From 9f913eb9a9a6aa00c545e22a3896ddc6b8cf0b94 Mon Sep 17 00:00:00 2001
From: copper280z <rday689@gmail.com>
Date: Tue, 23 Jan 2024 07:32:01 -0500
Subject: [PATCH] Made analog gain of current sense amps selectable by mcu.
 Removed analog ground plane and tied all grounds together

---
 hardware/currentsense.kicad_sch |  375 ++-
 hardware/halfbridges.kicad_sch  |    2 +-
 hardware/lemon-pepper.kicad_pcb | 3857 ++++++++++++++++---------------
 hardware/lemon-pepper.kicad_prl |    3 +-
 hardware/lemon-pepper.kicad_sch |   32 +
 hardware/mcu.kicad_sch          |   10 +-
 6 files changed, 2128 insertions(+), 2151 deletions(-)

diff --git a/hardware/currentsense.kicad_sch b/hardware/currentsense.kicad_sch
index 2b0e501..78a817b 100644
--- a/hardware/currentsense.kicad_sch
+++ b/hardware/currentsense.kicad_sch
@@ -378,46 +378,6 @@
         )
       )
     )
-    (symbol "power:GNDA" (power) (pin_names (offset 0)) (in_bom yes) (on_board yes)
-      (property "Reference" "#PWR" (at 0 -6.35 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "Value" "GNDA" (at 0 -3.81 0)
-        (effects (font (size 1.27 1.27)))
-      )
-      (property "Footprint" "" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "Datasheet" "" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "ki_keywords" "global power" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (property "ki_description" "Power symbol creates a global label with name \"GNDA\" , analog ground" (at 0 0 0)
-        (effects (font (size 1.27 1.27)) hide)
-      )
-      (symbol "GNDA_0_1"
-        (polyline
-          (pts
-            (xy 0 0)
-            (xy 0 -1.27)
-            (xy 1.27 -1.27)
-            (xy 0 -2.54)
-            (xy -1.27 -1.27)
-            (xy 0 -1.27)
-          )
-          (stroke (width 0) (type default))
-          (fill (type none))
-        )
-      )
-      (symbol "GNDA_1_1"
-        (pin power_in line (at 0 0 270) (length 0) hide
-          (name "GNDA" (effects (font (size 1.27 1.27))))
-          (number "1" (effects (font (size 1.27 1.27))))
-        )
-      )
-    )
     (symbol "power:PWR_FLAG" (power) (pin_numbers hide) (pin_names (offset 0) hide) (in_bom yes) (on_board yes)
       (property "Reference" "#FLG" (at 0 1.905 0)
         (effects (font (size 1.27 1.27)) hide)
@@ -463,7 +423,7 @@
   (junction (at 96.52 62.23) (diameter 0) (color 0 0 0 0)
     (uuid 0caa3656-22a8-4a92-9d33-1b139769463e)
   )
-  (junction (at 143.51 111.76) (diameter 0) (color 0 0 0 0)
+  (junction (at 149.86 111.76) (diameter 0) (color 0 0 0 0)
     (uuid 102130c6-2c59-4190-be59-57aeb0187e40)
   )
   (junction (at 137.16 59.69) (diameter 0) (color 0 0 0 0)
@@ -472,7 +432,7 @@
   (junction (at 137.16 114.3) (diameter 0) (color 0 0 0 0)
     (uuid 1d4776b1-3b8c-4647-ac0c-5884bb43b050)
   )
-  (junction (at 153.67 46.99) (diameter 0) (color 0 0 0 0)
+  (junction (at 160.02 46.99) (diameter 0) (color 0 0 0 0)
     (uuid 31ae30b0-10f4-4a65-88c0-cf3a954b2ca3)
   )
   (junction (at 137.16 111.76) (diameter 0) (color 0 0 0 0)
@@ -487,25 +447,19 @@
   (junction (at 137.16 39.37) (diameter 0) (color 0 0 0 0)
     (uuid 64432269-284e-4cac-8b35-29f0077b0a6e)
   )
-  (junction (at 143.51 59.69) (diameter 0) (color 0 0 0 0)
+  (junction (at 149.86 59.69) (diameter 0) (color 0 0 0 0)
     (uuid 6a53e5cc-df47-497a-a5b4-b3936d207df0)
   )
-  (junction (at 137.16 44.45) (diameter 0) (color 0 0 0 0)
-    (uuid 77134c2b-3b82-498f-9dc6-1a0148ddad06)
-  )
   (junction (at 96.52 114.3) (diameter 0) (color 0 0 0 0)
     (uuid 80313390-740c-4d00-ace3-33d1d254684e)
   )
   (junction (at 137.16 62.23) (diameter 0) (color 0 0 0 0)
     (uuid 83e272c6-ca49-4c8e-bdbd-f7faf1f70d1a)
   )
-  (junction (at 139.7 111.76) (diameter 0) (color 0 0 0 0)
-    (uuid 9d36b0ba-ba09-4f1f-a194-24e3fb5b5765)
-  )
   (junction (at 137.16 41.91) (diameter 0) (color 0 0 0 0)
     (uuid af32c69c-4e21-459a-a267-ea6023fd8ea3)
   )
-  (junction (at 153.67 99.06) (diameter 0) (color 0 0 0 0)
+  (junction (at 160.02 99.06) (diameter 0) (color 0 0 0 0)
     (uuid cfe02713-aa50-4f62-89fd-63222ae78fad)
   )
   (junction (at 137.16 91.44) (diameter 0) (color 0 0 0 0)
@@ -517,18 +471,12 @@
   (junction (at 137.16 93.98) (diameter 0) (color 0 0 0 0)
     (uuid eebb2eb6-1a97-4aee-a2e3-882492cff209)
   )
-  (junction (at 139.7 59.69) (diameter 0) (color 0 0 0 0)
-    (uuid f551f83f-2c5c-44c7-a11c-d25c56c810bc)
-  )
-  (junction (at 137.16 96.52) (diameter 0) (color 0 0 0 0)
-    (uuid fcd534ea-b41d-4528-bc1a-4e524034ea88)
-  )
 
-  (wire (pts (xy 153.67 59.69) (xy 153.67 54.61))
+  (wire (pts (xy 160.02 59.69) (xy 160.02 54.61))
     (stroke (width 0) (type default))
     (uuid 0cfebd83-704c-4e49-94be-7db78aaf7d4d)
   )
-  (wire (pts (xy 143.51 44.45) (xy 137.16 44.45))
+  (wire (pts (xy 149.86 44.45) (xy 143.51 44.45))
     (stroke (width 0) (type default))
     (uuid 0da99871-7a64-4e2e-a013-c3c76bbabd59)
   )
@@ -536,15 +484,15 @@
     (stroke (width 0) (type default))
     (uuid 0fc7a0f3-688d-40d5-9f5b-e1697101cbd5)
   )
-  (wire (pts (xy 151.13 46.99) (xy 153.67 46.99))
+  (wire (pts (xy 157.48 46.99) (xy 160.02 46.99))
     (stroke (width 0) (type default))
     (uuid 146eb3db-b740-4f92-a146-f281ef2d4482)
   )
-  (wire (pts (xy 153.67 99.06) (xy 153.67 101.6))
+  (wire (pts (xy 160.02 99.06) (xy 160.02 101.6))
     (stroke (width 0) (type default))
     (uuid 15f15684-9d19-47ac-9ea7-2cdb389e6165)
   )
-  (wire (pts (xy 153.67 46.99) (xy 163.83 46.99))
+  (wire (pts (xy 160.02 46.99) (xy 170.18 46.99))
     (stroke (width 0) (type default))
     (uuid 1e2fb576-0412-45da-b4cb-6c6c47d5910e)
   )
@@ -552,10 +500,6 @@
     (stroke (width 0) (type default))
     (uuid 1f2064c5-c30b-4eb1-9cae-cbf3da67f97a)
   )
-  (wire (pts (xy 143.51 111.76) (xy 139.7 111.76))
-    (stroke (width 0) (type default))
-    (uuid 1f3d3491-38cd-420f-9499-ca19bc276665)
-  )
   (wire (pts (xy 96.52 114.3) (xy 102.87 114.3))
     (stroke (width 0) (type default))
     (uuid 22655c40-e786-4ebd-9c85-bbee50536a7b)
@@ -564,7 +508,7 @@
     (stroke (width 0) (type default))
     (uuid 2635a89a-8f80-4baf-bfc5-e68778116370)
   )
-  (wire (pts (xy 153.67 106.68) (xy 153.67 111.76))
+  (wire (pts (xy 160.02 106.68) (xy 160.02 111.76))
     (stroke (width 0) (type default))
     (uuid 27966665-2e49-4800-8ceb-0f95361a7a1c)
   )
@@ -572,15 +516,11 @@
     (stroke (width 0) (type default))
     (uuid 281f5a37-0c2c-42a0-a494-5e4f9ea859a4)
   )
-  (wire (pts (xy 137.16 44.45) (xy 137.16 54.61))
-    (stroke (width 0) (type default))
-    (uuid 295a7050-6b1f-4006-913d-a4aaa43f01ec)
-  )
   (wire (pts (xy 137.16 111.76) (xy 137.16 114.3))
     (stroke (width 0) (type default))
     (uuid 3795ae14-4798-4fac-a22a-b2e77e842e48)
   )
-  (wire (pts (xy 143.51 59.69) (xy 153.67 59.69))
+  (wire (pts (xy 149.86 59.69) (xy 160.02 59.69))
     (stroke (width 0) (type default))
     (uuid 3cdd4a89-6db3-4808-9b65-4175959c5858)
   )
@@ -588,11 +528,11 @@
     (stroke (width 0) (type default))
     (uuid 3f3b9471-aca4-4a80-9d8d-f500a040f2e1)
   )
-  (wire (pts (xy 139.7 59.69) (xy 137.16 59.69))
+  (wire (pts (xy 137.16 59.69) (xy 149.86 59.69))
     (stroke (width 0) (type default))
     (uuid 422a9d80-95fd-40c2-a325-9df77f308cc9)
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-  (wire (pts (xy 143.51 54.61) (xy 143.51 59.69))
+  (wire (pts (xy 149.86 54.61) (xy 149.86 59.69))
     (stroke (width 0) (type default))
     (uuid 428a23cc-6ef1-4934-b7e5-5ae7b0e8fc43)
   )
@@ -604,43 +544,35 @@
     (stroke (width 0) (type default))
     (uuid 45c65c85-f61d-40df-a381-dfee7f0684e3)
   )
-  (wire (pts (xy 143.51 96.52) (xy 143.51 101.6))
+  (wire (pts (xy 149.86 96.52) (xy 149.86 101.6))
     (stroke (width 0) (type default))
     (uuid 473d5fe9-1a9e-49cb-8ec3-bed1a1dd4635)
   )
-  (wire (pts (xy 133.35 106.68) (xy 137.16 106.68))
+  (wire (pts (xy 143.51 41.91) (xy 137.16 41.91))
     (stroke (width 0) (type default))
-    (uuid 4b8796b5-db3e-4e27-82c5-8928e7d356cf)
+    (uuid 49abd52b-b766-43b3-8b21-ea2555b6307f)
   )
-  (wire (pts (xy 143.51 111.76) (xy 153.67 111.76))
+  (wire (pts (xy 149.86 111.76) (xy 160.02 111.76))
     (stroke (width 0) (type default))
     (uuid 582cc157-75bd-45cc-9b76-65a9fcd8282d)
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-  (wire (pts (xy 143.51 59.69) (xy 139.7 59.69))
-    (stroke (width 0) (type default))
-    (uuid 59ac724b-19d6-421b-bc02-aff0210fcbf6)
-  )
   (wire (pts (xy 137.16 59.69) (xy 137.16 62.23))
     (stroke (width 0) (type default))
     (uuid 5eec7c98-e5a4-4ec5-bbe0-0d242197fd8a)
   )
-  (wire (pts (xy 133.35 99.06) (xy 146.05 99.06))
-    (stroke (width 0) (type default))
-    (uuid 632408d1-c0e4-469d-bc31-f2ae86f99aa0)
-  )
-  (wire (pts (xy 137.16 114.3) (xy 137.16 118.11))
+  (wire (pts (xy 143.51 114.3) (xy 143.51 118.11))
     (stroke (width 0) (type default))
     (uuid 6681f203-33c9-4019-9f15-08e44110f205)
   )
-  (wire (pts (xy 133.35 54.61) (xy 137.16 54.61))
-    (stroke (width 0) (type default))
-    (uuid 6ca02531-2e40-4f8c-a77a-d34901e29c08)
-  )
-  (wire (pts (xy 137.16 93.98) (xy 137.16 96.52))
+  (wire (pts (xy 143.51 93.98) (xy 143.51 96.52))
     (stroke (width 0) (type default))
     (uuid 6cb04cbf-cac4-405b-90ae-fb1ef4c8a00e)
   )
-  (wire (pts (xy 151.13 99.06) (xy 153.67 99.06))
+  (wire (pts (xy 133.35 46.99) (xy 152.4 46.99))
+    (stroke (width 0) (type default))
+    (uuid 6d8d32bd-4442-4aea-b743-3dfef3a4db1f)
+  )
+  (wire (pts (xy 157.48 99.06) (xy 160.02 99.06))
     (stroke (width 0) (type default))
     (uuid 6e94619e-e44c-4758-84f4-238c8254db73)
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@@ -660,21 +592,21 @@
     (stroke (width 0) (type default))
     (uuid 85b2b9a5-bf87-4914-8ed5-7a73dff33e4d)
   )
-  (wire (pts (xy 153.67 99.06) (xy 163.83 99.06))
+  (wire (pts (xy 160.02 99.06) (xy 170.18 99.06))
     (stroke (width 0) (type default))
     (uuid 86387335-7cad-420b-8f75-2a77383cfcb3)
   )
-  (wire (pts (xy 133.35 46.99) (xy 146.05 46.99))
-    (stroke (width 0) (type default))
-    (uuid 89927ced-70c4-4e68-a9b4-add9b654c869)
-  )
   (wire (pts (xy 133.35 114.3) (xy 137.16 114.3))
     (stroke (width 0) (type default))
     (uuid 8e7a792d-068d-46cc-8830-a582e342c8ac)
   )
-  (wire (pts (xy 137.16 96.52) (xy 137.16 106.68))
+  (wire (pts (xy 133.35 99.06) (xy 152.4 99.06))
     (stroke (width 0) (type default))
-    (uuid 92169482-3ae4-494d-b4d9-e3e7c1a2a4de)
+    (uuid 8f6e8c49-d4f5-4fdc-9893-a77c107e8906)
+  )
+  (wire (pts (xy 143.51 114.3) (xy 137.16 114.3))
+    (stroke (width 0) (type default))
+    (uuid 92ba841f-0f18-49ea-b7a7-b26f3c019dfe)
   )
   (wire (pts (xy 137.16 87.63) (xy 137.16 91.44))
     (stroke (width 0) (type default))
@@ -692,18 +624,14 @@
     (stroke (width 0) (type default))
     (uuid 9f6cc88b-9f02-4f1f-8fd1-18444469a022)
   )
+  (wire (pts (xy 143.51 93.98) (xy 137.16 93.98))
+    (stroke (width 0) (type default))
+    (uuid a29517a2-c0df-4154-9df9-85764f57931c)
+  )
   (wire (pts (xy 96.52 39.37) (xy 102.87 39.37))
     (stroke (width 0) (type default))
     (uuid a2e8f5df-ca2c-4bdd-9f57-d248e38d9cc2)
   )
-  (wire (pts (xy 139.7 52.07) (xy 139.7 59.69))
-    (stroke (width 0) (type default))
-    (uuid a40cd4f7-15d9-4240-9c09-5f5642e20efa)
-  )
-  (wire (pts (xy 133.35 52.07) (xy 139.7 52.07))
-    (stroke (width 0) (type default))
-    (uuid a52d3c86-4c3f-4005-bd43-d40e62707ae5)
-  )
   (wire (pts (xy 88.9 91.44) (xy 96.52 91.44))
     (stroke (width 0) (type default))
     (uuid a66f593d-0263-4d89-b964-3ba253c60e32)
@@ -716,23 +644,19 @@
     (stroke (width 0) (type default))
     (uuid ad5762ae-926e-49e1-9597-a09bd0001179)
   )
-  (wire (pts (xy 139.7 111.76) (xy 137.16 111.76))
+  (wire (pts (xy 137.16 111.76) (xy 149.86 111.76))
     (stroke (width 0) (type default))
     (uuid b6e718d7-331d-42a2-90bd-6e5a4bb3fb3f)
   )
-  (wire (pts (xy 137.16 41.91) (xy 137.16 44.45))
+  (wire (pts (xy 143.51 41.91) (xy 143.51 44.45))
     (stroke (width 0) (type default))
     (uuid c0b98769-8d03-4c4b-ad14-9f23121708a2)
   )
-  (wire (pts (xy 139.7 104.14) (xy 139.7 111.76))
-    (stroke (width 0) (type default))
-    (uuid c3203c4c-1844-429d-85d9-83fa356cb455)
-  )
   (wire (pts (xy 96.52 105.41) (xy 96.52 114.3))
     (stroke (width 0) (type default))
     (uuid c34721af-e435-4ff6-a0fa-c9321cb82a2c)
   )
-  (wire (pts (xy 143.51 44.45) (xy 143.51 49.53))
+  (wire (pts (xy 149.86 44.45) (xy 149.86 49.53))
     (stroke (width 0) (type default))
     (uuid c3ca4e3f-a902-4c40-9de2-773f5fc08254)
   )
@@ -760,7 +684,7 @@
     (stroke (width 0) (type default))
     (uuid e018d7bf-6db4-4188-a4b4-a8e7db77c4ba)
   )
-  (wire (pts (xy 153.67 46.99) (xy 153.67 49.53))
+  (wire (pts (xy 160.02 46.99) (xy 160.02 49.53))
     (stroke (width 0) (type default))
     (uuid e2625d78-1380-4efc-8531-65a5f56b03cc)
   )
@@ -772,19 +696,15 @@
     (stroke (width 0) (type default))
     (uuid e723ad8a-420a-4b82-b79d-c48e98d5eda0)
   )
-  (wire (pts (xy 143.51 106.68) (xy 143.51 111.76))
+  (wire (pts (xy 149.86 106.68) (xy 149.86 111.76))
     (stroke (width 0) (type default))
     (uuid ec6d9b68-9db5-4e53-b875-f70b70ee91e7)
   )
-  (wire (pts (xy 139.7 104.14) (xy 133.35 104.14))
-    (stroke (width 0) (type default))
-    (uuid fa9bd4aa-66b5-4236-ba54-ff12d4a13dec)
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     (stroke (width 0) (type default))
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   )
-  (wire (pts (xy 143.51 96.52) (xy 137.16 96.52))
+  (wire (pts (xy 149.86 96.52) (xy 143.51 96.52))
     (stroke (width 0) (type default))
     (uuid fcb9c127-89b0-4c0b-a8a4-4d81910356fc)
   )
@@ -803,11 +723,15 @@
     (uuid 4196f880-bb66-48d5-b71d-1778ca064e48)
   )
   (text "V = IR\n2.9V ADC VRefBuff /20 => 0.145V input\nR = 0.145V/2A => 72m sense resistor\nP = 0.145 * 2 => 300mW rating"
-    (at 180.34 52.07 0)
+    (at 185.42 52.07 0)
     (effects (font (size 1.27 1.27)) (justify left bottom))
     (uuid a211305c-cec6-43fb-9543-c19ca6abe168)
   )
 
+  (hierarchical_label "GAIN_1" (shape input) (at 133.35 54.61 0) (fields_autoplaced)
+    (effects (font (size 1.27 1.27)) (justify left))
+    (uuid 13e4fadc-bd75-4b77-bf8c-5845a239df5b)
+  )
   (hierarchical_label "U_OUT" (shape input) (at 88.9 62.23 180) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid 1eb11783-23c0-4ea4-8639-255008e743e8)
@@ -816,14 +740,22 @@
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid 2ce3943b-815b-49da-a637-68cf9637037a)
   )
-  (hierarchical_label "U_SENSE" (shape input) (at 163.83 46.99 0) (fields_autoplaced)
+  (hierarchical_label "GAIN_0" (shape input) (at 133.35 104.14 0) (fields_autoplaced)
+    (effects (font (size 1.27 1.27)) (justify left))
+    (uuid 46f8f134-3b9e-4da1-b51a-93bc1cd750dd)
+  )
+  (hierarchical_label "U_SENSE" (shape input) (at 170.18 46.99 0) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify left))
     (uuid 4a9b1a5f-a2d0-4460-b8a1-a7dea3c69fe1)
   )
-  (hierarchical_label "V_SENSE" (shape input) (at 163.83 99.06 0) (fields_autoplaced)
+  (hierarchical_label "V_SENSE" (shape input) (at 170.18 99.06 0) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify left))
     (uuid 598fb986-ff1d-49c8-bd17-f60f0c8ee630)
   )
+  (hierarchical_label "GAIN_0" (shape input) (at 133.35 52.07 0) (fields_autoplaced)
+    (effects (font (size 1.27 1.27)) (justify left))
+    (uuid 7dc31c17-37a9-44da-9ff7-2fc20c8b3ee7)
+  )
   (hierarchical_label "V_IN" (shape input) (at 88.9 91.44 180) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid bfc529dd-631b-4e88-ada1-af3ba202493e)
@@ -832,6 +764,10 @@
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid c515ca4d-897e-4755-8266-1892a7a13f17)
   )
+  (hierarchical_label "GAIN_1" (shape input) (at 133.35 106.68 0) (fields_autoplaced)
+    (effects (font (size 1.27 1.27)) (justify left))
+    (uuid d7054c1a-5b87-4236-ac41-257df0050690)
+  )
   (hierarchical_label "W_OUT" (shape input) (at 88.9 166.37 180) (fields_autoplaced)
     (effects (font (size 1.27 1.27)) (justify right))
     (uuid e16b344b-571f-41cd-b501-d632b1945c4e)
@@ -866,22 +802,22 @@
     )
   )
 
-  (symbol (lib_id "Device:C_Small") (at 153.67 52.07 0) (unit 1)
+  (symbol (lib_id "Device:C_Small") (at 160.02 52.07 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid 0e70337d-cf88-427a-8371-b0b759afcb2c)
-    (property "Reference" "C702" (at 156.21 50.8063 0)
+    (property "Reference" "C702" (at 162.56 50.8063 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "100n" (at 156.21 53.3463 0)
+    (property "Value" "100n" (at 162.56 53.3463 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "Capacitor_SMD:C_0402_1005Metric" (at 153.67 52.07 0)
+    (property "Footprint" "Capacitor_SMD:C_0402_1005Metric" (at 160.02 52.07 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 153.67 52.07 0)
+    (property "Datasheet" "~" (at 160.02 52.07 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC Part" "C307331" (at 153.67 52.07 0)
+    (property "LCSC Part" "C307331" (at 160.02 52.07 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 7c9f4e33-0c5a-4e1f-b6ae-b13e1b93273f))
@@ -895,47 +831,22 @@
     )
   )
 
-  (symbol (lib_id "power:GNDA") (at 137.16 66.04 0) (unit 1)
-    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
-    (uuid 1a815dac-b5c4-400b-8f0c-232a5e52a714)
-    (property "Reference" "#PWR0702" (at 137.16 72.39 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Value" "GNDA" (at 137.16 71.12 0)
-      (effects (font (size 1.27 1.27)))
-    )
-    (property "Footprint" "" (at 137.16 66.04 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Datasheet" "" (at 137.16 66.04 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (pin "1" (uuid e6805de3-d048-48b7-b3bd-a3a7d6a33d58))
-    (instances
-      (project "lemon-pepper"
-        (path "/0306e2fa-4433-4288-91d9-65a3484207ad/41d11f3b-333a-47c0-a126-1f991ee11e83"
-          (reference "#PWR0702") (unit 1)
-        )
-      )
-    )
-  )
-
-  (symbol (lib_id "Device:R_Small_US") (at 148.59 46.99 90) (unit 1)
+  (symbol (lib_id "Device:R_Small_US") (at 154.94 46.99 90) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid 234cbae6-47d2-453c-9079-0f1de18d193d)
-    (property "Reference" "R702" (at 148.59 40.64 90)
+    (property "Reference" "R702" (at 154.94 40.64 90)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Value" "0R" (at 148.59 43.18 90)
+    (property "Value" "0R" (at 154.94 43.18 90)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "Resistor_SMD:R_0402_1005Metric" (at 148.59 46.99 0)
+    (property "Footprint" "Resistor_SMD:R_0402_1005Metric" (at 154.94 46.99 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 148.59 46.99 0)
+    (property "Datasheet" "~" (at 154.94 46.99 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC Part" "C17168" (at 148.59 46.99 0)
+    (property "LCSC Part" "C17168" (at 154.94 46.99 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid cc846eda-1c13-4708-90db-fbc468684cd7))
@@ -999,51 +910,26 @@
     )
   )
 
-  (symbol (lib_id "power:GNDA") (at 137.16 118.11 0) (unit 1)
+  (symbol (lib_id "power:GND") (at 143.51 118.11 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
-    (uuid 47493b9a-c168-47aa-8d6e-9ed673faf462)
-    (property "Reference" "#PWR0706" (at 137.16 124.46 0)
+    (uuid 58867a87-3135-4a62-b64a-424db94fd52a)
+    (property "Reference" "#PWR01" (at 143.51 124.46 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "GNDA" (at 137.16 123.19 0)
+    (property "Value" "GND" (at 143.51 123.19 0)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "" (at 137.16 118.11 0)
+    (property "Footprint" "" (at 143.51 118.11 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (at 137.16 118.11 0)
+    (property "Datasheet" "" (at 143.51 118.11 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (pin "1" (uuid 19edd989-d696-4b95-828f-347e39c7a673))
+    (pin "1" (uuid df9a0b09-7282-4616-99c5-0e0bec8c6c91))
     (instances
       (project "lemon-pepper"
         (path "/0306e2fa-4433-4288-91d9-65a3484207ad/41d11f3b-333a-47c0-a126-1f991ee11e83"
-          (reference "#PWR0706") (unit 1)
-        )
-      )
-    )
-  )
-
-  (symbol (lib_id "power:GNDA") (at 193.04 139.7 0) (unit 1)
-    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
-    (uuid 5d5ec8e9-551a-4aff-8f13-4aded7f3699f)
-    (property "Reference" "#PWR0710" (at 193.04 146.05 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Value" "GNDA" (at 193.04 144.78 0)
-      (effects (font (size 1.27 1.27)))
-    )
-    (property "Footprint" "" (at 193.04 139.7 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (property "Datasheet" "" (at 193.04 139.7 0)
-      (effects (font (size 1.27 1.27)) hide)
-    )
-    (pin "1" (uuid dfa4eadb-bb0f-42c5-8d45-8a40cd2f003b))
-    (instances
-      (project "lemon-pepper"
-        (path "/0306e2fa-4433-4288-91d9-65a3484207ad/41d11f3b-333a-47c0-a126-1f991ee11e83"
-          (reference "#PWR0710") (unit 1)
+          (reference "#PWR01") (unit 1)
         )
       )
     )
@@ -1092,17 +978,17 @@
     (property "LCSC Part" "C19193612" (at 118.11 49.53 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (pin "4" (uuid 340a20bb-ba08-47d1-9eda-54ab04f5a083))
-    (pin "2" (uuid 614171cf-c76b-46c0-9fbc-4e7b69f103d3))
-    (pin "10" (uuid 3662037a-2558-41cb-acd2-2fa9ff574c51))
     (pin "1" (uuid 434617c2-6178-4901-ba43-abecaf190339))
+    (pin "10" (uuid 3662037a-2558-41cb-acd2-2fa9ff574c51))
+    (pin "2" (uuid 614171cf-c76b-46c0-9fbc-4e7b69f103d3))
+    (pin "4" (uuid 340a20bb-ba08-47d1-9eda-54ab04f5a083))
     (pin "5" (uuid d4907c33-1a7d-4d13-ab82-e6ab9da2dc04))
-    (pin "9" (uuid 53047598-478b-4190-a07e-019a8141645a))
-    (pin "7" (uuid 2d9c4579-27b9-4d0f-9e91-5d12e955779f))
-    (pin "3" (uuid 45414214-4a5c-4fe7-a2ca-3cf65f9f18e4))
-    (pin "8" (uuid 5dc78280-a592-46df-ba70-172e051b7781))
     (pin "6" (uuid 2b0f48c1-feba-4e16-94f8-b702329d68ca))
+    (pin "7" (uuid 2d9c4579-27b9-4d0f-9e91-5d12e955779f))
+    (pin "8" (uuid 5dc78280-a592-46df-ba70-172e051b7781))
+    (pin "9" (uuid 53047598-478b-4190-a07e-019a8141645a))
     (pin "11" (uuid 5cc85a46-b37e-47b9-a244-9aa563a7dc2b))
+    (pin "3" (uuid 45414214-4a5c-4fe7-a2ca-3cf65f9f18e4))
     (instances
       (project "lemon-pepper"
         (path "/0306e2fa-4433-4288-91d9-65a3484207ad/41d11f3b-333a-47c0-a126-1f991ee11e83"
@@ -1167,22 +1053,22 @@
     )
   )
 
-  (symbol (lib_id "Device:R_Small_US") (at 148.59 99.06 90) (unit 1)
+  (symbol (lib_id "Device:R_Small_US") (at 154.94 99.06 90) (unit 1)
     (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
     (uuid af15e2d2-5427-48de-8e24-46eac5a5a23c)
-    (property "Reference" "R704" (at 148.59 92.71 90)
+    (property "Reference" "R704" (at 154.94 92.71 90)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Value" "0R" (at 148.59 95.25 90)
+    (property "Value" "0R" (at 154.94 95.25 90)
       (effects (font (size 1.27 1.27)))
     )
-    (property "Footprint" "Resistor_SMD:R_0402_1005Metric" (at 148.59 99.06 0)
+    (property "Footprint" "Resistor_SMD:R_0402_1005Metric" (at 154.94 99.06 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 148.59 99.06 0)
+    (property "Datasheet" "~" (at 154.94 99.06 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC Part" "C17168" (at 148.59 99.06 0)
+    (property "LCSC Part" "C17168" (at 154.94 99.06 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 55e89279-e157-49a0-b70a-357f9aad5016))
@@ -1196,22 +1082,22 @@
     )
   )
 
-  (symbol (lib_id "Device:C_Small") (at 153.67 104.14 0) (unit 1)
+  (symbol (lib_id "Device:C_Small") (at 160.02 104.14 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid b6987cfc-e53f-49f8-8291-028d7005d548)
-    (property "Reference" "C704" (at 156.21 102.8763 0)
+    (property "Reference" "C704" (at 162.56 102.8763 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "100n" (at 156.21 105.4163 0)
+    (property "Value" "100n" (at 162.56 105.4163 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "Capacitor_SMD:C_0402_1005Metric" (at 153.67 104.14 0)
+    (property "Footprint" "Capacitor_SMD:C_0402_1005Metric" (at 160.02 104.14 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 153.67 104.14 0)
+    (property "Datasheet" "~" (at 160.02 104.14 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC Part" "C307331" (at 153.67 104.14 0)
+    (property "LCSC Part" "C307331" (at 160.02 104.14 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 2f9c06ec-e85c-41ef-bbfb-8e5b1338d8cc))
@@ -1225,22 +1111,47 @@
     )
   )
 
-  (symbol (lib_id "Device:C_Small") (at 143.51 104.14 0) (unit 1)
+  (symbol (lib_id "power:GND") (at 137.16 66.04 0) (unit 1)
+    (in_bom yes) (on_board yes) (dnp no) (fields_autoplaced)
+    (uuid cbe9aa22-4008-4d28-90ba-03eb1cdb0f5d)
+    (property "Reference" "#PWR02" (at 137.16 72.39 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Value" "GND" (at 137.16 71.12 0)
+      (effects (font (size 1.27 1.27)))
+    )
+    (property "Footprint" "" (at 137.16 66.04 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "" (at 137.16 66.04 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid 4257836d-be12-4221-8e67-8f6cc4619b47))
+    (instances
+      (project "lemon-pepper"
+        (path "/0306e2fa-4433-4288-91d9-65a3484207ad/41d11f3b-333a-47c0-a126-1f991ee11e83"
+          (reference "#PWR02") (unit 1)
+        )
+      )
+    )
+  )
+
+  (symbol (lib_id "Device:C_Small") (at 149.86 104.14 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid cdcf4836-6b12-42fc-bd38-eaf77697c489)
-    (property "Reference" "C703" (at 146.05 102.8763 0)
+    (property "Reference" "C703" (at 152.4 102.8763 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "100n" (at 146.05 105.4163 0)
+    (property "Value" "100n" (at 152.4 105.4163 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "Capacitor_SMD:C_0402_1005Metric" (at 143.51 104.14 0)
+    (property "Footprint" "Capacitor_SMD:C_0402_1005Metric" (at 149.86 104.14 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 143.51 104.14 0)
+    (property "Datasheet" "~" (at 149.86 104.14 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC Part" "C307331" (at 143.51 104.14 0)
+    (property "LCSC Part" "C307331" (at 149.86 104.14 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid d8bcc809-a595-4266-a325-46b82222ad09))
@@ -1272,17 +1183,17 @@
     (property "LCSC Part" "C19193612" (at 118.11 101.6 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (pin "4" (uuid 19b927a9-c22b-4fca-8819-88da25a7e4cf))
-    (pin "2" (uuid 0f340945-c10b-4375-b2da-82756c32b133))
-    (pin "10" (uuid ed278c09-9677-42a2-94ba-8712853ed78a))
     (pin "1" (uuid 87bf8900-4a10-4147-8212-67787330a1ab))
+    (pin "10" (uuid ed278c09-9677-42a2-94ba-8712853ed78a))
+    (pin "2" (uuid 0f340945-c10b-4375-b2da-82756c32b133))
+    (pin "4" (uuid 19b927a9-c22b-4fca-8819-88da25a7e4cf))
     (pin "5" (uuid f003554c-5f8e-4d1f-bc0d-c52531527666))
-    (pin "9" (uuid 06c99846-79ac-4000-ae37-45ca3b9bb488))
-    (pin "7" (uuid 2919c5c8-13da-446e-88ec-b9b5b401bea4))
-    (pin "3" (uuid 49dcaf58-f09c-4977-b642-c91768d3b3f1))
-    (pin "8" (uuid 6a3aa881-b2d0-481b-b670-b3b8b567e931))
     (pin "6" (uuid a016a922-5952-4f1f-91ce-850e05a64877))
+    (pin "7" (uuid 2919c5c8-13da-446e-88ec-b9b5b401bea4))
+    (pin "8" (uuid 6a3aa881-b2d0-481b-b670-b3b8b567e931))
+    (pin "9" (uuid 06c99846-79ac-4000-ae37-45ca3b9bb488))
     (pin "11" (uuid fc45229c-1823-474f-8137-da1400b288af))
+    (pin "3" (uuid 49dcaf58-f09c-4977-b642-c91768d3b3f1))
     (instances
       (project "lemon-pepper"
         (path "/0306e2fa-4433-4288-91d9-65a3484207ad/41d11f3b-333a-47c0-a126-1f991ee11e83"
@@ -1321,22 +1232,22 @@
     )
   )
 
-  (symbol (lib_id "Device:C_Small") (at 143.51 52.07 0) (unit 1)
+  (symbol (lib_id "Device:C_Small") (at 149.86 52.07 0) (unit 1)
     (in_bom yes) (on_board yes) (dnp no)
     (uuid f0b3bc82-d997-4802-8add-753ac44970ad)
-    (property "Reference" "C701" (at 146.05 50.8063 0)
+    (property "Reference" "C701" (at 152.4 50.8063 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Value" "100n" (at 146.05 53.3463 0)
+    (property "Value" "100n" (at 152.4 53.3463 0)
       (effects (font (size 1.27 1.27)) (justify left))
     )
-    (property "Footprint" "Capacitor_SMD:C_0402_1005Metric" (at 143.51 52.07 0)
+    (property "Footprint" "Capacitor_SMD:C_0402_1005Metric" (at 149.86 52.07 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (at 143.51 52.07 0)
+    (property "Datasheet" "~" (at 149.86 52.07 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "LCSC Part" "C307331" (at 143.51 52.07 0)
+    (property "LCSC Part" "C307331" (at 149.86 52.07 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid adc28b76-3a96-4a05-9b12-48fd217f1871))
diff --git a/hardware/halfbridges.kicad_sch b/hardware/halfbridges.kicad_sch
index 911bcb0..9350131 100644
--- a/hardware/halfbridges.kicad_sch
+++ b/hardware/halfbridges.kicad_sch
@@ -865,7 +865,6 @@
     (property "LCSC Part" "C95357" (at 137.16 134.62 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (pin "1" (uuid 5eeaa761-1272-40f7-a222-582973184b61))
     (pin "13" (uuid de44ecb2-39ea-4390-9efc-f41b9f14d4e7))
     (pin "14" (uuid 6888b87f-e5eb-467e-bde7-c98183e08908))
     (pin "15" (uuid 7300e7e7-d92e-440f-95ab-f43b8592a089))
@@ -880,6 +879,7 @@
     (pin "27" (uuid 88c7cf09-ae9d-4b80-a21d-edfe54a17b77))
     (pin "28" (uuid 483afcf0-0528-43dd-a3a0-058fe06e4d01))
     (pin "9" (uuid 0220d824-5f09-43b7-8325-245fd8488fb7))
+    (pin "1" (uuid 5eeaa761-1272-40f7-a222-582973184b61))
     (pin "10" (uuid 75a016cc-8396-4f40-8e6d-5f46d267e776))
     (pin "11" (uuid a886a0ea-c769-489e-87cd-92b5026d57dc))
     (pin "12" (uuid 8f88ec21-6e50-4a06-8f2f-c49ddd032d45))
diff --git a/hardware/lemon-pepper.kicad_pcb b/hardware/lemon-pepper.kicad_pcb
index 16c11fa..5bc312a 100644
--- a/hardware/lemon-pepper.kicad_pcb
+++ b/hardware/lemon-pepper.kicad_pcb
@@ -59,7 +59,6 @@
     )
     (pad_to_mask_clearance 0)
     (aux_axis_origin 146.3 86.975)
-    (grid_origin 146.3 86.975)
     (pcbplotparams
       (layerselection 0x00010fc_ffffffff)
       (plot_on_all_layers_selection 0x0000000_00000000)
@@ -148,45 +147,45 @@
   (net 49 "/encoder/CIPO")
   (net 50 "/encoder/COPI")
   (net 51 "/encoder/CS")
-  (net 52 "unconnected-(U301-PC13-Pad2)")
-  (net 53 "/encoder/CAL_EN")
-  (net 54 "unconnected-(U301-PC14-Pad3)")
-  (net 55 "/mcu/USER_3")
-  (net 56 "/mcu/USER_1")
-  (net 57 "/mcu/CAN_TX")
-  (net 58 "/mcu/CAN_RX")
-  (net 59 "unconnected-(U302-Vref-Pad5)")
-  (net 60 "unconnected-(U401-U-Pad1)")
-  (net 61 "unconnected-(U401-V-Pad2)")
-  (net 62 "unconnected-(U401-W-Pad3)")
-  (net 63 "unconnected-(U401-PWM_OUT-Pad10)")
-  (net 64 "/half bridges/IN2B")
-  (net 65 "/mcu/TIM4_CH1")
-  (net 66 "/half bridges/IN1A")
-  (net 67 "/half bridges/IN2A")
-  (net 68 "/half bridges/IN1B")
-  (net 69 "unconnected-(J201-SBU1-PadA8)")
-  (net 70 "unconnected-(J201-SBU2-PadB8)")
-  (net 71 "unconnected-(J301-SWO-Pad6)")
-  (net 72 "Net-(Q501-B)")
-  (net 73 "Net-(Q501-C)")
-  (net 74 "/mcu/TIM4_CH2")
-  (net 75 "/half bridges/OUT1B")
-  (net 76 "/mcu/DIR")
-  (net 77 "/mcu/STEP")
-  (net 78 "GNDA")
-  (net 79 "Net-(U301-VREF+)")
-  (net 80 "/mcu/ADC1_IN12")
-  (net 81 "unconnected-(U501-~{RESET}-Pad6)")
-  (net 82 "/mcu/USER_BTN")
-  (net 83 "unconnected-(U701-NC-Pad3)")
-  (net 84 "unconnected-(U703-NC-Pad3)")
-  (net 85 "Net-(U701-OUT)")
-  (net 86 "Net-(U703-OUT)")
-  (net 87 "Net-(C503-Pad1)")
-  (net 88 "unconnected-(U601-NC-Pad10)")
-  (net 89 "unconnected-(U601-NC-Pad18)")
-  (net 90 "unconnected-(U601-NC-Pad32)")
+  (net 52 "/encoder/CAL_EN")
+  (net 53 "/mcu/USER_3")
+  (net 54 "/mcu/USER_1")
+  (net 55 "/mcu/CAN_TX")
+  (net 56 "/mcu/CAN_RX")
+  (net 57 "unconnected-(U302-Vref-Pad5)")
+  (net 58 "unconnected-(U401-U-Pad1)")
+  (net 59 "unconnected-(U401-V-Pad2)")
+  (net 60 "unconnected-(U401-W-Pad3)")
+  (net 61 "unconnected-(U401-PWM_OUT-Pad10)")
+  (net 62 "/half bridges/IN2B")
+  (net 63 "/mcu/TIM4_CH1")
+  (net 64 "/half bridges/IN1A")
+  (net 65 "/half bridges/IN2A")
+  (net 66 "/half bridges/IN1B")
+  (net 67 "unconnected-(J201-SBU1-PadA8)")
+  (net 68 "unconnected-(J201-SBU2-PadB8)")
+  (net 69 "unconnected-(J301-SWO-Pad6)")
+  (net 70 "Net-(Q501-B)")
+  (net 71 "Net-(Q501-C)")
+  (net 72 "/mcu/TIM4_CH2")
+  (net 73 "/half bridges/OUT1B")
+  (net 74 "/mcu/DIR")
+  (net 75 "/mcu/STEP")
+  (net 76 "Net-(NT701-Pad1)")
+  (net 77 "Net-(U301-VREF+)")
+  (net 78 "/mcu/ADC1_IN12")
+  (net 79 "unconnected-(U501-~{RESET}-Pad6)")
+  (net 80 "/mcu/USER_BTN")
+  (net 81 "unconnected-(U701-NC-Pad3)")
+  (net 82 "unconnected-(U703-NC-Pad3)")
+  (net 83 "Net-(U701-OUT)")
+  (net 84 "Net-(U703-OUT)")
+  (net 85 "Net-(C503-Pad1)")
+  (net 86 "unconnected-(U601-NC-Pad10)")
+  (net 87 "unconnected-(U601-NC-Pad18)")
+  (net 88 "unconnected-(U601-NC-Pad32)")
+  (net 89 "/current sense/GAIN_1")
+  (net 90 "/current sense/GAIN_0")
 
   (footprint "Capacitor_SMD:C_0805_2012Metric" (layer "F.Cu")
     (tstamp 0029b22c-e86d-46df-8159-b6fa5e6704e2)
@@ -297,7 +296,7 @@
     (pad "5" connect circle (at 1.27 0.635 11) (size 0.7874 0.7874) (layers "F.Cu" "F.Mask")
       (net 1 "GND") (pinfunction "GND") (pintype "power_in") (tstamp 72387a40-6bf3-4c6d-8e71-bbb176966847))
     (pad "6" connect circle (at 1.27 -0.635 11) (size 0.7874 0.7874) (layers "F.Cu" "F.Mask")
-      (net 71 "unconnected-(J301-SWO-Pad6)") (pinfunction "SWO") (pintype "input+no_connect") (tstamp 86844f7b-b7ad-4b0e-bcd1-d49858549081))
+      (net 69 "unconnected-(J301-SWO-Pad6)") (pinfunction "SWO") (pintype "input+no_connect") (tstamp 86844f7b-b7ad-4b0e-bcd1-d49858549081))
     (zone (net 0) (net_name "") (layer "F.Cu") (tstamp e071d7d8-2ed3-44b3-a3fb-8d3b783cfee6) (hatch full 0.508)
       (connect_pads (clearance 0))
       (min_thickness 0.254) (filled_areas_thickness no)
@@ -368,11 +367,11 @@
     (fp_line (start 0.65 1.45) (end -0.65 1.45)
       (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp a28a4872-6083-4032-96e6-6ee223fae3eb))
     (pad "1" smd roundrect (at -0.9375 -0.95) (size 1.475 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 72 "Net-(Q501-B)") (pinfunction "B") (pintype "input") (tstamp 41463bc4-7f91-4676-ac03-b1b1ed12b842))
+      (net 70 "Net-(Q501-B)") (pinfunction "B") (pintype "input") (tstamp 41463bc4-7f91-4676-ac03-b1b1ed12b842))
     (pad "2" smd roundrect (at -0.9375 0.95) (size 1.475 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 1 "GND") (pinfunction "E") (pintype "passive") (tstamp 839d4c52-31a1-442d-b9a3-06b1253207ec))
     (pad "3" smd roundrect (at 0.9375 0) (size 1.475 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 73 "Net-(Q501-C)") (pinfunction "C") (pintype "passive") (tstamp ac128303-1ef2-4eca-903d-cdc88287fb95))
+      (net 71 "Net-(Q501-C)") (pinfunction "C") (pintype "passive") (tstamp ac128303-1ef2-4eca-903d-cdc88287fb95))
     (model "${KICAD6_3DMODEL_DIR}/Package_TO_SOT_SMD.3dshapes/SOT-23.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
@@ -425,7 +424,7 @@
     (fp_line (start 0.525 0.27) (end -0.525 0.27)
       (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp d1a45109-dcdc-4234-99ff-e1a8a4895cbd))
     (pad "1" smd roundrect (at -0.51 0 180) (size 0.54 0.64) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 86 "Net-(U703-OUT)") (pintype "passive") (tstamp 67279986-fa01-4e6e-9a87-104598955754))
+      (net 84 "Net-(U703-OUT)") (pintype "passive") (tstamp 67279986-fa01-4e6e-9a87-104598955754))
     (pad "2" smd roundrect (at 0.51 0 180) (size 0.54 0.64) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 17 "/current sense/V_SENSE") (pintype "passive") (tstamp afcd3d15-8070-4302-9779-39a1fc2069e5))
     (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0402_1005Metric.wrl"
@@ -555,15 +554,15 @@
     (fp_line (start 1.95 2.45) (end -1.95 2.45)
       (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 2e1e14dd-925e-49f4-a3d4-16ac5f1b18a2))
     (pad "1" smd roundrect (at -2.475 -1.905) (size 1.95 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 57 "/mcu/CAN_TX") (pinfunction "D") (pintype "input") (tstamp f33814af-4c13-43db-8164-414c5426dba5))
+      (net 55 "/mcu/CAN_TX") (pinfunction "D") (pintype "input") (tstamp f33814af-4c13-43db-8164-414c5426dba5))
     (pad "2" smd roundrect (at -2.475 -0.635) (size 1.95 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 1 "GND") (pinfunction "GND") (pintype "power_in") (tstamp 375db997-7d22-4532-82ec-b0b4866809c7))
     (pad "3" smd roundrect (at -2.475 0.635) (size 1.95 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 4 "+3V3") (pinfunction "VCC") (pintype "power_in") (tstamp acd1f623-7ab5-4edc-aeaf-34464178b226))
     (pad "4" smd roundrect (at -2.475 1.905) (size 1.95 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 58 "/mcu/CAN_RX") (pinfunction "R") (pintype "output") (tstamp 0d1996f1-6571-4eda-8530-8a1898dff46f))
+      (net 56 "/mcu/CAN_RX") (pinfunction "R") (pintype "output") (tstamp 0d1996f1-6571-4eda-8530-8a1898dff46f))
     (pad "5" smd roundrect (at 2.475 1.905) (size 1.95 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 59 "unconnected-(U302-Vref-Pad5)") (pinfunction "Vref") (pintype "output+no_connect") (tstamp 5bb7adbc-f8c7-4b0f-9874-a76e50ec6c83))
+      (net 57 "unconnected-(U302-Vref-Pad5)") (pinfunction "Vref") (pintype "output+no_connect") (tstamp 5bb7adbc-f8c7-4b0f-9874-a76e50ec6c83))
     (pad "6" smd roundrect (at 2.475 0.635) (size 1.95 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 23 "/mcu/CANL") (pinfunction "CANL") (pintype "bidirectional") (tstamp c237cf51-78b7-4658-a0b7-7f103846bf99))
     (pad "7" smd roundrect (at 2.475 -0.635) (size 1.95 0.6) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
@@ -837,7 +836,7 @@
     (fp_line (start 1.5 1.25) (end -1.5 1.25)
       (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp f4418d5f-1ed6-431c-afbf-5b1787a778fd))
     (pad "1" smd rect (at -1.7 0 270) (size 0.9 1.7) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 82 "/mcu/USER_BTN") (pinfunction "1") (pintype "passive") (tstamp a229b824-f387-41f6-aba0-54c381aba023))
+      (net 80 "/mcu/USER_BTN") (pinfunction "1") (pintype "passive") (tstamp a229b824-f387-41f6-aba0-54c381aba023))
     (pad "2" smd rect (at 1.7 0 270) (size 0.9 1.7) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 4 "+3V3") (pinfunction "2") (pintype "passive") (tstamp 7e121d34-c8be-47da-b390-599ed5c20b32))
     (model "/Users/mateijordache/Documents/KiCad/easyeda2kicad/easyeda2kicad.3dshapes/KEY-SMD_B3U-3000P.wrl"
@@ -1022,15 +1021,15 @@
     (fp_line (start 2.75 2.74) (end 1.705 2.74)
       (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp c5022dd1-7185-4b54-86bc-2b77f6f17f4e))
     (pad "1" smd rect (at 1.95 -2.54) (size 2.4 0.74) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 65 "/mcu/TIM4_CH1") (pinfunction "Pin_1") (pintype "passive") (tstamp 506cf810-4dfb-4921-9dfb-c9a00735b0aa))
+      (net 63 "/mcu/TIM4_CH1") (pinfunction "Pin_1") (pintype "passive") (tstamp 506cf810-4dfb-4921-9dfb-c9a00735b0aa))
     (pad "2" smd rect (at 1.95 -1.27) (size 2.4 0.74) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 74 "/mcu/TIM4_CH2") (pinfunction "Pin_2") (pintype "passive") (tstamp d7f4eed6-8a63-4675-804b-28af9e7636d5))
+      (net 72 "/mcu/TIM4_CH2") (pinfunction "Pin_2") (pintype "passive") (tstamp d7f4eed6-8a63-4675-804b-28af9e7636d5))
     (pad "3" smd rect (at 1.95 0) (size 2.4 0.74) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 55 "/mcu/USER_3") (pinfunction "Pin_3") (pintype "passive") (tstamp cc71d376-2172-4427-8ea7-714e0b2959ec))
+      (net 53 "/mcu/USER_3") (pinfunction "Pin_3") (pintype "passive") (tstamp cc71d376-2172-4427-8ea7-714e0b2959ec))
     (pad "4" smd rect (at 1.95 1.27) (size 2.4 0.74) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 26 "/mcu/USER_2") (pinfunction "Pin_4") (pintype "passive") (tstamp 2965fb2e-d1fa-447a-948a-fe75e7a06535))
     (pad "5" smd rect (at 1.95 2.54) (size 2.4 0.74) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 56 "/mcu/USER_1") (pinfunction "Pin_5") (pintype "passive") (tstamp ad6d136e-570b-47f8-90ab-873fd8f565a6))
+      (net 54 "/mcu/USER_1") (pinfunction "Pin_5") (pintype "passive") (tstamp ad6d136e-570b-47f8-90ab-873fd8f565a6))
   )
 
   (footprint "Diode_SMD:D_SMA" (layer "F.Cu")
@@ -1257,7 +1256,7 @@
     (pad "1" smd rect (at -1.6 0) (size 1.6 3.5) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 33 "Net-(U501-LX)") (pintype "passive") (tstamp 91c4e3d7-ecb6-41dd-b7ed-39278d69602d))
     (pad "2" smd rect (at 1.6 0) (size 1.6 3.5) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 87 "Net-(C503-Pad1)") (pintype "passive") (tstamp 43aff373-c6e5-4d3f-b1d8-11a94b5b26f8))
+      (net 85 "Net-(C503-Pad1)") (pintype "passive") (tstamp 43aff373-c6e5-4d3f-b1d8-11a94b5b26f8))
     (model "/Users/mateijordache/Documents/KiCad/easyeda2kicad/easyeda2kicad.3dshapes/IND-SMD_L4.0-W4.0-H1.9.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
@@ -1367,7 +1366,7 @@
     (pad "1" smd roundrect (at -0.48 0 270) (size 0.56 0.62) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 4 "+3V3") (pintype "passive") (tstamp 6e49e9d2-88b5-40e3-9d64-61946951a079))
     (pad "2" smd roundrect (at 0.48 0 270) (size 0.56 0.62) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 78 "GNDA") (pintype "passive") (tstamp 0feb491a-baef-4031-96d8-1e54d3e18199))
+      (net 1 "GND") (pintype "passive") (tstamp 0feb491a-baef-4031-96d8-1e54d3e18199))
     (model "${KICAD6_3DMODEL_DIR}/Capacitor_SMD.3dshapes/C_0402_1005Metric.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
@@ -1377,7 +1376,7 @@
 
   (footprint "Capacitor_SMD:C_0402_1005Metric" (layer "F.Cu")
     (tstamp 362d98ed-25b6-4c78-9824-540a20bde82b)
-    (at 136.575 76.875 90)
+    (at 136.4448 76.8658 90)
     (descr "Capacitor SMD 0402 (1005 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
     (tags "capacitor")
     (property "LCSC Part" "C307331")
@@ -1475,7 +1474,7 @@
     (fp_line (start 0.5 0.25) (end -0.5 0.25)
       (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp c2375c5f-4c2a-4404-ad5c-291cb470c6b9))
     (pad "1" smd roundrect (at -0.48 0 225) (size 0.56 0.62) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 79 "Net-(U301-VREF+)") (pintype "passive") (tstamp 676b5169-7019-47ed-a90b-698d8a259f65))
+      (net 77 "Net-(U301-VREF+)") (pintype "passive") (tstamp 676b5169-7019-47ed-a90b-698d8a259f65))
     (pad "2" smd roundrect (at 0.48 0 225) (size 0.56 0.62) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 1 "GND") (pintype "passive") (tstamp 934c7428-16ed-4968-9d26-e0ecb9b20927))
     (model "${KICAD6_3DMODEL_DIR}/Capacitor_SMD.3dshapes/C_0402_1005Metric.wrl"
@@ -1530,7 +1529,7 @@
     (fp_line (start 0.525 0.27) (end -0.525 0.27)
       (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp ba1fba52-d804-4462-8f3d-fb4d1e7911ad))
     (pad "1" smd roundrect (at -0.51 0 180) (size 0.54 0.64) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 85 "Net-(U701-OUT)") (pintype "passive") (tstamp 7d0bbbfc-5dcb-47a2-ad55-02006b87168c))
+      (net 83 "Net-(U701-OUT)") (pintype "passive") (tstamp 7d0bbbfc-5dcb-47a2-ad55-02006b87168c))
     (pad "2" smd roundrect (at 0.51 0 180) (size 0.54 0.64) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 16 "/current sense/U_SENSE") (pintype "passive") (tstamp f9a2feb8-0d2e-4f33-9326-82c459a26d56))
     (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0402_1005Metric.wrl"
@@ -1662,23 +1661,23 @@
     (pad "2" smd rect (at -1.45 -0.5 180) (size 0.85 0.3) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 29 "/current sense/V_OUT") (pinfunction "RS-") (pintype "input") (tstamp 022dcec4-7eac-4fcd-b1ae-669d9ec1ed09))
     (pad "3" smd rect (at -1.45 0 180) (size 0.85 0.3) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 84 "unconnected-(U703-NC-Pad3)") (pinfunction "NC") (pintype "no_connect") (tstamp 44104ff6-5c35-4361-8558-6f1b76869c77))
+      (net 82 "unconnected-(U703-NC-Pad3)") (pinfunction "NC") (pintype "no_connect") (tstamp 44104ff6-5c35-4361-8558-6f1b76869c77))
     (pad "4" smd rect (at -1.45 0.5 180) (size 0.85 0.3) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 78 "GNDA") (pinfunction "GND") (pintype "power_in") (tstamp 0d13795d-c657-479b-9d87-be6da03e5e4b))
+      (net 1 "GND") (pinfunction "GND") (pintype "power_in") (tstamp 0d13795d-c657-479b-9d87-be6da03e5e4b))
     (pad "5" smd rect (at -1.45 1 180) (size 0.85 0.3) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 86 "Net-(U703-OUT)") (pinfunction "OUT") (pintype "output") (tstamp 6ea15e6b-3fc3-4deb-8abd-91e7d214407f))
+      (net 84 "Net-(U703-OUT)") (pinfunction "OUT") (pintype "output") (tstamp 6ea15e6b-3fc3-4deb-8abd-91e7d214407f))
     (pad "6" smd rect (at 1.45 1 180) (size 0.85 0.3) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 4 "+3V3") (pinfunction "Vdd") (pintype "power_in") (tstamp bc837447-b50c-44e2-a590-a677799c9e56))
     (pad "7" smd rect (at 1.45 0.5 180) (size 0.85 0.3) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 78 "GNDA") (pinfunction "REF2") (pintype "input") (tstamp e8c724e5-1f5b-4896-a075-cb33b8dda3ba))
+      (net 1 "GND") (pinfunction "REF2") (pintype "input") (tstamp e8c724e5-1f5b-4896-a075-cb33b8dda3ba))
     (pad "8" smd rect (at 1.45 0 180) (size 0.85 0.3) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 4 "+3V3") (pinfunction "REF1") (pintype "input") (tstamp 05f37341-1555-406f-aaa8-32c2b51ebf1a))
     (pad "9" smd rect (at 1.45 -0.5 180) (size 0.85 0.3) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 4 "+3V3") (pinfunction "GAIN2") (pintype "input") (tstamp 2a9a700a-1dc6-4cad-b620-72a796c948fb))
+      (net 89 "/current sense/GAIN_1") (pinfunction "GAIN2") (pintype "input") (tstamp 2a9a700a-1dc6-4cad-b620-72a796c948fb))
     (pad "10" smd rect (at 1.45 -1 180) (size 0.85 0.3) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 78 "GNDA") (pinfunction "GAIN1") (pintype "input") (tstamp bcd31af5-7ce4-442d-be14-2680d85d5230))
+      (net 90 "/current sense/GAIN_0") (pinfunction "GAIN1") (pintype "input") (tstamp bcd31af5-7ce4-442d-be14-2680d85d5230))
     (pad "11" smd rect (at 0 0 180) (size 1.75 2.7) (layers "F.Cu" "F.Mask")
-      (net 78 "GNDA") (pinfunction "EP") (pintype "passive") (tstamp 86d4ef00-810c-49c5-992e-d58642f5e4b4))
+      (net 1 "GND") (pinfunction "EP") (pintype "passive") (tstamp 86d4ef00-810c-49c5-992e-d58642f5e4b4))
     (model "${KICAD6_3DMODEL_DIR}/Package_DFN_QFN.3dshapes/DFN-10-1EP_3x3mm_P0.5mm_EP1.75x2.7mm.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
@@ -2042,7 +2041,7 @@
     (fp_line (start 0.525 0.27) (end -0.525 0.27)
       (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp e2e87fdb-dda1-47b0-b1d0-72b0edb7d641))
     (pad "1" smd roundrect (at -0.51 0) (size 0.54 0.64) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 77 "/mcu/STEP") (pintype "passive") (tstamp 8bdde0f6-8c55-4d92-9d95-5c2e953e20df))
+      (net 75 "/mcu/STEP") (pintype "passive") (tstamp 8bdde0f6-8c55-4d92-9d95-5c2e953e20df))
     (pad "2" smd roundrect (at 0.51 0) (size 0.54 0.64) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 22 "/mcu/CANH") (pintype "passive") (tstamp 2621902e-c41b-44cd-94e9-bc8b46f540fb))
     (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0402_1005Metric.wrl"
@@ -2097,7 +2096,7 @@
     (fp_line (start 1 0.625) (end -1 0.625)
       (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 4b58e1a4-ddeb-4b83-9698-aaaeedddf7b4))
     (pad "1" smd roundrect (at -0.95 0 270) (size 1 1.45) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 87 "Net-(C503-Pad1)") (pintype "passive") (tstamp 3181a008-336c-4ab6-a0f8-69fb9211d1f4))
+      (net 85 "Net-(C503-Pad1)") (pintype "passive") (tstamp 3181a008-336c-4ab6-a0f8-69fb9211d1f4))
     (pad "2" smd roundrect (at 0.95 0 270) (size 1 1.45) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 1 "GND") (pintype "passive") (tstamp 5a180e07-8d45-4ec1-97bf-47caa9ef2562))
     (model "${KICAD6_3DMODEL_DIR}/Capacitor_SMD.3dshapes/C_0805_2012Metric.wrl"
@@ -2152,7 +2151,7 @@
     (fp_line (start 0.525 0.27) (end -0.525 0.27)
       (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp c4e00411-953e-4a80-bb57-45078fcc13e0))
     (pad "1" smd roundrect (at -0.51 0 180) (size 0.54 0.64) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 87 "Net-(C503-Pad1)") (pintype "passive") (tstamp ab45a326-d4fb-4695-a1c9-1d15ca3d1fb8))
+      (net 85 "Net-(C503-Pad1)") (pintype "passive") (tstamp ab45a326-d4fb-4695-a1c9-1d15ca3d1fb8))
     (pad "2" smd roundrect (at 0.51 0 180) (size 0.54 0.64) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 34 "Net-(U501-FB{slash}VOUT)") (pintype "passive") (tstamp 484ad957-4efe-4742-b997-53f353ddc54d))
     (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0402_1005Metric.wrl"
@@ -2420,7 +2419,7 @@
     (pad "A7" smd rect (at 0.39 -0.828 315) (size 0.3 0.855) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 40 "/mcu/USBD_N") (pinfunction "D-") (pintype "bidirectional") (tstamp c7ed508f-458a-45e3-bdd0-4b742f1d531d))
     (pad "A8" smd rect (at 0.89 -0.828 315) (size 0.3 0.855) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 69 "unconnected-(J201-SBU1-PadA8)") (pinfunction "SBU1") (pintype "bidirectional+no_connect") (tstamp 507754be-e134-442c-a59d-45edfc50eefb))
+      (net 67 "unconnected-(J201-SBU1-PadA8)") (pinfunction "SBU1") (pintype "bidirectional+no_connect") (tstamp 507754be-e134-442c-a59d-45edfc50eefb))
     (pad "A9" smd rect (at 1.39 -0.828 315) (size 0.3 0.855) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 19 "/usb/USB_5V") (pinfunction "VBUS") (pintype "passive") (tstamp 97407cf9-0c90-4ed7-b8bc-a0eae3c73f2f))
     (pad "A10" smd rect (at 1.89 -0.828 315) (size 0.3 0.855) (layers "F.Cu" "F.Paste" "F.Mask") (tstamp 068b18b4-6cec-4a95-af69-ab69e6ae4ae1))
@@ -2440,7 +2439,7 @@
     (pad "B7" smd rect (at -0.11 0.827 315) (size 0.3 0.855) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 40 "/mcu/USBD_N") (pinfunction "D-") (pintype "bidirectional") (tstamp ac781873-2d10-4a27-ac3c-e515218af021))
     (pad "B8" smd rect (at -0.61 0.827 315) (size 0.3 0.855) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 70 "unconnected-(J201-SBU2-PadB8)") (pinfunction "SBU2") (pintype "bidirectional+no_connect") (tstamp 34c43a32-21fd-44d0-86bc-5d645203f474))
+      (net 68 "unconnected-(J201-SBU2-PadB8)") (pinfunction "SBU2") (pintype "bidirectional+no_connect") (tstamp 34c43a32-21fd-44d0-86bc-5d645203f474))
     (pad "B9" smd rect (at -1.11 0.827 315) (size 0.3 0.855) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 19 "/usb/USB_5V") (pinfunction "VBUS") (pintype "passive") (tstamp 688e3305-1afb-4185-b137-c9957e60af40))
     (pad "B10" smd rect (at -1.61 0.828 315) (size 0.3 0.855) (layers "F.Cu" "F.Paste" "F.Mask") (tstamp 888996d7-527a-46cd-b076-dc585c6f66ce))
@@ -2464,7 +2463,7 @@
 
   (footprint "Capacitor_SMD:C_0402_1005Metric" (layer "F.Cu")
     (tstamp 5a4e853b-483f-4af8-8f0c-68edb3313d48)
-    (at 147.25 81.5)
+    (at 147.316 81.514)
     (descr "Capacitor SMD 0402 (1005 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
     (tags "capacitor")
     (property "LCSC Part" "C307331")
@@ -2509,7 +2508,7 @@
     (pad "1" smd roundrect (at -0.48 0) (size 0.56 0.62) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 4 "+3V3") (pintype "passive") (tstamp f69a97f2-9657-4444-ab7d-f818243f85b2))
     (pad "2" smd roundrect (at 0.48 0) (size 0.56 0.62) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 78 "GNDA") (pintype "passive") (tstamp b1d16237-88c2-4348-8587-32f6c4fcc41a))
+      (net 1 "GND") (pintype "passive") (tstamp b1d16237-88c2-4348-8587-32f6c4fcc41a))
     (model "${KICAD6_3DMODEL_DIR}/Capacitor_SMD.3dshapes/C_0402_1005Metric.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
@@ -2524,11 +2523,11 @@
     (tags "kb_params=eyJBbGlnbm1lbnRDaG9pY2UiOiAiQ2VudGVyIiwgIkNhcExlZnRDaG9pY2UiOiAiKCIsICJDYXBSaWdodENob2ljZSI6ICIpIiwgIkZvbnRDb21ib0JveCI6ICJGcmVkb2thT25lIiwgIkhlaWdodEN0cmwiOiAiMSIsICJMYXllckNvbWJvQm94IjogIkYuTWFzayIsICJNdWx0aUxpbmVUZXh0IjogIjQiLCAiUGFkZGluZ0JvdHRvbUN0cmwiOiAiMiIsICJQYWRkaW5nTGVmdEN0cmwiOiAiMCIsICJQYWRkaW5nUmlnaHRDdHJsIjogIjIiLCAiUGFkZGluZ1RvcEN0cmwiOiAiMiIsICJXaWR0aEN0cmwiOiAiMSJ9")
     (attr board_only exclude_from_pos_files exclude_from_bom)
     (fp_text reference "kibuzzard-65A1D30A" (at 0 -3.764492) (layer "F.SilkS") hide
-        (effects (font (size 0 0)))
+        (effects (font (size 0 0) (thickness 0.15)))
       (tstamp 6034b628-21fb-4e78-a1dc-d9a60c7e774c)
     )
     (fp_text value "G***" (at 0 3.764492) (layer "F.SilkS") hide
-        (effects (font (size 0 0)))
+        (effects (font (size 0 0) (thickness 0.15)))
       (tstamp 544ab89c-f229-4bb8-bd0d-061be0d48bd0)
     )
     (fp_poly
@@ -2801,7 +2800,7 @@
     (fp_line (start 0.5 0.25) (end -0.5 0.25)
       (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 58df35b1-ab62-458f-bc43-01ef97dcd0b8))
     (pad "1" smd roundrect (at -0.48 0 225) (size 0.56 0.62) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 79 "Net-(U301-VREF+)") (pintype "passive") (tstamp 31bba8b2-6fe0-4e15-af46-fbc83363af31))
+      (net 77 "Net-(U301-VREF+)") (pintype "passive") (tstamp 31bba8b2-6fe0-4e15-af46-fbc83363af31))
     (pad "2" smd roundrect (at 0.48 0 225) (size 0.56 0.62) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 1 "GND") (pintype "passive") (tstamp 40a42550-dd64-4110-a8bb-6019e6519c0b))
     (model "${KICAD6_3DMODEL_DIR}/Capacitor_SMD.3dshapes/C_0402_1005Metric.wrl"
@@ -2850,14 +2849,14 @@
     (pad "2" thru_hole oval locked (at -1.25 0) (size 1.75 2) (drill 1.05) (layers "*.Cu" "*.Mask")
       (net 11 "/current sense/W_IN") (pinfunction "-") (pintype "passive") (tstamp f975a536-3e7b-416e-9bfa-9a6827ec2bd0))
     (pad "3" thru_hole circle locked (at 1.25 -4.625) (size 0.5 0.5) (drill 0.3) (property pad_prop_heatsink) (layers "*.Cu")
-      (net 75 "/half bridges/OUT1B") (pintype "passive") (tstamp 09d426aa-502f-481e-8e38-4cd31015983a))
+      (net 73 "/half bridges/OUT1B") (pintype "passive") (tstamp 09d426aa-502f-481e-8e38-4cd31015983a))
     (pad "3" thru_hole oval locked (at 1.25 -2.75) (size 1.75 1.75) (drill oval 1.25 0.95) (layers "*.Cu" "*.Mask")
-      (net 75 "/half bridges/OUT1B") (pintype "passive") (tstamp d7c6ba8f-69a7-4a9f-bb74-326938717664))
+      (net 73 "/half bridges/OUT1B") (pintype "passive") (tstamp d7c6ba8f-69a7-4a9f-bb74-326938717664))
     (pad "3" smd roundrect locked (at 1.25 -2.5) (size 1.75 5) (layers "F.Cu" "F.Mask") (roundrect_rratio 0.25)
       (chamfer_ratio 0) (chamfer bottom_left bottom_right)
-      (net 75 "/half bridges/OUT1B") (pintype "passive") (tstamp 261842a7-623a-4135-b8a2-a19e84ed294a))
+      (net 73 "/half bridges/OUT1B") (pintype "passive") (tstamp 261842a7-623a-4135-b8a2-a19e84ed294a))
     (pad "3" thru_hole oval locked (at 1.25 0) (size 1.75 2) (drill 1.05) (layers "*.Cu" "*.Mask")
-      (net 75 "/half bridges/OUT1B") (pintype "passive") (tstamp 9011c5ef-ace7-49e7-9f6b-232ed6141620))
+      (net 73 "/half bridges/OUT1B") (pintype "passive") (tstamp 9011c5ef-ace7-49e7-9f6b-232ed6141620))
     (pad "4" thru_hole circle locked (at 3.75 -4.625) (size 0.5 0.5) (drill 0.3) (property pad_prop_heatsink) (layers "*.Cu")
       (net 29 "/current sense/V_OUT") (pintype "passive") (tstamp 02937ca7-25c9-4f55-a070-7e2b314c078f))
     (pad "4" thru_hole oval locked (at 3.75 -2.75) (size 1.75 1.75) (drill oval 1.25 0.95) (layers "*.Cu" "*.Mask")
@@ -2995,17 +2994,17 @@
     (pad "8" smd rect (at -2.41 1.75 225) (size 0.66 0.28) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 1 "GND") (pinfunction "NC") (pintype "passive") (tstamp 9a3a1923-c9eb-46f1-8c31-4373388a31d7))
     (pad "9" smd rect (at -1.75 2.41 225) (size 0.28 0.66) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 75 "/half bridges/OUT1B") (pinfunction "OUT1B") (pintype "output") (tstamp 7b80c172-b04c-4d1a-bdff-ec3940a99500))
+      (net 73 "/half bridges/OUT1B") (pinfunction "OUT1B") (pintype "output") (tstamp 7b80c172-b04c-4d1a-bdff-ec3940a99500))
     (pad "10" smd rect (at -1.25 2.41 225) (size 0.28 0.66) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 88 "unconnected-(U601-NC-Pad10)") (pinfunction "NC") (pintype "no_connect") (tstamp b8576772-1b63-463f-a09d-2b132651669c))
+      (net 86 "unconnected-(U601-NC-Pad10)") (pinfunction "NC") (pintype "no_connect") (tstamp b8576772-1b63-463f-a09d-2b132651669c))
     (pad "11" smd rect (at -0.75 2.41 225) (size 0.28 0.66) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 31 "Net-(D601-K)") (pinfunction "OCDB") (pintype "open_emitter") (tstamp 12c4bc7d-30d3-404e-9a25-5b7da1f8ad3b))
     (pad "12" smd rect (at -0.25 2.41 225) (size 0.28 0.66) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 1 "GND") (pinfunction "SENSEB") (pintype "passive") (tstamp c10021df-c6d3-42b0-b519-98e78b6304b5))
     (pad "13" smd rect (at 0.25 2.41 225) (size 0.28 0.66) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 68 "/half bridges/IN1B") (pinfunction "IN1B") (pintype "input") (tstamp e4e5b679-983f-4f38-a48c-39691e783664))
+      (net 66 "/half bridges/IN1B") (pinfunction "IN1B") (pintype "input") (tstamp e4e5b679-983f-4f38-a48c-39691e783664))
     (pad "14" smd rect (at 0.75 2.41 225) (size 0.28 0.66) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 64 "/half bridges/IN2B") (pinfunction "IN2B") (pintype "input") (tstamp a180858c-24e9-4579-a7b9-7668998ec3e3))
+      (net 62 "/half bridges/IN2B") (pinfunction "IN2B") (pintype "input") (tstamp a180858c-24e9-4579-a7b9-7668998ec3e3))
     (pad "15" smd rect (at 1.25 2.41 225) (size 0.28 0.66) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 1 "GND") (pinfunction "PROGCLB") (pintype "input") (tstamp bf39f01d-7caa-44a1-aa99-83a0fe9eb182))
     (pad "16" smd rect (at 1.75 2.41 225) (size 0.28 0.66) (layers "F.Cu" "F.Paste" "F.Mask")
@@ -3013,7 +3012,7 @@
     (pad "17" smd rect (at 2.41 1.75 225) (size 0.66 0.28) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 30 "Net-(D603-K)") (pinfunction "VBOOT") (pintype "passive") (tstamp a5c0f107-9d63-4d7c-833d-4b6d10c494bf))
     (pad "18" smd rect (at 2.41 1.25 225) (size 0.66 0.28) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 89 "unconnected-(U601-NC-Pad18)") (pinfunction "NC") (pintype "no_connect") (tstamp 28c77e41-17f7-42e9-9850-e3ed42e46133))
+      (net 87 "unconnected-(U601-NC-Pad18)") (pinfunction "NC") (pintype "no_connect") (tstamp 28c77e41-17f7-42e9-9850-e3ed42e46133))
     (pad "19" smd rect (at 2.41 0.75 225) (size 0.66 0.28) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 11 "/current sense/W_IN") (pinfunction "OUT2B") (pintype "output") (tstamp 823a8348-234f-41b7-8aac-95628eaf97b5))
     (pad "20" smd rect (at 2.41 0.25 225) (size 0.66 0.28) (layers "F.Cu" "F.Paste" "F.Mask")
@@ -3031,9 +3030,9 @@
     (pad "26" smd rect (at 1.25 -2.41 225) (size 0.28 0.66) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 1 "GND") (pinfunction "PROGCLA") (pintype "input") (tstamp 98bb5583-0a0c-4709-9f4d-25883c742384))
     (pad "27" smd rect (at 0.75 -2.41 225) (size 0.28 0.66) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 66 "/half bridges/IN1A") (pinfunction "IN1A") (pintype "input") (tstamp 0abebec7-c2b0-4c7a-be46-3bb40056bbd6))
+      (net 64 "/half bridges/IN1A") (pinfunction "IN1A") (pintype "input") (tstamp 0abebec7-c2b0-4c7a-be46-3bb40056bbd6))
     (pad "28" smd rect (at 0.25 -2.41 225) (size 0.28 0.66) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 67 "/half bridges/IN2A") (pinfunction "IN2A") (pintype "input") (tstamp e800cdec-24bc-4df9-a331-fb439d83876c))
+      (net 65 "/half bridges/IN2A") (pinfunction "IN2A") (pintype "input") (tstamp e800cdec-24bc-4df9-a331-fb439d83876c))
     (pad "29" smd rect (at -0.25 -2.41 225) (size 0.28 0.66) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 1 "GND") (pinfunction "SENSEA") (pintype "passive") (tstamp ad7388e6-5630-4ace-9a56-a33fdabd70e5))
     (pad "30" smd rect (at -0.75 -2.41 225) (size 0.28 0.66) (layers "F.Cu" "F.Paste" "F.Mask")
@@ -3041,7 +3040,7 @@
     (pad "31" smd rect (at -1.25 -2.41 225) (size 0.28 0.66) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 10 "/current sense/V_IN") (pinfunction "OUT1A") (pintype "output") (tstamp 6e6fe790-8fde-45c3-a91f-a45214fd314b))
     (pad "32" smd rect (at -1.75 -2.41 225) (size 0.28 0.66) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 90 "unconnected-(U601-NC-Pad32)") (pinfunction "NC") (pintype "no_connect") (tstamp 1343b545-7676-45f2-abd8-1f51b7d67602))
+      (net 88 "unconnected-(U601-NC-Pad32)") (pinfunction "NC") (pintype "no_connect") (tstamp 1343b545-7676-45f2-abd8-1f51b7d67602))
     (pad "33" smd rect (at -0.165 0.25 225) (size 3.83 3.28) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 1 "GND") (pinfunction "EP") (pintype "passive") (tstamp b8d404ac-0192-493a-856d-19a06a3bc7f2))
     (model "/Users/mateijordache/Documents/KiCad/easyeda2kicad/easyeda2kicad.3dshapes/VQFN-32_L5.0-W5.0-H1.0-P0.50.wrl" hide
@@ -3152,7 +3151,7 @@
     (pad "5" smd rect (at 0.75 -0.88) (size 0.25 0.8) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 1 "GND") (pinfunction "MODE") (pintype "input") (tstamp ce238d69-f856-4478-9dbc-f6973b649429))
     (pad "6" smd rect (at 0.25 -0.88) (size 0.25 0.8) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 81 "unconnected-(U501-~{RESET}-Pad6)") (pinfunction "~{RESET}") (pintype "input+no_connect") (tstamp b90adedf-2f44-485d-ae35-abc0b45a70c8))
+      (net 79 "unconnected-(U501-~{RESET}-Pad6)") (pinfunction "~{RESET}") (pintype "input+no_connect") (tstamp b90adedf-2f44-485d-ae35-abc0b45a70c8))
     (pad "7" smd rect (at -0.25 -0.88) (size 0.25 0.8) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 1 "GND") (pinfunction "GND") (pintype "power_in") (tstamp f203991d-dda4-484f-be65-d248e076c2e8))
     (pad "8" smd rect (at -0.75 -0.88) (size 0.25 0.8) (layers "F.Cu" "F.Paste" "F.Mask")
@@ -3239,11 +3238,11 @@
     (pad "1" smd roundrect (at -3.4375 -2.75 315) (size 0.875 0.25) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 45 "unconnected-(U301-VBAT-Pad1)") (pinfunction "VBAT") (pintype "power_in+no_connect") (tstamp 0f472819-8e26-4f73-8725-d35bb2fdc1e4))
     (pad "2" smd roundrect (at -3.4375 -2.25 315) (size 0.875 0.25) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 52 "unconnected-(U301-PC13-Pad2)") (pinfunction "PC13") (pintype "bidirectional+no_connect") (tstamp c46e4fa8-b3c6-452f-b3e9-bea2dea35dc1))
+      (net 90 "/current sense/GAIN_0") (pinfunction "PC13") (pintype "bidirectional") (tstamp c46e4fa8-b3c6-452f-b3e9-bea2dea35dc1))
     (pad "3" smd roundrect (at -3.4375 -1.75 315) (size 0.875 0.25) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 54 "unconnected-(U301-PC14-Pad3)") (pinfunction "PC14") (pintype "bidirectional+no_connect") (tstamp a3bd0779-fb68-442d-a53e-405f5bedc795))
+      (net 89 "/current sense/GAIN_1") (pinfunction "PC14") (pintype "bidirectional") (tstamp a3bd0779-fb68-442d-a53e-405f5bedc795))
     (pad "4" smd roundrect (at -3.4375 -1.25 315) (size 0.875 0.25) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 82 "/mcu/USER_BTN") (pinfunction "PC15") (pintype "bidirectional") (tstamp 6e5e604a-a902-49ca-837c-c7b088dfa3bd))
+      (net 80 "/mcu/USER_BTN") (pinfunction "PC15") (pintype "bidirectional") (tstamp 6e5e604a-a902-49ca-837c-c7b088dfa3bd))
     (pad "5" smd roundrect (at -3.4375 -0.75 315) (size 0.875 0.25) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 6 "/mcu/XIN") (pinfunction "PF0") (pintype "bidirectional") (tstamp 22b5666a-893c-4b4a-90ed-66417fcd9cba))
     (pad "6" smd roundrect (at -3.4375 -0.25 315) (size 0.875 0.25) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
@@ -3251,15 +3250,15 @@
     (pad "7" smd roundrect (at -3.4375 0.25 315) (size 0.875 0.25) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 5 "/mcu/RESET") (pinfunction "PG10") (pintype "bidirectional") (tstamp 1ca57587-53b4-4415-8749-f55fca9ed969))
     (pad "8" smd roundrect (at -3.4375 0.75 315) (size 0.875 0.25) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 68 "/half bridges/IN1B") (pinfunction "PA0") (pintype "bidirectional") (tstamp bc0357d3-7d30-42ba-aec8-7445543b2a43))
+      (net 66 "/half bridges/IN1B") (pinfunction "PA0") (pintype "bidirectional") (tstamp bc0357d3-7d30-42ba-aec8-7445543b2a43))
     (pad "9" smd roundrect (at -3.4375 1.25 315) (size 0.875 0.25) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 64 "/half bridges/IN2B") (pinfunction "PA1") (pintype "bidirectional") (tstamp bedc564b-7d50-4611-86fa-f3495264bffd))
+      (net 62 "/half bridges/IN2B") (pinfunction "PA1") (pintype "bidirectional") (tstamp bedc564b-7d50-4611-86fa-f3495264bffd))
     (pad "10" smd roundrect (at -3.4375 1.75 315) (size 0.875 0.25) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 80 "/mcu/ADC1_IN12") (pinfunction "PA2") (pintype "bidirectional") (tstamp 9bb53c9f-3542-444b-8b8b-f518413c6b49))
+      (net 78 "/mcu/ADC1_IN12") (pinfunction "PA2") (pintype "bidirectional") (tstamp 9bb53c9f-3542-444b-8b8b-f518413c6b49))
     (pad "11" smd roundrect (at -3.4375 2.25 315) (size 0.875 0.25) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 16 "/current sense/U_SENSE") (pinfunction "PA3") (pintype "bidirectional") (tstamp 2e019c6a-6709-4262-a155-4c6e1e56c5fc))
     (pad "12" smd roundrect (at -3.4375 2.75 315) (size 0.875 0.25) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 53 "/encoder/CAL_EN") (pinfunction "PA4") (pintype "bidirectional") (tstamp 9db88d1f-1830-40a9-b451-1fb1d78d05eb))
+      (net 52 "/encoder/CAL_EN") (pinfunction "PA4") (pintype "bidirectional") (tstamp 9db88d1f-1830-40a9-b451-1fb1d78d05eb))
     (pad "13" smd roundrect (at -2.75 3.4375 315) (size 0.25 0.875) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 48 "/encoder/SCK") (pinfunction "PA5") (pintype "bidirectional") (tstamp 24000cd7-afd2-4ea9-9033-4c43b4eb30bb))
     (pad "14" smd roundrect (at -2.25 3.4375 315) (size 0.25 0.875) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
@@ -3275,7 +3274,7 @@
     (pad "19" smd roundrect (at 0.25 3.4375 315) (size 0.25 0.875) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 8 "unconnected-(U301-PB2-Pad19)") (pinfunction "PB2") (pintype "bidirectional+no_connect") (tstamp 8a4cfab6-e373-4bc6-92c1-53a5e0203a78))
     (pad "20" smd roundrect (at 0.75 3.4375 315) (size 0.25 0.875) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 79 "Net-(U301-VREF+)") (pinfunction "VREF+") (pintype "input") (tstamp 5fcfb716-78b0-4fcf-8729-be63c6612615))
+      (net 77 "Net-(U301-VREF+)") (pinfunction "VREF+") (pintype "input") (tstamp 5fcfb716-78b0-4fcf-8729-be63c6612615))
     (pad "21" smd roundrect (at 1.25 3.4375 315) (size 0.25 0.875) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 4 "+3V3") (pinfunction "VDDA") (pintype "power_in") (tstamp d2531d74-348f-481f-b41b-570ac72abd19))
     (pad "22" smd roundrect (at 1.75 3.4375 315) (size 0.25 0.875) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
@@ -3289,17 +3288,17 @@
     (pad "26" smd roundrect (at 3.4375 2.25 315) (size 0.875 0.25) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 17 "/current sense/V_SENSE") (pinfunction "PB13") (pintype "bidirectional") (tstamp 7f55ac87-c5e5-4c1f-bc56-93daaccdcb26))
     (pad "27" smd roundrect (at 3.4375 1.75 315) (size 0.875 0.25) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 55 "/mcu/USER_3") (pinfunction "PB14") (pintype "bidirectional") (tstamp 8cac26b9-992c-4fca-a75a-52f1f42d1437))
+      (net 53 "/mcu/USER_3") (pinfunction "PB14") (pintype "bidirectional") (tstamp 8cac26b9-992c-4fca-a75a-52f1f42d1437))
     (pad "28" smd roundrect (at 3.4375 1.25 315) (size 0.875 0.25) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 26 "/mcu/USER_2") (pinfunction "PB15") (pintype "bidirectional") (tstamp af73c5e8-62cf-4ece-982e-35fd523353a3))
     (pad "29" smd roundrect (at 3.4375 0.75 315) (size 0.875 0.25) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 56 "/mcu/USER_1") (pinfunction "PC6") (pintype "bidirectional") (tstamp 34610372-85cb-4a2e-9e19-917dc98c9f0d))
+      (net 54 "/mcu/USER_1") (pinfunction "PC6") (pintype "bidirectional") (tstamp 34610372-85cb-4a2e-9e19-917dc98c9f0d))
     (pad "30" smd roundrect (at 3.4375 0.25 315) (size 0.875 0.25) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 76 "/mcu/DIR") (pinfunction "PA8") (pintype "bidirectional") (tstamp b4179fad-faab-4912-9e38-b00b0a022d6f))
+      (net 74 "/mcu/DIR") (pinfunction "PA8") (pintype "bidirectional") (tstamp b4179fad-faab-4912-9e38-b00b0a022d6f))
     (pad "31" smd roundrect (at 3.4375 -0.25 315) (size 0.875 0.25) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 67 "/half bridges/IN2A") (pinfunction "PA9") (pintype "bidirectional") (tstamp 220fb8b1-a2ff-4276-a1f6-6cb5d18c2b93))
+      (net 65 "/half bridges/IN2A") (pinfunction "PA9") (pintype "bidirectional") (tstamp 220fb8b1-a2ff-4276-a1f6-6cb5d18c2b93))
     (pad "32" smd roundrect (at 3.4375 -0.75 315) (size 0.875 0.25) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 66 "/half bridges/IN1A") (pinfunction "PA10") (pintype "bidirectional") (tstamp 8e35149c-ee72-46b4-9d51-d20a97b1dad8))
+      (net 64 "/half bridges/IN1A") (pinfunction "PA10") (pintype "bidirectional") (tstamp 8e35149c-ee72-46b4-9d51-d20a97b1dad8))
     (pad "33" smd roundrect (at 3.4375 -1.25 315) (size 0.875 0.25) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 40 "/mcu/USBD_N") (pinfunction "PA11") (pintype "bidirectional") (tstamp 37785627-1c21-47bb-8605-cdd652246542))
     (pad "34" smd roundrect (at 3.4375 -1.75 315) (size 0.875 0.25) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
@@ -3311,11 +3310,11 @@
     (pad "37" smd roundrect (at 2.75 -3.4375 315) (size 0.25 0.875) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 25 "/mcu/SWCLK") (pinfunction "PA14") (pintype "bidirectional") (tstamp 3fea4b11-7028-49fb-b0f5-c7ab3b317745))
     (pad "38" smd roundrect (at 2.25 -3.4375 315) (size 0.25 0.875) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 55 "/mcu/USER_3") (pinfunction "PA15") (pintype "bidirectional") (tstamp 7f624db0-009d-4105-ada7-a32062566482))
+      (net 53 "/mcu/USER_3") (pinfunction "PA15") (pintype "bidirectional") (tstamp 7f624db0-009d-4105-ada7-a32062566482))
     (pad "39" smd roundrect (at 1.75 -3.4375 315) (size 0.25 0.875) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 76 "/mcu/DIR") (pinfunction "PC10") (pintype "bidirectional") (tstamp 744fe9cd-8d38-4088-8676-6fa57dc50817))
+      (net 74 "/mcu/DIR") (pinfunction "PC10") (pintype "bidirectional") (tstamp 744fe9cd-8d38-4088-8676-6fa57dc50817))
     (pad "40" smd roundrect (at 1.25 -3.4375 315) (size 0.25 0.875) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 77 "/mcu/STEP") (pinfunction "PC11") (pintype "bidirectional") (tstamp 89fb12ca-991a-49e0-844d-1a8f9796aa1c))
+      (net 75 "/mcu/STEP") (pinfunction "PC11") (pintype "bidirectional") (tstamp 89fb12ca-991a-49e0-844d-1a8f9796aa1c))
     (pad "41" smd roundrect (at 0.75 -3.4375 315) (size 0.25 0.875) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 44 "/encoder/Z") (pinfunction "PB3") (pintype "bidirectional") (tstamp 9ad7f1a1-93d0-4747-8f94-e49f0e1e5d78))
     (pad "42" smd roundrect (at 0.25 -3.4375 315) (size 0.25 0.875) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
@@ -3323,13 +3322,13 @@
     (pad "43" smd roundrect (at -0.25 -3.4375 315) (size 0.25 0.875) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 43 "/encoder/B") (pinfunction "PB5") (pintype "bidirectional") (tstamp 45a99f83-8323-41e9-8e46-cee79804964e))
     (pad "44" smd roundrect (at -0.75 -3.4375 315) (size 0.25 0.875) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 65 "/mcu/TIM4_CH1") (pinfunction "PB6") (pintype "bidirectional") (tstamp 31446d72-42b8-44f2-bd91-2e0427267cca))
+      (net 63 "/mcu/TIM4_CH1") (pinfunction "PB6") (pintype "bidirectional") (tstamp 31446d72-42b8-44f2-bd91-2e0427267cca))
     (pad "45" smd roundrect (at -1.25 -3.4375 315) (size 0.25 0.875) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 74 "/mcu/TIM4_CH2") (pinfunction "PB7") (pintype "bidirectional") (tstamp 46b207be-fe47-4305-92cb-58602dcb530e))
+      (net 72 "/mcu/TIM4_CH2") (pinfunction "PB7") (pintype "bidirectional") (tstamp 46b207be-fe47-4305-92cb-58602dcb530e))
     (pad "46" smd roundrect (at -1.75 -3.4375 315) (size 0.25 0.875) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 57 "/mcu/CAN_TX") (pinfunction "PB8") (pintype "bidirectional") (tstamp ebea0914-6b4f-4ed7-821f-e59e6b333dbd))
+      (net 55 "/mcu/CAN_TX") (pinfunction "PB8") (pintype "bidirectional") (tstamp ebea0914-6b4f-4ed7-821f-e59e6b333dbd))
     (pad "47" smd roundrect (at -2.25 -3.4375 315) (size 0.25 0.875) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 58 "/mcu/CAN_RX") (pinfunction "PB9") (pintype "bidirectional") (tstamp 427b1ca4-3b0c-4fee-a185-a8897e552244))
+      (net 56 "/mcu/CAN_RX") (pinfunction "PB9") (pintype "bidirectional") (tstamp 427b1ca4-3b0c-4fee-a185-a8897e552244))
     (pad "48" smd roundrect (at -2.75 -3.4375 315) (size 0.25 0.875) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 4 "+3V3") (pinfunction "VDD") (pintype "power_in") (tstamp cd8b3e4f-1fbe-42fb-b489-f0cd66f8936d))
     (pad "49" smd rect (at 0 0 315) (size 5.6 5.6) (layers "F.Cu" "F.Mask")
@@ -3388,7 +3387,7 @@
     (pad "1" smd roundrect (at -0.51 0 180) (size 0.54 0.64) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 2 "Vmot") (pintype "passive") (tstamp c2d80dd3-57a2-4ade-aa52-92dd6e0ed29c))
     (pad "2" smd roundrect (at 0.51 0 180) (size 0.54 0.64) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 80 "/mcu/ADC1_IN12") (pintype "passive") (tstamp ff0b2cce-81d9-4b1b-8666-416b79954773))
+      (net 78 "/mcu/ADC1_IN12") (pintype "passive") (tstamp ff0b2cce-81d9-4b1b-8666-416b79954773))
     (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0402_1005Metric.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
@@ -3556,7 +3555,7 @@
     (pad "1" smd roundrect (at -0.48 0) (size 0.56 0.62) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 17 "/current sense/V_SENSE") (pintype "passive") (tstamp 7112790d-2bec-474f-9fbf-cdfaae6def10))
     (pad "2" smd roundrect (at 0.48 0) (size 0.56 0.62) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 78 "GNDA") (pintype "passive") (tstamp 94769d25-def2-4fe4-9d99-7210d1b79fe3))
+      (net 1 "GND") (pintype "passive") (tstamp 94769d25-def2-4fe4-9d99-7210d1b79fe3))
     (model "${KICAD6_3DMODEL_DIR}/Capacitor_SMD.3dshapes/C_0402_1005Metric.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
@@ -4002,7 +4001,7 @@
     (pad "1" smd roundrect (at -0.825 0 270) (size 0.8 0.95) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 4 "+3V3") (pintype "passive") (tstamp e5616773-904e-4790-bb2d-6e59ab007c95))
     (pad "2" smd roundrect (at 0.825 0 270) (size 0.8 0.95) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 87 "Net-(C503-Pad1)") (pintype "passive") (tstamp 36394144-c9f2-4e94-86e7-2c5b3dfec7b9))
+      (net 85 "Net-(C503-Pad1)") (pintype "passive") (tstamp 36394144-c9f2-4e94-86e7-2c5b3dfec7b9))
     (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0603_1608Metric.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
@@ -4057,7 +4056,7 @@
     (pad "1" smd roundrect (at -0.51 0) (size 0.54 0.64) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 47 "Net-(D502-A)") (pintype "passive") (tstamp 31168701-b333-4f96-92d1-9d20c3081ec2))
     (pad "2" smd roundrect (at 0.51 0) (size 0.54 0.64) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 72 "Net-(Q501-B)") (pintype "passive") (tstamp eafe91c3-ce3a-4b51-b5b2-e77b695fe101))
+      (net 70 "Net-(Q501-B)") (pintype "passive") (tstamp eafe91c3-ce3a-4b51-b5b2-e77b695fe101))
     (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0402_1005Metric.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
@@ -4226,7 +4225,7 @@
     (fp_line (start 0.525 0.27) (end -0.525 0.27)
       (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 7c935ea3-5fc5-45ba-8e50-24f0a1189f5e))
     (pad "1" smd roundrect (at -0.51 0 270) (size 0.54 0.64) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 82 "/mcu/USER_BTN") (pintype "passive") (tstamp 94fc523c-b82c-4831-a905-3d5838a9cc33))
+      (net 80 "/mcu/USER_BTN") (pintype "passive") (tstamp 94fc523c-b82c-4831-a905-3d5838a9cc33))
     (pad "2" smd roundrect (at 0.51 0 270) (size 0.54 0.64) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 1 "GND") (pintype "passive") (tstamp 79239644-9b01-4cea-a239-8e25238ff892))
     (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0402_1005Metric.wrl"
@@ -4384,7 +4383,7 @@
     (fp_line (start 0.525 0.27) (end -0.525 0.27)
       (stroke (width 0.1) (type solid)) (layer "F.Fab") (tstamp 2f5ec920-593e-4a4d-8723-e926c51e77a5))
     (pad "1" smd roundrect (at -0.51 0 180) (size 0.54 0.64) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 80 "/mcu/ADC1_IN12") (pintype "passive") (tstamp 39bff009-f197-4fa8-8a07-611df1f21009))
+      (net 78 "/mcu/ADC1_IN12") (pintype "passive") (tstamp 39bff009-f197-4fa8-8a07-611df1f21009))
     (pad "2" smd roundrect (at 0.51 0 180) (size 0.54 0.64) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 1 "GND") (pintype "passive") (tstamp 9b2da5f7-efa8-45e7-ad35-818048fad94a))
     (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0402_1005Metric.wrl"
@@ -4998,13 +4997,13 @@
     (fp_circle (center 0 0) (end 16 0)
       (stroke (width 0.12) (type solid)) (fill none) (layer "User.1") (tstamp c75609a9-c0b1-499a-b851-1f1607c766a3))
     (pad "1" smd rect locked (at -2.775 -2.275 90) (size 1.05 0.45) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 60 "unconnected-(U401-U-Pad1)") (pinfunction "U") (pintype "output+no_connect") (tstamp dca3fd06-3864-460a-951d-8d13bfea644a))
+      (net 58 "unconnected-(U401-U-Pad1)") (pinfunction "U") (pintype "output+no_connect") (tstamp dca3fd06-3864-460a-951d-8d13bfea644a))
     (pad "2" smd rect locked (at -2.775 -1.625 90) (size 1.05 0.45) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 61 "unconnected-(U401-V-Pad2)") (pinfunction "V") (pintype "output+no_connect") (tstamp cf4cdf16-9ef5-40ca-8788-4aaf472c96e6))
+      (net 59 "unconnected-(U401-V-Pad2)") (pinfunction "V") (pintype "output+no_connect") (tstamp cf4cdf16-9ef5-40ca-8788-4aaf472c96e6))
     (pad "3" smd rect locked (at -2.775 -0.975 90) (size 1.05 0.45) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 62 "unconnected-(U401-W-Pad3)") (pinfunction "W") (pintype "output+no_connect") (tstamp ea373ada-a871-422d-88bc-d93c614700a8))
+      (net 60 "unconnected-(U401-W-Pad3)") (pinfunction "W") (pintype "output+no_connect") (tstamp ea373ada-a871-422d-88bc-d93c614700a8))
     (pad "4" smd rect locked (at -2.775 -0.325 90) (size 1.05 0.45) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 53 "/encoder/CAL_EN") (pinfunction "CAL_EN") (pintype "input") (tstamp 6dc58adf-6197-4c65-85dc-55fd0c158875))
+      (net 52 "/encoder/CAL_EN") (pinfunction "CAL_EN") (pintype "input") (tstamp 6dc58adf-6197-4c65-85dc-55fd0c158875))
     (pad "5" smd rect locked (at -2.775 0.325 90) (size 1.05 0.45) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 49 "/encoder/CIPO") (pinfunction "MISO") (pintype "output") (tstamp 20594124-22b1-4e63-837e-73bc5bd60121))
     (pad "6" smd rect locked (at -2.775 0.975 90) (size 1.05 0.45) (layers "F.Cu" "F.Paste" "F.Mask")
@@ -5016,7 +5015,7 @@
     (pad "9" smd rect locked (at 2.775 2.275 90) (size 1.05 0.45) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 4 "+3V3") (pinfunction "VDD") (pintype "power_in") (tstamp c560b1e4-589b-4c89-8b0b-ecef533570e1))
     (pad "10" smd rect locked (at 2.775 1.625 90) (size 1.05 0.45) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 63 "unconnected-(U401-PWM_OUT-Pad10)") (pinfunction "PWM_OUT") (pintype "output+no_connect") (tstamp d65bf6fa-f1ee-4f46-8756-7fa5e8e6f754))
+      (net 61 "unconnected-(U401-PWM_OUT-Pad10)") (pinfunction "PWM_OUT") (pintype "output+no_connect") (tstamp d65bf6fa-f1ee-4f46-8756-7fa5e8e6f754))
     (pad "11" smd rect locked (at 2.775 0.975 90) (size 1.05 0.45) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 1 "GND") (pinfunction "TEST") (pintype "input") (tstamp 91f153f5-5ffc-4f00-b3f1-eff426ccde11))
     (pad "12" smd rect locked (at 2.775 0.325 90) (size 1.05 0.45) (layers "F.Cu" "F.Paste" "F.Mask")
@@ -5527,7 +5526,7 @@
 
   (footprint "Resistor_SMD:R_0402_1005Metric" (layer "F.Cu")
     (tstamp dabb2309-5e53-4e64-a103-92706b415632)
-    (at 135.575 77.85 90)
+    (at 135.4796 77.85 90)
     (descr "Resistor SMD 0402 (1005 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 72, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
     (tags "resistor")
     (property "LCSC Part" "C25744")
@@ -5627,7 +5626,7 @@
     (pad "1" smd roundrect (at -0.48 0) (size 0.56 0.62) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 16 "/current sense/U_SENSE") (pintype "passive") (tstamp ab7d1eeb-dc72-4040-88ac-68b956fb286a))
     (pad "2" smd roundrect (at 0.48 0) (size 0.56 0.62) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 78 "GNDA") (pintype "passive") (tstamp 36d21225-5587-4ca7-8413-0a6dea8aeebe))
+      (net 1 "GND") (pintype "passive") (tstamp 36d21225-5587-4ca7-8413-0a6dea8aeebe))
     (model "${KICAD6_3DMODEL_DIR}/Capacitor_SMD.3dshapes/C_0402_1005Metric.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
@@ -5741,7 +5740,7 @@
     (pad "1" smd roundrect (at -0.51 0) (size 0.54 0.64) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 23 "/mcu/CANL") (pintype "passive") (tstamp 77837e1b-56cb-48a7-abaa-440a6098d2ee))
     (pad "2" smd roundrect (at 0.51 0) (size 0.54 0.64) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 76 "/mcu/DIR") (pintype "passive") (tstamp 3eaf2208-f9ba-4b9f-b2a4-d1bd369ec98e))
+      (net 74 "/mcu/DIR") (pintype "passive") (tstamp 3eaf2208-f9ba-4b9f-b2a4-d1bd369ec98e))
     (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0402_1005Metric.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
@@ -5796,7 +5795,7 @@
     (pad "1" smd roundrect (at -0.825 0 90) (size 0.8 0.95) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
       (net 2 "Vmot") (pintype "passive") (tstamp b005fe9c-23ea-4a19-87f6-1b5b7063d740))
     (pad "2" smd roundrect (at 0.825 0 90) (size 0.8 0.95) (layers "F.Cu" "F.Paste" "F.Mask") (roundrect_rratio 0.25)
-      (net 73 "Net-(Q501-C)") (pintype "passive") (tstamp 08506845-c483-48c0-83a1-61c9c1903658))
+      (net 71 "Net-(Q501-C)") (pintype "passive") (tstamp 08506845-c483-48c0-83a1-61c9c1903658))
     (model "${KICAD6_3DMODEL_DIR}/Resistor_SMD.3dshapes/R_0603_1608Metric.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
@@ -5967,23 +5966,23 @@
     (pad "2" smd rect (at -1.45 -0.5 180) (size 0.85 0.3) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 28 "/current sense/U_OUT") (pinfunction "RS-") (pintype "input") (tstamp 1271d397-ad72-43be-b931-8250528de521))
     (pad "3" smd rect (at -1.45 0 180) (size 0.85 0.3) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 83 "unconnected-(U701-NC-Pad3)") (pinfunction "NC") (pintype "no_connect") (tstamp 6d3b7c93-32ed-4c15-a6e1-2453391296d0))
+      (net 81 "unconnected-(U701-NC-Pad3)") (pinfunction "NC") (pintype "no_connect") (tstamp 6d3b7c93-32ed-4c15-a6e1-2453391296d0))
     (pad "4" smd rect (at -1.45 0.5 180) (size 0.85 0.3) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 78 "GNDA") (pinfunction "GND") (pintype "power_in") (tstamp 3cef747a-2d01-4662-b082-a66634970b5e))
+      (net 1 "GND") (pinfunction "GND") (pintype "power_in") (tstamp 3cef747a-2d01-4662-b082-a66634970b5e))
     (pad "5" smd rect (at -1.45 1 180) (size 0.85 0.3) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 85 "Net-(U701-OUT)") (pinfunction "OUT") (pintype "output") (tstamp 6fd1dd45-1f53-429a-b9b7-32ef87ac89ed))
+      (net 83 "Net-(U701-OUT)") (pinfunction "OUT") (pintype "output") (tstamp 6fd1dd45-1f53-429a-b9b7-32ef87ac89ed))
     (pad "6" smd rect (at 1.45 1 180) (size 0.85 0.3) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 4 "+3V3") (pinfunction "Vdd") (pintype "power_in") (tstamp 5ee1699b-7570-409b-8397-ea5e709af08f))
     (pad "7" smd rect (at 1.45 0.5 180) (size 0.85 0.3) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 78 "GNDA") (pinfunction "REF2") (pintype "input") (tstamp 9bcc0e0b-5db2-476b-9e66-99ac2a9812c2))
+      (net 1 "GND") (pinfunction "REF2") (pintype "input") (tstamp 9bcc0e0b-5db2-476b-9e66-99ac2a9812c2))
     (pad "8" smd rect (at 1.45 0 180) (size 0.85 0.3) (layers "F.Cu" "F.Paste" "F.Mask")
       (net 4 "+3V3") (pinfunction "REF1") (pintype "input") (tstamp 863698c3-5d75-42bc-843a-9c219e7e4c29))
     (pad "9" smd rect (at 1.45 -0.5 180) (size 0.85 0.3) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 4 "+3V3") (pinfunction "GAIN2") (pintype "input") (tstamp c06cb159-3c65-40fa-989c-a18643cfbad1))
+      (net 89 "/current sense/GAIN_1") (pinfunction "GAIN2") (pintype "input") (tstamp c06cb159-3c65-40fa-989c-a18643cfbad1))
     (pad "10" smd rect (at 1.45 -1 180) (size 0.85 0.3) (layers "F.Cu" "F.Paste" "F.Mask")
-      (net 78 "GNDA") (pinfunction "GAIN1") (pintype "input") (tstamp 48b2bea5-f736-4ffb-a73f-9bbbbca72d2e))
+      (net 90 "/current sense/GAIN_0") (pinfunction "GAIN1") (pintype "input") (tstamp 48b2bea5-f736-4ffb-a73f-9bbbbca72d2e))
     (pad "11" smd rect (at 0 0 180) (size 1.75 2.7) (layers "F.Cu" "F.Mask")
-      (net 78 "GNDA") (pinfunction "EP") (pintype "passive") (tstamp 80b451e0-0767-4530-9faa-bfdfe6e0995e))
+      (net 1 "GND") (pinfunction "EP") (pintype "passive") (tstamp 80b451e0-0767-4530-9faa-bfdfe6e0995e))
     (model "${KICAD6_3DMODEL_DIR}/Package_DFN_QFN.3dshapes/DFN-10-1EP_3x3mm_P0.5mm_EP1.75x2.7mm.wrl"
       (offset (xyz 0 0 0))
       (scale (xyz 1 1 1))
@@ -5991,42 +5990,6 @@
     )
   )
 
-  (footprint "NetTie:NetTie-2_SMD_Pad0.5mm" (layer "B.Cu")
-    (tstamp 16362ed2-68a4-4737-b9ae-a0c839ffc8c7)
-    (at 150.275 98.8)
-    (descr "Net tie, 2 pin, 0.5mm square SMD pads")
-    (tags "net tie")
-    (property "Sheetfile" "currentsense.kicad_sch")
-    (property "Sheetname" "current sense")
-    (property "exclude_from_bom" "")
-    (property "ki_description" "Net tie, 2 pins")
-    (property "ki_keywords" "net tie short")
-    (path "/41d11f3b-333a-47c0-a126-1f991ee11e83/aeb04d3c-06c8-456b-9688-575fd55ebc94")
-    (attr smd exclude_from_pos_files exclude_from_bom allow_missing_courtyard)
-    (net_tie_pad_groups "1, 2")
-    (fp_text reference "NT701" (at 0 1.2) (layer "B.SilkS") hide
-        (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
-      (tstamp e94e2845-4352-4a18-b966-57529e24d179)
-    )
-    (fp_text value "NetTie_2" (at 0 -1.2) (layer "B.Fab") hide
-        (effects (font (size 1 1) (thickness 0.15)) (justify mirror))
-      (tstamp c89b86ea-20df-4874-b7c6-96d2ef331bd1)
-    )
-    (fp_poly
-      (pts
-        (xy -0.5 0.25)
-        (xy 0.5 0.25)
-        (xy 0.5 -0.25)
-        (xy -0.5 -0.25)
-      )
-
-      (stroke (width 0) (type solid)) (fill solid) (layer "B.Cu") (tstamp 7dcdceae-ff65-471d-9ca5-d8f8255fbcea))
-    (pad "1" smd circle (at -0.5 0) (size 0.5 0.5) (layers "B.Cu")
-      (net 78 "GNDA") (pinfunction "1") (pintype "passive") (tstamp 74024b10-0e4e-4066-a6d6-b441ea0a8d95))
-    (pad "2" smd circle (at 0.5 0) (size 0.5 0.5) (layers "B.Cu")
-      (net 1 "GND") (pinfunction "2") (pintype "passive") (tstamp 4d488160-fde2-4ed7-bec0-06c3363c6db8))
-  )
-
   (footprint "kibuzzard-6557D153" (layer "B.Cu")
     (tstamp 3a1717f1-4f1c-42e4-b86d-138a17cb9ccd)
     (at 149.375 86.275 180)
@@ -6970,20 +6933,25 @@
   (segment (start 133.935589 91.402241) (end 133.903482 91.434348) (width 0.25) (layer "F.Cu") (net 1) (tstamp 035999c0-6708-4333-aa2d-9ac2c3f111fc))
   (segment (start 139.815736 100) (end 138.775 100) (width 0.25) (layer "F.Cu") (net 1) (tstamp 05f9c2b8-c13e-47b6-b5cf-bd170d3c2abf))
   (segment (start 149.31 93.1) (end 149.325 93.115) (width 0.25) (layer "F.Cu") (net 1) (tstamp 0a15f4d0-0410-40b9-af82-49d7f6b01a91))
+  (segment (start 149.79375 78.725) (end 150.01875 78.5) (width 0.125) (layer "F.Cu") (net 1) (tstamp 0a2671f2-9a73-46c3-a83a-99769648c988))
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   (segment (start 138.775 100) (end 138.75 99.975) (width 0.25) (layer "F.Cu") (net 1) (tstamp 16ab33c3-a6dc-46d3-bec7-9f6f4ea2b420))
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+  (segment (start 147.83125 79.45) (end 147.80625 79.475) (width 0.125) (layer "F.Cu") (net 1) (tstamp 17ef18b6-7f0a-41c5-83c9-584ac28008df))
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+  (segment (start 141.68125 78.725) (end 141.18125 79.225) (width 0.125) (layer "F.Cu") (net 1) (tstamp 1cb1c25d-0489-4402-804f-52fd85539217))
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+  (segment (start 149.28125 78.725) (end 148.33125 78.725) (width 0.125) (layer "F.Cu") (net 1) (tstamp 21de7402-7a69-4acc-b87d-cd29e5eb0b08))
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+  (segment (start 147.80625 80.125) (end 147.83125 80.15) (width 0.125) (layer "F.Cu") (net 1) (tstamp 288ecb61-6bd7-4dfe-915f-278378c2de13))
   (segment (start 155.43 94.1) (end 155.875 94.1) (width 0.25) (layer "F.Cu") (net 1) (tstamp 28bdfb8f-1ffb-47d4-8bc3-4e3b38a7d2f1))
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@@ -6995,6 +6963,7 @@
   (segment (start 159.175 85.21) (end 160.2 84.185) (width 0.25) (layer "F.Cu") (net 1) (tstamp 3b13e18a-ab22-47f6-8596-4e9ca4a2b462))
   (segment (start 153.3 83.175) (end 153.303553 83.175) (width 0.25) (layer "F.Cu") (net 1) (tstamp 3b375d13-fc27-4aa7-847a-1bc0d4015a55))
   (segment (start 133.325 94.55) (end 132.925 94.95) (width 0.25) (layer "F.Cu") (net 1) (tstamp 3c455410-6e91-42e4-ab6e-9621bd03151f))
+  (segment (start 142.63125 78.725) (end 143.15625 78.725) (width 0.125) (layer "F.Cu") (net 1) (tstamp 3c783e32-51b6-46a5-9526-b4e71a63e264))
   (segment (start 155.175 93.37) (end 155.175 93.845) (width 0.25) (layer "F.Cu") (net 1) (tstamp 3ce94d3c-a2ca-450e-a313-5f1dd366999f))
   (segment (start 158.475 74.8) (end 159.3 73.975) (width 0.25) (layer "F.Cu") (net 1) (tstamp 411efc6b-d258-4a26-8951-159baabe9430))
   (segment (start 133.935589 90.914411) (end 133.935589 91.402241) (width 0.25) (layer "F.Cu") (net 1) (tstamp 421b8346-98b2-4af2-8378-632edb6beb2d))
@@ -7002,7 +6971,10 @@
   (segment (start 142.161 88.95) (end 142.15 88.939) (width 0.25) (layer "F.Cu") (net 1) (tstamp 4b27ff5e-4a76-4bb6-a240-e03a71d6824e))
   (segment (start 155.875 94.1) (end 156.175 93.8) (width 0.25) (layer "F.Cu") (net 1) (tstamp 4b7becc2-4b3c-472a-9f8f-e4784f5ea4ff))
   (segment (start 154.032233 86.025) (end 153.975 86.025) (width 0.25) (layer "F.Cu") (net 1) (tstamp 4d4ac2dd-c01c-4276-8eee-25c37701008e))
+  (segment (start 150.01875 77.4325) (end 149.53625 76.95) (width 0.125) (layer "F.Cu") (net 1) (tstamp 4d8804a9-aa52-4a37-9931-e31ae0802ebd))
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+  (segment (start 147.65625 81.5) (end 147.73 81.5) (width 0.125) (layer "F.Cu") (net 1) (tstamp 507bc70e-d7ae-42f2-94b6-f0df9c9c4b78))
+  (segment (start 147.83125 79.225) (end 147.83125 79.45) (width 0.125) (layer "F.Cu") (net 1) (tstamp 51f6e274-073c-4765-9fdf-122849fc843a))
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@@ -7019,6 +6991,7 @@
   (segment (start 154 82.625) (end 154 84.225) (width 0.25) (layer "F.Cu") (net 1) (tstamp 677ffc2c-c435-4572-bb51-c80fa9a33795))
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   (segment (start 137.075 72.75) (end 134.525 72.75) (width 0.25) (layer "F.Cu") (net 1) (tstamp 691a1092-68aa-464b-b0d3-abc0aff347b4))
+  (segment (start 143.15625 78.725) (end 143.35625 78.525) (width 0.125) (layer "F.Cu") (net 1) (tstamp 6b4b0c28-d912-4633-b9cf-e2b1de9d0649))
   (segment (start 155.475 84.225) (end 155.45 84.25) (width 0.25) (layer "F.Cu") (net 1) (tstamp 6cce2e11-7525-432f-9566-0130915d7edf))
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@@ -7027,13 +7000,19 @@
   (segment (start 140.44283 102.94283) (end 140.44283 102.556006) (width 0.25) (layer "F.Cu") (net 1) (tstamp 7d830947-fb92-4fe9-91c0-1b6da54a8253))
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+  (segment (start 141.15625 80.15) (end 141.18125 80.125) (width 0.125) (layer "F.Cu") (net 1) (tstamp 85019e90-224c-455d-a513-8419ee59f650))
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diff --git a/hardware/lemon-pepper.kicad_prl b/hardware/lemon-pepper.kicad_prl
index a4e1b64..b4345d3 100644
--- a/hardware/lemon-pepper.kicad_prl
+++ b/hardware/lemon-pepper.kicad_prl
@@ -38,6 +38,7 @@
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       10,
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+      12,
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@@ -63,7 +64,7 @@
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diff --git a/hardware/lemon-pepper.kicad_sch b/hardware/lemon-pepper.kicad_sch
index ad243ec..9508115 100644
--- a/hardware/lemon-pepper.kicad_sch
+++ b/hardware/lemon-pepper.kicad_sch
@@ -744,6 +744,10 @@
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diff --git a/hardware/mcu.kicad_sch b/hardware/mcu.kicad_sch
index 3257e37..82990c3 100644
--- a/hardware/mcu.kicad_sch
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