diff --git a/CHANGELOG.md b/CHANGELOG.md
index 33c030e3..a85a4fad 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,8 @@
 ### Changes this version:
-- Added independend friction and inertia effects to axis
-- ODrive class can save encoder position offset
-- Reverted the forza fix for 2 axis setups. 
-  - TODO: test and report if behaviour works for all games with the angle always being used for 1 axis modes (Games must send 90° on X axis effects instead of 0°).
\ No newline at end of file
+- Fixed BISS-C encoder sometimes overflowing one rotation at startup
+- Added BISS-C direction inversion function (Default true). Most BISS-C encoders count CW while most others and TMC count CCW.
+- Standardized encoder counting direction counting up in CCW direction as a more common industrial standard
+- Fixed idle spring effect not working before first save
+- Retuned speed limiter function. Removed averaging. Should be more stable for high resolution encoders if high bandwidth speed filter preset is selected
+- Force ramps up slowly on potential sharp position changes such as recentering
+- FFB led now shows FFB state. On when FFB actuators enabled. Still blinks on clipping
\ No newline at end of file
diff --git a/Firmware/FFBoard/Inc/AnalogSource.h b/Firmware/FFBoard/Inc/AnalogSource.h
index 919f2c20..e26c2c7a 100644
--- a/Firmware/FFBoard/Inc/AnalogSource.h
+++ b/Firmware/FFBoard/Inc/AnalogSource.h
@@ -30,7 +30,7 @@ class AnalogSource : public ChoosableClass, public PersistentStorage{
 	virtual std::vector<int32_t>* getAxes();
 	std::vector<int32_t> buf;
 
-
+	static const std::vector<class_entry<AnalogSource>> all_analogsources;
 
 private:
 
diff --git a/Firmware/FFBoard/Inc/Axis.h b/Firmware/FFBoard/Inc/Axis.h
index 82bce6b1..18d6c177 100644
--- a/Firmware/FFBoard/Inc/Axis.h
+++ b/Firmware/FFBoard/Inc/Axis.h
@@ -23,11 +23,16 @@
 #include "ClassChooser.h"
 #include "ExtiHandler.h"
 #include "EffectsCalculator.h"
-#include "FastAvg.h"
 
 #define INTERNAL_AXIS_DAMPER_SCALER 0.7
 #define INTERNAL_AXIS_FRICTION_SCALER 0.7
 #define INTERNAL_AXIS_INERTIA_SCALER 0.7
+#ifndef AXIS_SPEEDLIMITER_P
+#define AXIS_SPEEDLIMITER_P 0.3
+#endif
+#ifndef AXIS_SPEEDLIMITER_I
+#define AXIS_SPEEDLIMITER_I 0.03
+#endif
 
 
 struct Control_t {
@@ -154,6 +159,8 @@ class Axis : public PersistentStorage, public CommandHandler, public ErrorHandle
 	int32_t getTorque(); // current torque scaled as a 32 bit signed value
 	int16_t updateEndstop();
 
+	void startForceFadeIn(float start = 0,float fadeTime = 0.5);
+
 	metric_t* getMetrics();
 
 	void setEffectTorque(int32_t torque);
@@ -185,6 +192,9 @@ class Axis : public PersistentStorage, public CommandHandler, public ErrorHandle
 
 	const Error outOfBoundsError = Error(ErrorCode::axisOutOfRange,ErrorType::warning,"Axis out of bounds");
 
+	float forceFadeTime = 1.0;
+	float forceFadeCurMult = 1.0;
+
 #ifdef TMC4671DRIVER
 	TMC4671Limits tmclimits = TMC4671Limits({.pid_torque_flux_ddt = 32767,
 											 .pid_uq_ud = 30000,
@@ -221,7 +231,8 @@ class Axis : public PersistentStorage, public CommandHandler, public ErrorHandle
 	uint16_t maxSpeedDegS  = 0; // Set to non zero to enable. example 1000. 8b * 10?
 	//float	 maxAccelDegSS = 0;
 	uint32_t maxTorqueRateMS = 0; // 8b * 128?
-	const float speedLimiterP = 0.2;
+	float speedLimiterP = AXIS_SPEEDLIMITER_P;
+	float speedLimiterI = AXIS_SPEEDLIMITER_I;
 
 	float spdlimitreducerI = 0;
 	//float acclimitreducerI = 0;
@@ -244,7 +255,7 @@ class Axis : public PersistentStorage, public CommandHandler, public ErrorHandle
 	uint16_t power = 5000;
 	float torqueScaler = 0; // power * fx_ratio as a ratio between 0 & 1
 	float effect_margin_scaler = 0;
-	bool invertAxis = false;
+	bool invertAxis = true; // By default most motors and encoders count up CCW while gamepads are counting up CW.
 	uint8_t endstopStrength = 127; // Sets how much extra torque per count above endstop is added. High = stiff endstop. Low = softer
 	const float endstopGain = 25; // Overall max endstop intensity
 
@@ -252,11 +263,11 @@ class Axis : public PersistentStorage, public CommandHandler, public ErrorHandle
 	uint8_t idlespringstrength = 127;
 	int16_t idlespringclip = 0;
 	float idlespringscale = 0;
-	bool idle_center = false;
+	bool motorWasNotReady = true;
 
 	// TODO tune these and check if it is really stable and beneficial to the FFB. index 4 placeholder
-	const biquad_constant_t filterSpeedCst[4] = {{ 30, 55 }, { 60, 55 }, { 120, 55 }, {120, 55}};
-	const biquad_constant_t filterAccelCst[4] = {{ 40, 30 }, { 55, 30 }, { 70, 30 }, {120, 55}};
+	const std::array<biquad_constant_t,4> filterSpeedCst = { {{ 40, 55 }, { 70, 55 }, { 120, 55 }, {180, 55}} };
+	const std::array<biquad_constant_t,4> filterAccelCst = { {{ 40, 30 }, { 55, 30 }, { 70, 30 }, {120, 55}} };
 	const biquad_constant_t filterDamperCst = {60, 55};
 	const biquad_constant_t filterFrictionCst = {50, 20};
 	const biquad_constant_t filterInertiaCst = {20, 20};
@@ -264,7 +275,6 @@ class Axis : public PersistentStorage, public CommandHandler, public ErrorHandle
 	const float filter_f = 1000; // 1khz
 	const int32_t intFxClip = 20000;
 	uint8_t damperIntensity = 30;
-	FastAvg<float,5> spdlimiterAvg;
 
 	uint8_t frictionIntensity = 0;
 	uint8_t inertiaIntensity = 0;
diff --git a/Firmware/FFBoard/Inc/ButtonSource.h b/Firmware/FFBoard/Inc/ButtonSource.h
index 934f6b91..6e6fb417 100644
--- a/Firmware/FFBoard/Inc/ButtonSource.h
+++ b/Firmware/FFBoard/Inc/ButtonSource.h
@@ -11,7 +11,7 @@
 #include "cppmain.h"
 #include "ChoosableClass.h"
 #include "PersistentStorage.h"
-
+#include "vector"
 
 /**
  * A button source can return up to 64 buttons
@@ -32,6 +32,8 @@ class ButtonSource : public ChoosableClass,public PersistentStorage {
 	static bool isCreatable() {return true;};
 	virtual const ClassType getClassType() {return ClassType::Buttonsource;};
 
+	static const std::vector<class_entry<ButtonSource> > all_buttonsources;
+
 protected:
 	uint16_t btnnum = 0; // Amount of active buttons (valid bitfield length) to report
 };
diff --git a/Firmware/FFBoard/Inc/Encoder.h b/Firmware/FFBoard/Inc/Encoder.h
index 2033a707..765223e3 100644
--- a/Firmware/FFBoard/Inc/Encoder.h
+++ b/Firmware/FFBoard/Inc/Encoder.h
@@ -12,12 +12,10 @@
 #include "ChoosableClass.h"
 
 /*
- * Info about used ids:
- * 0: none
- * 1: tmc reserved
- * 2: local/tmc1
- * 3: tmc3
- * 4: mt encoder
+ * Note:
+ * Encoders should count UP when turned counterclockwise
+ * This is not the default gamepad direction but matches most motors
+ * If direction is not fixed the encoder class should provide a reverse option
  */
 
 /*
diff --git a/Firmware/FFBoard/Inc/constants.h b/Firmware/FFBoard/Inc/constants.h
index 27fb6115..4f323607 100644
--- a/Firmware/FFBoard/Inc/constants.h
+++ b/Firmware/FFBoard/Inc/constants.h
@@ -8,7 +8,7 @@
  * For more settings see target_constants.h in a target specific folder
  */
 
-static const uint8_t SW_VERSION_INT[3] = {1,15,0}; // Version as array. 8 bit each!
+static const uint8_t SW_VERSION_INT[3] = {1,15,1}; // Version as array. 8 bit each!
 #ifndef MAX_AXIS
 #define MAX_AXIS 2 // ONLY USE 2 for now else screws HID Reports
 #endif
diff --git a/Firmware/FFBoard/Inc/ledEffects.h b/Firmware/FFBoard/Inc/ledEffects.h
index b9169bc8..84023038 100644
--- a/Firmware/FFBoard/Inc/ledEffects.h
+++ b/Firmware/FFBoard/Inc/ledEffects.h
@@ -14,6 +14,7 @@ typedef struct Ledstruct{
 	int32_t blinks;
 	GPIO_TypeDef* port;
 	uint16_t pin;
+	uint8_t state;
 } Ledstruct_t;
 
 
@@ -29,5 +30,10 @@ void blinkClipLed(uint16_t period,uint16_t blinks);
 void updateLed(Ledstruct_t* led);
 void updateLeds();
 
+void setLed(Ledstruct_t* led,uint8_t on);
+void setClipLed(uint8_t on);
+void setErrLed(uint8_t on);
+void setSysLed(uint8_t on);
+
 
 #endif /* LEDEFFECTS_H_ */
diff --git a/Firmware/FFBoard/Inc/voltagesense.h b/Firmware/FFBoard/Inc/voltagesense.h
index 7434bf22..c2bd0574 100644
--- a/Firmware/FFBoard/Inc/voltagesense.h
+++ b/Firmware/FFBoard/Inc/voltagesense.h
@@ -9,8 +9,8 @@
 #define VOLTAGESENSE_H_
 #include "target_constants.h"
 
-uint16_t getIntV();
-uint16_t getExtV();
+int32_t getIntV();
+int32_t getExtV();
 void brakeCheck();
 
 /*
diff --git a/Firmware/FFBoard/Src/Axis.cpp b/Firmware/FFBoard/Src/Axis.cpp
index e5899d2c..03b4deea 100644
--- a/Firmware/FFBoard/Src/Axis.cpp
+++ b/Firmware/FFBoard/Src/Axis.cpp
@@ -203,6 +203,8 @@ void Axis::restoreFlash(){
 	if(Flash_Read(flashAddrs.effects1, &effects)){
 		setIdleSpringStrength(effects & 0xff);
 		setFxStrengthAndFilter((effects >> 8) & 0xff,damperIntensity,damperFilter);
+	}else{
+		setIdleSpringStrength(idlespringstrength); // Use default
 	}
 
 	if(Flash_Read(flashAddrs.effects2, &effects)){
@@ -261,6 +263,7 @@ uint8_t Axis::getEncType(){
 
 void Axis::setPos(uint16_t val)
 {
+	startForceFadeIn(0.25,0.5);
 	if(this->drv != nullptr){
 		drv->getEncoder()->setPos(val);
 	}
@@ -318,6 +321,13 @@ void Axis::prepareForUpdate(){
 		//ErrorHandler::clearError(outOfBoundsError);
 	}
 
+	// On first change to ready start a fade
+	if(motorWasNotReady && drv->motorReady()){
+		motorWasNotReady = false;
+		startForceFadeIn(0, 1.0);
+	}
+
+
 	this->updateMetrics(angle);
 
 }
@@ -487,8 +497,10 @@ float Axis::getEncAngle(Encoder *enc){
  */
 void Axis::emergencyStop(bool reset){
 	drv->turn(0); // Send 0 torque first
+	if(reset){
+		startForceFadeIn();
+	}
 	drv->emergencyStop(reset);
-	//drv->stopMotor();
 	control->emergency = !reset;
 }
 
@@ -506,6 +518,7 @@ void Axis::usbSuspend(){
  * Enables motor driver
  */
 void Axis::usbResume(){
+	startForceFadeIn();
 	if (drv != nullptr){
 		drv->startMotor();
 	}
@@ -536,11 +549,6 @@ int32_t Axis::updateIdleSpringForce() {
  */
 void Axis::setIdleSpringStrength(uint8_t spring){
 	idlespringstrength = spring;
-	if(spring == 0){
-		idle_center = false;
-	}else{
-		idle_center = true;
-	}
 	idlespringclip = clip<int32_t,int32_t>((int32_t)spring*35,0,10000);
 	idlespringscale = 0.5f + ((float)spring * 0.01f);
 }
@@ -653,7 +661,7 @@ float Axis::getTorqueScaler(){
 int32_t Axis::getTorque() { return metric.current.torque; }
 
 bool Axis::isInverted() {
-	return invertAxis; // TODO store in flash
+	return invertAxis;
 }
 
 /**
@@ -697,9 +705,9 @@ bool Axis::updateTorque(int32_t* totalTorque) {
 
 		float torqueSign = torque > 0 ? 1 : -1; // Used to prevent metrics against the force to go into the limiter
 		// Speed. Mostly tuned...
-		spdlimiterAvg.addValue(metric.current.speed);
-		float speedreducer = (float)((spdlimiterAvg.getAverage()*torqueSign) - (float)maxSpeedDegS) *  ((float)0x7FFF / maxSpeedDegS);
-		spdlimitreducerI = clip<float,int32_t>( spdlimitreducerI + ((speedreducer * 0.015) * torqueScaler),0,power);
+		//spdlimiterAvg.addValue(metric.current.speed);
+		float speedreducer = (float)((metric.current.speed*torqueSign) - (float)maxSpeedDegS) *  ((float)0x7FFF / maxSpeedDegS);
+		spdlimitreducerI = clip<float,int32_t>( spdlimitreducerI + ((speedreducer * speedLimiterI) * torqueScaler),0,power);
 
 		// Accel limit. Not really useful. Maybe replace with torque slew rate limit?
 //		float accreducer = (float)((metric.current.accel*torqueSign) - (float)maxAccelDegSS) * getAccelScalerNormalized();
@@ -725,6 +733,12 @@ bool Axis::updateTorque(int32_t* totalTorque) {
 		torque = 0;
 	}
 
+	// Fade in
+	if(forceFadeCurMult < 1){
+		torque = torque * forceFadeCurMult;
+		forceFadeCurMult += forceFadeTime / this->filter_f; // Fade time
+	}
+
 	// Torque calculated. Now sending to driver
 	torque = (invertAxis) ? -torque : torque;
 	metric.current.torque = torque;
@@ -740,6 +754,15 @@ bool Axis::updateTorque(int32_t* totalTorque) {
 	return (torqueChanged);
 }
 
+/**
+ * Starts fading in force from start to 1 over fadeTime
+ */
+void Axis::startForceFadeIn(float start,float fadeTime){
+	this->forceFadeTime = fadeTime;
+	this->forceFadeCurMult = clip<float>(start, 0, 1);
+}
+
+
 /**
  * Changes gamepad range in degrees for effect scaling
  */
@@ -869,11 +892,12 @@ CommandStatus Axis::command(const ParsedCommand& cmd,std::vector<CommandReply>&
 	case Axis_commands::pos:
 		if (cmd.type == CMDtype::get && this->drv->getEncoder() != nullptr)
 		{
-			replies.emplace_back(this->drv->getEncoder()->getPos());
+			int32_t pos = this->drv->getEncoder()->getPos();
+			replies.emplace_back(isInverted() ? -pos : pos);
 		}
 		else if (cmd.type == CMDtype::set && this->drv->getEncoder() != nullptr)
 		{
-			this->drv->getEncoder()->setPos(cmd.val);
+			this->drv->getEncoder()->setPos(isInverted() ? -cmd.val : cmd.val);
 		}
 		else
 		{
@@ -925,7 +949,7 @@ CommandStatus Axis::command(const ParsedCommand& cmd,std::vector<CommandReply>&
 		}
 		else if (cmd.type == CMDtype::set)
 		{
-			uint32_t value = clip<uint32_t, uint32_t>(cmd.val, 0, 2);
+			uint32_t value = clip<uint32_t, uint32_t>(cmd.val, 0, filterSpeedCst.size()-1);
 			this->filterProfileId = value;
 			speedFilter.setFc(filterSpeedCst[this->filterProfileId].freq / filter_f);
 			speedFilter.setQ(filterSpeedCst[this->filterProfileId].q / 100.0);
diff --git a/Firmware/FFBoard/Src/EffectsCalculator.cpp b/Firmware/FFBoard/Src/EffectsCalculator.cpp
index 1c1d7cb0..1e3a5a2a 100644
--- a/Firmware/FFBoard/Src/EffectsCalculator.cpp
+++ b/Firmware/FFBoard/Src/EffectsCalculator.cpp
@@ -9,7 +9,7 @@
 #include <math.h>
 #include "EffectsCalculator.h"
 #include "Axis.h"
-
+#include "ledEffects.h"
 
 
 #define EFFECT_STATE_INACTIVE 0
@@ -71,6 +71,7 @@ void EffectsCalculator::setActive(bool active)
 		effects_stats[i].current = {0}; // Reset active effect forces
 		effects_statslast[i].current = {0};
 	}
+	setClipLed(active);
 }
 
 
diff --git a/Firmware/FFBoard/Src/Encoder.cpp b/Firmware/FFBoard/Src/Encoder.cpp
index d88b3011..15736330 100644
--- a/Firmware/FFBoard/Src/Encoder.cpp
+++ b/Firmware/FFBoard/Src/Encoder.cpp
@@ -7,30 +7,6 @@
 
 #include "Encoder.h"
 #include "ClassChooser.h"
-#include "EncoderLocal.h"
-#include "MtEncoderSPI.h"
-#include "EncoderBissC.h"
-#include "EncoderSSI.h"
-// 0-63 valid ids
-std::vector<class_entry<Encoder>> const Encoder::all_encoders =
-	{
-		add_class<Encoder, Encoder>(0),
-
-#ifdef LOCALENCODER
-		add_class<EncoderLocal, Encoder>(2),
-#endif
-
-#ifdef MTENCODERSPI
-		add_class<MtEncoderSPI, Encoder>(4),
-#endif
-#ifdef BISSENCODER
-		add_class<EncoderBissC, Encoder>(5),
-#endif
-#ifdef SSIENCODER
-		add_class<EncoderSSI, Encoder>(6),
-#endif
-
-};
 
 ClassIdentifier Encoder::info ={.name = "None" , .id=CLSID_ENCODER_NONE, .visibility = ClassVisibility::visible};
 
diff --git a/Firmware/FFBoard/Src/SerialFFB.cpp b/Firmware/FFBoard/Src/SerialFFB.cpp
index 563270dc..a439850d 100644
--- a/Firmware/FFBoard/Src/SerialFFB.cpp
+++ b/Firmware/FFBoard/Src/SerialFFB.cpp
@@ -74,7 +74,7 @@ void SerialFFB::set_gain(uint8_t gain){
  * Returns the index where the effect was created or -1 if it can not be created
  */
 int32_t SerialFFB::newEffect(uint8_t effectType){
-	uint32_t idx = this->effects_calc->find_free_effect(effectType);
+	int32_t idx = this->effects_calc->find_free_effect(effectType);
 	if(idx >= 0){
 		// Allocate effect
 		effects[idx].type = effectType;
diff --git a/Firmware/FFBoard/Src/ledEffects.cpp b/Firmware/FFBoard/Src/ledEffects.cpp
index 0a4688fb..58952951 100644
--- a/Firmware/FFBoard/Src/ledEffects.cpp
+++ b/Firmware/FFBoard/Src/ledEffects.cpp
@@ -8,13 +8,13 @@
 #include "main.h"
 
 Ledstruct_t sysled{
-	0,0,0,LED_SYS_GPIO_Port,LED_SYS_Pin
+	0,0,0,LED_SYS_GPIO_Port,LED_SYS_Pin,0
 };
 Ledstruct_t errled{
-	0,0,0,LED_ERR_GPIO_Port,LED_ERR_Pin
+	0,0,0,LED_ERR_GPIO_Port,LED_ERR_Pin,0
 };
 Ledstruct_t clipled{
-	0,0,0,LED_CLIP_GPIO_Port,LED_CLIP_Pin
+	0,0,0,LED_CLIP_GPIO_Port,LED_CLIP_Pin,0
 };
 
 /**
@@ -27,12 +27,12 @@ void blinkLed(Ledstruct* led,uint16_t period,uint16_t blinks){
 	if(period == 0 && blinks == 0){
 		led->blinks = 0;
 		led->period = 0;
-		HAL_GPIO_WritePin(led->port, led->pin, GPIO_PIN_RESET);
+		HAL_GPIO_WritePin(led->port, led->pin, led->state ? GPIO_PIN_SET : GPIO_PIN_RESET);
 	}else{
 		led->blinks = (blinks * 2) -1;
 		led->period = period;
 		led->tick = HAL_GetTick();
-		HAL_GPIO_WritePin(led->port, led->pin, GPIO_PIN_SET);
+		HAL_GPIO_WritePin(led->port, led->pin, led->state ? GPIO_PIN_RESET : GPIO_PIN_SET);
 	}
 }
 
@@ -62,12 +62,29 @@ void blinkClipLed(uint16_t period,uint16_t blinks){
 	blinkLed(&clipled, period, blinks);
 }
 
+void setLed(Ledstruct_t* led,uint8_t on){
+	led->state = on;
+	HAL_GPIO_WritePin(led->port, led->pin, led->state ? GPIO_PIN_SET : GPIO_PIN_RESET);
+}
+
+void setClipLed(uint8_t on){
+	setLed(&clipled,on);
+}
+
+void setErrLed(uint8_t on){
+	setLed(&errled,on);
+}
+
+void setSysLed(uint8_t on){
+	setLed(&sysled,on);
+}
+
 
 void updateLed(Ledstruct* led){
 	// If led has an effect (period != 0) and time is up do something
 	if(led->period != 0 && HAL_GetTick() > led->tick+led->period){
 		if(led->blinks == 0){ // No blinks left. turn off
-			HAL_GPIO_WritePin(led->port, led->pin, GPIO_PIN_RESET);
+			HAL_GPIO_WritePin(led->port, led->pin, led->state ? GPIO_PIN_SET : GPIO_PIN_RESET);
 			led->period = 0;
 		}else{
 			led->tick = HAL_GetTick();
diff --git a/Firmware/FFBoard/Src/voltagesense.cpp b/Firmware/FFBoard/Src/voltagesense.cpp
index 86395b43..0ecd62a4 100644
--- a/Firmware/FFBoard/Src/voltagesense.cpp
+++ b/Firmware/FFBoard/Src/voltagesense.cpp
@@ -41,11 +41,11 @@ void setupBrakePin(uint32_t vdiffAct,uint32_t vdiffDeact,uint32_t vMax){
 	voltageDiffDeactivate = vdiffDeact;
 }
 
-uint16_t getIntV(){
+int32_t getIntV(){
 	return VSENSE_ADC_BUF[ADC_CHAN_VINT] * vSenseMult;
 }
 
-uint16_t getExtV(){
+int32_t getExtV(){
 	return VSENSE_ADC_BUF[ADC_CHAN_VEXT] * vSenseMult;
 }
 
@@ -53,8 +53,8 @@ void brakeCheck(){
 	if(maxVoltage == 0 || brake_failure){
 		return;
 	}
-	uint16_t vint = getIntV();
-	uint16_t vext = getExtV();
+	int32_t vint = getIntV();
+	int32_t vext = getExtV();
 
 	if(vint < minVoltage && vext < minVoltage){
 		return; // Do not enable if device is unpowered (just measuring usb leakage)
diff --git a/Firmware/FFBoard/UserExtensions/Inc/EncoderBissC.h b/Firmware/FFBoard/UserExtensions/Inc/EncoderBissC.h
index fb544cac..772bec66 100644
--- a/Firmware/FFBoard/UserExtensions/Inc/EncoderBissC.h
+++ b/Firmware/FFBoard/UserExtensions/Inc/EncoderBissC.h
@@ -42,7 +42,7 @@ class EncoderBissC: public Encoder, public SPIDevice , public CommandHandler,cpp
 
 	void Run();
 
-	enum class EncoderBissC_commands {bits,cs,speed,errors};
+	enum class EncoderBissC_commands {bits,cs,speed,errors,direction};
 
 	CommandStatus command(const ParsedCommand& cmd,std::vector<CommandReply>& replies);
 
@@ -59,6 +59,7 @@ class EncoderBissC: public Encoder, public SPIDevice , public CommandHandler,cpp
 	int lenghtDataBit = 22;
 	int spiSpeed = 3;
 	bool waitData = false;
+	bool invertDirection = true; // Most biss-c encoders count UP clockwise while standard motor direction is usually CCW
 
 	uint32_t lastUpdateTick = 0;
 
diff --git a/Firmware/FFBoard/UserExtensions/Inc/TMC4671.h b/Firmware/FFBoard/UserExtensions/Inc/TMC4671.h
index 1980de97..d35fa863 100644
--- a/Firmware/FFBoard/UserExtensions/Inc/TMC4671.h
+++ b/Firmware/FFBoard/UserExtensions/Inc/TMC4671.h
@@ -458,6 +458,8 @@ friend class TMCDebugBridge;
 	int32_t getActualFlux();
 	int32_t getActualTorque();
 
+	void rampFlux(uint16_t target,uint16_t time_ms);
+
 	bool checkAdc();
 
 	float getTemp();
diff --git a/Firmware/FFBoard/UserExtensions/Src/AnalogSources.cpp b/Firmware/FFBoard/UserExtensions/Src/AnalogSources.cpp
new file mode 100644
index 00000000..52694dc5
--- /dev/null
+++ b/Firmware/FFBoard/UserExtensions/Src/AnalogSources.cpp
@@ -0,0 +1,27 @@
+/*
+ * AnalogSources.cpp
+ *
+ *  Created on: Apr 18, 2024
+ *      Author: Yannick
+ */
+
+#include "constants.h"
+#include "LocalAnalog.h"
+#include "CanAnalog.h"
+#include "ADS111X.h"
+
+// Register possible analog sources (id 0-15)
+#ifndef ANALOGSOURCES_DEFAULT_OVERRIDE
+const std::vector<class_entry<AnalogSource>> AnalogSource::all_analogsources =
+{
+#ifdef ANALOGAXES
+		add_class<LocalAnalog,AnalogSource>(0),
+#endif
+#ifdef CANANALOG
+		add_class<CanAnalog<8>,AnalogSource>(1),
+#endif
+#ifdef ADS111XANALOG
+		add_class<ADS111X_AnalogSource,AnalogSource>(2),
+#endif
+};
+#endif
diff --git a/Firmware/FFBoard/UserExtensions/Src/ButtonSources.cpp b/Firmware/FFBoard/UserExtensions/Src/ButtonSources.cpp
new file mode 100644
index 00000000..554560c7
--- /dev/null
+++ b/Firmware/FFBoard/UserExtensions/Src/ButtonSources.cpp
@@ -0,0 +1,37 @@
+/*
+ * ButtonSources.cpp
+ *
+ *  Created on: Apr 18, 2024
+ *      Author: Yannick
+ */
+#include "constants.h"
+#include "SPIButtons.h"
+#include "CanButtons.h"
+#include "LocalButtons.h"
+#include <ShifterAnalog.h>
+#include "PCF8574.h"
+
+#ifndef BUTTONSOURCES_DEFAULT_OVERRIDE
+// Register possible button sources (id 0-15)
+const std::vector<class_entry<ButtonSource>> ButtonSource::all_buttonsources =
+{
+#ifdef LOCALBUTTONS
+		add_class<LocalButtons,ButtonSource>(0),
+#endif
+#ifdef SPIBUTTONS
+		add_class<SPI_Buttons_1,ButtonSource>(1),
+#endif
+#ifdef SPIBUTTONS2
+		add_class<SPI_Buttons_2,ButtonSource>(2),
+#endif
+#ifdef SHIFTERBUTTONS
+		add_class<ShifterAnalog,ButtonSource>(3),
+#endif
+#ifdef PCF8574BUTTONS
+		add_class<PCF8574Buttons,ButtonSource>(4),
+#endif
+#ifdef CANBUTTONS
+		add_class<CanButtons,ButtonSource>(5),
+#endif
+};
+#endif
diff --git a/Firmware/FFBoard/UserExtensions/Src/EncoderBissC.cpp b/Firmware/FFBoard/UserExtensions/Src/EncoderBissC.cpp
index bfae2357..218e3e03 100644
--- a/Firmware/FFBoard/UserExtensions/Src/EncoderBissC.cpp
+++ b/Firmware/FFBoard/UserExtensions/Src/EncoderBissC.cpp
@@ -49,15 +49,17 @@ void EncoderBissC::Run(){
 		this->WaitForNotification();  // Wait until DMA is finished
 
 		if(updateFrame()){
+			int32_t halfres = 1<<(lenghtDataBit-1);
 			pos = newPos;
 			if(first){ // Prevent immediate multiturn update
-				lastPos = pos;
+				lastPos = posOffset;
 				first = false;
+				// If offset from current pos is more than half rotation add a multiturn count by setting previous position to the reloaded offset
 			}
 			//handle multiturn
-			if(pos-lastPos > 1<<(lenghtDataBit-1)){
+			if(pos-lastPos > halfres){
 				mtpos--;
-			}else if(lastPos-pos > 1<<(lenghtDataBit-1)){
+			}else if(lastPos-pos > halfres){
 				mtpos++;
 			}
 
@@ -79,16 +81,19 @@ void EncoderBissC::restoreFlash(){
 	if(Flash_Read(ADR_BISSENC_CONF1, &buf)){
 		this->lenghtDataBit = (buf & 0x1F)+1; // up to 32 bit. 5 bits
 		this->spiSpeed = ((buf >> 5) & 0x3) +1;
+		this->invertDirection =  ((buf >> 7) & 1);
 	}
-	posOffset = Flash_ReadDefault(ADR_BISSENC_OFS, 0)<<std::max(0,(lenghtDataBit-16));
-
+	uint16_t restoredOffset = ( (uint16_t)(Flash_ReadDefault(ADR_BISSENC_OFS, 0) ));
+	posOffset = static_cast<int32_t>(restoredOffset) << std::max(0,(lenghtDataBit-16));
 }
 
 void EncoderBissC::saveFlash(){
 	uint16_t buf = std::max((this->lenghtDataBit-1),0) & 0x1F;
 	buf |= ((this->spiSpeed-1) & 0x3) << 5;
+	buf |= (this->invertDirection & 1) << 7;
 	Flash_Write(ADR_BISSENC_CONF1, buf);
-	Flash_Write(ADR_BISSENC_OFS, posOffset >> std::max(0,(lenghtDataBit-16)));
+	int32_t scaledOfs = posOffset >> std::max(0,(lenghtDataBit-16));
+	Flash_Write(ADR_BISSENC_OFS, (uint16_t)(scaledOfs) );
 }
 
 void EncoderBissC::configSPI() {
@@ -204,16 +209,27 @@ int32_t EncoderBissC::getPosAbs(){
 		if(useWaitSem && HAL_GetTick() - lastUpdateTick > waitThresh)
 			waitForUpdateSem.Take(waitThresh); // Wait a bit
 	}
-	return pos + mtpos * getCpr();
+	int32_t curpos = pos + mtpos * getCpr();
+	return invertDirection ? -curpos : curpos;
 }
 
 int32_t EncoderBissC::getPos(){
-	return getPosAbs()-posOffset;
+	if(invertDirection){
+		return getPosAbs()+posOffset;
+	}else{
+		return getPosAbs()-posOffset;
+	}
+
 }
 
 void EncoderBissC::setPos(int32_t newpos){
+	if(invertDirection){
+		newpos = -newpos;
+	}
+	int32_t diff = ( pos - newpos);
+	mtpos = newpos / getCpr(); // Multiturn should be reset
 
-	posOffset = pos - newpos;
+	posOffset = diff % getCpr(); // Always positive
 }
 
 
@@ -227,6 +243,7 @@ void EncoderBissC::registerCommands(){
 	registerCommand("bits", EncoderBissC_commands::bits, "Bits of resolution",CMDFLAG_GET|CMDFLAG_SET);
 	registerCommand("speed", EncoderBissC_commands::speed, "SPI speed preset 1-3",CMDFLAG_GET|CMDFLAG_SET);
 	registerCommand("errors", EncoderBissC_commands::errors, "CRC error count",CMDFLAG_GET);
+	registerCommand("dir", EncoderBissC_commands::direction, "Invert direction",CMDFLAG_GET|CMDFLAG_SET);
 }
 
 CommandStatus EncoderBissC::command(const ParsedCommand& cmd,std::vector<CommandReply>& replies){
@@ -247,6 +264,10 @@ CommandStatus EncoderBissC::command(const ParsedCommand& cmd,std::vector<Command
 			configSPI();
 		}
 		break;
+
+	case EncoderBissC_commands::direction:
+		handleGetSet(cmd, replies, this->invertDirection);
+		break;
 	default:
 		return CommandStatus::NOT_FOUND;
 	}
diff --git a/Firmware/FFBoard/UserExtensions/Src/EncoderSources.cpp b/Firmware/FFBoard/UserExtensions/Src/EncoderSources.cpp
new file mode 100644
index 00000000..068c8f61
--- /dev/null
+++ b/Firmware/FFBoard/UserExtensions/Src/EncoderSources.cpp
@@ -0,0 +1,33 @@
+/*
+ * EncoderSources.cpp
+ *
+ *  Created on: Apr 18, 2024
+ *      Author: Yannick
+ */
+
+#include "constants.h"
+#include "EncoderLocal.h"
+#include "MtEncoderSPI.h"
+#include "EncoderBissC.h"
+#include "EncoderSSI.h"
+// 0-63 valid ids
+#ifndef ENCODERSOURCES_DEFAULT_OVERRIDE
+std::vector<class_entry<Encoder>> const Encoder::all_encoders =
+	{
+		add_class<Encoder, Encoder>(0),
+
+#ifdef LOCALENCODER
+		add_class<EncoderLocal, Encoder>(2),
+#endif
+
+#ifdef MTENCODERSPI
+		add_class<MtEncoderSPI, Encoder>(4),
+#endif
+#ifdef BISSENCODER
+		add_class<EncoderBissC, Encoder>(5),
+#endif
+#ifdef SSIENCODER
+		add_class<EncoderSSI, Encoder>(6),
+#endif
+};
+#endif
diff --git a/Firmware/FFBoard/UserExtensions/Src/FFBHIDMain.cpp b/Firmware/FFBoard/UserExtensions/Src/FFBHIDMain.cpp
index ecd4e111..1ef11857 100644
--- a/Firmware/FFBoard/UserExtensions/Src/FFBHIDMain.cpp
+++ b/Firmware/FFBoard/UserExtensions/Src/FFBHIDMain.cpp
@@ -11,65 +11,18 @@
 #include "tusb.h"
 #include "usb_hid_ffb_desc.h"
 
-#include "SPIButtons.h"
-#include "CanButtons.h"
-#include "LocalButtons.h"
-#include <ShifterAnalog.h>
-#include "PCF8574.h"
-
-#include "LocalAnalog.h"
-#include "CanAnalog.h"
-#include "ADS111X.h"
-
 #include "cmsis_os.h"
 extern osThreadId_t defaultTaskHandle;
 
 //////////////////////////////////////////////
-/*
- * Sources for class choosers here
- */
-// Register possible button sources (id 0-15)
-const std::vector<class_entry<ButtonSource>> button_sources =
-{
-#ifdef LOCALBUTTONS
-		add_class<LocalButtons,ButtonSource>(0),
-#endif
-#ifdef SPIBUTTONS
-		add_class<SPI_Buttons_1,ButtonSource>(1),
-#endif
-#ifdef SPIBUTTONS2
-		add_class<SPI_Buttons_2,ButtonSource>(2),
-#endif
-#ifdef SHIFTERBUTTONS
-		add_class<ShifterAnalog,ButtonSource>(3),
-#endif
-#ifdef PCF8574BUTTONS
-		add_class<PCF8574Buttons,ButtonSource>(4),
-#endif
-#ifdef CANBUTTONS
-		add_class<CanButtons,ButtonSource>(5),
-#endif
-};
 
-// Register possible analog sources (id 0-15)
-const std::vector<class_entry<AnalogSource>> analog_sources =
-{
-#ifdef ANALOGAXES
-		add_class<LocalAnalog,AnalogSource>(0),
-#endif
-#ifdef CANANALOG
-		add_class<CanAnalog<8>,AnalogSource>(1),
-#endif
-#ifdef ADS111XANALOG
-		add_class<ADS111X_AnalogSource,AnalogSource>(2),
-#endif
-};
 
 /**
  * setFFBEffectsCalc must be called in constructor of derived class to finish the setup
  */
 FFBHIDMain::FFBHIDMain(uint8_t axisCount) :
-		Thread("FFBMAIN", 256, 30),axisCount(axisCount),btn_chooser(button_sources),analog_chooser(analog_sources)
+		Thread("FFBMAIN", 256, 30),axisCount(axisCount),
+		btn_chooser(ButtonSource::all_buttonsources),analog_chooser(AnalogSource::all_analogsources)
 {
 
 	restoreFlash(); // Load parameters
diff --git a/Firmware/FFBoard/UserExtensions/Src/TMC4671.cpp b/Firmware/FFBoard/UserExtensions/Src/TMC4671.cpp
index de75daef..b91bfe7f 100644
--- a/Firmware/FFBoard/UserExtensions/Src/TMC4671.cpp
+++ b/Firmware/FFBoard/UserExtensions/Src/TMC4671.cpp
@@ -186,7 +186,7 @@ void TMC4671::restoreFlash(){
 }
 
 bool TMC4671::hasPower(){
-	uint16_t intV = getIntV();
+	int32_t intV = getIntV();
 	return (intV > 10000) && (getExtV() > 10000) && (intV < 78000);
 }
 
@@ -839,16 +839,13 @@ bool TMC4671::findEncoderIndex(int32_t speed, uint16_t power,bool offsetPhiM,boo
 
 	//uint32_t mposStart = readReg(0x2A);
 	int32_t timeout = 1000; // 10s
-	for(int16_t flux = 0; flux <= power; flux+=10){
-		setFluxTorque(flux, 0);
-		Delay(3);
-	}
+	rampFlux(power, 500);
 	runOpenLoop(power, 0, speed, 10, true);
 	while(!encoderIndexHitFlag && timeout-- > 0){
 		Delay(10);
 	}
 	//int32_t speed = 10;
-
+	rampFlux(0, 100);
 	runOpenLoop(0, 0, 0, 10, true);
 	if(!encoderIndexHitFlag){
 		pulseErrLed();
@@ -987,10 +984,7 @@ void TMC4671::bangInitEnc(int16_t power){
 	setPhiE_ext(phiEpos);
 	setPhiEtype(PhiE::ext);
 	// Ramp up flux
-	for(int16_t flux = 0; flux <= power; flux+=10){
-		setFluxTorque(flux, 0);
-		Delay(3);
-	}
+	rampFlux(power, 1000);
 	int16_t phiE_enc = getPhiE_Enc();
 
 	Delay(50);
@@ -1011,7 +1005,7 @@ void TMC4671::bangInitEnc(int16_t power){
 		//phiE_enc=readReg(phiEreg)>>16;
 		Delay(10);
 	}
-	setFluxTorque(0, 0);
+	rampFlux(0, 100);
 
 	//Write offset
 	//int16_t phiE_abn = readReg(0x2A)>>16;
@@ -1062,10 +1056,7 @@ void TMC4671::calibrateAenc(){
 	setMotionMode(MotionMode::torque,true);
 
 	if(this->conf.motconf.motor_type == MotorType::STEPPER || this->conf.motconf.motor_type == MotorType::BLDC){
-		for(int16_t flux = 0; flux <= bangInitPower; flux+=10){
-			setFluxTorque(flux, 0);
-			Delay(5);
-		}
+		rampFlux(bangInitPower, 250);
 	}
 	uint32_t minVal_0 = 0xffff,	minVal_1 = 0xffff,	minVal_2 = 0xffff;
 	uint32_t maxVal_0 = 0,	maxVal_1 = 0,	maxVal_2 = 0;
@@ -1099,6 +1090,7 @@ void TMC4671::calibrateAenc(){
 			aencconf.AENC2_scale = 0xF6FF00 / (maxVal_2 - minVal_2);
 			aencconf.rdir = false;
 			setup_AENC(aencconf);
+			rampFlux(0, 100);
 			runOpenLoop(0, 0, 0, 1000,true);
 			Delay(250);
 			// Zero aenc
@@ -1108,6 +1100,7 @@ void TMC4671::calibrateAenc(){
 			stage = 2;
 		}else if(getPos() > 0 && stage == 2){
 			stage = 3;
+			rampFlux(0, 100);
 			runOpenLoop(0, 0, 0, 1000,true);
 		}
 
@@ -1188,10 +1181,8 @@ bool TMC4671::checkEncoder(){
 
 	setPhiE_ext(startAngle);
 	// Ramp up flux
-	for(int16_t flux = 0; flux <= 2*bangInitPower/3; flux+=20){
-		setFluxTorque(flux, 0);
-		Delay(2);
-	}
+	rampFlux(2*bangInitPower/3, 250);
+
 	//Forward
 	int16_t phiE_enc = 0;
 	uint16_t failcount = 0;
@@ -1279,7 +1270,7 @@ bool TMC4671::checkEncoder(){
 		ErrorHandler::addError(Error(ErrorCode::encoderReversed,ErrorType::warning,"Encoder direction reversed during check"));
 	}
 
-	setFluxTorque(0, 0);
+	rampFlux(0, 100);
 	setPhiE_ext(0);
 	setPhiEtype(lastphie);
 	setMotionMode(lastmode,true);
@@ -2063,6 +2054,22 @@ void TMC4671::setFluxTorqueFF(int16_t flux, int16_t torque){
 	writeReg(0x65, (flux & 0xffff) | (torque << 16));
 }
 
+/**
+ * Ramps flux from current value to a target value over a specified duration
+ */
+void TMC4671::rampFlux(uint16_t target,uint16_t time_ms){
+	uint16_t startFlux = readReg(0x64) & 0xffff;
+	int32_t stepsize = (target - startFlux) / std::max<uint16_t>(1, time_ms/2);
+	if(stepsize == 0){
+		stepsize = startFlux < target ? 1 : -1;
+	}
+	uint16_t flux = startFlux;
+	while(abs(target - flux) >= abs(stepsize)){
+		flux+=stepsize;
+		setFluxTorque(std::max<int32_t>(0,flux), 0);
+		Delay(2);
+	}
+}
 
 void TMC4671::setPids(TMC4671PIDConf pids){
 	curPids = pids;
@@ -2272,10 +2279,7 @@ void TMC4671::estimateABNparams(){
 	setPhiEtype(PhiE::ext);
 	setFluxTorque(0, 0);
 	setMotionMode(MotionMode::torque,true);
-	for(int16_t flux = 0; flux <= bangInitPower; flux+=10){
-		setFluxTorque(flux, 0);
-		Delay(5);
-	}
+	rampFlux(bangInitPower, 1000);
 
 	int16_t phiE_abn = readReg(0x2A)>>16;
 	int16_t phiE_abn_old = 0;
@@ -2299,7 +2303,7 @@ void TMC4671::estimateABNparams(){
 	}
 	setTmcPos(pos+getPos());
 
-	setFluxTorque(0, 0);
+	rampFlux(0, 100);
 	setPhiEtype(lastphie);
 	setMotionMode(lastmode,true);
 
@@ -2327,10 +2331,7 @@ void TMC4671::estimateExtEnc(){
 	setPhiEtype(PhiE::ext);
 	setFluxTorque(0, 0);
 	setMotionMode(MotionMode::torque,true);
-	for(int16_t flux = 0; flux <= bangInitPower; flux+=10){
-		setFluxTorque(flux, 0);
-		Delay(5);
-	}
+	rampFlux(bangInitPower, 1000);
 	int16_t phiE_enc = getPhiEfromExternalEncoder();
 	int16_t phiE_enc_old = 0;
 	int16_t rcount=0,c = 0; // Count how often direction was in reverse
@@ -2348,7 +2349,7 @@ void TMC4671::estimateExtEnc(){
 		}
 	}
 
-	setFluxTorque(0, 0);
+	rampFlux(0, 100);
 	setPhiEtype(lastphie);
 	setMotionMode(lastmode,true);
 
diff --git a/Firmware/FFBoard/UserExtensions/Src/mainclass_chooser.cpp b/Firmware/FFBoard/UserExtensions/Src/mainclass_chooser.cpp
index 4f9f5998..3730a256 100644
--- a/Firmware/FFBoard/UserExtensions/Src/mainclass_chooser.cpp
+++ b/Firmware/FFBoard/UserExtensions/Src/mainclass_chooser.cpp
@@ -30,6 +30,7 @@
 #endif
 
 // Add all classes here
+#ifndef CLASSREGISTRY_OVERRIDE
 const std::vector<class_entry<FFBoardMain>> class_registry =
 {
 		add_class<FFBoardMain,FFBoardMain>(0),
@@ -60,5 +61,6 @@ const std::vector<class_entry<FFBoardMain>> class_registry =
 
 		add_class<CustomMain,FFBoardMain>()
 };
+#endif