diff --git a/README.md b/README.md
index e291911..48788a9 100644
--- a/README.md
+++ b/README.md
@@ -10,4 +10,27 @@ The target for this project was to create an all-in-one simpleFOC board with hig
 # Building
 
 - Install [platformio core](https://docs.platformio.org/en/latest/core/installation/methods/index.html)
-- Run `pio run`
+- Run `pio run --environment aioli-foc`
+
+Alternately you can use the vscode integration
+
+# Flashing
+
+There are two options for flashing - DFU mode, and with stlink hardware
+
+## DFU Mode
+
+DFU mode can be done via the USB port, but due to the st32's default settings, pin PB8 will conflict with the CAN XCVR line, causing the st32 to boot to DFU mode every reset, losing the firmware and requiring recompilation. This is fine for testing but you'll need to use stlink to change that setting, and to program the st32 without being in DFU mode.
+
+To program in DFU mode, set `upload_protocol` to `dfu` in `platformio.ini`.
+
+You can then use `pio run --target upload --environment aioli-foc` or press `Upload` in vscode.
+
+Note that `Upload and Monitor` may not work because `dfu-util` tends to think the upload failed even if it didn't.
+
+## stlink Mode
+- Acquire an [stlink v3 minie](https://www.st.com/en/development-tools/stlink-v3minie.html) or equvalent
+- Connect the stlink to the 1.27mm 2x7 header on the board labeled `stm32g431`. This will require either soldering a header in (it is not in the JLBPCB BOM), or just jamming it in and holding it long enough to make contact.
+- Once per board you will have to use `STM32CubeProgrammer` or `STM32 ST-LINK Utility` to set the Option Byte under User Configuration named `nSWBOOT0` to unchecked. This will prevent the st32 from going into DFU mode on every reset.
+- Make sure to set `upload_protocol` back to `stlink` in `platformio.ini`
+- Run `pio run --target upload --target monitor --environment aioli-foc` or click `Upload and Monitor` in vscode
diff --git a/mechanical/motor_parametric/IterateSTLs/.env b/mechanical/motor_parametric/IterateSTLs/.env
new file mode 100644
index 0000000..300ba57
--- /dev/null
+++ b/mechanical/motor_parametric/IterateSTLs/.env
@@ -0,0 +1 @@
+PYTHONPATH=C:/Users/vitaminmoo/AppData/Local/Autodesk/webdeploy/production/2f98b3925294fb88cbae05383e953941ed5106e7/Api/Python/packages
diff --git a/mechanical/motor_parametric/IterateSTLs/IterateSTLs.manifest b/mechanical/motor_parametric/IterateSTLs/IterateSTLs.manifest
new file mode 100644
index 0000000..63116bf
--- /dev/null
+++ b/mechanical/motor_parametric/IterateSTLs/IterateSTLs.manifest
@@ -0,0 +1,10 @@
+{
+	"autodeskProduct":	"Fusion",
+	"type":	"script",
+	"author":	"Graham Forest",
+	"description":	{
+		"":	""
+	},
+	"supportedOS":	"windows|mac",
+	"editEnabled":	true
+}
\ No newline at end of file
diff --git a/mechanical/motor_parametric/IterateSTLs/IterateSTLs.py b/mechanical/motor_parametric/IterateSTLs/IterateSTLs.py
new file mode 100644
index 0000000..918b5b8
--- /dev/null
+++ b/mechanical/motor_parametric/IterateSTLs/IterateSTLs.py
@@ -0,0 +1,56 @@
+import adsk.core, adsk.fusion, traceback
+import csv 
+import time
+import os
+
+def run(context):
+    ui = None
+    dir = "C:\\Users\\vitaminmoo\\repos\\aioli-foc\\mechanical\\motor_parametric\\"
+    try:
+        app = adsk.core.Application.get()
+        ui  = app.userInterface
+        design = app.activeProduct
+        rootComp = design.rootComponent
+
+        screwTable = {
+            # motorScrewHoleDiameter, motorScrewHeadHeight, motorScrewHeadDiameter
+            '1.6': (1.8, 1.6, 3.14),
+            '2.0': (2.4, 2.0, 3.98),
+            '2.5': (2.9, 2.5, 4.68),
+        }
+
+        with open(os.path.join(dir, 'motors.csv'), mode='r') as motorsFile:
+            reader = csv.DictReader(motorsFile)
+            for row in reader:
+                for key in row:
+                    if key == 'motorScrewM':
+                        i = 0
+                        for a in ('motorScrewHoleDiameter', 'motorScrewHeadHeight', 'motorScrewHeadDiameter'):
+                            p = design.userParameters.itemByName(a)
+                            value = screwTable[row['motorScrewM']][i]
+                            p.expression = str(value)
+                            i += 1
+                    if key == 'motorMagnetDiameter':
+                        row['motorMagnetDiameter'] = str(max(float(row['motorMagnetDiameter']), 13)) # arbitrary minimum
+                    if key == 'motorMagnetLength':
+                        row['motorMagnetLength'] = str(max(float(row['motorMagnetLength']), 3.5)) # clear a molex connector
+
+                    p = design.userParameters.itemByName(key)
+                    try:
+                        float(row[key])
+                        p.expression = row[key]
+                    except:
+                        p.comment = row[key]
+                    
+                exportMgr = design.exportManager
+
+                allBodies = rootComp.bRepBodies
+                for body in allBodies:
+                    filename = os.path.join(dir, 'stls', row['motorModel'] + '_' + body.name + '.stl')
+                    stlExportOptions = exportMgr.createSTLExportOptions(body, filename)
+                    stlExportOptions.sendToPrintUtility = False
+                    exportMgr.execute(stlExportOptions)
+            ui.messageBox('Complete')
+    except:
+        if ui:
+            ui.messageBox('Failed:\n{}'.format(traceback.format_exc()))
\ No newline at end of file
diff --git a/mechanical/motor_parametric/README.md b/mechanical/motor_parametric/README.md
new file mode 100644
index 0000000..be2119d
--- /dev/null
+++ b/mechanical/motor_parametric/README.md
@@ -0,0 +1,20 @@
+# Generic 3-screw mounting hardware
+
+![render](render.png)
+
+This directory contains a parametric design compatible with many 3 screw
+motors. If the wiring output from the motor takes up physical space, it just
+needs to be between two of the screws somewhere and it should be fine.
+
+The PCB-side screw holes are sized to allow M3 bolts to thread in from the
+back, through the PCB. Two holes will be available unused in the corners if
+you're looking to panel mount.
+
+It should be pretty print settings agnostic, but you should probably print it
+from at least PETG or other filament with proper heat tolerance as some motors
+can get a bit warm for PLA if you're still tuning them or you're driving them
+hard.
+
+motors.csv contains parameter overrides to use with the Fusion 360 script in
+IterateSTLs. Note that you will have to hardcode new paths in that python
+script for it to work.
diff --git a/mechanical/motor_parametric/motors.csv b/mechanical/motor_parametric/motors.csv
new file mode 100644
index 0000000..805efb9
--- /dev/null
+++ b/mechanical/motor_parametric/motors.csv
@@ -0,0 +1,4 @@
+motorModel,motorDiameter,motorScrewHoleFromCenter,motorMagnetLength,motorScrewM,motorMagnetDiameter
+EM3215,32,10.5,3.3,1.6,11.5
+PTZ2204,27.90,10.265,2.25,2.0,5
+GB2804,34.5,14.434,7.1,2.0,12.5
diff --git a/mechanical/motor_parametric/parametric_motor_mount_uneven_board_holes_v23.f3z b/mechanical/motor_parametric/parametric_motor_mount_uneven_board_holes_v23.f3z
new file mode 100644
index 0000000..3db5b13
Binary files /dev/null and b/mechanical/motor_parametric/parametric_motor_mount_uneven_board_holes_v23.f3z differ
diff --git a/mechanical/motor_parametric/parametric_motor_mount_uneven_board_holes_v24.step b/mechanical/motor_parametric/parametric_motor_mount_uneven_board_holes_v24.step
new file mode 100644
index 0000000..a65014f
--- /dev/null
+++ b/mechanical/motor_parametric/parametric_motor_mount_uneven_board_holes_v24.step
@@ -0,0 +1,4233 @@
+ISO-10303-21;
+HEADER;
+/* Generated by software containing ST-Developer
+ * from STEP Tools, Inc. (www.steptools.com) 
+ */
+
+FILE_DESCRIPTION(
+/* description */ (''),
+/* implementation_level */ '2;1');
+
+FILE_NAME(
+/* name */ 'parametric_motor_mount_uneven_board_holes_v24.step',
+/* time_stamp */ '2024-05-28T23:13:06-07:00',
+/* author */ (''),
+/* organization */ (''),
+/* preprocessor_version */ 'ST-DEVELOPER v20',
+/* originating_system */ 'Autodesk Translation Framework v13.14.0.145',
+
+/* authorisation */ '');
+
+FILE_SCHEMA (('AUTOMOTIVE_DESIGN { 1 0 10303 214 3 1 1 }'));
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