diff --git a/backend/genesys_devices.c b/backend/genesys_devices.c
index 2ebf7c68b..a2fc2ebeb 100644
--- a/backend/genesys_devices.c
+++ b/backend/genesys_devices.c
@@ -486,11 +486,11 @@ static Genesys_Sensor Sensor[] = {
    NULL, NULL, NULL}
   ,
   {CCD_G4050,
-   1200, /* XXX STEF XXX 4800 */
+   600, /* 4800 */
    48,
    28,
    152,
-   10200, /* XXX STEF XXX 42574 */
+   2696*2, /* 2696*2=>600, *4=>2400 */
    210,
    230,
    /* 08    09    0a    0b */
@@ -876,14 +876,15 @@ static Genesys_Motor Motor[] = {
    },
   },
   {MOTOR_G4050,
-   1200, 2400,
+   2400,
+   4800,
    2,
    1,
    { /* motor slopes */
 	   { /* power mode 0 */
-     		{ 3961, 240, 95, 0.8 }, /* full step   */
-     		{ 3961, 240, 95, 0.8 }, /* half step   */
-     		{ 3961, 240, 95, 0.8 }, /* quarter step */
+     		{ 3961, 240, 246, 0.8 }, /* full step   */
+     		{ 3961, 240, 246, 0.8 }, /* half step   */
+     		{ 3961, 240, 246, 0.8 }, /* quarter step */
     	   },
    },
   },
@@ -1054,15 +1055,15 @@ static Genesys_Model hpg4050_model = {
   GENESYS_GL843,
   NULL,
 
-  { 1200, 600, 300, 200, 150, 75, 0},	/* possible x-resolutions */
-  { 1200, 600, 300, 200, 150, 75, 0},	/* possible y-resolutions */
+  { /* 4800, 2400, 1200, 800, 600, 400, */ 300, 200, 0},
+  { /* 4800, 2400, 1200, 800, 600, 400, */ 300, 200, 0},
   {16, 8, 0},			/* possible depths in gray mode */
   {16, 8, 0},			/* possible depths in color mode */
 
-  SANE_FIX (0.42),		/* Start of scan area in mm  (x) */
-  SANE_FIX (7.9),		/* Start of scan area in mm (y) */
-  SANE_FIX (218.0),		/* Size of scan area in mm (x) */
-  SANE_FIX (299.0),		/* Size of scan area in mm (y) */
+  SANE_FIX (6.55),		/* Start of scan area in mm  (x) */
+  SANE_FIX (15.00),		/* Start of scan area in mm (y) */
+  SANE_FIX (223.0),		/* Size of scan area in mm (x) */
+  SANE_FIX (315.0),		/* Size of scan area in mm (y) */
 
   SANE_FIX (3.0),		/* Start of white strip in mm (y) */
   SANE_FIX (0.0),		/* Start of black mark in mm (x) */
diff --git a/backend/genesys_gl843.c b/backend/genesys_gl843.c
index 1740f4c9d..a5e1d43ab 100644
--- a/backend/genesys_gl843.c
+++ b/backend/genesys_gl843.c
@@ -460,17 +460,53 @@ gl843_test_motor_flag_bit (SANE_Byte val)
   return SANE_FALSE;
 }
 
-static uint16_t *get_motor_profile(int motor_type, int exposure)
+/** @get motor profile
+ * search for the database of motor profiles and get the best one. Each
+ * profile is at full step and at a reference exposure. Use KV-SS080 table
+ * by default.
+ * @param motor_type motor id
+ * @param exposure exposure time
+ * @return a pointer to a Motor_Profile struct
+ */
+static Motor_Profile *get_motor_profile(int motor_type, int exposure)
 {
-  switch(motor_type)
+  unsigned int i;
+  int idx;
+
+  i=0;
+  idx=-1;
+  while(i<sizeof(motors)/sizeof(Motor_Profile))
     {
-    case MOTOR_G4050:
-      return g4050_profile;
-    case MOTOR_KVSS080:
-      return kvss080_profile;
-    default:
-      return kvss080_profile;
+      /* exact match */
+      if(motors[i].motor_type==motor_type && motors[i].exposure==exposure)
+        {
+          return &(motors[i]);
+        }
+
+      /* closest match */
+      if(motors[i].motor_type==motor_type)
+        {
+          if(idx<0)
+            {
+              idx=i;
+            }
+          else
+            {
+              if(motors[i].exposure>=exposure 
+              && motors[i].exposure<motors[idx].exposure)
+                {
+                  idx=i;
+                }
+            }
+        }
+      i++;
     }
+
+  /* default fallback */
+  if(idx<0)
+    idx=0;
+
+  return &(motors[idx]);
 }
 
 static int gl843_slope_table(uint16_t *slope,
@@ -483,26 +519,30 @@ static int gl843_slope_table(uint16_t *slope,
                              int       motor_type)
 {
 int sum, i;
-uint16_t target, *profile;
+uint16_t target,current;
+Motor_Profile *profile;
 
 	/* required speed */
 	target=((exposure * dpi) / base_dpi)>>step_type;
+        DBG( DBG_io2, "XXX exposure=%d, dpi=%d, base_dpi=%d, step_type=%d, target=%d\n",exposure,dpi,base_dpi,step_type,target);
 	
 	/* fill result with target speed */
         for(i=0;i<256*factor;i++)
           slope[i]=target;
 
-        /* TODO choose profile to use per motor type, for now only one */
         profile=get_motor_profile(motor_type,exposure);
 
 	/* use profile to build table */
 	sum=0;
         i=0;
-        while(i<(256*factor) && (profile[i]>>step_type)>target)
+        current=((profile->table[0]*exposure)/profile->exposure)>>step_type;
+        while(i<(256*factor) && current>target)
           {
-            slope[i]=profile[i]>>step_type;
+            slope[i]=current;
             sum+=slope[i];
             i++;
+            current=((profile->table[i]*exposure)/profile->exposure)>>step_type;
+            DBG( DBG_io2, "current=%d, target=%d\n",current,target);
           }
 
         /* align size on step time factor */
@@ -527,7 +567,7 @@ gl843_setup_sensor (Genesys_Device * dev, Genesys_Register_Set * regs, int dpi)
   Genesys_Register_Set *r;
   int i;
 
-  DBG (DBG_proc, "gl843_setup_sensor\n");
+  DBGSTART;
 
   for (i = 0x06; i < 0x0e; i++)
     {
@@ -708,6 +748,7 @@ gl843_init_registers (Genesys_Device * dev)
       SETREG (0x9b, 0x80);
       
       SETREG (0xac, 0x00);
+      SETREG (0x18, 0x01); /* XXX STEF XXX CKSEL=1, CKTOGGLE=0 */
     }
 
   /* fine tune upon device description */
@@ -1103,7 +1144,7 @@ gl843_init_optical_regs_scan (Genesys_Device * dev,
 {
   unsigned int words_per_line;
   unsigned int startx, endx, used_pixels;
-  unsigned int dpiset,cksel;
+  unsigned int dpiset, cksel;
   unsigned int i, bytes;
   Genesys_Register_Set *r;
   SANE_Status status;
@@ -1120,12 +1161,6 @@ gl843_init_optical_regs_scan (Genesys_Device * dev,
   r = sanei_genesys_get_address (reg, REG18);
   cksel= (r->value & REG18_CKSEL)+1;
 
-  /* XXX STEF XXX visible colors are on the left side of the sensor */
-  if (dev->model->ccd_type == CCD_G4050)
-    {
-      cksel*=2;
-    }
-
   DBG (DBG_io2, "%s: cksel=%d\n", __FUNCTION__, cksel);
   dpiset = used_res * cksel;
 
@@ -1305,6 +1340,30 @@ gl843_get_led_exposure (Genesys_Device * dev)
   return m + d;
 }
 
+
+/**@ brief comput exposure to use
+ * compute the sensor exposure based on target resolution
+ */
+static int gl843_compute_exposure(Genesys_Device *dev, int xres)
+{
+  switch(dev->model->ccd_type)
+    {
+    case CCD_G4050:
+      if(xres<=300)
+        {
+          return 3840;
+        }
+      if(xres<=600)
+        {
+          return 8016;
+        }
+      return 21376;
+    case CCD_KVSS080:
+    default:
+      return 8000;
+    }
+}
+
 /* set up registers for an actual scan
  *
  * this function sets up the scanner to scan in normal or single line mode
@@ -1329,7 +1388,7 @@ gl843_init_scan_regs (Genesys_Device * dev, Genesys_Register_Set * reg, float xr
   int move;
   unsigned int lincnt;
   unsigned int oflags; /**> optical flags */
-  int exposure_time, led_exposure;
+  int exposure_time;
   int stagger;
 
   int slope_dpi = 0;
@@ -1457,16 +1516,8 @@ independent of our calculated values:
 
   /* scan_step_type */
   scan_step_type = 1;
-  exposure_time=8000;
-
-  led_exposure = gl843_get_led_exposure (dev);
-  /* TODO either fix exposure2 or build a new exposure computing function 
-  exposure_time = sanei_genesys_exposure_time2 (dev,
-						slope_dpi,
-						scan_step_type,
-						start + used_pixels + 258,
-						led_exposure,
-						scan_power_mode); */
+  scan_step_type = 0; /* XXX STEF XXX */
+  exposure_time=gl843_compute_exposure (dev, used_res);
 
   DBG (DBG_info, "gl843_init_scan_regs : exposure_time=%d pixels\n",
        exposure_time);
@@ -1739,6 +1790,7 @@ gl843_calculate_current_setup (Genesys_Device * dev)
 
   /* scan_step_type */
   scan_step_type = 1;
+  scan_step_type = 0; /* XXX STEF XXX */
 
   exposure_time = sanei_genesys_exposure_time2 (dev,
 						slope_dpi,
@@ -2307,7 +2359,7 @@ gl843_slow_back_home (Genesys_Device * dev, SANE_Bool wait_until_home)
 			SCAN_FLAG_IGNORE_LINE_DISTANCE);
   gl843_init_motor_regs_scan (dev,
                               local_reg,
-                              8000,
+                              gl843_compute_exposure (dev, 300),
 			      300,
 			      1,
 			      1,
diff --git a/backend/genesys_gl843.h b/backend/genesys_gl843.h
index 811278e66..ddaab104f 100644
--- a/backend/genesys_gl843.h
+++ b/backend/genesys_gl843.h
@@ -512,7 +512,28 @@ static Gpio_layout gpios[]={
 };
 
 /**
- * database of motor profile
+ * structure for motor database
  */
-static uint16_t kvss080_profile[]={44444, 34188, 32520, 29630, 26666, 24242, 22222, 19048, 16666, 15686, 14814, 14034, 12402, 11110, 8888, 7618, 6666, 5926, 5228, 4678, 4172, 3682, 3336, 3074, 2866, 2702, 2566, 2450, 2352, 2266, 2188, 2118, 2056, 2002, 1950, 1904, 1860, 1820, 1784, 1748, 1716, 1684, 1656, 1628, 1600, 1576, 1552, 1528, 1506, 1486, 1466, 1446, 1428, 1410, 1394, 1376, 1360, 1346, 1330, 1316, 1302, 1288, 1276, 1264, 1250, 1238, 1228, 1216, 1206, 1194, 1184, 1174, 1164, 1154, 1146, 1136, 1128, 1120, 1110, 1102, 1094, 1088, 1080, 1072, 1064, 1058, 1050, 1044, 1038, 1030, 1024, 1018, 1012, 1006, 1000, 994, 988, 984, 978, 972, 968, 962, 958, 952, 948, 942, 938, 934, 928, 924, 920, 916, 912, 908, 904, 900, 896, 892, 888, 884, 882, 878, 874, 870, 868, 864, 860, 858, 854, 850, 848, 844, 842, 838, 836, 832, 830, 826, 824, 822, 820, 816, 814, 812, 808, 806, 804, 802, 800, 796, 794, 792, 790, 788, 786, 784, 782, 778, 776, 774, 772, 770, 768, 766, 764, 762, 760, 758, 756, 754, 752, 750, 750, 748, 746, 744, 742, 740, 738, 736, 734, 734, 732, 730, 728, 726, 724, 724, 722, 720, 718, 716, 716, 714, 712, 710, 710, 708, 706, 704, 704, 702, 700, 698, 698, 696, 694, 694, 692, 690, 690, 688, 686, 686, 684, 682, 682, 680, 678, 678, 676, 674, 674, 672, 672, 670, 668, 668, 666, 666, 664, 662, 662, 660, 660, 658, 656, 656, 654, 654, 652, 652, 650, 650, 648, 646, 646, 644, 644, 642, 642, 640, 640, 638, 638, 636, 636, 636, 634, 634, 632, 632, 630, 630, 628, 628, 626, 626, 624, 624, 624, 622, 622, 620, 620, 618, 618, 618, 616, 616, 614, 614, 612, 612, 612, 610, 610, 608, 608, 608, 606, 606, 606, 604, 604, 602, 602, 602, 600, 600, 600, 598, 598, 596, 596, 596, 594, 594, 594, 592, 592, 592, 590, 590, 590, 588, 588, 588, 586, 586, 586, 584, 584, 584, 582, 582, 582, 590, 590, 590, 588, 588, 588, 586, 586, 586, 584, 584, 584, 582, 582, 582, 580, 580, 580, 578, 578, 578, 576, 576, 576, 576, 574, 574, 574, 572, 572, 572, 570, 570, 570, 568, 568, 568, 568, 566, 566, 566, 564, 564, 564, 562, 562, 562, 562, 560, 560, 560, 558, 558, 558, 558, 556, 556, 556, 554, 554, 554, 552, 552, 552, 552, 550, 550, 550, 548, 548, 548, 548, 546, 546, 546, 546, 544, 544, 544, 542, 542, 542, 542, 540, 540, 540, 538, 538, 538, 538, 536, 536, 536, 536, 534, 534, 534, 534, 532, 532, 532, 530, 530, 530, 530, 528, 528, 528, 528, 526, 526, 526, 526, 524, 524, 524, 524, 522, 522, 522, 522, 520, 520, 520, 520, 518, 518, 518, 516, 516, 516, 516, 514, 514, 514, 514, 514, 512, 512, 512, 512, 510, 510, 510, 510, 508, 508, 508, 508, 506, 506, 506, 506, 504, 504, 504, 504, 502, 502, 502, 502, 500, 500, 500, 500};
-static uint16_t g4050_profile[]={44444, 34188, 32520, 29630, 26666, 24242, 22222, 19048, 16666, 15686, 14814, 14034, 12402, 11110, 8888, 7618, 6666, 5926, 5228, 4678, 4172, 3682, 3336, 3074, 2866, 2702, 2566, 2450, 2352, 2266, 2188, 2118, 2056, 2002, 1950, 1904, 1860, 1820, 1784, 1748, 1716, 1684, 1656, 1628, 1600, 1576, 1552, 1528, 1506, 1486, 1466, 1446, 1428, 1410, 1394, 1376, 1360, 1346, 1330, 1316, 1302, 1288, 1276, 1264, 1250, 1238, 1228, 1216, 1206, 1194, 1184, 1174, 1164, 1154, 1146, 1136, 1128, 1120, 1110, 1102, 1094, 1088, 1080, 1072, 1064, 1058, 1050, 1044, 1038, 1030, 1024, 1018, 1012, 1006, 1000, 994, 988, 984, 978, 972, 968, 962, 958, 952, 948, 942, 938, 934, 928, 924, 920, 916, 912, 908, 904, 900, 896, 892, 888, 884, 882, 878, 874, 870, 868, 864, 860, 858, 854, 850, 848, 844, 842, 838, 836, 832, 830, 826, 824, 822, 820, 816, 814, 812, 808, 806, 804, 802, 800, 796, 794, 792, 790, 788, 786, 784, 782, 778, 776, 774, 772, 770, 768, 766, 764, 762, 760, 758, 756, 754, 752, 750, 750, 748, 746, 744, 742, 740, 738, 736, 734, 734, 732, 730, 728, 726, 724, 724, 722, 720, 718, 716, 716, 714, 712, 710, 710, 708, 706, 704, 704, 702, 700, 698, 698, 696, 694, 694, 692, 690, 690, 688, 686, 686, 684, 682, 682, 680, 678, 678, 676, 674, 674, 672, 672, 670, 668, 668, 666, 666, 664, 662, 662, 660, 660, 658, 656, 656, 654, 654, 652, 652, 650, 650, 648, 646, 646, 644, 644, 642, 642, 640, 640, 638, 638, 636, 636, 636, 634, 634, 632, 632, 630, 630, 628, 628, 626, 626, 624, 624, 624, 622, 622, 620, 620, 618, 618, 618, 616, 616, 614, 614, 612, 612, 612, 610, 610, 608, 608, 608, 606, 606, 606, 604, 604, 602, 602, 602, 600, 600, 600, 598, 598, 596, 596, 596, 594, 594, 594, 592, 592, 592, 590, 590, 590, 588, 588, 588, 586, 586, 586, 584, 584, 584, 582, 582, 582, 590, 590, 590, 588, 588, 588, 586, 586, 586, 584, 584, 584, 582, 582, 582, 580, 580, 580, 578, 578, 578, 576, 576, 576, 576, 574, 574, 574, 572, 572, 572, 570, 570, 570, 568, 568, 568, 568, 566, 566, 566, 564, 564, 564, 562, 562, 562, 562, 560, 560, 560, 558, 558, 558, 558, 556, 556, 556, 554, 554, 554, 552, 552, 552, 552, 550, 550, 550, 548, 548, 548, 548, 546, 546, 546, 546, 544, 544, 544, 542, 542, 542, 542, 540, 540, 540, 538, 538, 538, 538, 536, 536, 536, 536, 534, 534, 534, 534, 532, 532, 532, 530, 530, 530, 530, 528, 528, 528, 528, 526, 526, 526, 526, 524, 524, 524, 524, 522, 522, 522, 522, 520, 520, 520, 520, 518, 518, 518, 516, 516, 516, 516, 514, 514, 514, 514, 514, 512, 512, 512, 512, 510, 510, 510, 510, 508, 508, 508, 508, 506, 506, 506, 506, 504, 504, 504, 504, 502, 502, 502, 502, 500, 500, 500, 500};
+typedef struct {
+	int motor_type;	 /**> motor id */
+	int exposure;    /**> exposure for the slope table */
+	uint16_t *table; /**> slope table at full step */
+} Motor_Profile;
+
+static uint16_t kvss080[]={44444, 34188, 32520, 29630, 26666, 24242, 22222, 19048, 16666, 15686, 14814, 14034, 12402, 11110, 8888, 7618, 6666, 5926, 5228, 4678, 4172, 3682, 3336, 3074, 2866, 2702, 2566, 2450, 2352, 2266, 2188, 2118, 2056, 2002, 1950, 1904, 1860, 1820, 1784, 1748, 1716, 1684, 1656, 1628, 1600, 1576, 1552, 1528, 1506, 1486, 1466, 1446, 1428, 1410, 1394, 1376, 1360, 1346, 1330, 1316, 1302, 1288, 1276, 1264, 1250, 1238, 1228, 1216, 1206, 1194, 1184, 1174, 1164, 1154, 1146, 1136, 1128, 1120, 1110, 1102, 1094, 1088, 1080, 1072, 1064, 1058, 1050, 1044, 1038, 1030, 1024, 1018, 1012, 1006, 1000, 994, 988, 984, 978, 972, 968, 962, 958, 952, 948, 942, 938, 934, 928, 924, 920, 916, 912, 908, 904, 900, 896, 892, 888, 884, 882, 878, 874, 870, 868, 864, 860, 858, 854, 850, 848, 844, 842, 838, 836, 832, 830, 826, 824, 822, 820, 816, 814, 812, 808, 806, 804, 802, 800, 796, 794, 792, 790, 788, 786, 784, 782, 778, 776, 774, 772, 770, 768, 766, 764, 762, 760, 758, 756, 754, 752, 750, 750, 748, 746, 744, 742, 740, 738, 736, 734, 734, 732, 730, 728, 726, 724, 724, 722, 720, 718, 716, 716, 714, 712, 710, 710, 708, 706, 704, 704, 702, 700, 698, 698, 696, 694, 694, 692, 690, 690, 688, 686, 686, 684, 682, 682, 680, 678, 678, 676, 674, 674, 672, 672, 670, 668, 668, 666, 666, 664, 662, 662, 660, 660, 658, 656, 656, 654, 654, 652, 652, 650, 650, 648, 646, 646, 644, 644, 642, 642, 640, 640, 638, 638, 636, 636, 636, 634, 634, 632, 632, 630, 630, 628, 628, 626, 626, 624, 624, 624, 622, 622, 620, 620, 618, 618, 618, 616, 616, 614, 614, 612, 612, 612, 610, 610, 608, 608, 608, 606, 606, 606, 604, 604, 602, 602, 602, 600, 600, 600, 598, 598, 596, 596, 596, 594, 594, 594, 592, 592, 592, 590, 590, 590, 588, 588, 588, 586, 586, 586, 584, 584, 584, 582, 582, 582, 590, 590, 590, 588, 588, 588, 586, 586, 586, 584, 584, 584, 582, 582, 582, 580, 580, 580, 578, 578, 578, 576, 576, 576, 576, 574, 574, 574, 572, 572, 572, 570, 570, 570, 568, 568, 568, 568, 566, 566, 566, 564, 564, 564, 562, 562, 562, 562, 560, 560, 560, 558, 558, 558, 558, 556, 556, 556, 554, 554, 554, 552, 552, 552, 552, 550, 550, 550, 548, 548, 548, 548, 546, 546, 546, 546, 544, 544, 544, 542, 542, 542, 542, 540, 540, 540, 538, 538, 538, 538, 536, 536, 536, 536, 534, 534, 534, 534, 532, 532, 532, 530, 530, 530, 530, 528, 528, 528, 528, 526, 526, 526, 526, 524, 524, 524, 524, 522, 522, 522, 522, 520, 520, 520, 520, 518, 518, 518, 516, 516, 516, 516, 514, 514, 514, 514, 514, 512, 512, 512, 512, 510, 510, 510, 510, 508, 508, 508, 508, 506, 506, 506, 506, 504, 504, 504, 504, 502, 502, 502, 502, 500, 500, 500, 500};
+static uint16_t g4050_speed_1[]={6908,3786,3786,3786,3714,3632,3564,3444,3384,3324,3276,3228,3174,3128,3086,3044,3002,3002,2936,2930,2892,2860,2824,2794,2760,2732,2704,2676,2650,2618,2594,2568,2548,2524,2500,2478,2454,2436,2414,2392,2376,2354,2338,2318,2302,2282,2266,2252,2232,2218,2202,2188,2174,2160,2142,2128,2116,2102,2088,2076,2062,2054,2040,2028,2020,2014,2010,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004,2004};
+static uint16_t g4050_speed_2[]={7842,5898,4384,4258,4152,4052,3956,3864,3786,3714,3632,3564,3498,3444,3384,3324,3276,3228,3174,3128,3086,3044,3002,2968,2930,2892,2860,2824,2794,2760,2732,2704,2676,2650,2618,2594,2568,2548,2524,2500,2478,2454,2436,2414,2392,2376,2354,2338,2318,2302,2282,2266,2252,2232,2218,2202,2188,2174,2160,2142,2128,2116,2102,2088,2076,2062,2054,2040,2028,2020,2014,2008,2004,2002,2002,2002,1946,1882,1826,1770,1716,1662,1612,1568,1526,1488,1454,1422,1390,1362,1336,1310,1288,1264,1242,1222,1204,1184,1166,1150,1134,1118,1104,1090,1076,1064,1050,1038,1026,1016,1004,994,984,972,964,954,944,936,928,920,910,902,896,888,880,874,866,860,854,848,840,834,828,822,816,812,806,800,796,790,784,780,776,770,766,760,756,752,748,744,740,736,732,728,724,720,716,712,708,704,702,698,694,690,688,684,682,678,674,672,668,666,662,660,656,654,650,648,646,644,640,638,636,632,630,628,624,622,620,618,616,614,610,608,606,604,602,600,598,596,594,592,590,588,586,584,582,580,578,576,574,572,570,568,566,564,564,562,560,558,556,554,552,552,550,548,546,546,544,542,540,538,538,536,534,532,532,530,528,528,526,524,522,522,520,518,518,516,514,514,512,512,510,508,508,506,504,504,502,502,500,498,498,496,496,494,494,492,490,490,488,488,486,486,484,484,482,480,480,478,478,476,476,474,474,472,472,470,470,468,468,468,466,466,464,464,462,462,460,460,458,458,456,456,456,454,454,452,452,450,450,450,448,448,446,446,444,444,444,442,442,440,440,440,438,438,438,436,436,434,434,434,432,432,432,430,430,428,428,428,426,426,426,424,424,424,422,422,422,420,420,420,418,418,418,416,416,416,414,414,414,412,412,412,410,410,410,408,408,408,406,406,406,404,404,404,404,402,402,402,400,400,400,400,398,398,398,396,396,396,396,394,394,394,392,392,392,392,390,390,390,388,388,388,388,386,386,386,386,384,384,384,384,382,382,382,382,380,380,380,380,378,378,378,378,376,376,376,376,376,374,374,374,374,374,372,372,372,372,372,370,370,370,370,370,368,368,368,368,368,366,366,366,366,366,364,364,364,364,364,364,362,362,362,362,362,360,360,360,360,360,360,358,358,358,358,358,358,356,356,356,356,356,356,354,354,354,354,354,352,352,352,352,352,352,350,350,350,350,350,350,350,348,348,348,348,348,348,346,346,346,346,346,346,344,344,344,344,344,344,344,342,342,342,342,342,342,340,340,340,340,340,340,340,338,338,338,338,338,338,338,336,336,336,336,336,336,336,334,334,334,334,334,334,334,332,332,332,332,332,332,332,332,330,330,330,330,330,330,330,328,328,328,328,328,328,328,328,326,326,326,326,326,326,326,324,324,324,324,324,324,324,324,322,322,322,322,322,322,322,322,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320,320};
+
+/**
+ * database of motor profiles
+ */
+
+/* *INDENT-OFF* */
+static Motor_Profile motors[]={
+	{MOTOR_KVSS080,  8000, kvss080},
+	{MOTOR_G4050,    8016, g4050_speed_1},
+	{MOTOR_G4050,    3840, g4050_speed_2},
+};
+/* *INDENT-ON* */
+
+/* vim: set sw=2 cino=>2se-1sn-1s{s^-1st0(0u0 smarttab expandtab: */