diff --git a/circuit/atkbldcdriver/atkbldcdriver.brd b/circuit/atkbldcdriver/atkbldcdriver.brd
index dca2a15cbb7cbb4f152cac11e98e70d5aa6a2173..2a3f8d356c8bef58c57dd7d1471b244b77cd6448 100644
--- a/circuit/atkbldcdriver/atkbldcdriver.brd
+++ b/circuit/atkbldcdriver/atkbldcdriver.brd
@@ -180,7 +180,7 @@
 <text x="25.22" y="40.37" size="0.6096" layer="21" font="vector">HI2</text>
 <text x="25.22" y="42.823" size="0.6096" layer="21" font="vector">HI1</text>
 <text x="25.22" y="45.44" size="0.6096" layer="21" font="vector">FAULT</text>
-<text x="33.5" y="22" size="1.016" layer="21" font="vector">atkbldcdriver v0.6</text>
+<text x="33.5" y="22" size="1.016" layer="21" font="vector">atkbldcdriver v0.61</text>
 <text x="33.5" y="48" size="1.016" layer="21" font="vector">&lt; no - go &gt;</text>
 <text x="49.5" y="9" size="1.27" layer="21" font="vector" rot="R180">GND</text>
 <text x="48.5" y="46" size="1.27" layer="21" font="vector" rot="R180">VCC</text>
@@ -1127,7 +1127,7 @@ design rules under a new name.</description>
 <param name="mdPadVia" value="6mil"/>
 <param name="mdViaVia" value="6mil"/>
 <param name="mdSmdPad" value="6mil"/>
-<param name="mdSmdVia" value="6mil"/>
+<param name="mdSmdVia" value="0mil"/>
 <param name="mdSmdSmd" value="6mil"/>
 <param name="mdViaViaSameLayer" value="6mil"/>
 <param name="mnLayersViaInSmd" value="2"/>
@@ -1510,23 +1510,23 @@ design rules under a new name.</description>
 <attribute name="VOLTAGE" value="" x="14.4" y="44.2" size="1.778" layer="27" display="off"/>
 </element>
 <element name="S1" library="fab" package="TACT-SWITCH-KMR6" value="2-8X4-5_SWITCH" x="2.8" y="10.6" rot="R90"/>
-<element name="C31" library="borkedlabs-passives" package="0603-CAP" value="0.1uF" x="27.5" y="26.5" smashed="yes">
+<element name="C31" library="borkedlabs-passives" package="0805" value="10nF" x="27.5" y="26.5" smashed="yes">
 <attribute name="NAME" x="26.611" y="27.897" size="1.016" layer="25"/>
-<attribute name="PACKAGE" value="0603" x="27.5" y="26.5" size="1.778" layer="27" display="off"/>
+<attribute name="PACKAGE" value="0805" x="27.5" y="26.5" size="1.778" layer="27" display="off"/>
 <attribute name="TYPE" value="" x="27.5" y="26.5" size="1.778" layer="27" display="off"/>
 <attribute name="VALUE" x="26.584" y="26.387" size="0.6096" layer="27"/>
 <attribute name="VOLTAGE" value="" x="27.5" y="26.5" size="1.778" layer="27" display="off"/>
 </element>
-<element name="C33" library="borkedlabs-passives" package="0603-CAP" value="0.1uF" x="27.5" y="22.5" smashed="yes">
+<element name="C33" library="borkedlabs-passives" package="0805" value="10nF" x="27.5" y="22.5" smashed="yes">
 <attribute name="NAME" x="26.611" y="23.897" size="1.016" layer="25"/>
-<attribute name="PACKAGE" value="0603" x="27.5" y="22.5" size="1.778" layer="27" display="off"/>
+<attribute name="PACKAGE" value="0805" x="27.5" y="22.5" size="1.778" layer="27" display="off"/>
 <attribute name="TYPE" value="" x="27.5" y="22.5" size="1.778" layer="27" display="off"/>
 <attribute name="VALUE" x="26.284" y="22.187" size="0.6096" layer="27"/>
 <attribute name="VOLTAGE" value="" x="27.5" y="22.5" size="1.778" layer="27" display="off"/>
 </element>
-<element name="C37" library="borkedlabs-passives" package="0603-CAP" value="0.1uF" x="27.5" y="18.5" smashed="yes">
+<element name="C37" library="borkedlabs-passives" package="0805" value="10nF" x="27.5" y="18.5" smashed="yes">
 <attribute name="NAME" x="26.611" y="19.897" size="1.016" layer="25"/>
-<attribute name="PACKAGE" value="0603" x="27.5" y="18.5" size="1.778" layer="27" display="off"/>
+<attribute name="PACKAGE" value="0805" x="27.5" y="18.5" size="1.778" layer="27" display="off"/>
 <attribute name="TYPE" value="" x="27.5" y="18.5" size="1.778" layer="27" display="off"/>
 <attribute name="VALUE" x="26.384" y="18.287" size="0.6096" layer="27"/>
 <attribute name="VOLTAGE" value="" x="27.5" y="18.5" size="1.778" layer="27" display="off"/>
@@ -1543,9 +1543,9 @@ design rules under a new name.</description>
 <attribute name="PRECISION" value="" x="31" y="12.5" size="1.778" layer="27" display="off"/>
 <attribute name="VALUE" x="32.684" y="12.168" size="0.6096" layer="27"/>
 </element>
-<element name="C38" library="borkedlabs-passives" package="0603-CAP" value="0.1uF" x="27.5" y="14.5" smashed="yes">
+<element name="C38" library="borkedlabs-passives" package="0805" value="10nF" x="27.5" y="14.5" smashed="yes">
 <attribute name="NAME" x="26.611" y="15.897" size="1.016" layer="25"/>
-<attribute name="PACKAGE" value="0603" x="27.5" y="14.5" size="1.778" layer="27" display="off"/>
+<attribute name="PACKAGE" value="0805" x="27.5" y="14.5" size="1.778" layer="27" display="off"/>
 <attribute name="TYPE" value="" x="27.5" y="14.5" size="1.778" layer="27" display="off"/>
 <attribute name="VALUE" x="26.384" y="14.187" size="0.6096" layer="27"/>
 <attribute name="VOLTAGE" value="" x="27.5" y="14.5" size="1.778" layer="27" display="off"/>
@@ -1640,7 +1640,7 @@ design rules under a new name.</description>
 <element name="J19" library="power" package="PWRPAD_M3_STANDOFF" value="PWRPADM3-STANDOFF" x="79" y="34"/>
 <element name="J20" library="power" package="PWRPAD_M3_STANDOFF" value="PWRPADM3-STANDOFF" x="79" y="24"/>
 <element name="J23" library="power" package="PWRPAD_M3_STANDOFF" value="PWRPADM3-STANDOFF" x="79" y="14"/>
-<element name="BFC1" library="power" package="BFC-8MM" value="BFC8MM" x="57.5" y="51.5" rot="R180"/>
+<element name="BFC1" library="power" package="BFC-8MM" value="BFC8MM" x="57.5" y="52" rot="R180"/>
 <element name="R5" library="borkedlabs-passives" package="0805" value="120R" x="8" y="17.5" smashed="yes" rot="R180">
 <attribute name="NAME" x="8.762" y="16.6745" size="1.016" layer="25" rot="R180"/>
 <attribute name="PACKAGE" value="0805" x="8" y="17.5" size="1.778" layer="27" rot="R180" display="off"/>
@@ -1660,29 +1660,29 @@ design rules under a new name.</description>
 <attribute name="VALUE" x="38.803" y="26.306" size="0.6096" layer="27"/>
 <attribute name="VOLTAGE" value="" x="43.3" y="26.5" size="0.6096" layer="27" display="off"/>
 </element>
-<element name="C32" library="borkedlabs-passives" package="1206" value="10uF" x="57.6" y="3" smashed="yes" rot="R270">
-<attribute name="NAME" x="58.743" y="4.27" size="1.016" layer="25" rot="R270"/>
-<attribute name="PACKAGE" value="1206" x="57.6" y="3" size="0.6096" layer="27" rot="R270" display="off"/>
-<attribute name="TYPE" value="" x="57.6" y="3" size="0.6096" layer="27" rot="R270" display="off"/>
-<attribute name="VALUE" x="57.206" y="7.397" size="0.6096" layer="27" rot="R270"/>
-<attribute name="VOLTAGE" value="" x="57.6" y="3" size="0.6096" layer="27" rot="R270" display="off"/>
+<element name="C32" library="borkedlabs-passives" package="1206" value="10uF" x="57.6" y="2.5" smashed="yes" rot="R270">
+<attribute name="NAME" x="58.743" y="3.77" size="1.016" layer="25" rot="R270"/>
+<attribute name="PACKAGE" value="1206" x="57.6" y="2.5" size="0.6096" layer="27" rot="R270" display="off"/>
+<attribute name="TYPE" value="" x="57.6" y="2.5" size="0.6096" layer="27" rot="R270" display="off"/>
+<attribute name="VALUE" x="57.206" y="6.897" size="0.6096" layer="27" rot="R270"/>
+<attribute name="VOLTAGE" value="" x="57.6" y="2.5" size="0.6096" layer="27" rot="R270" display="off"/>
 </element>
 <element name="J6" library="SparkFun-Connectors" package="1X04_NO_SILK" value="" x="24.1" y="45.8" rot="R270">
 <attribute name="PROD_ID" value="CONN-09696" x="24.1" y="45.8" size="0.6096" layer="27" rot="R270" display="off"/>
 </element>
-<element name="C34" library="borkedlabs-passives" package="1206" value="10uF" x="53.6" y="3" smashed="yes" rot="R270">
-<attribute name="NAME" x="54.743" y="4.27" size="1.016" layer="25" rot="R270"/>
-<attribute name="PACKAGE" value="1206" x="53.6" y="3" size="0.6096" layer="27" rot="R270" display="off"/>
-<attribute name="TYPE" value="" x="53.6" y="3" size="0.6096" layer="27" rot="R270" display="off"/>
-<attribute name="VALUE" x="53.306" y="7.197" size="0.6096" layer="27" rot="R270"/>
-<attribute name="VOLTAGE" value="" x="53.6" y="3" size="0.6096" layer="27" rot="R270" display="off"/>
+<element name="C34" library="borkedlabs-passives" package="1206" value="10uF" x="53.6" y="2.5" smashed="yes" rot="R270">
+<attribute name="NAME" x="54.743" y="3.77" size="1.016" layer="25" rot="R270"/>
+<attribute name="PACKAGE" value="1206" x="53.6" y="2.5" size="0.6096" layer="27" rot="R270" display="off"/>
+<attribute name="TYPE" value="" x="53.6" y="2.5" size="0.6096" layer="27" rot="R270" display="off"/>
+<attribute name="VALUE" x="53.306" y="6.697" size="0.6096" layer="27" rot="R270"/>
+<attribute name="VOLTAGE" value="" x="53.6" y="2.5" size="0.6096" layer="27" rot="R270" display="off"/>
 </element>
-<element name="C35" library="borkedlabs-passives" package="1206" value="10uF" x="55.6" y="3" smashed="yes" rot="R270">
-<attribute name="NAME" x="56.743" y="4.27" size="1.016" layer="25" rot="R270"/>
-<attribute name="PACKAGE" value="1206" x="55.6" y="3" size="0.6096" layer="27" rot="R270" display="off"/>
-<attribute name="TYPE" value="" x="55.6" y="3" size="0.6096" layer="27" rot="R270" display="off"/>
-<attribute name="VALUE" x="55.406" y="7.297" size="0.6096" layer="27" rot="R270"/>
-<attribute name="VOLTAGE" value="" x="55.6" y="3" size="0.6096" layer="27" rot="R270" display="off"/>
+<element name="C35" library="borkedlabs-passives" package="1206" value="10uF" x="55.6" y="2.5" smashed="yes" rot="R270">
+<attribute name="NAME" x="56.743" y="3.77" size="1.016" layer="25" rot="R270"/>
+<attribute name="PACKAGE" value="1206" x="55.6" y="2.5" size="0.6096" layer="27" rot="R270" display="off"/>
+<attribute name="TYPE" value="" x="55.6" y="2.5" size="0.6096" layer="27" rot="R270" display="off"/>
+<attribute name="VALUE" x="55.406" y="6.797" size="0.6096" layer="27" rot="R270"/>
+<attribute name="VOLTAGE" value="" x="55.6" y="2.5" size="0.6096" layer="27" rot="R270" display="off"/>
 </element>
 <element name="U1" library="microcontrollers" package="QFN-64-9X9MM" value="ATXMEGA_A3UQFN" x="13.9" y="37.6" rot="R180"/>
 <element name="J2" library="microcontrollers" package="PDI_2X3_SMD" value="" x="4.5" y="26.5" rot="R90">
@@ -1720,7 +1720,7 @@ design rules under a new name.</description>
 <element name="U3" library="power" package="QFN16-3X3-TI-RTE" value="BUCK-TS30011-12-13QFN" x="44.5" y="10.75"/>
 <element name="L1" library="power" package="NRS5020T4R7MMGJ" value="" x="44.5" y="15.75"/>
 <element name="U4" library="power" package="SOT23-5" value="VREG-AP2112" x="31.5" y="7" rot="R90"/>
-<element name="BFC2" library="power" package="BFC-8MM" value="BFC8MM" x="70" y="51.5" rot="R180"/>
+<element name="BFC2" library="power" package="BFC-8MM" value="BFC8MM" x="70" y="52" rot="R180"/>
 <element name="C9" library="borkedlabs-passives" package="0603-CAP" value="0.1uF" x="47" y="11.05" rot="R90">
 <attribute name="PACKAGE" value="0603" x="47" y="11.05" size="0.6096" layer="27" ratio="10" rot="R90" display="off"/>
 <attribute name="TYPE" value="" x="47" y="11.05" size="0.6096" layer="27" ratio="10" rot="R90" display="off"/>
@@ -1789,10 +1789,10 @@ design rules under a new name.</description>
 <element name="Q8" library="power" package="DSOP-ADVANCE" value="NFET-TPW4R008NH" x="58.5" y="23.5" rot="R270"/>
 <element name="Q11" library="power" package="DSOP-ADVANCE" value="NFET-TPW4R008NH" x="72" y="15.5"/>
 <element name="Q12" library="power" package="DSOP-ADVANCE" value="NFET-TPW4R008NH" x="58.5" y="16" rot="R270"/>
-<element name="C36" library="borkedlabs-passives" package="1206" value="10uF" x="59.6" y="3" rot="R270">
-<attribute name="PACKAGE" value="1206" x="59.6" y="3" size="0.6096" layer="27" ratio="10" rot="R270" display="off"/>
-<attribute name="TYPE" value="" x="59.6" y="3" size="0.6096" layer="27" ratio="10" rot="R270" display="off"/>
-<attribute name="VOLTAGE" value="" x="59.6" y="3" size="0.6096" layer="27" ratio="10" rot="R270" display="off"/>
+<element name="C36" library="borkedlabs-passives" package="1206" value="10uF" x="59.6" y="2.5" rot="R270">
+<attribute name="PACKAGE" value="1206" x="59.6" y="2.5" size="0.6096" layer="27" ratio="10" rot="R270" display="off"/>
+<attribute name="TYPE" value="" x="59.6" y="2.5" size="0.6096" layer="27" ratio="10" rot="R270" display="off"/>
+<attribute name="VOLTAGE" value="" x="59.6" y="2.5" size="0.6096" layer="27" ratio="10" rot="R270" display="off"/>
 </element>
 </elements>
 <signals>
@@ -2005,7 +2005,6 @@ design rules under a new name.</description>
 <via x="17.2" y="37.6" extent="1-16" drill="0.3"/>
 <via x="10.6" y="34.3" extent="1-16" drill="0.3"/>
 <via x="16.3" y="45.1" extent="1-16" drill="0.3"/>
-<via x="18.8" y="45" extent="1-16" drill="0.3"/>
 <via x="21.9" y="43.9" extent="1-16" drill="0.3"/>
 <via x="19.4" y="37.9" extent="1-16" drill="0.3"/>
 <via x="19.5" y="36.2" extent="1-16" drill="0.3"/>
@@ -2137,7 +2136,11 @@ design rules under a new name.</description>
 <via x="51" y="9" extent="1-16" drill="0.3"/>
 <via x="50" y="15.5" extent="1-16" drill="0.3"/>
 <via x="52.5" y="7.5" extent="1-16" drill="0.3"/>
-<wire x1="13.9" y1="37.6" x2="13.5" y2="37.5" width="0" layer="19" extent="1-1"/>
+<via x="21.7" y="37.8" extent="1-16" drill="0.3"/>
+<via x="14.5" y="40.6" extent="1-16" drill="0.3"/>
+<via x="21.3" y="47" extent="1-16" drill="0.3"/>
+<via x="18.3" y="48.9" extent="1-16" drill="0.3"/>
+<wire x1="13.5" y1="37.5" x2="13.9" y2="37.6" width="0" layer="19" extent="1-1"/>
 </signal>
 <signal name="+3V3">
 <contactref element="U5" pad="P$24"/>
@@ -2352,13 +2355,13 @@ design rules under a new name.</description>
 <contactref element="C31" pad="1"/>
 <contactref element="J7" pad="5"/>
 <contactref element="D4" pad="1"/>
-<wire x1="26.55" y1="26.35" x2="26.7" y2="26.5" width="0.2032" layer="1"/>
+<wire x1="26.55" y1="26.35" x2="26.55" y2="26.5" width="0.2032" layer="1"/>
 <wire x1="24.1" y1="25.5" x2="24.1" y2="25.44" width="0.2032" layer="16"/>
 <wire x1="30.05" y1="26.5" x2="30.05" y2="24.5" width="0.1524" layer="1"/>
 <wire x1="30.05" y1="24.5" x2="28.35" y2="24.5" width="0.1524" layer="1"/>
 <wire x1="28.35" y1="24.5" x2="26.7" y2="26.15" width="0.1524" layer="1"/>
-<wire x1="26.7" y1="26.15" x2="26.7" y2="26.5" width="0.1524" layer="1"/>
-<wire x1="26.7" y1="26.5" x2="25.64" y2="25.44" width="0.2032" layer="1"/>
+<wire x1="26.7" y1="26.15" x2="26.55" y2="26.5" width="0.1524" layer="1"/>
+<wire x1="26.55" y1="26.5" x2="25.64" y2="25.44" width="0.2032" layer="1"/>
 <wire x1="25.64" y1="25.44" x2="24.1" y2="25.44" width="0.2032" layer="1"/>
 <contactref element="U1" pad="2"/>
 <wire x1="18.4" y1="34.35" x2="19.4078875" y2="34.35" width="0.1524" layer="1"/>
@@ -2377,8 +2380,8 @@ design rules under a new name.</description>
 <wire x1="30.05" y1="22.5" x2="30.05" y2="20.5" width="0.1524" layer="1"/>
 <wire x1="30.05" y1="20.5" x2="28.35" y2="20.5" width="0.1524" layer="1"/>
 <wire x1="28.35" y1="20.5" x2="26.7" y2="22.15" width="0.1524" layer="1"/>
-<wire x1="26.7" y1="22.15" x2="26.7" y2="22.5" width="0.1524" layer="1"/>
-<wire x1="26.7" y1="22.5" x2="24.5" y2="22.5" width="0.2032" layer="1"/>
+<wire x1="26.7" y1="22.15" x2="26.55" y2="22.5" width="0.1524" layer="1"/>
+<wire x1="26.55" y1="22.5" x2="24.5" y2="22.5" width="0.2032" layer="1"/>
 <wire x1="24.5" y1="22.5" x2="24.1" y2="22.9" width="0.2032" layer="1"/>
 <contactref element="U1" pad="1"/>
 <wire x1="18.4" y1="33.85" x2="19.47683125" y2="33.85" width="0.1524" layer="1"/>
@@ -2399,8 +2402,8 @@ design rules under a new name.</description>
 <wire x1="30.05" y1="14.5" x2="30.05" y2="12.5" width="0.1524" layer="1"/>
 <wire x1="30.05" y1="12.5" x2="28.35" y2="12.5" width="0.1524" layer="1"/>
 <wire x1="28.35" y1="12.5" x2="26.7" y2="14.15" width="0.1524" layer="1"/>
-<wire x1="26.7" y1="14.15" x2="26.7" y2="14.5" width="0.1524" layer="1"/>
-<wire x1="26.7" y1="14.5" x2="24.1" y2="17.1" width="0.2032" layer="1"/>
+<wire x1="26.7" y1="14.15" x2="26.55" y2="14.5" width="0.1524" layer="1"/>
+<wire x1="26.55" y1="14.5" x2="24.1" y2="17.1" width="0.2032" layer="1"/>
 <wire x1="24.1" y1="17.1" x2="24.1" y2="17.82" width="0.2032" layer="1"/>
 <contactref element="U1" pad="63"/>
 <wire x1="21.5808" y1="28.7570875" x2="21.8856" y2="28.4522875" width="0.1524" layer="1"/>
@@ -2855,10 +2858,10 @@ design rules under a new name.</description>
 <vertex x="84.5" y="-1"/>
 <vertex x="62.5" y="-1"/>
 </polygon>
-<wire x1="57.6" y1="4.4" x2="59.6" y2="4.4" width="0" layer="19" extent="1-1"/>
-<wire x1="55.6" y1="4.4" x2="57.6" y2="4.4" width="0" layer="19" extent="1-1"/>
-<wire x1="53.6" y1="4.4" x2="55.6" y2="4.4" width="0" layer="19" extent="1-1"/>
-<wire x1="52.7555" y1="5" x2="53.6" y2="4.4" width="0" layer="19" extent="1-1"/>
+<wire x1="57.6" y1="3.9" x2="59.6" y2="3.9" width="0" layer="19" extent="1-1"/>
+<wire x1="55.6" y1="3.9" x2="57.6" y2="3.9" width="0" layer="19" extent="1-1"/>
+<wire x1="53.6" y1="3.9" x2="55.6" y2="3.9" width="0" layer="19" extent="1-1"/>
+<wire x1="52.7555" y1="5" x2="53.6" y2="3.9" width="0" layer="19" extent="1-1"/>
 </signal>
 <signal name="DRV-HI-U">
 <contactref element="R17" pad="1"/>
@@ -2962,7 +2965,6 @@ design rules under a new name.</description>
 <contactref element="Q5" pad="P$1"/>
 <wire x1="43.19645" y1="36.9396" x2="43.13605" y2="37" width="0.2032" layer="1"/>
 <wire x1="43.13605" y1="37" x2="41.49999375" y2="37" width="0.2032" layer="1"/>
-<wire x1="45.55" y1="38" x2="45.3314" y2="37.7814" width="0.2032" layer="1"/>
 <wire x1="44.15779375" y1="36.9396" x2="43.19645" y2="36.9396" width="0.2032" layer="1"/>
 <wire x1="44.15779375" y1="36.9396" x2="44.509175" y2="36.58821875" width="0.2032" layer="1"/>
 <wire x1="45.55" y1="38" x2="46.7942" y2="38" width="0.2032" layer="1"/>
@@ -2998,7 +3000,7 @@ design rules under a new name.</description>
 <wire x1="47.83838125" y1="36.58821875" x2="47.8501625" y2="36.6" width="0.2032" layer="1"/>
 <wire x1="44.509175" y1="36.58821875" x2="47.83838125" y2="36.58821875" width="0.2032" layer="1"/>
 <wire x1="52.6064" y1="20.73046875" x2="52.6064" y2="20.4465" width="0.2032" layer="16"/>
-<wire x1="52.318434375" y1="21.018434375" x2="52.6064" y2="20.73046875" width="0.2032" layer="16"/>
+<wire x1="52.28046875" y1="21.0564" x2="52.6064" y2="20.73046875" width="0.2032" layer="16"/>
 <wire x1="52.6064" y1="20.4465" x2="53.2973" y2="19.7556" width="0.2032" layer="16"/>
 <wire x1="56.7556" y1="19.7556" x2="57.5" y2="20.5" width="0.2032" layer="16"/>
 <wire x1="53.2973" y1="19.7556" x2="56.7556" y2="19.7556" width="0.2032" layer="16"/>
@@ -3012,7 +3014,6 @@ design rules under a new name.</description>
 <wire x1="46.5971" y1="19.8" x2="47.6955" y2="20.8984" width="0.2032" layer="16"/>
 <wire x1="51.66313125" y1="20.9" x2="51.81953125" y2="21.0564" width="0.2032" layer="16"/>
 <wire x1="51.81953125" y1="21.0564" x2="52.28046875" y2="21.0564" width="0.2032" layer="16"/>
-<wire x1="52.28046875" y1="21.0564" x2="52.318434375" y2="21.018434375" width="0.2032" layer="16"/>
 <wire x1="48.9" y1="20.9" x2="51.66313125" y2="20.9" width="0.2032" layer="16"/>
 <wire x1="33.5944" y1="18.8556" x2="45.36873125" y2="18.8556" width="0.2032" layer="1"/>
 <via x="61.5" y="32" extent="1-16" drill="0.35"/>
@@ -3458,8 +3459,6 @@ design rules under a new name.</description>
 <signal name="N$21">
 <contactref element="R10" pad="1"/>
 <contactref element="U5" pad="P$7"/>
-<wire x1="34.000009375" y1="41.499990625" x2="34.00001875" y2="41.5" width="0.2032" layer="1"/>
-<wire x1="30.10551875" y1="44.94448125" x2="29.857928125" y2="45.095175" width="0.2032" layer="1"/>
 <wire x1="29.857928125" y1="45.095175" x2="29.85" y2="45.1" width="0.2032" layer="1"/>
 <wire x1="34.000009375" y1="41.499990625" x2="34" y2="41.5" width="0.1524" layer="1"/>
 <wire x1="32.57955" y1="41.85095" x2="32.20339375" y2="41.85095" width="0.1524" layer="1"/>
@@ -3506,14 +3505,11 @@ design rules under a new name.</description>
 </signal>
 <signal name="DRV_OCTW">
 <contactref element="U5" pad="P$5"/>
-<wire x1="34.000009375" y1="42.4999875" x2="33.999996875" y2="42.5" width="0.2032" layer="1"/>
-<wire x1="24.6" y1="47.1" x2="23.6" y2="47.1" width="0.1524" layer="16"/>
+<wire x1="24.6" y1="47.1" x2="23.2" y2="47.1" width="0.1524" layer="16"/>
 <via x="12.9" y="43.1" extent="1-16" drill="0.3"/>
 <contactref element="U1" pad="26"/>
 <wire x1="13.15" y1="42.1" x2="13.15" y2="42.85" width="0.1524" layer="1"/>
 <wire x1="13.15" y1="42.85" x2="12.9" y2="43.1" width="0.1524" layer="1"/>
-<wire x1="22.2" y1="45.7" x2="23.6" y2="47.1" width="0.1524" layer="16"/>
-<wire x1="22.2" y1="45.7" x2="18.2" y2="45.7" width="0.1524" layer="16"/>
 <wire x1="28.5904" y1="43.1096" x2="24.6" y2="47.1" width="0.1524" layer="16"/>
 <wire x1="34.000009375" y1="42.4999875" x2="32.41646875" y2="42.4999875" width="0.1524" layer="1"/>
 <wire x1="32.07345625" y1="42.843" x2="31.531" y2="42.843" width="0.1524" layer="1"/>
@@ -3526,9 +3522,18 @@ design rules under a new name.</description>
 <wire x1="31.0786" y1="43.2954" x2="31" y2="43.374" width="0.1524" layer="1"/>
 <wire x1="31" y1="43.5216" x2="30.588" y2="43.1096" width="0.1524" layer="16"/>
 <wire x1="30.588" y1="43.1096" x2="28.5904" y2="43.1096" width="0.1524" layer="16"/>
-<wire x1="18.2" y1="45.7" x2="15.8262" y2="43.3262" width="0.1524" layer="16"/>
 <wire x1="13.1262" y1="43.3262" x2="12.9" y2="43.1" width="0.1524" layer="16"/>
-<wire x1="15.8262" y1="43.3262" x2="13.1262" y2="43.3262" width="0.1524" layer="16"/>
+<wire x1="19.9048" y1="45.901375" x2="18.630225" y2="44.6268" width="0.1524" layer="16"/>
+<wire x1="18.630225" y1="44.6268" x2="18.05785625" y2="44.6268" width="0.1524" layer="16"/>
+<wire x1="18.05785625" y1="44.6268" x2="16.75725625" y2="43.3262" width="0.1524" layer="16"/>
+<wire x1="16.75725625" y1="43.3262" x2="13.1262" y2="43.3262" width="0.1524" layer="16"/>
+<via x="20.156" y="47" extent="1-16" drill="0.35"/>
+<wire x1="19.9048" y1="46.7488" x2="20.156" y2="47" width="0.1524" layer="16"/>
+<wire x1="19.9048" y1="45.901375" x2="19.9048" y2="46.7488" width="0.1524" layer="16"/>
+<wire x1="20.156" y1="47" x2="21.056" y2="47.9" width="0.1524" layer="1"/>
+<wire x1="21.056" y1="47.9" x2="22.4" y2="47.9" width="0.1524" layer="1"/>
+<via x="22.4" y="47.9" extent="1-16" drill="0.35"/>
+<wire x1="22.4" y1="47.9" x2="23.2" y2="47.1" width="0.1524" layer="16"/>
 </signal>
 <signal name="V-W">
 <contactref element="R28" pad="2"/>
@@ -3539,8 +3544,8 @@ design rules under a new name.</description>
 <wire x1="30.05" y1="18.5" x2="30.05" y2="16.5" width="0.1524" layer="1"/>
 <wire x1="30.05" y1="16.5" x2="28.35" y2="16.5" width="0.1524" layer="1"/>
 <wire x1="28.35" y1="16.5" x2="26.7" y2="18.15" width="0.1524" layer="1"/>
-<wire x1="26.7" y1="18.15" x2="26.7" y2="18.5" width="0.1524" layer="1"/>
-<wire x1="26.7" y1="18.5" x2="25.96" y2="18.5" width="0.2032" layer="1"/>
+<wire x1="26.7" y1="18.15" x2="26.55" y2="18.5" width="0.1524" layer="1"/>
+<wire x1="26.55" y1="18.5" x2="25.96" y2="18.5" width="0.2032" layer="1"/>
 <wire x1="25.96" y1="18.5" x2="24.1" y2="20.36" width="0.2032" layer="1"/>
 <contactref element="U1" pad="64"/>
 <wire x1="17.65" y1="33.1" x2="19.795775" y2="33.1" width="0.1524" layer="1"/>
@@ -3579,7 +3584,6 @@ design rules under a new name.</description>
 <wire x1="16.6474875" y1="44.0096" x2="15.8140875" y2="43.1762" width="0.1524" layer="1"/>
 <wire x1="25.3284" y1="44.5" x2="21.3" y2="44.5" width="0.1524" layer="1"/>
 <contactref element="U1" pad="22"/>
-<wire x1="15.15" y1="42.1" x2="15.2" y2="42.15" width="0.1524" layer="1"/>
 <wire x1="15.15" y1="42.1" x2="15.15" y2="42.58105625" width="0.1524" layer="1"/>
 <wire x1="15.15" y1="42.58105625" x2="15.74514375" y2="43.1762" width="0.1524" layer="1"/>
 <wire x1="32.0548" y1="40.12285" x2="30.58725" y2="41.5904" width="0.1524" layer="16"/>
@@ -3659,7 +3663,7 @@ design rules under a new name.</description>
 <wire x1="24.1" y1="45.8" x2="23.2" y2="45.8" width="0.1524" layer="1"/>
 <wire x1="23.2" y1="45.8" x2="22.2048" y2="44.8048" width="0.1524" layer="1"/>
 <wire x1="22.2048" y1="44.8048" x2="21.17374375" y2="44.8048" width="0.1524" layer="1"/>
-<wire x1="21.17374375" y1="44.8048" x2="20.68334375" y2="44.3144" width="0.1524" layer="1"/>
+<wire x1="20.68334375" y1="44.3144" x2="21.17374375" y2="44.8048" width="0.1524" layer="1"/>
 <wire x1="15.68783125" y1="43.481" x2="15.6188875" y2="43.481" width="0.1524" layer="1"/>
 <wire x1="16.52123125" y1="44.3144" x2="15.68783125" y2="43.481" width="0.1524" layer="1"/>
 <wire x1="20.68334375" y1="44.3144" x2="16.52123125" y2="44.3144" width="0.1524" layer="1"/>
@@ -3702,7 +3706,6 @@ design rules under a new name.</description>
 <signal name="N$3">
 <contactref element="R17" pad="2"/>
 <contactref element="Q1" pad="P$4"/>
-<wire x1="52.2" y1="44.55" x2="52.05" y2="44.55" width="0.2032" layer="1"/>
 <contactref element="Q3" pad="P$4"/>
 <wire x1="73.905" y1="40.7" x2="73.9" y2="40.705" width="0.2032" layer="1"/>
 <wire x1="73.9" y1="40.705" x2="73.9" y2="41.546" width="0.2032" layer="1"/>
@@ -3711,12 +3714,12 @@ design rules under a new name.</description>
 <wire x1="67.4" y1="40.705" x2="67.405" y2="40.7" width="0.2032" layer="1"/>
 <via x="52.05" y="44.55" extent="1-16" drill="0.3"/>
 <wire x1="62.4" y1="41.546" x2="67.4" y2="41.546" width="0.2032" layer="1"/>
-<wire x1="52.05" y1="44.55" x2="53.05" y2="44.55" width="0.2032" layer="16"/>
-<wire x1="53.05" y1="44.55" x2="53.4" y2="44.9" width="0.2032" layer="16"/>
+<wire x1="53.4" y1="44.9" x2="53.05" y2="44.55" width="0.2032" layer="16"/>
 <wire x1="53.4" y1="44.9" x2="53.4" y2="49.6" width="0.2032" layer="16"/>
 <wire x1="53.4" y1="49.6" x2="62.4" y2="49.6" width="0.2032" layer="16"/>
 <wire x1="62.4" y1="49.6" x2="62.4" y2="41.546" width="0.2032" layer="16"/>
 <via x="62.4" y="41.546" extent="1-16" drill="0.3"/>
+<wire x1="53.05" y1="44.55" x2="52.05" y2="44.55" width="0.2032" layer="16"/>
 </signal>
 <signal name="N$4">
 <contactref element="R24" pad="2"/>
@@ -3999,16 +4002,11 @@ design rules under a new name.</description>
 <wire x1="12.65" y1="42.59905" x2="12.369" y2="42.88005" width="0.1524" layer="1"/>
 <wire x1="12.369" y1="42.88005" x2="12.369" y2="43.0738" width="0.1524" layer="1"/>
 <wire x1="12.369" y1="43.0738" x2="12.1428" y2="43.3" width="0.1524" layer="1"/>
-<wire x1="18.07374375" y1="46.0048" x2="22.07374375" y2="46.0048" width="0.1524" layer="16"/>
-<wire x1="15.69994375" y1="43.631" x2="12.68005" y2="43.631" width="0.1524" layer="16"/>
 <wire x1="12.34905" y1="43.3" x2="12.1428" y2="43.3" width="0.1524" layer="16"/>
 <wire x1="12.68005" y1="43.631" x2="12.34905" y2="43.3" width="0.1524" layer="16"/>
-<wire x1="18.07374375" y1="46.0048" x2="15.69994375" y2="43.631" width="0.1524" layer="16"/>
 <contactref element="S2" pad="P$3"/>
 <contactref element="S2" pad="P$6"/>
-<wire x1="22.9316" y1="48.78396875" x2="23.61603125" y2="49.4684" width="0.1524" layer="16"/>
-<wire x1="22.07374375" y1="46.0048" x2="22.9316" y2="46.86265625" width="0.1524" layer="16"/>
-<wire x1="22.9316" y1="46.86265625" x2="22.9316" y2="48.78396875" width="0.1524" layer="16"/>
+<wire x1="23.04763125" y1="48.9" x2="23.61603125" y2="49.4684" width="0.1524" layer="16"/>
 <wire x1="23.61603125" y1="49.4684" x2="24.58396875" y2="49.4684" width="0.1524" layer="16"/>
 <via x="40" y="50.1" extent="1-16" drill="0.3"/>
 <wire x1="40" y1="52.9" x2="40" y2="50.1" width="0.2032" layer="1"/>
@@ -4019,6 +4017,16 @@ design rules under a new name.</description>
 <wire x1="31.714025" y1="49.231" x2="34.113225" y2="51.6302" width="0.1524" layer="16"/>
 <wire x1="38.4698" y1="51.6302" x2="40" y2="50.1" width="0.1524" layer="16"/>
 <wire x1="34.113225" y1="51.6302" x2="38.4698" y2="51.6302" width="0.1524" layer="16"/>
+<wire x1="17.9316" y1="44.9316" x2="18.50396875" y2="44.9316" width="0.1524" layer="16"/>
+<wire x1="17.9316" y1="44.9316" x2="16.631" y2="43.631" width="0.1524" layer="16"/>
+<wire x1="16.631" y1="43.631" x2="12.68005" y2="43.631" width="0.1524" layer="16"/>
+<wire x1="19.6" y1="46.02763125" x2="19.6" y2="48.5" width="0.1524" layer="16"/>
+<via x="19.6" y="48.5" extent="1-16" drill="0.35"/>
+<wire x1="19.6" y1="48.5" x2="20" y2="48.9" width="0.1524" layer="1"/>
+<wire x1="20" y1="48.9" x2="22.4" y2="48.9" width="0.1524" layer="1"/>
+<via x="22.4" y="48.9" extent="1-16" drill="0.35"/>
+<wire x1="22.4" y1="48.9" x2="23.04763125" y2="48.9" width="0.1524" layer="16"/>
+<wire x1="18.50396875" y1="44.9316" x2="19.6" y2="46.02763125" width="0.1524" layer="16"/>
 </signal>
 <signal name="DRV_EN_DRV">
 <contactref element="S2" pad="P$2"/>
@@ -4414,12 +4422,10 @@ design rules under a new name.</description>
 <wire x1="42.635421875" y1="52.864578125" x2="43.1952" y2="52.3048" width="0.1524" layer="1"/>
 <wire x1="43.1952" y1="52.3048" x2="43.1952" y2="48.37374375" width="0.1524" layer="1"/>
 <wire x1="43.1952" y1="48.37374375" x2="45.87374375" y2="45.6952" width="0.1524" layer="1"/>
-<wire x1="45.87374375" y1="45.6952" x2="49" y2="45.6952" width="0.1524" layer="1"/>
-<wire x1="49" y1="45.6952" x2="49.12625625" y2="45.6952" width="0.1524" layer="1"/>
-<wire x1="49" y1="45.6952" x2="49.1952" y2="45.6952" width="0.1524" layer="1"/>
 <wire x1="49.1952" y1="45.6952" x2="51" y2="47.5" width="0.1524" layer="1"/>
 <wire x1="51" y1="47.5" x2="52.4" y2="47.5" width="0.1524" layer="1"/>
 <wire x1="52.4" y1="47.5" x2="52.45" y2="47.45" width="0.1524" layer="1"/>
+<wire x1="45.87374375" y1="45.6952" x2="49.1952" y2="45.6952" width="0.1524" layer="1"/>
 </signal>
 <signal name="SHNT-U-HI">
 <contactref element="R12" pad="1"/>
diff --git a/circuit/atkbldcdriver/atkbldcdriver.sch b/circuit/atkbldcdriver/atkbldcdriver.sch
index 7bb1ecb241813b9390ee1c0fd12dd1efa1be1e34..72b61ee679cf05a5bdb2992ecf2a7e16a4ffac6b 100644
--- a/circuit/atkbldcdriver/atkbldcdriver.sch
+++ b/circuit/atkbldcdriver/atkbldcdriver.sch
@@ -8,34 +8,34 @@
 </settings>
 <grid distance="0.1" unitdist="inch" unit="inch" style="lines" multiple="1" display="yes" altdistance="0.01" altunitdist="inch" altunit="inch"/>
 <layers>
-<layer number="1" name="Top" color="4" fill="1" visible="no" active="no"/>
-<layer number="2" name="Route2" color="1" fill="3" visible="no" active="no"/>
-<layer number="3" name="Route3" color="4" fill="3" visible="no" active="no"/>
-<layer number="4" name="Route4" color="1" fill="4" visible="no" active="no"/>
-<layer number="5" name="Route5" color="4" fill="4" visible="no" active="no"/>
-<layer number="6" name="Route6" color="1" fill="8" visible="no" active="no"/>
-<layer number="7" name="Route7" color="4" fill="8" visible="no" active="no"/>
-<layer number="8" name="Route8" color="1" fill="2" visible="no" active="no"/>
-<layer number="9" name="Route9" color="4" fill="2" visible="no" active="no"/>
-<layer number="10" name="Route10" color="1" fill="7" visible="no" active="no"/>
-<layer number="11" name="Route11" color="4" fill="7" visible="no" active="no"/>
-<layer number="12" name="Route12" color="1" fill="5" visible="no" active="no"/>
-<layer number="13" name="Route13" color="4" fill="5" visible="no" active="no"/>
-<layer number="14" name="Route14" color="1" fill="6" visible="no" active="no"/>
-<layer number="15" name="Route15" color="4" fill="6" visible="no" active="no"/>
-<layer number="16" name="Bottom" color="1" fill="1" visible="no" active="no"/>
-<layer number="17" name="Pads" color="2" fill="1" visible="no" active="no"/>
-<layer number="18" name="Vias" color="2" fill="1" visible="no" active="no"/>
-<layer number="19" name="Unrouted" color="6" fill="1" visible="no" active="no"/>
-<layer number="20" name="Dimension" color="24" fill="1" visible="no" active="no"/>
-<layer number="21" name="tPlace" color="7" fill="1" visible="no" active="no"/>
-<layer number="22" name="bPlace" color="7" fill="1" visible="no" active="no"/>
-<layer number="23" name="tOrigins" color="15" fill="1" visible="no" active="no"/>
-<layer number="24" name="bOrigins" color="15" fill="1" visible="no" active="no"/>
-<layer number="25" name="tNames" color="7" fill="1" visible="no" active="no"/>
-<layer number="26" name="bNames" color="7" fill="1" visible="no" active="no"/>
-<layer number="27" name="tValues" color="7" fill="1" visible="no" active="no"/>
-<layer number="28" name="bValues" color="7" fill="1" visible="no" active="no"/>
+<layer number="1" name="Top" color="4" fill="1" visible="yes" active="no"/>
+<layer number="2" name="Route2" color="1" fill="3" visible="yes" active="no"/>
+<layer number="3" name="Route3" color="4" fill="3" visible="yes" active="no"/>
+<layer number="4" name="Route4" color="1" fill="4" visible="yes" active="no"/>
+<layer number="5" name="Route5" color="4" fill="4" visible="yes" active="no"/>
+<layer number="6" name="Route6" color="1" fill="8" visible="yes" active="no"/>
+<layer number="7" name="Route7" color="4" fill="8" visible="yes" active="no"/>
+<layer number="8" name="Route8" color="1" fill="2" visible="yes" active="no"/>
+<layer number="9" name="Route9" color="4" fill="2" visible="yes" active="no"/>
+<layer number="10" name="Route10" color="1" fill="7" visible="yes" active="no"/>
+<layer number="11" name="Route11" color="4" fill="7" visible="yes" active="no"/>
+<layer number="12" name="Route12" color="1" fill="5" visible="yes" active="no"/>
+<layer number="13" name="Route13" color="4" fill="5" visible="yes" active="no"/>
+<layer number="14" name="Route14" color="1" fill="6" visible="yes" active="no"/>
+<layer number="15" name="Route15" color="4" fill="6" visible="yes" active="no"/>
+<layer number="16" name="Bottom" color="1" fill="1" visible="yes" active="no"/>
+<layer number="17" name="Pads" color="2" fill="1" visible="yes" active="no"/>
+<layer number="18" name="Vias" color="2" fill="1" visible="yes" active="no"/>
+<layer number="19" name="Unrouted" color="6" fill="1" visible="yes" active="no"/>
+<layer number="20" name="Dimension" color="24" fill="1" visible="yes" active="no"/>
+<layer number="21" name="tPlace" color="7" fill="1" visible="yes" active="no"/>
+<layer number="22" name="bPlace" color="7" fill="1" visible="yes" active="no"/>
+<layer number="23" name="tOrigins" color="15" fill="1" visible="yes" active="no"/>
+<layer number="24" name="bOrigins" color="15" fill="1" visible="yes" active="no"/>
+<layer number="25" name="tNames" color="7" fill="1" visible="yes" active="no"/>
+<layer number="26" name="bNames" color="7" fill="1" visible="yes" active="no"/>
+<layer number="27" name="tValues" color="7" fill="1" visible="yes" active="no"/>
+<layer number="28" name="bValues" color="7" fill="1" visible="yes" active="no"/>
 <layer number="29" name="tStop" color="7" fill="3" visible="no" active="no"/>
 <layer number="30" name="bStop" color="7" fill="6" visible="no" active="no"/>
 <layer number="31" name="tCream" color="7" fill="4" visible="no" active="no"/>
@@ -44,8 +44,8 @@
 <layer number="34" name="bFinish" color="6" fill="6" visible="no" active="no"/>
 <layer number="35" name="tGlue" color="7" fill="4" visible="no" active="no"/>
 <layer number="36" name="bGlue" color="7" fill="5" visible="no" active="no"/>
-<layer number="37" name="tTest" color="7" fill="1" visible="no" active="no"/>
-<layer number="38" name="bTest" color="7" fill="1" visible="no" active="no"/>
+<layer number="37" name="tTest" color="7" fill="1" visible="yes" active="no"/>
+<layer number="38" name="bTest" color="7" fill="1" visible="yes" active="no"/>
 <layer number="39" name="tKeepout" color="4" fill="11" visible="no" active="no"/>
 <layer number="40" name="bKeepout" color="1" fill="11" visible="no" active="no"/>
 <layer number="41" name="tRestrict" color="4" fill="10" visible="no" active="no"/>
@@ -53,19 +53,19 @@
 <layer number="43" name="vRestrict" color="2" fill="10" visible="no" active="no"/>
 <layer number="44" name="Drills" color="7" fill="1" visible="no" active="no"/>
 <layer number="45" name="Holes" color="7" fill="1" visible="no" active="no"/>
-<layer number="46" name="Milling" color="3" fill="1" visible="no" active="no"/>
-<layer number="47" name="Measures" color="7" fill="1" visible="no" active="no"/>
-<layer number="48" name="Document" color="7" fill="1" visible="no" active="no"/>
-<layer number="49" name="Reference" color="7" fill="1" visible="no" active="no"/>
-<layer number="50" name="dxf" color="7" fill="1" visible="no" active="no"/>
-<layer number="51" name="tDocu" color="7" fill="1" visible="no" active="no"/>
-<layer number="52" name="bDocu" color="7" fill="1" visible="no" active="no"/>
-<layer number="53" name="tGND_GNDA" color="7" fill="9" visible="no" active="no"/>
-<layer number="54" name="bGND_GNDA" color="1" fill="9" visible="no" active="no"/>
-<layer number="56" name="wert" color="7" fill="1" visible="no" active="no"/>
-<layer number="57" name="tCAD" color="7" fill="1" visible="no" active="no"/>
-<layer number="59" name="tCarbon" color="7" fill="1" visible="no" active="no"/>
-<layer number="60" name="bCarbon" color="7" fill="1" visible="no" active="no"/>
+<layer number="46" name="Milling" color="3" fill="1" visible="yes" active="no"/>
+<layer number="47" name="Measures" color="7" fill="1" visible="yes" active="no"/>
+<layer number="48" name="Document" color="7" fill="1" visible="yes" active="no"/>
+<layer number="49" name="Reference" color="7" fill="1" visible="yes" active="no"/>
+<layer number="50" name="dxf" color="7" fill="1" visible="yes" active="no"/>
+<layer number="51" name="tDocu" color="7" fill="1" visible="yes" active="no"/>
+<layer number="52" name="bDocu" color="7" fill="1" visible="yes" active="no"/>
+<layer number="53" name="tGND_GNDA" color="7" fill="9" visible="yes" active="no"/>
+<layer number="54" name="bGND_GNDA" color="1" fill="9" visible="yes" active="no"/>
+<layer number="56" name="wert" color="7" fill="1" visible="yes" active="no"/>
+<layer number="57" name="tCAD" color="7" fill="1" visible="yes" active="no"/>
+<layer number="59" name="tCarbon" color="7" fill="1" visible="yes" active="no"/>
+<layer number="60" name="bCarbon" color="7" fill="1" visible="yes" active="no"/>
 <layer number="88" name="SimResults" color="9" fill="1" visible="yes" active="yes"/>
 <layer number="89" name="SimProbes" color="9" fill="1" visible="yes" active="yes"/>
 <layer number="90" name="Modules" color="5" fill="1" visible="yes" active="yes"/>
@@ -6139,13 +6139,13 @@ thin small outline package</description>
 <part name="GND2" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="GND" device=""/>
 <part name="S1" library="fab" deviceset="2-8X4-5_SWITCH" device=""/>
 <part name="+3V37" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="+3V3" device=""/>
-<part name="C31" library="borkedlabs-passives" deviceset="CAP" device="0603-CAP" value="0.1uF"/>
-<part name="C33" library="borkedlabs-passives" deviceset="CAP" device="0603-CAP" value="0.1uF"/>
-<part name="C37" library="borkedlabs-passives" deviceset="CAP" device="0603-CAP" value="0.1uF"/>
+<part name="C31" library="borkedlabs-passives" deviceset="CAP" device="0805" value="10nF"/>
+<part name="C33" library="borkedlabs-passives" deviceset="CAP" device="0805" value="10nF"/>
+<part name="C37" library="borkedlabs-passives" deviceset="CAP" device="0805" value="10nF"/>
 <part name="R30" library="borkedlabs-passives" deviceset="RESISTOR" device="0805-RES" value="5K6"/>
 <part name="R29" library="borkedlabs-passives" deviceset="RESISTOR" device="0805-RES" value="39K"/>
 <part name="GND26" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="GND" device=""/>
-<part name="C38" library="borkedlabs-passives" deviceset="CAP" device="0603-CAP" value="0.1uF"/>
+<part name="C38" library="borkedlabs-passives" deviceset="CAP" device="0805" value="10nF"/>
 <part name="P+9" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="VCC" device=""/>
 <part name="J8" library="SparkFun-Connectors" deviceset="JST_6_PIN_HORIZONTAL" device="" value="BM06B-SRSS-TB"/>
 <part name="+3V39" library="supply1" library_urn="urn:adsk.eagle:library:371" deviceset="+3V3" device=""/>
diff --git a/circuit/atkbldcdriver/atkbldcdriver_2018-10-19.zip b/circuit/atkbldcdriver/atkbldcdriver_2018-10-19.zip
new file mode 100644
index 0000000000000000000000000000000000000000..eaa6bbda5388c0d0e97bec5af57f5789a89bc147
Binary files /dev/null and b/circuit/atkbldcdriver/atkbldcdriver_2018-10-19.zip differ
diff --git a/circuit/atkbldcdriver/eagle.epf b/circuit/atkbldcdriver/eagle.epf
index f064a8dbf2d0e8ff16793a1682b42e539f980bb8..af04460ee4376a1c99bf20d36ed9b1ce780e42e0 100644
--- a/circuit/atkbldcdriver/eagle.epf
+++ b/circuit/atkbldcdriver/eagle.epf
@@ -28,7 +28,7 @@ UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries_jake/eagle/sparkfun/SparkFu
 Type="Schematic Editor"
 Number=3
 File="atkbldcdriver.sch"
-View="-44.9342 -57.8843 305.205 101.038"
+View="-44.3222 -111.715 375.845 78.9921"
 WireWidths=" 0.0762 0.1016 0.127 0.15 0.2 0.2032 0.254 0.3048 0.4064 0.508 0.6096 0.8128 1.016 1.27 2.54 0.1524"
 PadDiameters=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 6.4516 0"
 PadDrills=" 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6"
@@ -67,15 +67,15 @@ ArcDirection=0
 AddLevel=2
 PadsSameType=0
 Layer=97
-Views=" 1: -44.9342 -57.8843 305.205 101.038"
+Views=" 1: -44.3222 -111.715 375.845 78.9921"
 Sheet="1"
 
 [Win_2]
 Type="Board Editor"
 Number=1
 File="atkbldcdriver.brd"
-View="7.5732 40.6204 26.1449 54.993"
-WireWidths=" 0.0762 0.1016 0.127 0.15 0.2 0.2032 0.254 0.3048 0.4064 0.508 0.6096 0.8128 1.016 1.27 2.54 0.1524"
+View="2.27887 -15.6599 117.27 73.3317"
+WireWidths=" 0.0762 0.1016 0.127 0.15 0.254 0.3048 0.4064 0.508 0.6096 0.8128 1.016 1.27 2.54 0.1524 0.2 0.2032"
 PadDiameters=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 6.4516 0"
 PadDrills=" 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6"
 ViaDiameters=" 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 0.95 1 1.05 1.1 1.15 1.2 1.3 0"
diff --git a/embedded/README.md b/embedded/README.md
index 9aab3b399847f1f6fd538ec83fc9170381ea6d46..93143e8b391aa89fa24eb1b88ff5167607bdda36 100644
--- a/embedded/README.md
+++ b/embedded/README.md
@@ -36,6 +36,8 @@ So, we use a logic analyzer to try reading this AMS5047
 
 Got this running, feels pretty mediocre. I need to understand commutation a bit better, and do this with a fan setup etc. I perhaps just have not counted my poles properly, but I want to do this with an oscilloscope, and understand how we might search for those offsets etc. 
 
+https://geekshavefeelings.com/posts/sensorless-brushless-cant-even
+
 # Notes
 
  - read shane colton's pdf on sensorless field oriented control, and his park-transform free FOC solution: sounds cool. finish phase search algorithm.
diff --git a/embedded/atkbldcdriver/atkbldcdriver/main.c b/embedded/atkbldcdriver/atkbldcdriver/main.c
index f66334532bcf6ec2d4d8a37ba039ad6363b1dd04..4675305acbc3ae9b934a0a957edfa9e435e4277a 100644
--- a/embedded/atkbldcdriver/atkbldcdriver/main.c
+++ b/embedded/atkbldcdriver/atkbldcdriver/main.c
@@ -291,18 +291,18 @@ ISR(TCD0_OVF_vect){
 	uint8_t cs = bldc.comState;
 	uint16_t dt = bldc.comDuty;
 	
-	uint16_t clo1 = ct[cs][0];
-	clo1 *= dt;
-	uint16_t chi1 = ct[cs][1];
-	chi1 *= dt;
-	uint16_t clo2 = ct[cs][2];
-	clo2 *= dt;
-	uint16_t chi2 = ct[cs][3];
-	chi2 *= dt;
-	uint16_t clo3 = ct[cs][4];
-	clo3 *= dt;
-	uint16_t chi3 = ct[cs][5];
-	chi3 *= dt;
+	uint16_t clo1 = ct[cs][0] * dt;
+	//clo1 *= dt;
+	uint16_t chi1 = ct[cs][1] * dt;
+	//chi1 *= dt;
+	uint16_t clo2 = ct[cs][2] * dt;
+	//clo2 *= dt;
+	uint16_t chi2 = ct[cs][3] * dt;
+	//chi2 *= dt;
+	uint16_t clo3 = ct[cs][4] * dt;
+	//clo3 *= dt;
+	uint16_t chi3 = ct[cs][5] * dt;
+	//chi3 *= dt;
 	
 	// ct is comtable 
 	pwm_sixstep(clo1, chi1, clo2, chi2, clo3, chi3);