-none-eabi-5_4-2016q3/bin/arm-none-eabi-
+TOOLCHAIN = arm-none-eabi-
 CC       = $(TOOLCHAIN)gcc
 OBJCOPY  = $(TOOLCHAIN)objcopy
 OBJDUMP  = $(TOOLCHAIN)objdump