diff --git a/Doxyfile b/Doxyfile
index abcb7cb..1e226c7 100755
--- a/Doxyfile
+++ b/Doxyfile
@@ -38,7 +38,7 @@ PROJECT_NAME           = "HARMcksL: ARM HAL toolbox (yet STM32 oriented)"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 0.6
+PROJECT_NUMBER         = 0.7
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
diff --git a/FctERR.c b/FctERR.c
index 327900a..82e8274 100755
--- a/FctERR.c
+++ b/FctERR.c
@@ -1,6 +1,6 @@
 /*!\file FctERR.c
 ** \author SMFSW
-** \version v0.6
+** \version v0.7
 ** \date 2017
 ** \copyright MIT (c) 2017, SMFSW
 ** \brief errors to SMFSW FctERR code
@@ -11,11 +11,11 @@
 #include "FctERR.h"
 
 
-FctERR HALERRtoFCTERR(HAL_StatusTypeDef st)
+FctERR HALERRtoFCTERR(HAL_StatusTypeDef status)
 {
-	if		(st == HAL_OK)			return ERR_OK;
-	else if (st == HAL_ERROR)		return ERR_FAULT;
-	else if (st == HAL_BUSY)		return ERR_BUSY;
-	else if (st == HAL_TIMEOUT)		return ERR_TIMEOUT;
-	else 							return ERR_FAULT;
+	if		(status == HAL_OK)			return ERR_OK;
+	else if (status == HAL_ERROR)		return ERR_FAULT;
+	else if (status == HAL_BUSY)		return ERR_BUSY;
+	else if (status == HAL_TIMEOUT)		return ERR_TIMEOUT;
+	else 								return ERR_FAULT;
 }
diff --git a/FctERR.h b/FctERR.h
index 8ddf783..5f7e096 100755
--- a/FctERR.h
+++ b/FctERR.h
@@ -1,6 +1,6 @@
 /*!\file FctERR.h
 ** \author SMFSW
-** \version v0.6
+** \version v0.7
 ** \date 2017
 ** \copyright MIT (c) 2017, SMFSW
 ** \brief errors to SMFSW FctERR declarations
@@ -17,10 +17,10 @@
 // *****************************************************************************
 // Section: Types
 // *****************************************************************************
-/*!\enum EnumFctERR
-** \brief Enum of high level functions return state
+/*!\enum FctERR
+** \brief Enum of low/mid level functions return state
 **/
-typedef enum PACK__ EnumFctERR{
+typedef enum PACK__ FctERR{
 	ERR_OK			= 0U,	//!< OK
 	ERR_SPEED		= 1U,	//!< This device does not work in the active speed mode.
 	ERR_RANGE		= 2U,	//!< Parameter out of range.
@@ -62,10 +62,10 @@ typedef enum PACK__ EnumFctERR{
 // Section: Interface Routines
 // *****************************************************************************
 /*!\brief Convert HAL_StatusTypeDef to FctERR
-** \param[in] st - HAL_StatusTypeDef status
+** \param[in] status - HAL_StatusTypeDef status
 ** \return FctERR status
 **/
-FctERR HALERRtoFCTERR(HAL_StatusTypeDef st);
+FctERR HALERRtoFCTERR(HAL_StatusTypeDef status);
 
 
 /****************************************************************/
diff --git a/GPIO_ex.c b/GPIO_ex.c
index 2824236..cd01904 100755
--- a/GPIO_ex.c
+++ b/GPIO_ex.c
@@ -1,6 +1,6 @@
 /*!\file GPIO_ex.c
 ** \author SMFSW
-** \version v0.6
+** \version v0.7
 ** \date 2017
 ** \copyright MIT (c) 2017, SMFSW
 ** \brief Simple extension for GPIOs
diff --git a/GPIO_ex.h b/GPIO_ex.h
index 3251840..f775f44 100755
--- a/GPIO_ex.h
+++ b/GPIO_ex.h
@@ -1,6 +1,6 @@
 /*!\file GPIO_ex.h
 ** \author SMFSW
-** \version v0.6
+** \version v0.7
 ** \date 2017
 ** \copyright MIT (c) 2017, SMFSW
 ** \brief Simple extension for GPIOs
@@ -61,18 +61,21 @@ typedef struct GPIO_in {
 **/
 void GPIO_in_init(GPIO_in * in, GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin, uint16_t filter);
 
+
 /*!\brief Handles GPIO_in read and treatment
 ** \param[in,out] in - input instance to handle
 ** \return Nothing
 **/
 void GPIO_in_handler(GPIO_in * in);
 
+
 /*!\brief Get GPIO_in input value
 ** \param[in] in - input instance
 ** \return Input value
 **/
 __INLINE bool INLINE__ get_GPIO_in(GPIO_in * in) { return in->in; }
 
+
 /*!\brief Get GPIO_in input edge
 ** \param[in] in - input instance
 ** \return Input edge
@@ -80,7 +83,6 @@ __INLINE bool INLINE__ get_GPIO_in(GPIO_in * in) { return in->in; }
 __INLINE bool INLINE__ get_GPIO_in_edge(GPIO_in * in) { return in->edge; }
 
 
-
 /*!\brief Get name from Port, Pin
 ** \param[in,out] name - pointer to string for name
 ** \param[in] GPIOx - port to write to
@@ -115,6 +117,7 @@ __INLINE void INLINE__ write_GPIO(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin, eActOu
 	}
 }
 
+
 /*!\brief Read GPIO
 ** \param[in] GPIOx - port to read from
 ** \param[in] GPIO_Pin - pin to read from
@@ -136,6 +139,7 @@ __INLINE GPIO_PinState INLINE__ read_GPIO(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin
 	#endif
 }
 
+
 /****************************************************************/
 #endif /* __GPIO_EX_H */
 /****************************************************************/
diff --git a/HARMcksL_v0_6.pdf b/HARMcksL_v0_7.pdf
similarity index 52%
rename from HARMcksL_v0_6.pdf
rename to HARMcksL_v0_7.pdf
index 11e6647..0210233 100755
Binary files a/HARMcksL_v0_6.pdf and b/HARMcksL_v0_7.pdf differ
diff --git a/PWM.c b/PWM.c
index 18bc304..27f6780 100755
--- a/PWM.c
+++ b/PWM.c
@@ -1,16 +1,15 @@
 /*!\file PWM.c
 ** \author SMFSW
-** \version v0.6
+** \version v0.7
 ** \date 2017
 ** \copyright MIT (c) 2017, SMFSW
-** \brief Simple PWM handling
+** \brief Straightforward PWM handling
 **/
 /****************************************************************/
-/****************************************************************/
-
 #include "PWM.h"
 
 #if defined(HAL_TIM_MODULE_ENABLED)
+/****************************************************************/
 
 
 HAL_StatusTypeDef set_PWM_Freq(TIM_HandleTypeDef * pTim, uint32_t freq)
@@ -23,7 +22,7 @@ HAL_StatusTypeDef set_PWM_Freq(TIM_HandleTypeDef * pTim, uint32_t freq)
 
 	if (freq > coreCLK / 100)	{ return HAL_ERROR; }
 
-	// TODO: find prescaler & period with i++ instead of shifts
+	// TODO: find prescaler & period with i++ instead of shifts for more accuracy (despite of time passed)
 	for (i = 1 ; i < (uint16_t) -1 ; i <<= 1)
 	{
 		per = (coreCLK / (freq * (i + 1))) - 1;
@@ -41,7 +40,10 @@ HAL_StatusTypeDef set_PWM_Freq(TIM_HandleTypeDef * pTim, uint32_t freq)
 	return HAL_TIM_Base_Init(pTim);
 }
 
+
+/*******************/
 /*** PWM DRIVING ***/
+/*******************/
 /*!\brief Low level TIM module PWM duty cycle write
 ** \param[in,out] pTim - pointer to TIM instance for PWM generation
 ** \param[in] chan - Channel to write
@@ -64,6 +66,7 @@ __STATIC_INLINE HAL_StatusTypeDef INLINE__ write_CCR(TIM_HandleTypeDef * pTim, u
 	return HAL_OK;
 }
 
+
 HAL_StatusTypeDef set_PWM_Duty_Scaled(TIM_HandleTypeDef * pTim, uint32_t chan, uint16_t duty, uint16_t scale)
 {
 	float tmp = ((float) min(scale, duty) / (float) scale) * pTim->Instance->ARR;
@@ -71,4 +74,6 @@ HAL_StatusTypeDef set_PWM_Duty_Scaled(TIM_HandleTypeDef * pTim, uint32_t chan, u
 }
 
 
+/****************************************************************/
 #endif
+/****************************************************************/
diff --git a/PWM.h b/PWM.h
index f59cbdd..e53f005 100755
--- a/PWM.h
+++ b/PWM.h
@@ -1,9 +1,9 @@
 /*!\file PWM.h
 ** \author SMFSW
-** \version v0.6
+** \version v0.7
 ** \date 2017
 ** \copyright MIT (c) 2017, SMFSW
-** \brief Simple PWM handling
+** \brief Straightforward PWM handling
 **/
 /****************************************************************/
 #ifndef __PWM_H
@@ -27,6 +27,7 @@
 **/
 HAL_StatusTypeDef set_PWM_Freq(TIM_HandleTypeDef * pTim, uint32_t freq);
 
+
 /*!\brief Set TIM module PWM duty cycle (scaled)
 ** \param[in,out] pTim - pointer to TIM instance for PWM generation
 ** \param[in] chan - Channel to write
@@ -36,6 +37,7 @@ HAL_StatusTypeDef set_PWM_Freq(TIM_HandleTypeDef * pTim, uint32_t freq);
 **/
 HAL_StatusTypeDef set_PWM_Duty_Scaled(TIM_HandleTypeDef * pTim, uint32_t chan, uint16_t duty, uint16_t scale);
 
+
 /*!\brief Set TIM module PWM duty cycle (percents)
 ** \param[in,out] pTim - pointer to TIM instance for PWM generation
 ** \param[in] chan - Channel to write
@@ -45,6 +47,7 @@ HAL_StatusTypeDef set_PWM_Duty_Scaled(TIM_HandleTypeDef * pTim, uint32_t chan, u
 __INLINE HAL_StatusTypeDef INLINE__ set_PWM_Duty_Perc(TIM_HandleTypeDef * pTim, uint32_t chan, uint16_t duty) {
 	return set_PWM_Duty_Scaled(pTim, chan, duty, 100); }
 
+
 /*!\brief Set TIM module PWM duty cycle (u16-bit value)
 ** \param[in,out] pTim - pointer to TIM instance for PWM generation
 ** \param[in] chan - Channel to write
@@ -54,6 +57,7 @@ __INLINE HAL_StatusTypeDef INLINE__ set_PWM_Duty_Perc(TIM_HandleTypeDef * pTim,
 __INLINE HAL_StatusTypeDef INLINE__ set_PWM_Duty_Word(TIM_HandleTypeDef * pTim, uint32_t chan, uint16_t duty) {
 	return set_PWM_Duty_Scaled(pTim, chan, duty, (uint16_t) -1); }
 
+
 /*!\brief Set TIM module PWM duty cycle (u8-bit value)
 ** \param[in,out] pTim - pointer to TIM instance for PWM generation
 ** \param[in] chan - Channel to write
diff --git a/exceptions.c b/exceptions.c
index 10ca06a..0e62b56 100755
--- a/exceptions.c
+++ b/exceptions.c
@@ -1,6 +1,6 @@
 /*!\file exceptions.c
 ** \author SMFSW
-** \version v0.6
+** \version v0.7
 ** \date 2017
 ** \copyright MIT (c) 2017, SMFSW
 ** \brief Debug tool helpers functions
@@ -19,6 +19,7 @@ void stackDump(uint32_t stack[])
 {
 	enum { r0, r1, r2, r3, r12, lr, pc, psr};
 
+	printf("stack addr = %lx\r\n", stack);
 	printf("r0  = 0x%08lx\r\n", stack[r0]);
 	printf("r1  = 0x%08lx\r\n", stack[r1]);
 	printf("r2  = 0x%08lx\r\n", stack[r2]);
diff --git a/exceptions.h b/exceptions.h
index 8281550..218903d 100755
--- a/exceptions.h
+++ b/exceptions.h
@@ -1,6 +1,6 @@
 /*!\file exceptions.h
 ** \author SMFSW
-** \version v0.5
+** \version v0.7
 ** \date 2017
 ** \copyright MIT (c) 2017, SMFSW
 ** \brief Debug tool and helpers declaration
@@ -18,27 +18,52 @@
 // *****************************************************************************
 // Section: Interface Routines
 // *****************************************************************************
+//! \note The exception_Handler should be called with corresponding exception name \b e as parameter
 #define exception_Handler(e)					\
-	__asm(	"tst lr, #4 \n"						\
-			"ite EQ \n"							\
-			"mrseq r0, MSP \n"					\
-			"mrsne r0, PSP \n"					\
-			"b " #e "_Handler_callback \n")		//!< The exception_Handler should be called with corresponding exception name \b e as parameter
-
-
-#define dump_stack()			\
-	__asm(	"tst lr, #4 \n"		\
-			"ite EQ \n"			\
-			"mrseq r0, MSP \n"	\
-			"mrsne r0, PSP \n"	\
-			"b stackDump \n")
-
-
-/* Handled callbacks for reference
-** (not really needed as called by assembly from macro)
-** use macros to pass stack pointer properly */
-void HardFault_Handler_callback(uint32_t stack[]);	// HardFault handler
-void Error_Handler_callback(uint32_t stack[]);		// HAL Error handler
+	__asm(	"tst lr, #4 \r\n"					\
+			"ite EQ \r\n"						\
+			"mrseq r0, MSP \r\n"				\
+			"mrsne r0, PSP \r\n"				\
+			"b " #e "_Handler_callback \r\n")	//!< Exception handler asm caller
+
+
+#define dump_stack()				\
+	__asm(	"tst lr, #4 \r\n"		\
+			"ite EQ \r\n"			\
+			"mrseq r0, MSP \r\n"	\
+			"mrsne r0, PSP \r\n"	\
+			"b stackDump \r\n")		//!< Dump stack asm caller
+
+
+/*!\brief prints contents of stack
+** \param[in] stack - pointer to stack address
+** \note stackDump should not be called directly, unless a particular stack is needed
+** 		 use dump_stack() which prepares pointer to current stack instead
+** \return Nothing
+**/
+void stackDump(uint32_t stack[]);
+
+
+/*!\brief prints informations about current Hard Fault exception
+** \param[in] stack - pointer to stack address
+** \note HardFault_Handler_callback should not be called directly
+** 		 use exception_Handler() which prepares pointer to current stack instead
+** \warning Depending how arm is fucked up, informations may not be printed,
+** 			at least, you could inspect exception and stack through debug breakpoint
+** \return Never (anyways, arm fubared!)
+**/
+void HardFault_Handler_callback(uint32_t stack[]);
+
+
+/*!\brief prints informations about current Hard Fault exception
+** \param[in] stack - pointer to stack address
+** \note HardFault_Handler_callback should not be called directly
+** 		 use exception_Handler() which prepares pointer to current stack instead
+** \warning Depending how arm is fucked up, informations may not be printed,
+** 			at least, you could inspect exception and stack through debug breakpoint
+** \return Never (anyways, arm fubared!)
+**/
+void Error_Handler_callback(uint32_t stack[]);
 
 
 /****************************************************************/
diff --git a/stdream_rdir.c b/stdream_rdir.c
index 05fc822..04696ae 100755
--- a/stdream_rdir.c
+++ b/stdream_rdir.c
@@ -1,13 +1,11 @@
 /*!\file stdream_rdir.c
 ** \author SMFSW
-** \version v0.6
+** \version v0.7
 ** \date 2017
 ** \copyright MIT (c) 2017, SMFSW
 ** \brief Stream redirection
 */
 /****************************************************************/
-/****************************************************************/
-
 #include <stdarg.h>
 #include <stdio.h>
 #include <string.h>
@@ -15,11 +13,14 @@
 #include "stdream_rdir.h"
 
 #include "arm_stdclib.h"
+/****************************************************************/
 
 
-static char buf_stream[128] = "";
+//! \warning Buffer for stdream is limited to \b 128B
+static char buf_stream[128] = "";	//!< stdream buffer for output
 
 
+/****************************************************************/
 #if defined(HAL_UART_MODULE_ENABLED)
 #include "usart.h"
 
@@ -27,30 +28,53 @@ static char buf_stream[128] = "";
 #warning "You have to define DBG_SERIAL in usart.h with an UART instance for this to work!"
 #endif
 
-__STATIC_INLINE HAL_StatusTypeDef INLINE__ print_uart(char* ptr, int len)
+//#define STDREAM__UART_IT		//!< To be defined to send to uart using interrupts
+
+/*!\brief Sends string to UART
+** \note define STDREAM__UART_IT in compiler defines to send strings using interruptions
+** \param[in] str - pointer to string to send
+** \param[in] len - length of string
+** \return HAL Status
+**/
+__STATIC_INLINE HAL_StatusTypeDef INLINE__ print_uart(char * str, int len)
 {
 	// TODO: find a way to determine if UART interrupts are enabled or not
-	return HAL_UART_Transmit(DBG_SERIAL, (uint8_t *) ptr, len, 30);
-	//return HAL_UART_Transmit_IT(DBG_SERIAL, (uint8_t *) ptr, len);
+	#if defined(STDREAM__UART_IT)
+		return HAL_UART_Transmit_IT(DBG_SERIAL, (uint8_t *) str, len);
+	#else
+		return HAL_UART_Transmit(DBG_SERIAL, (uint8_t *) str, len, 30);
+	#endif
 }
 
 #endif
+/****************************************************************/
 
 
-static void print_itm(const char * msg, int len)
+/*!\brief Sends string to ITM0 port
+** \param[in] str - pointer to string to send
+** \param[in] len - length of string
+** \return Nothing
+**/
+static void print_itm(const char * str, int len)
 {
-	//while (*msg != '\0')
+	//while (*str != '\0')
 	for (int i = 0 ; i < len ; i++)
-		ITM_SendChar(*msg++);
+		ITM_SendChar(*str++);
 }
 
 
-void print_itm_port(int port, const char * msg, int len)
+/*!\brief Sends string to chosen ITM port
+** \param[in] port - ITM port number
+** \param[in] str - pointer to string to send
+** \param[in] len - length of string
+** \return Nothing
+**/
+void print_itm_port(int port, const char * str, int len)
 {
 	for (int i = 0 ; i < len ; i++)
 	{
-		while (ITM->PORT[port].u32 == 0);
-		ITM->PORT[port].u8 = *msg++;
+		while (ITM->PORT[port].u32 == 0);	// Wait for port to be ready
+		ITM->PORT[port].u8 = *str++;
 	}
 }
 
@@ -60,35 +84,35 @@ void print_itm_port(int port, const char * msg, int len)
 /********************/
 
 /*** ITM ***/
-int printf_ITM(char * string, ...)
+int printf_ITM(char * str, ...)
 {
 	va_list args;
 
-	va_start(args, string);
-	vsprintf(buf_stream, string, args);
+	va_start(args, str);
+	vsprintf(buf_stream, str, args);
 	va_end(args);
 	print_itm(buf_stream, strlen(buf_stream));
-	str_clr(buf_stream);	// Erase string
+	str_clr(buf_stream);	// Empty string
 	return 0;
 }
 
-int vprintf_ITM(char * string, va_list args)
+int vprintf_ITM(char * str, va_list args)
 {
-	vsprintf(buf_stream, string, args);
+	vsprintf(buf_stream, str, args);
 	print_itm(buf_stream, strlen(buf_stream));
-	str_clr(buf_stream);	// Erase string
+	str_clr(buf_stream);	// Empty string
 	return 0;
 }
 
 
 /*** GENERAL REDIRECTION ***/
-int printf_rdir(char * string, ...)
+int printf_rdir(char * str, ...)
 {
 	uint16_t len;
 	va_list args;
 
-	va_start(args, string);
-	vsprintf(buf_stream, string, args);
+	va_start(args, str);
+	vsprintf(buf_stream, str, args);
 	va_end(args);
 	len = strlen(buf_stream);
 
@@ -100,16 +124,16 @@ int printf_rdir(char * string, ...)
 	print_uart(buf_stream, len);
 #endif
 
-	str_clr(buf_stream);	// Erase string
+	str_clr(buf_stream);	// Empty string
 	return 0;
 }
 
 
-int vprintf_rdir(char * string, va_list args)
+int vprintf_rdir(char * str, va_list args)
 {
 	uint16_t len;
 
-	vsprintf(buf_stream, string, args);
+	vsprintf(buf_stream, str, args);
 	len = strlen(buf_stream);
 
 #if defined(ITM_ENABLED)
@@ -120,7 +144,17 @@ int vprintf_rdir(char * string, va_list args)
 	print_uart(buf_stream, len);
 #endif
 
-	str_clr(buf_stream);	// Erase string
+	str_clr(buf_stream);	// Empty string
 	return 0;
 }
 
+
+int32_t get_fp_dec(float f, uint8_t nb)
+{
+	int32_t mul = 1;
+	f -= (int32_t) f;
+	while(nb-- != 0)	{ mul *= 10; }
+	return (int32_t) (f * mul);
+}
+
+
diff --git a/stdream_rdir.h b/stdream_rdir.h
index 25f2482..878423f 100755
--- a/stdream_rdir.h
+++ b/stdream_rdir.h
@@ -1,9 +1,11 @@
 /*!\file stdream_rdir.h
 ** \author SMFSW
-** \version v0.6
+** \version v0.7
 ** \date 2017
 ** \copyright MIT (c) 2017, SMFSW
 ** \brief Stream redirection header
+** \note define DBG_SERIAL in compiler defines with an UART instance to send printf likes strings to UART
+** 		 otherwise, stings will be printed to ITM0 port only
 */
 /****************************************************************/
 #ifndef __STREAM_REDIRECT_H
@@ -23,22 +25,38 @@
 // *****************************************************************************
 // #define ITM_ENABLED				//!< Enable ITM send if defined
 
-#define	printf		printf_rdir		//!< Shadowing printf use
-#define	vprintf		vprintf_rdir	//!< Shadowing vprintf use
+#define	printf		printf_rdir		//!< Shadowing printf
+#define	vprintf		vprintf_rdir	//!< Shadowing vprintf
 
 
 // *****************************************************************************
 // Section: Interface Routines
 // *****************************************************************************
-void print_itm_port(int port, const char * msg, int len);
+/*!\brief Get floating point number decimal part
+** \param[in] port - ITM port number
+** \param[in] str - pointer to message to send
+** \param[in] len - length of message to send
+** \return Nothing
+**/
+void print_itm_port(int port, const char * str, int len);
 
 // printf_ITM & vprintf_ITM will be redirected to ITM port 0 (ITM_SendChar used)
-int printf_ITM(char * string, ...);
-int vprintf_ITM(char * string, va_list args);
+int printf_ITM(char * str, ...);
+int vprintf_ITM(char * str, va_list args);
 
 // General printf & vprintf redirection, will flood all enabled ports (at the cost of speed)
-int	printf_rdir(char * string, ...);
-int	vprintf_rdir(char * string, va_list args);
+int	printf_rdir(char * str, ...);
+int	vprintf_rdir(char * str, va_list args);
+
+
+/*!\brief Get floating point number decimal part
+** \note in need to print floats, add '-u _printf_float' in Linker options
+** \warning enabling floating point support from linker seems to fubar printing long variables
+** \param[in] f - floating point value
+** \param[in] nb - Number of decimal to get after floating point
+** \return nb decimal part as integer
+**/
+int32_t get_fp_dec(float f, uint8_t nb);
 
 
 /****************************************************************/