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@@ -24672,7 +24665,6 @@
 		(in_bom yes)
 		(on_board yes)
 		(dnp no)
-		(fields_autoplaced yes)
 		(uuid "ba7f9ee6-543c-4f99-b417-f299c8fa6247")
 		(property "Reference" "#P+07"
 			(at 347.98 170.18 0)
@@ -24684,13 +24676,12 @@
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-				(hide yes)
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@@ -24856,7 +24847,7 @@
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@@ -25616,7 +25607,7 @@
 				(hide yes)
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-		(property "Datasheet" ""
+		(property "Datasheet" "https://www.mouser.de/datasheet/2/389/stm32f405rg-1851084.pdf"
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@@ -27142,7 +27133,7 @@
 				(hide yes)
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-		(property "Datasheet" ""
+		(property "Datasheet" "https://www.mouser.de/datasheet/2/389/stm32f405rg-1851084.pdf"
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diff --git a/Hardware/KiCAD/fsim_ff.kicad_pcb b/Hardware/KiCAD/fsim_ff.kicad_pcb
index fe8bb4b..51c9769 100644
--- a/Hardware/KiCAD/fsim_ff.kicad_pcb
+++ b/Hardware/KiCAD/fsim_ff.kicad_pcb
@@ -15870,9 +15870,9 @@
 			(uuid "659c8484-c073-4ab1-8e54-7bc51dc8ef27")
 		)
 		(fp_text user "*"
-			(at -6.235699 -2.6 270)
+			(at -6.235699 -2.6 90)
 			(layer "F.SilkS")
-			(uuid "91a43f94-336b-4083-b1ca-f902cf9516aa")
+			(uuid "b09b9f0f-7544-4179-b746-2e14865e2aad")
 			(effects
 				(font
 					(size 1 1)
@@ -15891,10 +15891,11 @@
 				)
 			)
 		)
-		(fp_text user "*"
-			(at -4.007699 -2.6 90)
+		(fp_text user "${REFERENCE}"
+			(at 0 0 270)
+			(unlocked yes)
 			(layer "F.Fab")
-			(uuid "351a7f96-a474-49ed-94df-664ce46ecf62")
+			(uuid "a4a6c771-6876-4580-8a45-242fde62b71c")
 			(effects
 				(font
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@@ -15902,11 +15903,10 @@
 				)
 			)
 		)
-		(fp_text user "${REFERENCE}"
-			(at 0 0 270)
-			(unlocked yes)
+		(fp_text user "*"
+			(at -4.007699 -2.6 90)
 			(layer "F.Fab")
-			(uuid "a4a6c771-6876-4580-8a45-242fde62b71c")
+			(uuid "a7fcf8e7-0a6a-4700-8d01-b241ba56fbd5")
 			(effects
 				(font
 					(size 1 1)
@@ -16590,6 +16590,7 @@
 			(net 50 "GPIO2")
 			(pinfunction "GPIO2/ADC_VM_MCD")
 			(pintype "bidirectional")
+			(clearance 0.1)
 			(uuid "ae99f57c-4826-4b3b-8a05-414d996d4976")
 		)
 		(pad "75" smd rect
@@ -16599,6 +16600,7 @@
 			(net 49 "GPIO3")
 			(pinfunction "GPIO3/AGPI_A_MCD/DBGSPI_NSCS")
 			(pintype "bidirectional")
+			(clearance 0.1)
 			(uuid "38ecf52b-15f9-4449-8600-36f3f48e9273")
 		)
 		(pad "76" smd rect
@@ -17690,7 +17692,7 @@
 		(property "Reference" "U19"
 			(at -2.535148 -3.536618 90)
 			(layer "F.SilkS")
-			(uuid "adb40bcc-10d5-4f2c-9c1d-55ee28842712")
+			(uuid "3f4a7c39-6245-4dff-a1ca-7075b2ba34ab")
 			(effects
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@@ -17701,7 +17703,7 @@
 		(property "Value" "74LV17APWJ"
 			(at 0 3.45 90)
 			(layer "F.Fab")
-			(uuid "e45d2f21-c04c-41bd-a479-272c3f8ab00c")
+			(uuid "08d61691-8e6c-4e96-b17e-1ab07467dece")
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@@ -17713,7 +17715,7 @@
 			(at 0 0 90)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "fdf109cf-a944-4f1e-9816-bb6d7b7e6db4")
+			(uuid "027dc313-03b3-44e1-bb90-2388206dfed3")
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@@ -17725,7 +17727,7 @@
 			(at 0 0 90)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "ad0001a7-23cd-4486-a1dc-6fac6c211c78")
+			(uuid "2fae809d-ba4d-47af-84e6-7c3c3b5a8f4a")
 			(effects
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@@ -46820,11 +46822,11 @@
 	(footprint "Capacitor_SMD:C_0603_1608Metric"
 		(layer "F.Cu")
 		(uuid "dec33e95-859d-4184-beaa-879ec2125cd4")
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+				(xy 82.82282 40.019951) (xy 82.633414 39.923444) (xy 82.633413 39.923443) (xy 82.633412 39.923443)
+				(xy 82.431243 39.857754) (xy 82.431241 39.857753) (xy 82.43124 39.857753) (xy 82.269957 39.832208)
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+				(xy 81.407179 40.019951) (xy 81.235213 40.14489) (xy 81.08489 40.295213) (xy 80.959951 40.467179)
+				(xy 80.863444 40.656585) (xy 80.797753 40.85876) (xy 80.796291 40.867993) (xy 80.7645 41.068713)
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 				(xy 67.156116 41.55967) (xy 67.03352 41.719442) (xy 66.88277 41.980545) (xy 66.882765 41.980556)
-				(xy 66.767389 42.259098) (xy 66.689353 42.550332) (xy 66.650001 42.84924) (xy 66.65 42.849256) (xy 63.8505 42.849256)
-				(xy 63.8505 38.6245) (xy 63.870185 38.557461) (xy 63.922989 38.511706) (xy 63.9745 38.5005) (xy 129.7255 38.5005)
+				(xy 66.767389 42.259098) (xy 66.689353 42.550332) (xy 66.650001 42.84924) (xy 66.65 42.849256) (xy 63.6505 42.849256)
+				(xy 63.6505 38.4245) (xy 63.670185 38.357461) (xy 63.722989 38.311706) (xy 63.7745 38.3005) (xy 129.9255 38.3005)
 			)
 		)
 	)
diff --git a/Hardware/KiCAD/fsim_ff.kicad_pro b/Hardware/KiCAD/fsim_ff.kicad_pro
index 0b38419..e302608 100644
--- a/Hardware/KiCAD/fsim_ff.kicad_pro
+++ b/Hardware/KiCAD/fsim_ff.kicad_pro
@@ -58,54 +58,13 @@
           "width": 0.0
         }
       ],
-      "drc_exclusions": [
-        [
-          "lib_footprint_mismatch|124600000|119400000|018926d8-5120-4c7d-9df4-a6df800141ef|00000000-0000-0000-0000-000000000000",
-          ""
-        ],
-        [
-          "starved_thermal|72450000|100275000|183d8812-9fe7-4dad-9e7a-1e632b451789|88850cfb-7bdc-49de-a847-f69e1b95a06b|B.Cu",
-          ""
-        ],
-        [
-          "starved_thermal|72975000|74460000|9a4dc2e9-eccf-4f65-9aa8-d80485785422|fbc137c1-c643-494a-b259-0e68abd17930|F.Cu",
-          ""
-        ],
-        [
-          "starved_thermal|84420000|45235000|183d8812-9fe7-4dad-9e7a-1e632b451789|1c1f192b-8f26-4f27-8eb1-212b6b21b2bd|B.Cu",
-          ""
-        ],
-        [
-          "starved_thermal|84420000|45235000|1ad8db5b-7d91-4a83-8dfe-be4b7b9a4f83|1c1f192b-8f26-4f27-8eb1-212b6b21b2bd|In1.Cu",
-          ""
-        ],
-        [
-          "starved_thermal|84420000|45235000|76c50e9d-5459-4e04-a757-42d465967603|1c1f192b-8f26-4f27-8eb1-212b6b21b2bd|In2.Cu",
-          ""
-        ],
-        [
-          "starved_thermal|84420000|45235000|9a4dc2e9-eccf-4f65-9aa8-d80485785422|1c1f192b-8f26-4f27-8eb1-212b6b21b2bd|F.Cu",
-          ""
-        ],
-        [
-          "starved_thermal|86637078|87095000|183d8812-9fe7-4dad-9e7a-1e632b451789|30d6a433-8d6d-4ace-934d-4d4d779dc610|B.Cu",
-          ""
-        ],
-        [
-          "starved_thermal|87675000|95925000|9a4dc2e9-eccf-4f65-9aa8-d80485785422|7823f3c3-264e-4f01-82be-7049a6df65cb|F.Cu",
-          ""
-        ],
-        [
-          "starved_thermal|97865000|41175000|9a4dc2e9-eccf-4f65-9aa8-d80485785422|ae554d7b-6fe6-44be-adc5-e66c8913f28d|F.Cu",
-          ""
-        ]
-      ],
+      "drc_exclusions": [],
       "meta": {
         "version": 2
       },
       "rule_severities": {
         "annular_width": "error",
-        "clearance": "ignore",
+        "clearance": "error",
         "connection_width": "warning",
         "copper_edge_clearance": "error",
         "copper_sliver": "warning",
@@ -163,22 +122,22 @@
       },
       "rules": {
         "max_error": 0.005,
-        "min_clearance": 0.0,
+        "min_clearance": 0.2,
         "min_connection": 0.0,
-        "min_copper_edge_clearance": 0.5,
+        "min_copper_edge_clearance": 0.3,
         "min_groove_width": 0.0,
         "min_hole_clearance": 0.25,
-        "min_hole_to_hole": 0.25,
+        "min_hole_to_hole": 0.4,
         "min_microvia_diameter": 0.2,
         "min_microvia_drill": 0.1,
-        "min_resolved_spokes": 2,
+        "min_resolved_spokes": 1,
         "min_silk_clearance": 0.0,
         "min_text_height": 0.8,
         "min_text_thickness": 0.08,
         "min_through_hole_diameter": 0.3,
-        "min_track_width": 0.0,
+        "min_track_width": 0.25,
         "min_via_annular_width": 0.1,
-        "min_via_diameter": 0.5,
+        "min_via_diameter": 0.4,
         "solder_mask_to_copper_clearance": 0.0,
         "use_height_for_length_calcs": true
       },
diff --git a/Hardware/KiCAD/motor_board_tmc_1.kicad_sch b/Hardware/KiCAD/motor_board_tmc_1.kicad_sch
index c136851..99347fb 100644
--- a/Hardware/KiCAD/motor_board_tmc_1.kicad_sch
+++ b/Hardware/KiCAD/motor_board_tmc_1.kicad_sch
@@ -5284,7 +5284,7 @@
 	)
 	(text "Brake Control"
 		(exclude_from_sim no)
-		(at 322.072 249.428 0)
+		(at 273.558 239.776 0)
 		(effects
 			(font
 				(size 1.27 1.0795)
@@ -5293,20 +5293,9 @@
 		)
 		(uuid "00ecdc6f-9ce2-4ca6-8e84-ed99b1d1a5ae")
 	)
-	(text "Series filter resistor as low as possible (tmc current leakage)"
-		(exclude_from_sim no)
-		(at 314.96 43.18 0)
-		(effects
-			(font
-				(size 1.778 1.5113)
-			)
-			(justify left bottom)
-		)
-		(uuid "0d17847c-bdb1-489f-9194-1a6ce82774f6")
-	)
 	(text "Gate Driver"
 		(exclude_from_sim no)
-		(at 177.8 165.1 0)
+		(at 173.99 167.64 0)
 		(effects
 			(font
 				(size 1.778 1.5113)
@@ -5315,20 +5304,9 @@
 		)
 		(uuid "3d7f2966-458b-4088-be8f-7df7c1c4341e")
 	)
-	(text "Options w. ext filter & internal ref:\nLEM GO SME\nMLX91220\nW. changes\nTMCS1100 (Set 2.5V jumpers)\nACS724 (Disconnect ref & set 2.5V jumpers to tmc, do not use filter cap C40,C28. Use 4.7nF C42,C43)\nCrocus CT415. (Disconnect ref & set 2-5V jumpers, do not use filter cap C40,C28. Use 470pF C42,C43). Has constant 2.5V ref~{}"
-		(exclude_from_sim no)
-		(at 182.88 220.98 0)
-		(effects
-			(font
-				(size 1.778 1.5113)
-			)
-			(justify left bottom)
-		)
-		(uuid "430e25a1-bf5a-46be-a97d-9157452a8cfa")
-	)
 	(text "Bottom"
 		(exclude_from_sim no)
-		(at 200.66 269.24 0)
+		(at 191.262 274.066 0)
 		(effects
 			(font
 				(size 1.778 1.5113)
@@ -5337,17 +5315,6 @@
 		)
 		(uuid "560316d3-bd37-42d6-be37-2379d8c1127f")
 	)
-	(text "TMC4671-LA"
-		(exclude_from_sim no)
-		(at 99.06 106.68 0)
-		(effects
-			(font
-				(size 1.778 1.5113)
-			)
-			(justify left bottom)
-		)
-		(uuid "79863b0f-8518-4192-8eaa-d9352c4663dd")
-	)
 	(text "25MHz Clock"
 		(exclude_from_sim no)
 		(at 30.734 97.282 0)
@@ -5361,7 +5328,7 @@
 	)
 	(text "non inverting~{\nUse} MCP1402 or MCP1416"
 		(exclude_from_sim no)
-		(at 349.504 205.486 0)
+		(at 338.074 205.486 0)
 		(effects
 			(font
 				(size 1.778 1.5113)
@@ -5383,7 +5350,7 @@
 	)
 	(text "Shunt Amp Caps"
 		(exclude_from_sim no)
-		(at 275.59 270.764 0)
+		(at 266.192 275.59 0)
 		(effects
 			(font
 				(size 1.778 1.5113)
@@ -5394,7 +5361,7 @@
 	)
 	(text "Decoupling Caps"
 		(exclude_from_sim no)
-		(at 213.614 270.51 0)
+		(at 204.216 275.336 0)
 		(effects
 			(font
 				(size 1.778 1.5113)
@@ -5416,7 +5383,7 @@
 	)
 	(text "For DMTH8003 use lower/zero value gate resistors"
 		(exclude_from_sim no)
-		(at 198.12 165.1 0)
+		(at 194.31 167.64 0)
 		(effects
 			(font
 				(size 1.778 1.5113)
@@ -5427,7 +5394,7 @@
 	)
 	(text "Sense reference"
 		(exclude_from_sim no)
-		(at 60.96 38.1 0)
+		(at 53.848 44.196 0)
 		(effects
 			(font
 				(size 1.778 1.5113)
@@ -5438,7 +5405,7 @@
 	)
 	(text "GNDA ist ein durch den TMC vorgeschriebener getrennter Ground für seine Analoge Sensorik (datasheet p135) "
 		(exclude_from_sim no)
-		(at 243.332 274.066 0)
+		(at 233.934 278.892 0)
 		(effects
 			(font
 				(size 1.27 1.27)
@@ -5448,7 +5415,7 @@
 	)
 	(text "Current Sense"
 		(exclude_from_sim no)
-		(at 292.1 119.38 0)
+		(at 274.574 121.92 0)
 		(effects
 			(font
 				(size 1.27 1.0795)
@@ -5459,7 +5426,7 @@
 	)
 	(text "SHORT for TMCS11xx & ACS724,\nDISCONNECT for LEM GO SME, MLX91220"
 		(exclude_from_sim no)
-		(at 330.454 114.3 0)
+		(at 343.408 111.506 0)
 		(effects
 			(font
 				(size 1.778 1.5113)
@@ -5469,7 +5436,7 @@
 		(uuid "fda36183-501e-4c0f-9d75-d56e88c2b62a")
 	)
 	(junction
-		(at 193.04 264.16)
+		(at 183.642 268.986)
 		(diameter 0)
 		(color 0 0 0 0)
 		(uuid "0036494e-a579-4125-b90e-98dadbdb6feb")
@@ -5481,13 +5448,13 @@
 		(uuid "00c80b2e-df59-4eb8-b46d-0ddaa74027ff")
 	)
 	(junction
-		(at 251.46 60.96)
+		(at 247.65 63.5)
 		(diameter 0)
 		(color 0 0 0 0)
 		(uuid "01a43f39-335f-465b-8955-1a0138bc41df")
 	)
 	(junction
-		(at 322.58 116.84)
+		(at 331.47 114.3)
 		(diameter 0)
 		(color 0 0 0 0)
 		(uuid "024251e1-edde-40a8-b267-d9944cf6319f")
@@ -5499,7 +5466,7 @@
 		(uuid "024d42c8-b22a-468f-93cf-8a534efcb7be")
 	)
 	(junction
-		(at 187.96 114.3)
+		(at 184.15 116.84)
 		(diameter 0)
 		(color 0 0 0 0)
 		(uuid "060da21f-e8b6-4fdf-9392-30b2609fd314")
@@ -5517,7 +5484,13 @@
 		(uuid "0d88faf6-6509-4df6-9d42-409422505d03")
 	)
 	(junction
-		(at 234.188 256.794)
+		(at 312.42 157.48)
+		(diameter 0)
+		(color 0 0 0 0)
+		(uuid "0fd66916-e4ac-4b7f-bb8e-7ed3ddc397b0")
+	)
+	(junction
+		(at 224.79 261.62)
 		(diameter 0)
 		(color 0 0 0 0)
 		(uuid "105eed48-4f2a-4686-b658-9b495b8e92aa")
@@ -5541,13 +5514,13 @@
 		(uuid "1303ddf7-9adf-4150-aade-f819a84b6f95")
 	)
 	(junction
-		(at 187.96 58.42)
+		(at 184.15 60.96)
 		(diameter 0)
 		(color 0 0 0 0)
 		(uuid "1413821f-44e5-4423-826b-b0cb52dd6cc8")
 	)
 	(junction
-		(at 187.96 86.36)
+		(at 184.15 88.9)
 		(diameter 0)
 		(color 0 0 0 0)
 		(uuid "142a6c78-e665-4907-97a5-4a123b90922c")
@@ -5559,25 +5532,31 @@
 		(uuid "16774827-18d7-4041-a928-6d7777db0adf")
 	)
 	(junction
-		(at 251.46 147.32)
+		(at 247.65 149.86)
 		(diameter 0)
 		(color 0 0 0 0)
 		(uuid "195d9436-9d81-46b6-bc56-e442a7a708e4")
 	)
 	(junction
-		(at 193.04 256.54)
+		(at 183.642 261.366)
 		(diameter 0)
 		(color 0 0 0 0)
 		(uuid "1b3d1328-b886-4f51-afc6-984cc434931d")
 	)
 	(junction
-		(at 200.66 256.54)
+		(at 336.55 213.36)
+		(diameter 0)
+		(color 0 0 0 0)
+		(uuid "1ce0e215-48db-41fa-a9e8-8a6f1aec4e31")
+	)
+	(junction
+		(at 191.262 261.366)
 		(diameter 0)
 		(color 0 0 0 0)
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diff --git a/Hardware/KiCAD/motor_board_tmc_2.kicad_sch b/Hardware/KiCAD/motor_board_tmc_2.kicad_sch
index b1f7ac0..f06d2cc 100644
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