diff --git a/CMakeLists.txt b/CMakeLists.txt
index 79d1267..62aec4b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -36,13 +36,15 @@ include_directories(
 
 #add_definitions(-DMOTOR_TEST)
 add_definitions(-DFEATURE_IGNORE_OTHER_MOTOR)
+add_definitions(-DGSCHISSENES_HALL)
+#add_definitions(-DGSCHISSENE_PWM_FREQ)
 #add_definitions(-DFEATURE_BUTTON)
 add_definitions(-DPETERS_PLATINE)
-add_definitions(-DHUARN2)
+#add_definitions(-DHUARN2)
 #add_definitions(-DHUARN3)
 #add_definitions(-DFEATURE_SERIAL_CONTROL)
 #add_definitions(-DFEATURE_SERIAL_FEEDBACK)
-add_definitions(-DLOG_TO_SERIAL)
+#add_definitions(-DLOG_TO_SERIAL)
 add_definitions(-DFEATURE_CAN)
 #add_definitions(-DCAN_LOG_UNKNOWN_ADDR)
 add_definitions(-DIS_BACK)
diff --git a/config.h b/config.h
index 6afe11f..0e1d0d7 100644
--- a/config.h
+++ b/config.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#ifdef PETERS_PLATINE
+#ifdef GSCHISSENE_PWM_FREQ
 #define PWM_FREQ            12000     // PWM frequency in Hz
 #else
 #define PWM_FREQ            16000     // PWM frequency in Hz
diff --git a/defines.h b/defines.h
index 67e30e4..604d407 100644
--- a/defines.h
+++ b/defines.h
@@ -23,33 +23,57 @@
 #include "stm32f1xx_hal.h"
 
 #ifdef PETERS_PLATINE
+#ifdef GSCHISSENES_HALL
+    #define LEFT_HALL_U_PIN GPIO_PIN_10
+    #define LEFT_HALL_V_PIN GPIO_PIN_11
+    #define LEFT_HALL_W_PIN GPIO_PIN_12
+#else
     #define LEFT_HALL_U_PIN GPIO_PIN_12
     #define LEFT_HALL_V_PIN GPIO_PIN_11
     #define LEFT_HALL_W_PIN GPIO_PIN_10
+#endif
 
     #define LEFT_HALL_U_PORT GPIOC
     #define LEFT_HALL_V_PORT GPIOC
     #define LEFT_HALL_W_PORT GPIOC
 
+#ifdef GSCHISSENES_HALL
+    #define RIGHT_HALL_U_PIN GPIO_PIN_7
+    #define RIGHT_HALL_V_PIN GPIO_PIN_6
+    #define RIGHT_HALL_W_PIN GPIO_PIN_5
+#else
     #define RIGHT_HALL_U_PIN GPIO_PIN_5
     #define RIGHT_HALL_V_PIN GPIO_PIN_6
     #define RIGHT_HALL_W_PIN GPIO_PIN_7
+#endif
 
     #define RIGHT_HALL_U_PORT GPIOB
     #define RIGHT_HALL_V_PORT GPIOB
     #define RIGHT_HALL_W_PORT GPIOB
+#else
+#ifdef GSCHISSENES_HALL
+    #define LEFT_HALL_U_PIN GPIO_PIN_7
+    #define LEFT_HALL_V_PIN GPIO_PIN_6
+    #define LEFT_HALL_W_PIN GPIO_PIN_5
 #else
     #define LEFT_HALL_U_PIN GPIO_PIN_5
     #define LEFT_HALL_V_PIN GPIO_PIN_6
     #define LEFT_HALL_W_PIN GPIO_PIN_7
+#endif
 
     #define LEFT_HALL_U_PORT GPIOB
     #define LEFT_HALL_V_PORT GPIOB
     #define LEFT_HALL_W_PORT GPIOB
 
+#ifdef GSCHISSENES_HALL
+    #define RIGHT_HALL_U_PIN GPIO_PIN_12
+    #define RIGHT_HALL_V_PIN GPIO_PIN_11
+    #define RIGHT_HALL_W_PIN GPIO_PIN_10
+#else
     #define RIGHT_HALL_U_PIN GPIO_PIN_10
     #define RIGHT_HALL_V_PIN GPIO_PIN_11
     #define RIGHT_HALL_W_PIN GPIO_PIN_12
+#endif
 
     #define RIGHT_HALL_U_PORT GPIOC
     #define RIGHT_HALL_V_PORT GPIOC
diff --git a/main.cpp b/main.cpp
index 5e00566..df4565f 100644
--- a/main.cpp
+++ b/main.cpp
@@ -373,7 +373,9 @@ int main()
 
             while ((HAL_GetTick() - tickstart) < wait)
             {
+#ifdef FEATURE_CAN
                 applyIncomingCanMessage();
+#endif
             }
         };
 
@@ -1421,7 +1423,7 @@ void doMotorTest()
     right.rtP.id_fieldWeakMax    = (0 * A2BIT_CONV) << 4;
     right.rtP.a_phaAdvMax        = 40 << 4;
 
-    constexpr auto pwmMax = 250;
+    constexpr auto pwmMax = 400;
 
     pwm += dir;
     if (pwm > pwmMax) {