diff --git a/.gitignore b/.gitignore
index 41677d5..f711869 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,7 +1,5 @@
-software/firmware_module/module_rev0/build/*
-software/firmware_module/module_rev0/build
-software/firmware_module/module_rev3/build/*
-software/firmware_module/module_rev3/build
+software/firmware_module/module_universal/build/*
+software/firmware_module/module_universal/build
 software/pc_client/build/*
 software/pc_client/build
 hardware/module_controller/ModuleController-backups/*
diff --git a/software/firmware_module/module_rev0/Makefile b/software/firmware_module/module_rev0/Makefile
deleted file mode 100644
index 495df94..0000000
--- a/software/firmware_module/module_rev0/Makefile
+++ /dev/null
@@ -1,66 +0,0 @@
-# Source and include
-BUILD_DIR=build
-SRCS=$(wildcard src/*.c)
-OBJS=$(SRCS:%.c=build/%.o)
-INC=-I ./inc
-
-# MCU configuration
-# Set MCU type, clock frequency and programmer
-MCU=atmega8
-CLOCK_FREQ=16000000
-PROG_STR=usbasp
-
-# Compiler flags
-CFLAGS=-std=c11 -Wall -Wextra -Werror -mmcu=$(MCU) -DF_CPU=$(CLOCK_FREQ)
-OPT_FLAGS=-O3 -g -DDEBUG
-
-# Compiler and utility tools
-OBJCOPY=avr-objcopy
-CC=avr-gcc
-
-# Project configuration
-PROJ_NAME=sflap_controller_fw
-PROJ_BLD=$(BUILD_DIR)/$(PROJ_NAME)
-
-TEMP_EEPROM_DUMP=eeprom.hex
-# Rules
-
-all: $(PROJ_BLD).elf
-
-$(PROJ_BLD).elf: $(OBJS)
-	$(CC) -o $@ $^ $(INC) $(CFLAGS) $(OPT_FLAGS) $(MCU_FLAGS)
-	$(OBJCOPY) -j .text -j .data -O ihex $@ $(PROJ_BLD).hex
-	$(OBJCOPY) -j .text -j .data -O binary $@ $(PROJ_BLD).bin
-
-
-build/%.o: %.c
-	mkdir -p build/src
-	$(CC) -c -o $@ $(INC) $(CFLAGS) $(OPT_FLAGS) $(MCU_FLAGS) $<
-
-release: OPT_FLAGS=-O2 -DNDEBUG
-release: $(PROJ_BLD).elf
-
-fuse:
-	avrdude -c $(PROG_STR) -p $(MCU) -U lfuse:w:0xDF:m  -U hfuse:w:0xCA:m -B 125kHz
-
-flash-clean:
-	avrdude -c $(PROG_STR) -p $(MCU) -U flash:w:$(PROJ_BLD).hex:i
-
-flash-update:
-	avrdude -c $(PROG_STR) -p $(MCU) -U eeprom:r:$(TEMP_EEPROM_DUMP):i
-	avrdude -c $(PROG_STR) -p $(MCU) -U flash:w:$(PROJ_BLD).hex:i
-	avrdude -c $(PROG_STR) -p $(MCU) -U eeprom:w:$(TEMP_EEPROM_DUMP):i
-
-clear-address:
-	avrdude -c $(PROG_STR) -p $(MCU) -U eeprom:r:$(TEMP_EEPROM_DUMP):i
-	sed -i 's/:20000000..../:200000000000/' $(TEMP_EEPROM_DUMP)
-	avrdude -c $(PROG_STR) -p $(MCU) -U eeprom:w:$(TEMP_EEPROM_DUMP):i
-
-flash-debug:
-	avrdude -c $(PROG_STR) -p $(MCU) -U flash:w:$(PROJ_BLD).elf:e
-
-clean:
-	rm -rf build
-	rm $(TEMP_EEPROM_DUMP)
-
-.PHONY = clean, release, flash, flash-debug
\ No newline at end of file
diff --git a/software/firmware_module/module_rev0/src/global.h b/software/firmware_module/module_rev0/src/global.h
deleted file mode 100644
index 19e38f3..0000000
--- a/software/firmware_module/module_rev0/src/global.h
+++ /dev/null
@@ -1,58 +0,0 @@
-/* Copyright (C) 2025 Dennis Gunia - All Rights Reserved
- * You may use, distribute and modify this code under the
- * terms of the  AGPL-3.0 license.
- *
- * https://www.dennisgunia.de
- * https://github.com/dennis9819/splitflap_v1
- */
-
-#include <avr/interrupt.h>
-#include <avr/io.h>
-#include <avr/iom8.h>
-#include <avr/wdt.h>
-#include <stdlib.h>
-#include <string.h>
-#include <util/delay.h>
-
-
-// I/O Pin definition
-#define BUX_RX PD0      // RX Pin (to buffer)
-#define BUX_TX PD1      // TX Pin (to buffer)
-#define BUX_DIR PD2     // Buffer direction pin
-#define SENSOR_HOME PD3 // Home sensor pin
-
-#define MOTOR_A PC0 // Motor phase A driver
-#define MOTOR_B PC1 // Motor phase B driver
-#define MOTOR_C PC2 // Motor phase C driver
-#define MOTOR_D PC3 // Motor phase D driver
-
-// EEPROM Addresses
-#define CONF_CONST_OKAY (uint8_t)0xAA
-#define CONF_ADDR_OKAY 0x0004
-#define CONF_ADDR_ADDR 0x0000
-#define CONF_ADDR_OFFSET 0x0002
-
-// Protocol definitions
-#define PROTO_MAXPKGLEN 64 // maximum size of package in bytes
-
-// Command Bytes
-#define CMDB_SETVAL (uint8_t)0x10  // Set display value
-#define CMDB_SETVALR (uint8_t)0x11 // Set display value and do a full rotation
-#define CMDB_EEPROMR (uint8_t)0xF0 // Read EEPROM
-#define CMDB_EEPROMW (uint8_t)0xF1 // Write EEPROM
-#define CMDB_GSTS (uint8_t)0xF8    // Get status
-#define CMDB_PING (uint8_t)0xFE    // Ping
-#define CMDB_RESET (uint8_t)0x30   // Reset device
-#define CMDB_PWRON (uint8_t)0x21   // Power motor on
-#define CMDB_RPWROFF (uint8_t)0x20 // Poer motor off
-
-// Command Responses
-#define CMDR_ERR_INVALID 0xEE // Invalid command
-#define CMDR_ACK 0xAA         // Acknowledge
-#define CMDR_PING 0xFF        // Ping response
-
-// Utility definitions
-#define SHIFT_0B 0
-#define SHIFT_1B 8
-#define SHIFT_2B 16
-#define SHIFT_3B 24
\ No newline at end of file
diff --git a/software/firmware_module/module_rev0/src/main.c b/software/firmware_module/module_rev0/src/main.c
deleted file mode 100644
index 87a20f9..0000000
--- a/software/firmware_module/module_rev0/src/main.c
+++ /dev/null
@@ -1,186 +0,0 @@
-/* Copyright (C) 2025 Dennis Gunia - All Rights Reserved
- * You may use, distribute and modify this code under the
- * terms of the  AGPL-3.0 license.
- *
- * https://www.dennisgunia.de
- * https://github.com/dennis9819/splitflap_v1
- */
-
-#include "global.h"
-#include "mctrl.h"
-#include "rcount.h"
-#include "rs485.h"
-
-uint16_t address = 0x0000;
-uint16_t calib_offset = 0x0000;
-char *payload;
-
-
-void eeprom_write_c(uint16_t address, uint8_t data)
-{
-    // disable interrupt
-    cli();
-    while (EECR & (1 << EEWE))
-        ; // wait until previous write is done
-    EEAR = address;
-    EEDR = data;
-    EECR |= (1 << EEMWE); // enable Master Write Enable
-    EECR |= (1 << EEWE);  // write one
-    sei();
-}
-
-uint8_t eeprom_read_c(uint16_t address)
-{
-    while (EECR & (1 << EEWE))
-        ; // wait until previous write is done
-    EEAR = address;
-    EECR |= (1 << EERE); // read one
-    return EEDR;
-}
-
-void initialSetup()
-{
-    wdt_disable();
-    if (eeprom_read_c(CONF_ADDR_OKAY) == CONF_CONST_OKAY)
-    {
-        uint8_t addrL = eeprom_read_c(CONF_ADDR_ADDR);
-        uint8_t addrH = eeprom_read_c(CONF_ADDR_ADDR + 1);
-        address = addrL | (addrH << 8);
-        uint8_t offsetL = eeprom_read_c(CONF_ADDR_OFFSET);
-        uint8_t offsetH = eeprom_read_c(CONF_ADDR_OFFSET + 1);
-        calib_offset = (offsetL | (offsetH << 8));
-    }
-    else
-    {
-        eeprom_write_c(CONF_ADDR_ADDR, (uint8_t)0x00);
-        eeprom_write_c(CONF_ADDR_ADDR + 1, (uint8_t)0x00);
-        eeprom_write_c(CONF_ADDR_OFFSET, (uint8_t)0x00);
-        eeprom_write_c(CONF_ADDR_OFFSET + 1, (uint8_t)0x00);
-        eeprom_write_c(CONF_ADDR_OKAY, CONF_CONST_OKAY);
-    }
-}
-
-void readCommand()
-{
-    int payload_len = parse_buffer(address, payload);
-    if (payload_len > 0) // if positive, package is valid
-    {
-        payload += 2; // skip address bytes
-        // read command byte
-        uint8_t opcode = *payload;
-        // parse commands
-        if (opcode == CMDB_SETVAL)
-        {
-            // 0x1O = Set Digit
-            uint8_t targetDigit = *(payload + 1);
-            mctrl_set(targetDigit, 0);
-        }
-        else if (opcode == CMDB_SETVALR)
-        {
-            // 0x11 = Set Digit (full rotation)
-            uint8_t targetDigit = *(payload + 1);
-            mctrl_set(targetDigit, 1);
-        }
-        else if (opcode == CMDB_EEPROMR)
-        {
-            // 0xFO = READ EEPROM
-            uint8_t bytes = 5;
-            char *msg = malloc(bytes + 1);
-            *msg = CMDR_ACK;
-            for (uint16_t i = 1; i < (uint16_t)bytes + 1; i++)
-            {
-                *(msg + i) = (char)eeprom_read_c(i - 1);
-            }
-            _delay_ms(2);
-            sfbus_send_frame_v2(0xFFFF, msg, bytes + 1);
-            free(msg);
-        }
-        else if (opcode == CMDB_EEPROMW)
-        {
-            // 0xF1 = WRITE EEPROM
-            eeprom_write_c(CONF_ADDR_OKAY, (char)0xFF);
-            for (uint16_t i = 0; i < 4; i++)
-            {
-                eeprom_write_c(i, *(payload + 1 + i));
-            }
-            eeprom_write_c(CONF_ADDR_OKAY, CONF_CONST_OKAY);
-            // respond with readout
-            uint8_t bytes = 5;
-            char *msg = malloc(bytes + 1);
-            *msg = CMDR_ACK;
-            for (uint16_t i = 1; i < (uint16_t)bytes + 1; i++)
-            {
-                *(msg + i) = (char)eeprom_read_c(i - 1);
-            }
-            _delay_ms(2);
-            sfbus_send_frame_v2(0xFFFF, msg, bytes + 1);
-            free(msg);
-            // now use new addr
-            uint8_t addrL = eeprom_read_c(CONF_ADDR_ADDR);
-            uint8_t addrH = eeprom_read_c(CONF_ADDR_ADDR + 1);
-            address = addrL | (addrH << SHIFT_1B);
-        }
-        else if (opcode == CMDB_GSTS)
-        {
-            char *msg = malloc(7);
-            *msg = (char)getSts();
-            uint16_t voltage = getVoltage();
-            *(msg + 2) = (char)((voltage >> SHIFT_0B) & 0xFF);
-            *(msg + 1) = (char)((voltage >> SHIFT_1B) & 0xFF);
-            uint32_t counter = rc_getCounter();
-            *(msg + 6) = (char)((counter >> SHIFT_0B) & 0xFF);
-            *(msg + 5) = (char)((counter >> SHIFT_1B) & 0xFF);
-            *(msg + 4) = (char)((counter >> SHIFT_2B) & 0xFF);
-            *(msg + 3) = (char)((counter >> SHIFT_3B) & 0xFF);
-            _delay_ms(2);
-            sfbus_send_frame_v2(0xFFFF, msg, 7);
-            free(msg);
-        }
-        else if (opcode == CMDB_PING)
-        {
-            char msg = (char)CMDR_PING;
-            _delay_ms(2);
-            sfbus_send_frame_v2(0xFFFF, &msg, 1);
-        }
-        else if (opcode == CMDB_RPWROFF)
-        {
-            mctrl_power(0);
-        }
-        else if (opcode == CMDB_PWRON)
-        {
-            mctrl_power(1);
-        }
-        else if (opcode == CMDB_RESET)
-        {
-            do
-            {
-                wdt_enable(WDTO_15MS);
-                for (;;)
-                {
-                }
-            } while (0);
-        }
-        else
-        {
-            // invalid opcode
-            char msg = CMDR_ERR_INVALID;
-            _delay_ms(2);
-            sfbus_send_frame_v2(0xFFFF, &msg, 1);
-        }
-        //memset(payload, 0x00, PROTO_MAXPKGLEN); // clear buffer
-    }
-}
-
-int main()
-{
-    payload = malloc(PROTO_MAXPKGLEN);
-    initialSetup();
-    rs485_init();
-    setup_async_rx();
-    mctrl_init(calib_offset);
-
-    while (1 == 1)
-    {
-        readCommand();
-    }
-}
diff --git a/software/firmware_module/module_rev0/src/mctrl.c b/software/firmware_module/module_rev0/src/mctrl.c
deleted file mode 100644
index d60559d..0000000
--- a/software/firmware_module/module_rev0/src/mctrl.c
+++ /dev/null
@@ -1,304 +0,0 @@
-/* Copyright (C) 2025 Dennis Gunia - All Rights Reserved
- * You may use, distribute and modify this code under the
- * terms of the  AGPL-3.0 license.
- *
- * https://www.dennisgunia.de
- * https://github.com/dennis9819/splitflap_v1
- */
-
-
-#include "mctrl.h"
-
-// Motor driver steps definition. Reverse for direction change.
-uint8_t motor_steps[4] = {
-    0b00000001,
-    0b00000010,
-    0b00000100,
-    0b00001000,
-};
-
-uint8_t step_index = 0;             // current index in motor_steps
-uint8_t target_flap = 0;            // target flap
-uint16_t absolute_pos = 0;          // absolute position in steps
-uint16_t steps_since_home = 0;      // steps since last home signal
-
-// homing util variables
-uint8_t homing = 0;   // current homing step
-uint8_t lastSens = 0; // home sonsor signal from last tick
-
-// counter for auto powersaving
-uint8_t ticksSinceMove = 0;
-
-// value to goto after the current is reached. 255 = NONE.
-uint8_t afterRotation = STEPS_AFTERROT;
-
-int16_t *delta_err;
-
-// error and status flags
-uint8_t sts_flag_errorTooBig = 0; // last home signal too early or too late
-uint8_t sts_flag_noHome = 0;      // no home signal detected. Wheel stuck
-uint8_t sts_flag_fuse = 0;        // blown fuse detcted
-uint8_t sts_flag_pwrdwn = 0;      // device is powered down by controller
-uint8_t sts_flag_failsafe = 0;    // device is powered down for safety reasons
-uint8_t sts_flag_busy = 0;        // device is busy
-// voltage monitoring variables
-uint16_t currentVoltage = 0;      // current ADC reading
-uint8_t currentFaultReadings = 0; // ticks with faulty readings (too many will
-                                  // trip pwrdwn and sts_flag_fuse)
-uint16_t timer_ticks = 0;
-
-int STEPS_OFFSET = 0;
-// initialize motor controller
-void mctrl_init(int cal_offset)
-{
-    if (cal_offset < 800){
-        STEPS_OFFSET = STEPS_OFFSET_DEF;
-    }else{
-        STEPS_OFFSET = cal_offset;
-    }
-    DDRC = 0x0F;  // set all pins as outputs
-    PORTC = 0x00; // set all to LOW
-
-    DDRD &= ~(1 << PD3); // PD3 is input
-    PORTD |= (1 << PD3); // PD3 pullup
-
-    // setup adc
-    ADMUX = 0x07;                                      // Aref, ADC7
-    ADCSRA = (1 << ADEN) | (1 << ADSC) | (1 << ADPS1); // Enable ADC, Start first
-                                                       // reading No freerunning, 8MHz
-    while ((ADCSRA & (1 << ADSC)) > 0)
-    {
-    };
-    // wait until first reading is complete,
-    // to avoid error flag on first tick!
-
-    // setup timer for ISR
-    TCCR1A = 0;
-    TCCR1B = (1 << WGM12) | (1 << CS11) | (1 << CS10); // CTC und Prescaler 64
-    OCR1A = MISR_OCR1A;
-    TIMSK = 1 << OCIE1A; // Timerinterrupts aktivieren
-    homing = 1;
-    delta_err = malloc(ERROR_DATASETS * sizeof(uint16_t));
-    _delay_ms(MDELAY_STARTUP);
-    sei();
-}
-
-// call when critical fail. Powers down motor and sets flags
-void failSafe()
-{
-    sts_flag_failsafe = 1;
-    PORTC = 0x00;
-}
-
-// read voltage non blocking (called every tick)
-void readVoltage()
-{
-    currentVoltage = ADC;  // read last measurement
-    ADMUX = 0x07;          // select ADC7
-    ADCSRA |= (1 << ADSC); // trigger next reading
-    if (currentVoltage < MVOLTAGE_LSTOP)
-    { // if voltage is too low, fuse is probably broken
-        currentFaultReadings++;
-        if (currentFaultReadings > MVOLTAGE_FAULTRD)
-        { // too many fault readings trigger failSafe
-            sts_flag_fuse = 1;
-            failSafe();
-        }
-    }
-}
-
-// MAIN service routine. Called by timer 1
-ISR(TIMER1_COMPA_vect)
-{
-    timer_ticks ++;
-    readVoltage(); // read and check voltage
-    if (sts_flag_pwrdwn == 1 || sts_flag_failsafe == 1)
-    {
-        return;
-    } // if sts_flag_pwrdwn, STOP!
-    if (steps_since_home > STEPS_PER_REV * MHOME_TOLERANCE)
-    { // check if home is missing for too long
-        // home missing error. Wheel probably stuck or power fail
-        sts_flag_noHome = 1;
-        failSafe();
-    }
-    else if (homing == 1)
-    { // Homing procedure 1. step: move out of home
-        if ((PIND & (1 << PD3)) > 0)
-        {
-            homing = 2;
-        }
-        else
-        {
-            mctrl_step();
-        }
-    }
-    else if (homing == 2)
-    { // Homing procedure 2. step: find magnet
-        mctrl_step();
-        if ((PIND & (1 << PD3)) == 0)
-        {
-            homing = 3;
-            steps_since_home = 0;
-            absolute_pos = STEPS_OFFSET;
-            incrementCounter();
-        }
-    }
-    else if (homing == 3)
-    { // Homing procedure 3. step: apply offset
-        if (absolute_pos <= 0)
-        {
-            homing = 0;
-            absolute_pos = STEPS_OFFSET;    // set correct position again
-        }
-        mctrl_step();
-        absolute_pos--;
-    }
-    else
-    { // when no failsafe is triggered and homing is done
-        // calculate target position
-        uint16_t target_pos = (target_flap * STEPS_PER_FLAP) + STEPS_OFFSET;
-        if (target_pos >= STEPS_PER_REV)
-        {
-            target_pos -= STEPS_PER_REV;
-        }
-        if (absolute_pos != target_pos)
-        {
-            // if target position is not reached, move motor
-            ticksSinceMove = 0;
-            mctrl_step();
-            absolute_pos++;
-            if (absolute_pos >= STEPS_PER_REV)
-            {
-                absolute_pos -= STEPS_PER_REV;
-            }
-            // detect home position
-            if ((PIND & (1 << PD3)) == 0)
-            {
-                if (lastSens == 0)
-                {
-                    // new home transition
-                    int16_t errorDelta =
-                        (int16_t)(absolute_pos > (STEPS_PER_REV / 2) ? absolute_pos - STEPS_PER_REV : absolute_pos);
-                    sts_flag_errorTooBig = (errorDelta > MHOME_ERRDELTA) || (errorDelta < -MHOME_ERRDELTA) ? 1 : 0;
-                    // storeErr(errorDelta);
-                    absolute_pos = 0;
-                    steps_since_home = 0;
-                    // increment rotations counter
-                    incrementCounter();
-                }
-                lastSens = 1;
-            }
-            else
-            {
-                lastSens = 0;
-            }
-        }
-        else
-        { // if target position is reached
-            if (afterRotation < (AMOUNTFLAPS + 5))
-            { // if after rotation is set, apply it as new target
-                target_flap = afterRotation;
-                afterRotation = STEPS_AFTERROT;
-            }
-            else if (ticksSinceMove < 2)
-            { // if motor has not been moved
-                sts_flag_busy = 0;
-            }
-            else if (ticksSinceMove < MPWRSVG_TICKSTOP)
-            { // if motor has not been moved
-                ticksSinceMove++;
-            }
-            else
-            {   // power off after 50 ticks
-                // PORTC = 0x00; // turn off stepper
-            }
-        }
-    }
-    rc_tick(); // process counter tick, non-blocking
-}
-
-// TODO
-void storeErr(int16_t error)
-{
-    int16_t *delta_err_tmp = malloc(ERROR_DATASETS * sizeof(uint16_t));
-    memcpy(delta_err, delta_err_tmp + sizeof(uint16_t), ((ERROR_DATASETS - 2) * sizeof(uint16_t)));
-    memcpy(&error, delta_err_tmp, sizeof(uint16_t));
-    free(delta_err);
-    delta_err = delta_err_tmp;
-}
-// TODO
-void getErr(int16_t *error)
-{
-    memcpy(delta_err, error, (ERROR_DATASETS * sizeof(uint16_t)));
-}
-
-// return status flag
-uint8_t getSts()
-{
-    uint8_t status = sts_flag_errorTooBig; // bit 0: delta too big
-    status |= sts_flag_noHome << 1;        // bit 1: no home found
-    status |= sts_flag_fuse << 2;          // bit 2: fuse blown
-    status |= sts_flag_pwrdwn << 4;        // bit 4: device powered down
-    status |= sts_flag_failsafe << 5;      // bit 5: failsafe active
-    status |= sts_flag_busy << 6;          // bit 6: device busy
-    if ((PIND & (1 << PD3)) == 0)
-    {
-        status |= (1 << 3);
-    }
-    return status;
-}
-
-// return voltage
-uint16_t getVoltage()
-{
-    return currentVoltage;
-}
-
-// set target flap
-void mctrl_set(uint8_t flap, uint8_t fullRotation)
-{
-    sts_flag_busy = 1;
-    if (fullRotation == 0)
-    {
-        target_flap = flap;
-    }
-    else
-    {
-        target_flap = (target_flap + (STEPS_PER_FLAP - 1)) % STEPS_PER_FLAP;
-        afterRotation = flap;
-    }
-}
-
-// trigger home procedure
-void mctrl_home()
-{
-    homing = 1;
-}
-
-// change motor power state
-void mctrl_power(uint8_t state)
-{
-    if (state == 0)
-    {
-        sts_flag_pwrdwn = 1;
-        PORTC = 0x00;
-    }
-    else
-    {
-        sts_flag_pwrdwn = 0;
-        PORTC = motor_steps[step_index];
-    }
-}
-
-// do stepper step (I/O)
-void mctrl_step()
-{
-    step_index++;
-    steps_since_home++;
-    if (step_index > 3)
-    {
-        step_index = 0;
-    }
-    PORTC = motor_steps[step_index];
-}
diff --git a/software/firmware_module/module_rev0/src/rs458.c b/software/firmware_module/module_rev0/src/rs458.c
deleted file mode 100644
index b97478c..0000000
--- a/software/firmware_module/module_rev0/src/rs458.c
+++ /dev/null
@@ -1,244 +0,0 @@
-/* Copyright (C) 2025 Dennis Gunia - All Rights Reserved
- * You may use, distribute and modify this code under the
- * terms of the  AGPL-3.0 license.
- *
- * https://www.dennisgunia.de
- * https://github.com/dennis9819/splitflap_v1
- */
-
-#include "mctrl.h"
-#include "rs485.h"
-
-void rs485_init()
-{
-    // init I/O
-    DDRD &= ~(1 << PD0);             // BUS_DIR & TX is OUTPUT
-    DDRD |= (1 << PD2) | (1 << PD1); // BUS_DIR & TX is OUTPUT
-    PORTD &= 0x07;                   // clear PD0-PD4
-    // init UART
-    UBRRH = (BAUDRATE >> 8);
-    UBRRL = BAUDRATE;                                    // set baud rate
-    UCSRB |= (1 << TXEN) | (1 << RXEN);                  // enable receiver and transmitter
-    UCSRC |= (1 << URSEL) | (1 << UCSZ0) | (1 << UCSZ1); // 8bit data format
-}
-
-// send byte over rs485
-void rs485_send_c(char data)
-{
-    PORTD |= (1 << PD2); // set transciever to transmitt
-    while (!(UCSRA & (1 << UDRE)))
-        ;               // wait until buffer is empty
-    UCSRA = (1 << TXC); // clear transmit Complete bit
-    UDR = data;
-    while (!(UCSRA & (1 << TXC)))
-    {
-    }; // wait until transmitt complete
-    PORTD &= ~(1 << PD2); // set transciever back to receive
-}
-
-// receive without timeout
-char rs485_recv_c()
-{
-    while (!(UCSRA & (1 << RXC)))
-        ; // wait while data is being received
-    return UDR;
-}
-
-// receive with timeout
-int rs485_recv_c_rxout(uint8_t timeout, char *data)
-{
-    timer_ticks = 0;
-    while (!(UCSRA & (1 << RXC)))
-    {
-        if (timer_ticks > timeout)
-        {
-            return 0;
-        }
-    }
-    *data = UDR;
-    return 1;
-}
-
-// SFBUS Functions
-// receive paket with crc checking and timeout
-int sfbus_recv_frame_v2(uint16_t address, char *payload)
-{
-    const uint8_t RX_TIMEOUT = 4;
-    while (rs485_recv_c() != SFBUS_SOF_BYTE)
-    {
-    } // Wait for start byte
-    uint8_t frm_version, frm_length;
-    if (rs485_recv_c_rxout(RX_TIMEOUT, (char *)&frm_version) == 0) // read header: version
-        return -1;
-    if (rs485_recv_c_rxout(RX_TIMEOUT, (char *)&frm_length) == 0) // read header: payload length
-        return -1;
-
-    // ALWAYS!!! receive full packet to avoid sync error
-    for (int i = 0; i < frm_length; i++)
-    {
-        if (rs485_recv_c_rxout(RX_TIMEOUT, payload + i) == 0)
-        {
-            return -1;
-        }
-    }
-    // check protocol version
-    if (frm_version != 0x01)
-    {
-        return -1; // abort on incompatible version
-    }
-    // if version matches, read address and checksum
-    uint16_t recv_addr = (*(payload + 0) & 0xFF) | ((*(payload + 1) & 0xFF) << SHIFT_1B);
-    uint16_t checksum = (*(payload + (frm_length - 2)) & 0xFF) | ((*(payload + (frm_length - 1)) & 0xFF) << SHIFT_1B);
-
-    // calculate checksum of received payload
-    uint16_t checksum_calc = calc_CRC16(payload + 2, frm_length - 4);
-
-    // return length on valid address and crc, return 0 to ignore
-    return (checksum == checksum_calc && address == recv_addr) ? frm_length : 0;
-}
-
-// send paket with crc
-void sfbus_send_frame_v2(uint16_t address, char *payload, uint8_t length)
-{
-    uint8_t framelen = length;
-    // claculate crc value
-    uint16_t crc = calc_CRC16(payload, framelen);
-
-    rs485_send_c(SFBUS_SOF_BYTE);       // send startbyte
-    rs485_send_c(1);                    // send protocol version
-    rs485_send_c((char)(framelen + 4)); // send lentgh of remaining frame
-
-    rs485_send_c((char)(address & 0xFF)); // target address
-    rs485_send_c((char)((address >> SHIFT_1B) & 0xFF));
-
-    while (framelen > 0)
-    { // send payload
-        rs485_send_c(*payload);
-        payload++;
-        framelen--;
-    }
-
-    rs485_send_c((char)(crc & 0xFF)); // send crc
-    rs485_send_c((char)((crc >> SHIFT_1B) & 0xFF));
-}
-
-// calculate crc checksum
-uint16_t calc_CRC16(char *buffer, uint8_t len)
-{
-    uint16_t crc16 = 0xFFFF;
-    for (uint8_t pos = 0; pos < len; pos++)
-    {
-        char byte_value = *(buffer); // read byte after byte from buffer
-        buffer++;
-
-        crc16 ^= byte_value; // XOR byte into least sig. byte of crc
-        for (int i = 8; i != 0; i--)
-        { // Loop over each bit
-            if ((crc16 & 0x0001) != 0)
-            {                // If the LSB is set
-                crc16 >>= 1; // Shift right and XOR 0xA001
-                crc16 ^= 0xA001;
-            }
-            else
-            {                // Else LSB is not set
-                crc16 >>= 1; // Just shift right
-            }
-        }
-    }
-    return crc16;
-}
-
-// async receive function
-uint8_t rx_buffer_ix_ptr = 0;   // receive buffer index pointer
-uint8_t rx_buffer_ix_rem = 255; // receive buffer remaining
-uint8_t rx_buffer_rx_done = 0;  // receive buffer complete flag (must be reset before next pkg can be received)
-uint8_t *rx_buffer_temp;        // receive buffer
-
-// setup async receive function
-void setup_async_rx()
-{
-    rx_buffer_temp = malloc(PROTO_MAXPKGLEN); // reserve memory for rx buffer
-    UCSRB |= (1 << RXCIE);                    //enable rx interrupt
-}
-
-ISR(USART_RXC_vect)
-{
-    if (rx_buffer_rx_done == 0) // only receive when last buffer was processed
-    {
-        uint8_t rx_byte = UDR; // read rx buffer
-        if (timer_ticks > 6)   // too long since last byte
-        {
-            rx_buffer_ix_ptr = 0;   // reset pointer and start new transaction
-            rx_buffer_ix_rem = 255; // reset remaining bytes to default
-        }
-        if (rx_buffer_ix_ptr == 0)
-        {
-            // wait for startbyte
-            if (rx_byte == SFBUS_SOF_BYTE)
-            {
-                *(rx_buffer_temp) = rx_byte;
-                rx_buffer_ix_ptr++;
-            }
-        }
-        else if (rx_buffer_ix_ptr > 0 && rx_buffer_ix_ptr < (PROTO_MAXPKGLEN - 1)) // when package is already started
-        {                                                   // and buffer is smaller than max length
-            *(rx_buffer_temp + rx_buffer_ix_ptr) = rx_byte; // receive single byte
-            rx_buffer_ix_rem--;
-            rx_buffer_ix_ptr++;
-            if (rx_buffer_ix_ptr == 3) // third byte is always frame length
-            {
-                rx_buffer_ix_rem = rx_byte;
-            }
-            if (rx_buffer_ix_rem == 0) // when last byte is received
-            {
-                rx_buffer_ix_ptr--;
-                rx_buffer_rx_done = 1;
-            }
-        }
-        timer_ticks = 0; // reset timer ticks
-    }
-}
-
-int parse_buffer(uint16_t address, char *payload)
-{
-    if (rx_buffer_rx_done > 0)
-    {
-        uint8_t frm_length = *(rx_buffer_temp + 2);
-        // check protocol version
-        if (*(rx_buffer_temp + 1) != 0x01)
-        {
-            clear_buffer();
-            return -1; // abort on incompatible version
-        }
-        if (frm_length < PROTO_MAXPKGLEN) // prevent buffer overflow
-        {
-            memcpy(payload, rx_buffer_temp + 3, frm_length); // copy buffer
-            // if version matches, read address and checksum
-            uint16_t recv_addr = (*(rx_buffer_temp + 3) & 0xFF) | ((*(rx_buffer_temp + 4) & 0xFF) << SHIFT_1B);
-            uint16_t checksum = (*(rx_buffer_temp + (rx_buffer_ix_ptr - 1)) & 0xFF) |
-                                ((*(rx_buffer_temp + (rx_buffer_ix_ptr)) & 0xFF) << SHIFT_1B);
-            // calculate checksum of received payload
-            uint16_t checksum_calc = calc_CRC16((char *)rx_buffer_temp + 5, rx_buffer_ix_ptr - 6);
-
-            //mctrl_set(address == recv_addr ? 20 : recv_addr + 1, 0);
-            clear_buffer();
-            // return length on valid address and crc, return 0 to ignore
-            return (checksum == checksum_calc && address == recv_addr) ? frm_length : 0;
-        }
-        else
-        {
-            // invalid package
-            clear_buffer();
-            return -1;
-        }
-    }
-    return -2;
-}
-
-void clear_buffer()
-{
-    rx_buffer_ix_ptr = 0;               // reset pointer and start new transaction
-    rx_buffer_ix_rem = PROTO_MAXPKGLEN; // reset remaining bytes to default
-    rx_buffer_rx_done = 0;              // reset done flag
-    //memset(rx_buffer_temp, 0x00, PROTO_MAXPKGLEN); // clear buffer
-}
\ No newline at end of file
diff --git a/software/firmware_module/module_rev3/src/mctrl.h b/software/firmware_module/module_rev3/src/mctrl.h
deleted file mode 100644
index 1277e41..0000000
--- a/software/firmware_module/module_rev3/src/mctrl.h
+++ /dev/null
@@ -1,48 +0,0 @@
-/* Copyright (C) 2025 Dennis Gunia - All Rights Reserved
- * You may use, distribute and modify this code under the
- * terms of the  AGPL-3.0 license.
- *
- * https://www.dennisgunia.de
- * https://github.com/dennis9819/splitflap_v1
- */
-
-
-#include "global.h"
-#include "rcount.h"
-
-#pragma once
-
-#define STEPS_PER_REV 2025  // steps per revolution
-#define STEPS_PER_FLAP 45   // steps per flap
-#define STEPS_ADJ 0         // added per flap to compensate for motor power down
-#define STEPS_OFFSET_DEF 1400   // ansolute offset between home and first flap
-#define AMOUNTFLAPS 45      // amount of flaps installed in system
-#define STEPS_AFTERROT 255  // value to goto after current target flap is reached
-#define ERROR_DATASETS 8    // length of error array
-
-#define MDELAY_STARTUP 1000 // delay to wait after motor startup
-#define MHOME_TOLERANCE 1.5 // tolerance for intial homing procedure
-#define MHOME_ERRDELTA 30   // maximum deviation between expected home and actual home
-#define MVOLTAGE_FAULTRD 20 // max. amount of fault readings before flag is set
-#define MVOLTAGE_LSTOP 128  // lower voltage threshold for fuse detection
-#define MPWRSVG_TICKSTOP 50 // inactive ticks before motor shutdown
-
-#define MISR_OCR1A 580      // tick timer (defines rotation speed)
-// 450, 480 also possible ?
-
-#ifdef __cplusplus
-extern "C" {
-#endif // __cplusplus
-void mctrl_init(int cal_offset);
-void mctrl_step();
-void mctrl_set(uint8_t flap, uint8_t fullRotation);
-
-void getErr(int16_t* error);
-uint8_t getSts();
-uint16_t getVoltage();
-void mctrl_power(uint8_t state);
-
-uint16_t timer_ticks;
-#ifdef __cplusplus
-}
-#endif // __cplusplus
diff --git a/software/firmware_module/module_rev3/src/rcount.c b/software/firmware_module/module_rev3/src/rcount.c
deleted file mode 100644
index 1975456..0000000
--- a/software/firmware_module/module_rev3/src/rcount.c
+++ /dev/null
@@ -1,67 +0,0 @@
-/* Copyright (C) 2025 Dennis Gunia - All Rights Reserved
- * You may use, distribute and modify this code under the
- * terms of the  AGPL-3.0 license.
- *
- * https://www.dennisgunia.de
- * https://github.com/dennis9819/splitflap_v1
- */
-
-
-#include "rcount.h"
-
-uint8_t rc_eeprom_write_c(uint16_t address, uint8_t data)
-{
-    // disable interrupt
-    if (EECR & (1 << EEWE))
-    {
-        return 1;
-    }
-    EEAR = address;
-    EEDR = data;
-    EECR |= (1 << EEMWE); // enable Master Write Enable
-    EECR |= (1 << EEWE);  // write one
-    return 0;
-}
-
-uint8_t rc_eeprom_read_c(uint16_t address)
-{
-    while (EECR & (1 << EEWE))
-        ; // wait until previous write is done
-    EEAR = address;
-    EECR |= (1 << EERE); // read one
-    return EEDR;
-}
-
-uint32_t counter = (uint32_t)0xFFFFFFFF;
-uint8_t counter_phase = 5;
-void rc_tick()
-{
-    if (counter == (uint32_t)0xFFFFFFFF)
-    {
-        counter = rc_getCounter();
-    }
-    if (counter_phase < 5)
-    {
-        cli();
-        if (rc_eeprom_write_c(0x100 + counter_phase, ((counter >> (counter_phase * 8)) & 0xFF)) == 0)
-        {
-            counter_phase++;
-        }
-        sei();
-    }
-}
-
-void incrementCounter()
-{
-    counter++;
-    counter_phase = 0;
-}
-
-uint32_t rc_getCounter()
-{
-    uint32_t counter = rc_eeprom_read_c(RC_BASEADDR);
-    counter |= ((uint32_t)rc_eeprom_read_c(RC_BASEADDR + 1) << SHIFT_1B);
-    counter |= ((uint32_t)rc_eeprom_read_c(RC_BASEADDR + 2) << SHIFT_2B);
-    counter |= ((uint32_t)rc_eeprom_read_c(RC_BASEADDR + 3) << SHIFT_3B);
-    return counter;
-}
diff --git a/software/firmware_module/module_rev3/src/rcount.h b/software/firmware_module/module_rev3/src/rcount.h
deleted file mode 100644
index 6b848a0..0000000
--- a/software/firmware_module/module_rev3/src/rcount.h
+++ /dev/null
@@ -1,21 +0,0 @@
-/* Copyright (C) 2025 Dennis Gunia - All Rights Reserved
- * You may use, distribute and modify this code under the
- * terms of the  AGPL-3.0 license.
- *
- * https://www.dennisgunia.de
- * https://github.com/dennis9819/splitflap_v1
- */
-
-#include "global.h"
-
-#define RC_BASEADDR 0x100
-
-#ifdef __cplusplus
-extern "C" {
-#endif // __cplusplus
-void incrementCounter();
-uint32_t rc_getCounter();
-void rc_tick();
-#ifdef __cplusplus
-}
-#endif // __cplusplus
diff --git a/software/firmware_module/module_rev3/src/rs485.h b/software/firmware_module/module_rev3/src/rs485.h
deleted file mode 100644
index c162815..0000000
--- a/software/firmware_module/module_rev3/src/rs485.h
+++ /dev/null
@@ -1,41 +0,0 @@
-/* Copyright (C) 2025 Dennis Gunia - All Rights Reserved
- * You may use, distribute and modify this code under the
- * terms of the  AGPL-3.0 license.
- *
- * https://www.dennisgunia.de
- * https://github.com/dennis9819/splitflap_v1
- */
-#include "global.h"
-
-#pragma once
-//#define F_CPU 16000000UL
-//#define UART_BAUD 19200     // RS485 baud rate
-#define UART_BAUD 57600                             // RS485 baud rate
-#define BAUDRATE ((F_CPU) / (UART_BAUD * 16UL) - 1) // set baud rate value for UBRR
-
-#define SFBUS_SOF_BYTE '+' // Byte marks start of frame
-#define SFBUS_EOF_BYTE '$' // Byte marks end of frame
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif // __cplusplus
-
-    void rs485_init(void);
-    void rs485_send_c(char data);
-    char rs485_recv_c(void);
-    int rs485_recv_c_rxout(uint8_t timeout, char *data);
-
-    int sfbus_recv_frame_v2(uint16_t address, char *payload);
-    void sfbus_send_frame_v2(uint16_t address, char *payload, uint8_t length);
-    uint16_t calc_CRC16(char *buffer, uint8_t len);
-
-    void setup_async_rx();
-    int parse_buffer(uint16_t address, char *payload);
-    void clear_buffer();
-    // auxilary var for uart timeout
-    extern uint16_t timer_ticks;
-
-#ifdef __cplusplus
-}
-#endif // __cplusplus
diff --git a/software/firmware_module/module_rev3/Makefile b/software/firmware_module/module_universal/Makefile
similarity index 51%
rename from software/firmware_module/module_rev3/Makefile
rename to software/firmware_module/module_universal/Makefile
index cb46db2..9793181 100644
--- a/software/firmware_module/module_rev3/Makefile
+++ b/software/firmware_module/module_universal/Makefile
@@ -1,7 +1,8 @@
 # Source and include
 BUILD_DIR=build
 SRCS=$(wildcard src/*.c)
-OBJS=$(SRCS:%.c=build/%.o)
+OBJS_REV1=$(SRCS:%.c=build/rev1/%.o)
+OBJS_REV2=$(SRCS:%.c=build/rev2/%.o)
 INC=-I ./inc
 
 # MCU configuration
@@ -10,9 +11,12 @@ MCU=atmega8
 CLOCK_FREQ=16000000
 PROG_STR=usbasp
 
+BOARD_REVISION=1
+
 # Compiler flags
 CFLAGS=-std=c11 -Wall -Wextra -Werror -mmcu=$(MCU) -DF_CPU=$(CLOCK_FREQ)
-OPT_FLAGS=-O3 -g -DDEBUG
+OPT_FLAGS_REV1=-O3 -g -DDEBUG -DBOARD_REV=1
+OPT_FLAGS_REV2=-O3 -g -DDEBUG -DBOARD_REV=2
 
 # Compiler and utility tools
 OBJCOPY=avr-objcopy
@@ -20,31 +24,52 @@ CC=avr-gcc
 
 # Project configuration
 PROJ_NAME=sflap_controller_fw
-PROJ_BLD=$(BUILD_DIR)/$(PROJ_NAME)
+PROJ_BLD_REV1=$(BUILD_DIR)/$(PROJ_NAME)_rev1
+PROJ_BLD_REV2=$(BUILD_DIR)/$(PROJ_NAME)_rev2
 
 TEMP_EEPROM_DUMP=eeprom.hex
+
+
+ifeq ($(REV),1)
+	PROJ_BLD=$(PROJ_BLD_REV1)
+else
+	ifeq ($(REV),2)
+		PROJ_BLD=$(PROJ_BLD_REV2)
+	endif
+endif
+
 # Rules
 
-all: $(PROJ_BLD).elf
+# Build firmware for both revisions
+all: $(PROJ_BLD_REV1).elf $(PROJ_BLD_REV2).elf 
 
-$(PROJ_BLD).elf: $(OBJS)
-	$(CC) -o $@ $^ $(INC) $(CFLAGS) $(OPT_FLAGS) $(MCU_FLAGS)
-	$(OBJCOPY) -j .text -j .data -O ihex $@ $(PROJ_BLD).hex
-	$(OBJCOPY) -j .text -j .data -O binary $@ $(PROJ_BLD).bin
+$(PROJ_BLD_REV1).elf: $(OBJS_REV1)
+	$(CC) -o $@ $^ $(INC) $(CFLAGS) $(OPT_FLAGS_REV1) $(MCU_FLAGS)
+	$(OBJCOPY) -j .text -j .data -O ihex $@ $(PROJ_BLD_REV1).hex
+	$(OBJCOPY) -j .text -j .data -O binary $@ $(PROJ_BLD_REV1).bin
+
+$(PROJ_BLD_REV2).elf: $(OBJS_REV2)
+	$(CC) -o $@ $^ $(INC) $(CFLAGS) $(OPT_FLAGS_REV2) $(MCU_FLAGS)
+	$(OBJCOPY) -j .text -j .data -O ihex $@ $(PROJ_BLD_REV2).hex
+	$(OBJCOPY) -j .text -j .data -O binary $@ $(PROJ_BLD_REV2).bin
+
+build/rev1/%.o: %.c
+	mkdir -p build/rev1/src
+	$(CC) -c -o $@ $(INC) $(CFLAGS) $(OPT_FLAGS_REV1) $(MCU_FLAGS) $<
+build/rev2/%.o: %.c
+	mkdir -p build/rev2/src
+	$(CC) -c -o $@ $(INC) $(CFLAGS) $(OPT_FLAGS_REV2) $(MCU_FLAGS) $<
 
 
-build/%.o: %.c
-	mkdir -p build/src
-	$(CC) -c -o $@ $(INC) $(CFLAGS) $(OPT_FLAGS) $(MCU_FLAGS) $<
 
 release: OPT_FLAGS=-O2 -DNDEBUG
-release: $(PROJ_BLD).elf
+release: $(PROJ_BLD_REV1).elf $(PROJ_BLD_REV2).elf
 
 fuse:
 	avrdude -c $(PROG_STR) -p $(MCU) -U lfuse:w:0xDF:m  -U hfuse:w:0xCA:m -B 125kHz
 
 flash-clean:
-	avrdude -c $(PROG_STR) -p $(MCU) -U eeprom:r:$(TEMP_EEPROM_DUMP):i
+	#avrdude -c $(PROG_STR) -p $(MCU) -U eeprom:r:$(TEMP_EEPROM_DUMP):i
 	avrdude -c $(PROG_STR) -p $(MCU) -U flash:w:$(PROJ_BLD).hex:i
 
 flash-update:
diff --git a/software/firmware_module/module_universal/build/rev1/src/main.o b/software/firmware_module/module_universal/build/rev1/src/main.o
new file mode 100644
index 0000000..9ba2f19
Binary files /dev/null and b/software/firmware_module/module_universal/build/rev1/src/main.o differ
diff --git a/software/firmware_module/module_universal/build/rev1/src/mctrl.o b/software/firmware_module/module_universal/build/rev1/src/mctrl.o
new file mode 100644
index 0000000..53582c1
Binary files /dev/null and b/software/firmware_module/module_universal/build/rev1/src/mctrl.o differ
diff --git a/software/firmware_module/module_universal/build/rev1/src/rcount.o b/software/firmware_module/module_universal/build/rev1/src/rcount.o
new file mode 100644
index 0000000..972ce8c
Binary files /dev/null and b/software/firmware_module/module_universal/build/rev1/src/rcount.o differ
diff --git a/software/firmware_module/module_universal/build/rev1/src/rs458.o b/software/firmware_module/module_universal/build/rev1/src/rs458.o
new file mode 100644
index 0000000..20e4ec4
Binary files /dev/null and b/software/firmware_module/module_universal/build/rev1/src/rs458.o differ
diff --git a/software/firmware_module/module_universal/build/rev2/src/main.o b/software/firmware_module/module_universal/build/rev2/src/main.o
new file mode 100644
index 0000000..150b4a8
Binary files /dev/null and b/software/firmware_module/module_universal/build/rev2/src/main.o differ
diff --git a/software/firmware_module/module_universal/build/rev2/src/mctrl.o b/software/firmware_module/module_universal/build/rev2/src/mctrl.o
new file mode 100644
index 0000000..ad1fc55
Binary files /dev/null and b/software/firmware_module/module_universal/build/rev2/src/mctrl.o differ
diff --git a/software/firmware_module/module_universal/build/rev2/src/rcount.o b/software/firmware_module/module_universal/build/rev2/src/rcount.o
new file mode 100644
index 0000000..972ce8c
Binary files /dev/null and b/software/firmware_module/module_universal/build/rev2/src/rcount.o differ
diff --git a/software/firmware_module/module_universal/build/rev2/src/rs458.o b/software/firmware_module/module_universal/build/rev2/src/rs458.o
new file mode 100644
index 0000000..c626b72
Binary files /dev/null and b/software/firmware_module/module_universal/build/rev2/src/rs458.o differ
diff --git a/software/firmware_module/module_universal/eeprom.hex b/software/firmware_module/module_universal/eeprom.hex
new file mode 100644
index 0000000..3fbf1b0
--- /dev/null
+++ b/software/firmware_module/module_universal/eeprom.hex
@@ -0,0 +1,17 @@
+:2000000001006405AAFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFE7
+:20002000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFE0
+:20004000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFC0
+:20006000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFA0
+:20008000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF80
+:2000A000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF60
+:2000C000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF40
+:2000E000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF20
+:200100002500000000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFD5
+:20012000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFDF
+:20014000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFBF
+:20016000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF9F
+:20018000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF7F
+:2001A000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF5F
+:2001C000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF3F
+:2001E000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF1F
+:00000001FF
diff --git a/software/firmware_module/module_rev3/src/global.h b/software/firmware_module/module_universal/src/global.h
similarity index 83%
rename from software/firmware_module/module_rev3/src/global.h
rename to software/firmware_module/module_universal/src/global.h
index f1e4160..e8e865f 100644
--- a/software/firmware_module/module_rev3/src/global.h
+++ b/software/firmware_module/module_universal/src/global.h
@@ -59,6 +59,30 @@
 #define SHIFT_3B 24
 
 // Firmware Version
-#define FVER_SEMVER_MAJOR 2
 #define FVER_SEMVER_MINOR 0
-#define FVER_SEMVER_PATCH 0
\ No newline at end of file
+#define FVER_SEMVER_PATCH 0
+
+// Hardware Config
+#if BOARD_REV == 1
+
+#define PIN_SENSE PD3
+#define PIN_RS485_TXE PD2
+#define PIN_RS485_RXE PD2
+#define FVER_SEMVER_MAJOR 1
+#define MOTOR_DIR 0
+
+
+#elif BOARD_REV == 2
+
+#define PIN_SENSE PD4
+#define PIN_RS485_TXE PD2
+#define PIN_RS485_RXE PD3
+#define FVER_SEMVER_MAJOR 2
+#define MOTOR_DIR 1
+
+#else
+
+#define FVER_SEMVER_MAJOR 0
+#error "BOARD_REV not specified!"
+
+#endif
\ No newline at end of file
diff --git a/software/firmware_module/module_rev3/src/main.c b/software/firmware_module/module_universal/src/main.c
similarity index 100%
rename from software/firmware_module/module_rev3/src/main.c
rename to software/firmware_module/module_universal/src/main.c
diff --git a/software/firmware_module/module_rev3/src/mctrl.c b/software/firmware_module/module_universal/src/mctrl.c
similarity index 95%
rename from software/firmware_module/module_rev3/src/mctrl.c
rename to software/firmware_module/module_universal/src/mctrl.c
index 90286bb..359f4dd 100644
--- a/software/firmware_module/module_rev3/src/mctrl.c
+++ b/software/firmware_module/module_universal/src/mctrl.c
@@ -10,12 +10,21 @@
 #include "mctrl.h"
 
 // Motor driver steps definition. Reverse for direction change.
+#if MOTOR_DIR == 1
 uint8_t motor_steps[4] = {
     0b00001000,
     0b00000100,
     0b00000010,
     0b00000001,
 };
+#elif MOTOR_DIR == 0
+uint8_t motor_steps[4] = {
+    0b00000001,
+    0b00000010,
+    0b00000100,
+    0b00001000,
+};
+#endif
 
 uint8_t step_index = 0;             // current index in motor_steps
 uint8_t target_flap = 0;            // target flap
@@ -59,8 +68,8 @@ void mctrl_init(int cal_offset)
     DDRC = 0x0F;  // set all pins as outputs
     PORTC = 0x00; // set all to LOW
 
-    DDRD &= ~(1 << PD4); // PD4 is input
-    PORTD |= (1 << PD4); // PD4 pullup
+    DDRD &= ~(1 << PIN_SENSE); // PIN_SENSE is input
+    PORTD |= (1 << PIN_SENSE); // PIN_SENSE pullup
 
     // setup adc
     ADMUX = 0xC7;                                      // Internal Vref at 2.56V, ADC7
@@ -124,7 +133,7 @@ ISR(TIMER1_COMPA_vect)
     }
     else if (homing == 1)
     { // Homing procedure 1. step: move out of home
-        if ((PIND & (1 << PD4)) > 0)
+        if ((PIND & (1 << PIN_SENSE)) > 0)
         {
             homing = 2;
         }
@@ -136,7 +145,7 @@ ISR(TIMER1_COMPA_vect)
     else if (homing == 2)
     { // Homing procedure 2. step: find magnet
         mctrl_step();
-        if ((PIND & (1 << PD4)) == 0)
+        if ((PIND & (1 << PIN_SENSE)) == 0)
         {
             homing = 3;
             steps_since_home = 0;
@@ -173,7 +182,7 @@ ISR(TIMER1_COMPA_vect)
                 absolute_pos -= STEPS_PER_REV;
             }
             // detect home position
-            if ((PIND & (1 << PD4)) == 0)
+            if ((PIND & (1 << PIN_SENSE)) == 0)
             {
                 if (lastSens == 0)
                 {
@@ -242,7 +251,7 @@ uint8_t getSts()
     status |= sts_flag_pwrdwn << 4;        // bit 4: device powered down
     status |= sts_flag_failsafe << 5;      // bit 5: failsafe active
     status |= sts_flag_busy << 6;          // bit 6: device busy
-    if ((PIND & (1 << PD4)) == 0)
+    if ((PIND & (1 << PIN_SENSE)) == 0)
     {
         status |= (1 << 3);
     }
diff --git a/software/firmware_module/module_rev0/src/mctrl.h b/software/firmware_module/module_universal/src/mctrl.h
similarity index 100%
rename from software/firmware_module/module_rev0/src/mctrl.h
rename to software/firmware_module/module_universal/src/mctrl.h
diff --git a/software/firmware_module/module_rev0/src/rcount.c b/software/firmware_module/module_universal/src/rcount.c
similarity index 100%
rename from software/firmware_module/module_rev0/src/rcount.c
rename to software/firmware_module/module_universal/src/rcount.c
diff --git a/software/firmware_module/module_rev0/src/rcount.h b/software/firmware_module/module_universal/src/rcount.h
similarity index 100%
rename from software/firmware_module/module_rev0/src/rcount.h
rename to software/firmware_module/module_universal/src/rcount.h
diff --git a/software/firmware_module/module_rev3/src/rs458.c b/software/firmware_module/module_universal/src/rs458.c
similarity index 96%
rename from software/firmware_module/module_rev3/src/rs458.c
rename to software/firmware_module/module_universal/src/rs458.c
index 2fb86a0..519cf0f 100644
--- a/software/firmware_module/module_rev3/src/rs458.c
+++ b/software/firmware_module/module_universal/src/rs458.c
@@ -13,7 +13,7 @@ void rs485_init()
 {
     // init I/O
     DDRD &= ~(1 << PD0);                          // RX is INPUT
-    DDRD |= (1 << PD3) | (1 << PD2) | (1 << PD1); // BUS_DIR & TX is OUTPUT
+    DDRD |= (1 << PIN_RS485_RXE) | (1 << PIN_RS485_TXE) | (1 << PD1); // BUS_DIR & TX is OUTPUT
     PORTD &= 0xE0;                                // clear PD0-PD4
     // init UART
     UBRRH = (BAUDRATE >> 8);
@@ -25,7 +25,7 @@ void rs485_init()
 // send byte over rs485
 void rs485_send_c(char data)
 {
-    PORTD |= (1 << PD2) | (1 << PD3); // set transciever to transmitt
+    PORTD |= (1 << PIN_RS485_TXE) | (1 << PIN_RS485_RXE); // set transciever to transmitt
     while (!(UCSRA & (1 << UDRE)))
         ;               // wait until buffer is empty
     UCSRA = (1 << TXC); // clear transmit Complete bit
@@ -33,7 +33,7 @@ void rs485_send_c(char data)
     while (!(UCSRA & (1 << TXC)))
     {
     }; // wait until transmitt complete
-    PORTD &= ~((1 << PD2) | (1 << PD3)); // set transciever back to receive
+    PORTD &= ~((1 << PIN_RS485_TXE) | (1 << PIN_RS485_RXE)); // set transciever back to receive
 }
 
 // receive without timeout
diff --git a/software/firmware_module/module_rev0/src/rs485.h b/software/firmware_module/module_universal/src/rs485.h
similarity index 100%
rename from software/firmware_module/module_rev0/src/rs485.h
rename to software/firmware_module/module_universal/src/rs485.h