diff --git a/LICENSE b/LICENSE
index 52d0bdb..b93eb01 100644
--- a/LICENSE
+++ b/LICENSE
@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2021 stephan192
+Copyright (c) 2025 stephan192
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal
diff --git a/README.md b/README.md
index d6f4578..b9cd74b 100644
--- a/README.md
+++ b/README.md
@@ -70,8 +70,9 @@ The door drive is automatically added to Home Assistant via [MQTT Discovery](htt
 * USB-UART converter
 
 ## PIC16
-* MPLabX v5.25
-* XC8 v2.10
+* MPLabX v5.45
+* Device Family Pack PIC16F1xxxx_DFP 1.5.133
+* XC8 v2.32
 * PICkit3
 
 
diff --git a/docs/device.png b/docs/device.png
index 8753e1a..cf7c2da 100644
Binary files a/docs/device.png and b/docs/device.png differ
diff --git a/docs/hoermann.md b/docs/hoermann.md
index e754325..eac305c 100644
--- a/docs/hoermann.md
+++ b/docs/hoermann.md
@@ -63,8 +63,8 @@ Sender : Master
 * d0 bits:
     * `0`: door open
     * `1`: door closed
-    * `2`: external relay supposed to be switched on (relay 03 on UAP1)
-    * `3`: light relay (not 100% sure)
+    * `2`: optional/external relay (relay 03 on UAP1)
+    * `3`: light relay
     * `4`: error active
     * `5`: direction when moving (=1 closing, =0 opening)
     * `6`: door is moving
@@ -119,7 +119,7 @@ Sender: Slave
 * d0 bits:
     * `0`: Trigger open door
     * `1`: Trigger close door
-    * `2`: Trigger reverse direction (not 100% sure)
+    * `2`: Trigger impulse (stop if door is moving, reverse direction if stopped, behaviour like the button on the remote control)
     * `3`: Toggle light relais
     * `4`: Trigger venting position
     * `5`: ???
diff --git a/esp8266/esp8266.ino b/esp8266/esp8266.ino
index 47e0a95..3c6e86d 100644
--- a/esp8266/esp8266.ino
+++ b/esp8266/esp8266.ino
@@ -8,7 +8,7 @@
 #include "hoermann.h"
 
 #define HW_VERSION "v1"
-#define SW_VERSION "v2"
+#define SW_VERSION "v3"
 
 WiFiClient espClient;
 PubSubClient client(MQTT_SERVER, MQTT_PORT, espClient);
@@ -34,6 +34,8 @@ String light_state_topic;
 String error_state_topic;
 String prewarn_state_topic;
 String option_relay_state_topic;
+String emergency_stop_cmd_topic;
+String impulse_cmd_topic;
 String bme_avty_topic;
 String bme_state_topic;
 
@@ -358,6 +360,9 @@ void setup_mqtt_topics() {
   prewarn_state_topic = "homeassistant/binary_sensor/" + unique_id + "_prewarn/state";
   option_relay_state_topic = "homeassistant/binary_sensor/" + unique_id + "_option_relay/state";
 
+  emergency_stop_cmd_topic = "homeassistant/button/" + unique_id + "_emergency_stop/trigger";
+  impulse_cmd_topic = "homeassistant/button/" + unique_id + "_impulse/trigger";
+
   bme_avty_topic = "homeassistant/sensor/" + unique_id + "_bme/availability";
   bme_state_topic = "homeassistant/sensor/" + unique_id + "_bme/state";
 }
@@ -366,6 +371,8 @@ void mqtt_init_publish_and_subscribe() {
   mqtt.subscribe(cover_cmd_topic, cover_cmd_subscriber);
   mqtt.subscribe(venting_cmd_topic, venting_cmd_subscriber);
   mqtt.subscribe(light_cmd_topic, light_cmd_subscriber);
+  mqtt.subscribe(emergency_stop_cmd_topic, emergency_stop_cmd_subscriber);
+  mqtt.subscribe(impulse_cmd_topic, impulse_cmd_subscriber);
 
   mqtt.publish(cover_avty_topic, "online", true);
   if (bme_detected)
@@ -387,39 +394,47 @@ void publish_mqtt_autodiscovery() {
   obj_id.toLowerCase();
 
   topic = "homeassistant/cover/" + unique_id + "_cover/config";
-  payload = "{\"~\":\"homeassistant/cover/" + unique_id + "_cover\", \"avty_t\":\"~/availability\", \"cmd_t\":\"~/command\", " + device + ", \"dev_cla\":\"garage\", \"name\":\"Garage door\", \"obj_id\":\"" + obj_id + "_cover\", \"pos_t\":\"~/position\", \"uniq_id\":\"" + unique_id + "_cover\"}";
+  payload = "{\"~\":\"homeassistant/cover/" + unique_id + "_cover\", \"avty_t\":\"~/availability\", \"cmd_t\":\"~/command\", " + device + ", \"dev_cla\":\"garage\", \"name\":\"Garage door\", \"obj_id\":\"" + obj_id + "_cover\", \"pos_t\":\"~/position\", \"uniq_id\":\"" + unique_id + "_cover\", \"en\":\"true\"}";
   publish_oversize_payload(topic, payload, true);
 
   topic = "homeassistant/switch/" + unique_id + "_venting/config";
-  payload = "{\"~\":\"homeassistant/switch/" + unique_id + "_venting\", \"avty_t\":\"" + cover_avty_topic + "\", \"cmd_t\":\"~/command\", " + device + ", \"icon\":\"mdi:hvac\", \"name\":\"Venting\", \"obj_id\":\"" + obj_id + "_venting\", \"stat_t\":\"~/state\", \"uniq_id\":\"" + unique_id + "_venting\"}";
+  payload = "{\"~\":\"homeassistant/switch/" + unique_id + "_venting\", \"avty_t\":\"" + cover_avty_topic + "\", \"cmd_t\":\"~/command\", " + device + ", \"icon\":\"mdi:fan\", \"name\":\"Venting\", \"obj_id\":\"" + obj_id + "_venting\", \"stat_t\":\"~/state\", \"uniq_id\":\"" + unique_id + "_venting\", \"en\":\"true\"}";
   publish_oversize_payload(topic, payload, true);
 
   topic = "homeassistant/switch/" + unique_id + "_light/config";
-  payload = "{\"~\":\"homeassistant/switch/" + unique_id + "_light\", \"avty_t\":\"" + cover_avty_topic + "\", \"cmd_t\":\"~/command\", " + device + ", \"icon\":\"mdi:lightbulb\", \"name\":\"Light\", \"obj_id\":\"" + obj_id + "_light\", \"stat_t\":\"~/state\", \"uniq_id\":\"" + unique_id + "_light\"}";
+  payload = "{\"~\":\"homeassistant/switch/" + unique_id + "_light\", \"avty_t\":\"" + cover_avty_topic + "\", \"cmd_t\":\"~/command\", " + device + ", \"icon\":\"mdi:lightbulb\", \"name\":\"Light\", \"obj_id\":\"" + obj_id + "_light\", \"stat_t\":\"~/state\", \"uniq_id\":\"" + unique_id + "_light\", \"en\":\"false\"}";
   publish_oversize_payload(topic, payload, true);
 
   topic = "homeassistant/binary_sensor/" + unique_id + "_error/config";
-  payload = "{\"~\":\"homeassistant/binary_sensor/" + unique_id + "_error\", \"avty_t\":\"" + cover_avty_topic + "\", " + device + ", \"dev_cla\":\"problem\", \"name\":\"Error\", \"obj_id\":\"" + obj_id + "_error\", \"stat_t\":\"~/state\", \"uniq_id\":\"" + unique_id + "_error\"}";
+  payload = "{\"~\":\"homeassistant/binary_sensor/" + unique_id + "_error\", \"avty_t\":\"" + cover_avty_topic + "\", " + device + ", \"dev_cla\":\"problem\", \"name\":\"Error\", \"obj_id\":\"" + obj_id + "_error\", \"stat_t\":\"~/state\", \"uniq_id\":\"" + unique_id + "_error\", \"en\":\"true\"}";
   publish_oversize_payload(topic, payload, true);
 
   topic = "homeassistant/binary_sensor/" + unique_id + "_prewarn/config";
-  payload = "{\"~\":\"homeassistant/binary_sensor/" + unique_id + "_prewarn\", \"avty_t\":\"" + cover_avty_topic + "\", " + device + ", \"dev_cla\":\"safety\", \"name\":\"Prewarn\", \"obj_id\":\"" + obj_id + "_prewarn\", \"stat_t\":\"~/state\", \"uniq_id\":\"" + unique_id + "_prewarn\"}";
+  payload = "{\"~\":\"homeassistant/binary_sensor/" + unique_id + "_prewarn\", \"avty_t\":\"" + cover_avty_topic + "\", " + device + ", \"dev_cla\":\"safety\", \"name\":\"Prewarn\", \"obj_id\":\"" + obj_id + "_prewarn\", \"stat_t\":\"~/state\", \"uniq_id\":\"" + unique_id + "_prewarn\", \"en\":\"false\"}";
   publish_oversize_payload(topic, payload, true);
 
   topic = "homeassistant/binary_sensor/" + unique_id + "_option_relay/config";
-  payload = "{\"~\":\"homeassistant/binary_sensor/" + unique_id + "_option_relay\", \"avty_t\":\"" + cover_avty_topic + "\", " + device + ", \"name\":\"Option relay\", \"obj_id\":\"" + obj_id + "_option_relay\", \"stat_t\":\"~/state\", \"uniq_id\":\"" + unique_id + "_option_relay\"}";
+  payload = "{\"~\":\"homeassistant/binary_sensor/" + unique_id + "_option_relay\", \"avty_t\":\"" + cover_avty_topic + "\", " + device + ", \"name\":\"Option relay\", \"obj_id\":\"" + obj_id + "_option_relay\", \"stat_t\":\"~/state\", \"uniq_id\":\"" + unique_id + "_option_relay\", \"en\":\"false\"}";
+  publish_oversize_payload(topic, payload, true);
+
+  topic = "homeassistant/button/" + unique_id + "_emergency_stop/config";
+  payload = "{\"~\":\"homeassistant/button/" + unique_id + "_emergency_stop\", \"avty_t\":\"" + cover_avty_topic + "\", \"cmd_t\":\"homeassistant/button/" + unique_id + "_emergency_stop/trigger\", " + device + ", \"icon\":\"mdi:close-octagon\", \"name\":\"Emergency stop\", \"obj_id\":\"" + obj_id + "_emergency_stop\", \"uniq_id\":\"" + unique_id + "_emergency_stop\", \"en\":\"false\"}";
+  publish_oversize_payload(topic, payload, true);
+
+  topic = "homeassistant/button/" + unique_id + "_impulse/config";
+  payload = "{\"~\":\"homeassistant/button/" + unique_id + "_impulse\", \"avty_t\":\"" + cover_avty_topic + "\", \"cmd_t\":\"homeassistant/button/" + unique_id + "_impulse/trigger\", " + device + ", \"icon\":\"mdi:arrow-up-down\", \"name\":\"Impulse\", \"obj_id\":\"" + obj_id + "_impulse\", \"uniq_id\":\"" + unique_id + "_impulse\", \"en\":\"false\"}";
   publish_oversize_payload(topic, payload, true);
 
   topic = "homeassistant/sensor/" + unique_id + "_temperature/config";
-  payload = "{\"avty\":[{\"topic\":\"" + cover_avty_topic + "\"}, {\"topic\":\"" + bme_avty_topic + "\"}], \"avty_mode\":\"all\", " + device + ", \"dev_cla\":\"temperature\", \"name\":\"Temperature\", \"obj_id\":\"" + obj_id + "_temperature\", \"stat_cla\":\"measurement\", \"stat_t\":\"" + bme_state_topic + "\", \"uniq_id\":\"" + unique_id + "_temperature\", \"unit_of_meas\":\"\u00b0C\", \"val_tpl\":\"{{value_json.temperature_C|round(1)}}\"}";
+  payload = "{\"avty\":[{\"topic\":\"" + cover_avty_topic + "\"}, {\"topic\":\"" + bme_avty_topic + "\"}], \"avty_mode\":\"all\", " + device + ", \"dev_cla\":\"temperature\", \"name\":\"Temperature\", \"obj_id\":\"" + obj_id + "_temperature\", \"stat_cla\":\"measurement\", \"stat_t\":\"" + bme_state_topic + "\", \"uniq_id\":\"" + unique_id + "_temperature\", \"unit_of_meas\":\"\u00b0C\", \"val_tpl\":\"{{value_json.temperature_C|round(1)}}\", \"en\":\"true\"}";
   publish_oversize_payload(topic, payload, true);
 
   topic = "homeassistant/sensor/" + unique_id + "_humidity/config";
-  payload = "{\"avty\":[{\"topic\":\"" + cover_avty_topic + "\"}, {\"topic\":\"" + bme_avty_topic + "\"}], \"avty_mode\":\"all\", " + device + ", \"dev_cla\":\"humidity\", \"name\":\"Humidity\", \"obj_id\":\"" + obj_id + "_humidity\", \"stat_cla\":\"measurement\", \"stat_t\":\"" + bme_state_topic + "\", \"uniq_id\":\"" + unique_id + "_humidity\", \"unit_of_meas\":\"%\", \"val_tpl\":\"{{value_json.humidity|round(0)}}\"}";
+  payload = "{\"avty\":[{\"topic\":\"" + cover_avty_topic + "\"}, {\"topic\":\"" + bme_avty_topic + "\"}], \"avty_mode\":\"all\", " + device + ", \"dev_cla\":\"humidity\", \"name\":\"Humidity\", \"obj_id\":\"" + obj_id + "_humidity\", \"stat_cla\":\"measurement\", \"stat_t\":\"" + bme_state_topic + "\", \"uniq_id\":\"" + unique_id + "_humidity\", \"unit_of_meas\":\"%\", \"val_tpl\":\"{{value_json.humidity|round(0)}}\", \"en\":\"true\"}";
   publish_oversize_payload(topic, payload, true);
 
   topic = "homeassistant/sensor/" + unique_id + "_pressure/config";
-  payload = "{\"avty\":[{\"topic\":\"" + cover_avty_topic + "\"}, {\"topic\":\"" + bme_avty_topic + "\"}], \"avty_mode\":\"all\", " + device + ", \"dev_cla\":\"pressure\", \"name\":\"Pressure\", \"obj_id\":\"" + obj_id + "_pressure\", \"stat_cla\":\"measurement\", \"stat_t\":\"" + bme_state_topic + "\", \"uniq_id\":\"" + unique_id + "_pressure\", \"unit_of_meas\":\"hPa\", \"val_tpl\":\"{{value_json.pressure_hPa|round(1)}}\"}";
+  payload = "{\"avty\":[{\"topic\":\"" + cover_avty_topic + "\"}, {\"topic\":\"" + bme_avty_topic + "\"}], \"avty_mode\":\"all\", " + device + ", \"dev_cla\":\"pressure\", \"name\":\"Pressure\", \"obj_id\":\"" + obj_id + "_pressure\", \"stat_cla\":\"measurement\", \"stat_t\":\"" + bme_state_topic + "\", \"uniq_id\":\"" + unique_id + "_pressure\", \"unit_of_meas\":\"hPa\", \"val_tpl\":\"{{value_json.pressure_hPa|round(1)}}\", \"en\":\"true\"}";
   publish_oversize_payload(topic, payload, true);
 
   Serial.println("MQTT autodiscovery sent");
@@ -480,3 +495,19 @@ void light_cmd_subscriber(String topic, String message)
     door.trigger_action(hoermann_action_toggle_light);
   }
 }
+
+void emergency_stop_cmd_subscriber(String topic, String message)
+{
+  if (message == "PRESS")
+  {
+    door.trigger_action(hoermann_action_emergency_stop);
+  }
+}
+
+void impulse_cmd_subscriber(String topic, String message)
+{
+  if (message == "PRESS")
+  {
+    door.trigger_action(hoermann_action_impulse);
+  }
+}
diff --git a/esp8266/hoermann.cpp b/esp8266/hoermann.cpp
index eac90d3..990b4d0 100644
--- a/esp8266/hoermann.cpp
+++ b/esp8266/hoermann.cpp
@@ -6,6 +6,7 @@
 Hoermann::Hoermann(void)
 {
   actual_state.data_valid = false;
+  actual_action = hoermann_action_none;
 }
 
 void Hoermann::loop(void)
diff --git a/esp8266/hoermann.h b/esp8266/hoermann.h
index 8747e68..fe97be6 100644
--- a/esp8266/hoermann.h
+++ b/esp8266/hoermann.h
@@ -30,6 +30,8 @@ typedef enum
   hoermann_action_close,
   hoermann_action_venting,
   hoermann_action_toggle_light,
+  hoermann_action_emergency_stop,
+  hoermann_action_impulse,
   hoermann_action_none
 } hoermann_action_t;
 
diff --git a/pic16/hoermann.c b/pic16/hoermann.c
index ef6c244..faf3bbc 100644
--- a/pic16/hoermann.c
+++ b/pic16/hoermann.c
@@ -18,11 +18,12 @@
 #define CMD_SLAVE_STATUS_RESPONSE 0x29
 
 #define RESPONSE_DEFAULT          0x1000
-#define RESPONSE_STOP             0x0000
+#define RESPONSE_EMERGENCY_STOP   0x0000
 #define RESPONSE_OPEN             0x1001
 #define RESPONSE_CLOSE            0x1002
 #define RESPONSE_VENTING          0x1010
 #define RESPONSE_TOGGLE_LIGHT     0x1008
+#define RESPONSE_IMPULSE          0x1004
 
 #define CRC8_INITIAL_VALUE        0xF3
 /* CRC table for polynomial 0x07 */
@@ -252,7 +253,11 @@ void hoermann_trigger_action(hoermann_action_t action)
   {
     case hoermann_action_stop:
     {
-      slave_respone_data = RESPONSE_STOP;
+      /* Motor needs only to be stopped if it is running */
+      if (((broadcast_status & 0x60) == 0x40) || ((broadcast_status & 0x60) == 0x60))
+      {
+        slave_respone_data = RESPONSE_IMPULSE;
+      }
       break;
     }
     case hoermann_action_open:
@@ -275,6 +280,16 @@ void hoermann_trigger_action(hoermann_action_t action)
       slave_respone_data = RESPONSE_TOGGLE_LIGHT;
       break;
     }
+    case hoermann_action_emergency_stop:
+    {
+      slave_respone_data = RESPONSE_EMERGENCY_STOP;
+      break;
+    }
+    case hoermann_action_impulse:
+    {
+      slave_respone_data = RESPONSE_IMPULSE;
+      break;
+    }
   }
 }
 
diff --git a/pic16/hoermann.h b/pic16/hoermann.h
index 4d37e1e..46e4215 100644
--- a/pic16/hoermann.h
+++ b/pic16/hoermann.h
@@ -4,7 +4,9 @@ typedef enum
   hoermann_action_open = 1,
   hoermann_action_close = 2,
   hoermann_action_venting = 3,
-  hoermann_action_toggle_light = 4
+  hoermann_action_toggle_light = 4,
+  hoermann_action_emergency_stop = 5,
+  hoermann_action_impulse = 6
 } hoermann_action_t;
 
 extern void hoermann_init(void);
diff --git a/pic16/nbproject/configurations.xml b/pic16/nbproject/configurations.xml
index e9157e6..8d5a819 100644
--- a/pic16/nbproject/configurations.xml
+++ b/pic16/nbproject/configurations.xml
@@ -35,12 +35,14 @@
         <targetPluginBoard></targetPluginBoard>
         <platformTool>PICkit3PlatformTool</platformTool>
         <languageToolchain>XC8</languageToolchain>
-        <languageToolchainVersion>2.10</languageToolchainVersion>
+        <languageToolchainVersion>2.32</languageToolchainVersion>
         <platform>3</platform>
       </toolsSet>
       <packs>
-        <pack name="PIC16F1xxxx_DFP" vendor="Microchip" version="1.1.82"/>
+        <pack name="PIC16F1xxxx_DFP" vendor="Microchip" version="1.5.133"/>
       </packs>
+      <ScriptingSettings>
+      </ScriptingSettings>
       <compileType>
         <linkerTool>
           <linkerLibItems>
@@ -58,6 +60,7 @@
       </compileType>
       <makeCustomizationType>
         <makeCustomizationPreStepEnabled>false</makeCustomizationPreStepEnabled>
+        <makeUseCleanTarget>false</makeUseCleanTarget>
         <makeCustomizationPreStep></makeCustomizationPreStep>
         <makeCustomizationPostStepEnabled>false</makeCustomizationPostStepEnabled>
         <makeCustomizationPostStep></makeCustomizationPostStep>
@@ -68,6 +71,7 @@
       <HI-TECH-COMP>
         <property key="additional-warnings" value="true"/>
         <property key="asmlist" value="true"/>
+        <property key="call-prologues" value="false"/>
         <property key="default-bitfield-type" value="true"/>
         <property key="default-char-type" value="true"/>
         <property key="define-macros" value=""/>
@@ -196,12 +200,14 @@
         <property key="gcc-opt-std" value="-std=c99"/>
         <property key="gcc-output-file-format" value="dwarf-3"/>
         <property key="omit-pack-options" value="false"/>
+        <property key="omit-pack-options-new" value="1"/>
         <property key="output-file-format" value="-mcof,+elf"/>
         <property key="stack-size-high" value="auto"/>
         <property key="stack-size-low" value="auto"/>
         <property key="stack-size-main" value="auto"/>
         <property key="stack-type" value="compiled"/>
         <property key="user-pack-device-support" value=""/>
+        <property key="wpo-lto" value="false"/>
       </XC8-config-global>
     </conf>
   </confs>