diff --git a/circuit/atkbldcdriver/eagle.epf b/circuit/atkbldcdriver/eagle.epf
index af04460ee4376a1c99bf20d36ed9b1ce780e42e0..4445efa956d93d04be468901c4960dde148b4b19 100644
--- a/circuit/atkbldcdriver/eagle.epf
+++ b/circuit/atkbldcdriver/eagle.epf
@@ -9,18 +9,18 @@ AutoSaveProject=1
UsedLibraryUrn="urn:adsk.eagle:library:217"
UsedLibraryUrn="urn:adsk.eagle:library:325"
UsedLibraryUrn="urn:adsk.eagle:library:371"
-UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries/eagle/fab.lbr"
-UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries_jake/eagle/jake/tag-connect-2050.lbr"
-UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries_jake/eagle/sparkfun/SparkFun-Connectors.lbr"
-UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries_jake/eagle/marekr/borkedlabs-passives.lbr"
UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries/eagle/comm.lbr"
UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries/eagle/connector.lbr"
+UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries/eagle/fab.lbr"
UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries/eagle/lights.lbr"
UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries/eagle/microcontrollers.lbr"
UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries/eagle/motors.lbr"
UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries/eagle/passives.lbr"
UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries/eagle/power.lbr"
UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries/eagle/sensor.lbr"
+UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries_jake/eagle/sparkfun/SparkFun-Connectors.lbr"
+UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries_jake/eagle/jake/tag-connect-2050.lbr"
+UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries_jake/eagle/marekr/borkedlabs-passives.lbr"
UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries/eagle/tag-connect-2030.lbr"
UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries_jake/eagle/sparkfun/SparkFun-DiscreteSemi.lbr"
@@ -28,7 +28,7 @@ UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries_jake/eagle/sparkfun/SparkFu
Type="Schematic Editor"
Number=3
File="atkbldcdriver.sch"
-View="-44.3222 -111.715 375.845 78.9921"
+View="-74.0592 -128.262 651.99 201.28"
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"
@@ -67,14 +67,14 @@ ArcDirection=0
AddLevel=2
PadsSameType=0
Layer=97
-Views=" 1: -44.3222 -111.715 375.845 78.9921"
+Views=" 1: -74.0592 -128.262 651.99 201.28"
Sheet="1"
[Win_2]
Type="Board Editor"
Number=1
File="atkbldcdriver.brd"
-View="2.27887 -15.6599 117.27 73.3317"
+View="10.1628 -3.29234 90.0178 58.5074"
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"
diff --git a/datasheet/ATxmega-AU_Manual.pdf b/datasheet/ATxmega-AU_Manual.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..20bc7b76da99872203973ea908177fa052a8525e
Binary files /dev/null and b/datasheet/ATxmega-AU_Manual.pdf differ
diff --git a/datasheet/ATxmega64A3U-128A3U-192A3U-256A3U_datasheet.pdf b/datasheet/ATxmega64A3U-128A3U-192A3U-256A3U_datasheet.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..a567b7cb8f54e89113a9fc8b6e430ea52cd1e4e9
Binary files /dev/null and b/datasheet/ATxmega64A3U-128A3U-192A3U-256A3U_datasheet.pdf differ
diff --git a/embedded/atkbldcdriver/atkbldcdriver/main.c b/embedded/atkbldcdriver/atkbldcdriver/main.c
index 4675305acbc3ae9b934a0a957edfa9e435e4277a..37b270b6d155de1dc8928e54779e493ff8bf8e0d 100644
--- a/embedded/atkbldcdriver/atkbldcdriver/main.c
+++ b/embedded/atkbldcdriver/atkbldcdriver/main.c
@@ -292,17 +292,11 @@ ISR(TCD0_OVF_vect){
uint16_t dt = bldc.comDuty;
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);