diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 634540e77..51818a7f3 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -11,7 +11,7 @@ on:
 
 env:
   # Set defines for builds/tests
-  DEFINES: "LOG_LEVEL_VERBOSITY=LOG_LEVEL_WARN"
+  DEFINES: "LOG_LEVEL=LOG_LEVEL_WARN"
 
 jobs:
   build:
diff --git a/.gitignore b/.gitignore
index dc677bc26..7264aa76b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -23,15 +23,6 @@ __pycache__
 *.pyc
 
 # Autogenerated code
-*_getters.h
-*_pack_msg.h
-*_rx_all.c
-*_rx_structs.h
-*_setters.h
-*_tx_all.c
-*_tx_structs.h
-*_unpack_msg.h
 *can_board_ids.h
-*can_codegen.h
 *system_can.dbc
 x86_flash
diff --git a/SConstruct b/SConstruct
index c719d135c..65b44a67c 100644
--- a/SConstruct
+++ b/SConstruct
@@ -1,148 +1,117 @@
-import os
-import sys
+from scons.common import flash_run
 import subprocess
-from scons.common import parse_config
+
+
+def set_target(option, opt, value, parser):
+    if opt == '--project':
+        target = f'projects/{value}'
+    if opt == '--smoke':
+        target = f'smoke/{value}'
+    if opt == '--library':
+        target = f'libraries/{value}'
+    if opt == '--python' or opt == '--py':
+        target = f'py/{value}'
+    setattr(parser.values, option.dest, target)
+
 
 ###########################################################
 # Build arguments
 ###########################################################
-
 AddOption(
     '--platform',
     dest='platform',
-    type='string',
-    action='store',
-    default='arm'
+    type='choice',
+    choices=("arm", "x86"),
+    default='arm',
+    help="Specifies target platform. One of 'arm' or 'x86'. Defaults to 'arm' if not provided."
 )
 
 AddOption(
-    '--project',
-    dest='project',
-    type='string',
-    action='store',
-)
-
-AddOption(
-    '--library',
-    dest='library',
-    type='string',
-    action='store',
-)
-
-AddOption(
-    '--python',
-    dest='python',
-    type='string',
-    action='store'
-)
-AddOption(
-    '--py',
-    dest='python',
-    type='string',
-    action='store'
+    '--library', '--project', '--smoke', '--python', '--py',
+    type="string", dest="name",
+    action='callback', callback=set_target,
+    help="Specify the target.   e.g. --library=ms-common, --project=leds, --smoke=adc, --python=example",
 )
 
 AddOption(
     '--test',
     dest='testfile',
     type='string',
-    action='store'
+    action='store',
+    help="Additionally specify the name of test to run for 'test' command."
 )
 
 AddOption(
     '--define',
     dest='define',
     type='string',
-    action='store'
+    action='store',
+    help="Add CPP defines to a build.   e.g. --define='LOG_LEVEL=LOG_LEVEL_WARN'"
 )
 
 AddOption(
-    '--name',
-    dest='name',
+    '--task',
+    dest='task',
     type='string',
     action='store'
 )
 
-# Adding Memory Report Argument to Environment Flags
-# Note platform needs to be explicitly set to arm
-
 AddOption(
     '--mem-report',
     dest='mem-report',
-    type='string',
-    action='store',
+    action='store_true',
+    help="(arm) Reports the memory space after a build."
+)
+
+AddOption(
+    '--sanitizer',
+    dest='sanitizer',
+    type='choice',
+    choices=("asan", "tsan"),
+    default="none",
+    help="(x86) Specifies the sanitizer. One of 'asan' for Address sanitizer or 'tsan' for Thread sanitizer. Defaults to none."
 )
 
 PLATFORM = GetOption('platform')
-PROJECT = GetOption('project')
-LIBRARY = GetOption('library')
-PYTHON = GetOption('python')
-MEM_REPORT = GetOption('mem-report')
-NAME = GetOption('name')
+TARGET = GetOption('name')
 
 ###########################################################
 # Environment setup
 ###########################################################
 
 # Retrieve the construction environment from the appropriate platform script
-if PLATFORM == 'x86':
-    env = SConscript('platform/x86.py')
-elif PLATFORM == 'arm':
-    env = SConscript('platform/arm.py')
-
-
-# env.VariantDir('build', '.', duplicate=0)
-
-TYPE = None
-if PROJECT:
-    TYPE = 'project'
-elif LIBRARY:
-    TYPE = 'library'
-elif PYTHON:
-    TYPE = 'python'
-TARGET = PROJECT or LIBRARY or PYTHON
+env = SConscript(f'platform/{PLATFORM}.py')
 
 VARS = {
     "PLATFORM": PLATFORM,
-    "TYPE": TYPE,
     "TARGET": TARGET,
-    "NAME": NAME,
     "env": env,
 }
 
-env["VARS"] = VARS
+COMMAND = COMMAND_LINE_TARGETS[0] if COMMAND_LINE_TARGETS else ""
 
-# Add flags when compiling a test
-TEST_CFLAGS = ['-DMS_TEST=1']
-if 'test' in COMMAND_LINE_TARGETS: # are we running "scons test"?
-    env['CCFLAGS'] += TEST_CFLAGS
 # Parse asan / tsan and Adding Sanitizer Argument to Environment Flags
 # Note platform needs to be explicitly set to x86
 
-AddOption(
-    '--sanitizer',
-    dest='sanitizer',
-    type='string',
-    action='store',
-    default="none"
-)
 SANITIZER = GetOption('sanitizer')
 
 if SANITIZER == 'asan':
-    env['CCFLAGS']   += ["-fsanitize=address"]
-    env['CXXFLAGS']  += ["-fsanitize=address"]
+    env['CCFLAGS'] += ["-fsanitize=address"]
+    env['CXXFLAGS'] += ["-fsanitize=address"]
     env['LINKFLAGS'] += ["-fsanitize=address"]
 elif SANITIZER == 'tsan':
-    env['CCFLAGS']   += ["-fsanitize=thread"]
-    env['CXXFLAGS']  += ["-fsanitize=thread"]
+    env['CCFLAGS'] += ["-fsanitize=thread"]
+    env['CXXFLAGS'] += ["-fsanitize=thread"]
     env['LINKFLAGS'] += ["-fsanitize=thread"]
 
-env['CCCOMSTR']     = "Compiling  $TARGET"
-env['LINKCOMSTR']   = "Linking    $TARGET"
-env['ARCOMSTR']     = "Archiving  $TARGET"
-env['ASCOMSTR']     = "Assembling $TARGET"
+env['CCCOMSTR'] = "Compiling  $TARGET"
+env['ARCOMSTR'] = "Archiving  $TARGET"
+env['ASCOMSTR'] = "Assembling $TARGET"
+env['LINKCOMSTR'] = "Linking    $TARGET"
 env['RANLIBCOMSTR'] = "Indexing   $TARGET"
 
+env.Append(CPPDEFINES=[GetOption('define')])
+
 ###########################################################
 # Directory setup
 ###########################################################
@@ -151,131 +120,77 @@ BUILD_DIR = Dir('#/build').Dir(PLATFORM)
 BIN_DIR = BUILD_DIR.Dir('bin')
 OBJ_DIR = BUILD_DIR.Dir('obj')
 
-PROJ_DIR = Dir('#/projects')
-SMOKE_DIR = Dir('#/smoke')
-
-PLATFORM_DIR = Dir('#/platform')
-
 VariantDir(OBJ_DIR, '.', duplicate=0)
 
-COMMAND = COMMAND_LINE_TARGETS[0] if COMMAND_LINE_TARGETS else None
-
-###########################################################
-# Build
-###########################################################
-if COMMAND == None or COMMAND == "test":
-    SConscript('scons/build.scons', exports='VARS')
-
 ###########################################################
 # Testing
 ###########################################################
 if COMMAND == "test":
+    # Add flags when compiling a test
+    TEST_CFLAGS = ['-DMS_TEST=1']
+    env['CCFLAGS'] += TEST_CFLAGS
     SConscript('scons/test.scons', exports='VARS')
+    SConscript('scons/build.scons', exports='VARS')
 
 ###########################################################
 # Helper targets
 ###########################################################
-if COMMAND == "new_task":
+elif COMMAND == "new":
     SConscript('scons/new_target.scons', exports='VARS')
 
 ###########################################################
 # Clean
 ###########################################################
-# 'clean' is a dummy file that doesn't get created
-# This is required for phony targets for scons to be happy
-Command('#/clean', [], 'rm -rf build/*')
-# Alias('clean', clean)
+elif COMMAND == "clean":
+    AlwaysBuild(Command('#/clean', [], 'rm -rf build/*'))
 
 ###########################################################
 # Linting and Formatting
 ###########################################################
-if COMMAND == "lint" or COMMAND == "format":
+elif COMMAND == "lint" or COMMAND == "format":
     SConscript('scons/lint_format.scons', exports='VARS')
 
-# ELFs are used for gdb and x86
-def proj_elf(proj_name, is_smoke=False):
-    return BIN_DIR.Dir(SMOKE_DIR.name if is_smoke else PROJ_DIR.name).File(proj_name)
-
-# .bin is used for flashing to MCU
-def proj_bin(proj_name, is_smoke=False):
-    return proj_elf(proj_name, is_smoke).File(proj_name + '.bin')
+###########################################################
+# Build
+###########################################################
+else:  # command not recognised, default to build
+    SConscript('scons/build.scons', exports='VARS')
 
 ###########################################################
 # Helper targets for x86
 ###########################################################
-if PLATFORM == 'x86' and TYPE == 'project':
+if PLATFORM == 'x86' and TARGET:
+    project_elf = BIN_DIR.File(TARGET)
     # os.exec the x86 project ELF file to simulate it
-    def sim_run(target, source, env):
-        path = proj_elf(TARGET, env.get("smoke")).path
-        print('Simulating', path)
-        os.execv(path, [path])
 
-    sim = Command('sim.txt', [], sim_run)
-    Depends(sim, proj_elf(TARGET))
-    Alias('sim', sim)
+    def sim_run(target, source, env):
+        print('Simulating', project_elf)
+        subprocess.run([project_elf.path])
 
-    sim_smoke = Command('sim_smoke.txt', [], sim_run, smoke=True)
-    Depends(sim_smoke, proj_elf(TARGET, True))
-    Alias('sim_smoke', sim_smoke)
+    AlwaysBuild(Command('#/sim', project_elf, sim_run))
 
     # open gdb with the elf file
     def gdb_run(target, source, env):
-        path = proj_elf(TARGET, env.get("smoke")).path
-        os.execv('/usr/bin/gdb', ['/usr/bin/gdb', path])
-
-    gdb = Command('gdb.txt', [], gdb_run)
-    Depends(gdb, proj_elf(TARGET))
-    Alias('gdb', gdb)
+        subprocess.run(['/usr/bin/gdb', project_elf.path])
 
-    gdb_smoke = Command('gdb_smoke.txt', [], gdb_run, smoke=True)
-    Depends(gdb_smoke, proj_elf(TARGET, True))
-    Alias('gdb_smoke', gdb_smoke)
+    AlwaysBuild(Command('#/gdb', project_elf, gdb_run))
 
 ###########################################################
 # Helper targets for arm
 ###########################################################
-if PLATFORM == 'arm' and TYPE == 'project':
+if PLATFORM == 'arm' and TARGET:
+    project_bin = BIN_DIR.File(TARGET + '.bin')
     # display memory info for the project
-    if MEM_REPORT:
-        get_mem_report = Action("python3 scons/mem_report.py " + "build/arm/bin/projects/{}".format(TARGET))
-        env.AddPostAction(proj_bin(TARGET, False), get_mem_report)
-        
+    if GetOption('mem-report'):
+        AlwaysBuild(Command("#/mem-report", project_bin,
+                            f"python3 scons/mem_report.py build/arm/bin/{TARGET}"))
+        Default("#/mem-report")
+
     # flash the MCU using openocd
-    def flash_run(target, source, env):
-        import serial
-        output = subprocess.check_output(["ls", "/dev/serial/by-id/"])
-        device_path = f"/dev/serial/by-id/{str(output, 'ASCII').strip()}"
-        serialData = serial.Serial(device_path,115200)
-
-        OPENOCD = 'openocd'
-        OPENOCD_SCRIPT_DIR = '/usr/share/openocd/scripts/'
-        PROBE = 'cmsis-dap'
-        OPENOCD_CFG = [
-            OPENOCD,
-            '-s {}'.format(OPENOCD_SCRIPT_DIR),
-            '-f interface/{}.cfg'.format(PROBE),
-            '-f target/stm32f1x.cfg',
-            '-f {}/stm32f1-openocd.cfg'.format(PLATFORM_DIR),
-            '-c "stm32f1x.cpu configure -rtos FreeRTOS"',
-            '-c "stm_flash {}"'.format(proj_bin(TARGET, env.get("smoke"))),
-            '-c shutdown'
-        ]
-        cmd = 'sudo {}'.format(' '.join(OPENOCD_CFG))
-        subprocess.run(cmd, shell=True)
-        
+    def flash_run_target(target, source, env):
+        serialData = flash_run(project_bin)
         while True:
             line: str = serialData.readline().decode("utf-8")
             print(line, end='')
-            if line.startswith('OK'):
-                break
-            if line.startswith('FAIL'):
-                fails += 1
-                break
-
-    flash = Command('flash.txt', [], flash_run)
-    Depends(flash, proj_bin(TARGET))
-    Alias('flash', flash)
-
-    flash_smoke = Command('flash_smoke.txt', [], flash_run, smoke=True)
-    Depends(flash_smoke, proj_bin(TARGET, True))
-    Alias('flash_smoke', flash_smoke)
+
+    AlwaysBuild(Command('#/flash', project_bin, flash_run_target))
\ No newline at end of file
diff --git a/bps_indicator.c b/bps_indicator.c
deleted file mode 100644
index 2d33570b6..000000000
--- a/bps_indicator.c
+++ /dev/null
@@ -1,31 +0,0 @@
-#include "bps_indicator.h"
-
-#define BPS_FAULT_INDICATOR_PERIOD_MS 375
-
-static SoftTimer s_bps_indicator_timer;
-static bool s_bps_fault_enabled;
-static OutputState s_output_state;
-
-static void prv_callback() {
-  if (s_bps_fault_enabled) {
-    // ternary statement: sets s_output_state to opposite of current state
-    s_output_state = (s_output_state == OUPUT_STATE_OFF) ? OUTPUT_STATE_ON : OUTPUT_STATE_OFF;  
-    // set OUTPUT_GROUP_BPS_FAULT to s_output_state
-		pd_set_output_group(OUTPUT_GROUP_BPS_FAULT, s_output_state);
-		// add s_bps_indicator_timer - 375 ms before running, run prv_callback after
-    soft_timer_start(BPS_FAULT_INDICATOR_PERIOD_MS, prv_callback, &s_bps_indicator_timer);
-  } else {
-		// set OUTPUT_GROUP_BPS_FAULT to OUPUT_STATE_OFF
-		// function terminates
-    pd_set_output_group(OUTPUT_GROUP_BPS_FAULT, OUPUT_STATE_OFF);
-  }
-} 
-
-void start_bps_fault_indicator() {
-  s_bps_fault_enabled = true;
-  soft_timer_start(BPS_FAULT_INDICATOR_PERIOD_MS, prv_callback, &s_bps_indicator_timer);
-}
-
-void stop_bps_fault_indicator() {
-  s_bps_fault_enabled = false;
-}
\ No newline at end of file
diff --git a/bps_indicator.h b/bps_indicator.h
deleted file mode 100644
index 2ff824df4..000000000
--- a/bps_indicator.h
+++ /dev/null
@@ -1,9 +0,0 @@
-#pragma once
-
-#include <stdio.h>
-#include "soft_timer.h" 
-#include "outputs.h"
-
-// functions to start/stop bps fault indicator
-void start_bps_fault_indicator(void);
-void stop_bps_fault_indicator(void);
diff --git a/build_system.md b/build_system.md
index 2c896e3a5..082e9525f 100644
--- a/build_system.md
+++ b/build_system.md
@@ -10,48 +10,109 @@ Each project and library may also contain a `config.json` file with certain fiel
 Unit tests are per-project/library and are built and run from scons. Functions may be mocked by specifying which test file mocks which functions. An example of a mocking configuration is in the `core` library, in `config.json` and in `test/test_mock.c`.
 
 ## Usage
-### Build commands
-- `no command`: Build all projects.
-    - e.g. `scons`
-- `project / library`: Build the project or library
-    - e.g. `scons leds`
-- `test`: Builds and runs the tests for the specified project or library. If no project or library is specified, runs all tests. Also allows specifying a test file to run.
-    - e.g. `scons test`
-    - e.g. `scons test --library=core`
-    - e.g. `scons test --project=leds --test=test_led_1`
-
-### Convenience commands:
-
-- `new [name]`: Creates a new project, smoke project, or library with the given name.
-    - e.g. `scons new --project=my_new_project`
-    - e.g. `scons new --library=my_new_library`
-    - e.g. `scons new_smoke --project=my_smoke_test`
-- `new_task [name] [task name]`: Creates a new task within a project or library
-    - e.g. `scons new_task --project=my_project --name=task_name`
-    - e.g. `scons new_task --library=my_library --name=task_name`
-- `clean`: Delete the `build` directory.
-    - e.g. `scons clean`
-- `sim [project]`: (x86 specific) Run the project's binary.
-    - e.g. `scons sim --project=leds --platform=x86`
-    - e.g. `scons sim_smoke --project=smoke_leds --platform=x86`
-    - `sim_smoke` should be used for smoke tests.
-- `gdb [project]`: (x86 specific) Run the project's binary with gdb.
-    - e.g. `scons gdb --project=leds --platform=x86`
-    - e.g. `scons gdb_smoke --project=smoke_leds --platform=x86`
-- `flash [project]`: (arm specific) Flash the project's binary using openocd. A controller board must be connected an powered.
-    - e.g. `scons flash --project=leds`
-    - e.g. `scons flash_smoke --project=smoke_leds`
-- `lint`: Lints all files.
-    - Can specify `--project` or `--library` argument to only lint specific project/library
-- `format`: Formats all files.
-    - Can specify `--project` or `--library` argument to only format specific project/library
-
-### Arguments
-- `--platform`: Specifies target platform. One of `arm` or `x86`. Defaults to `arm`.
-- `--project`: Specifies target project. Only required when running convenience commands or tests.
-- `--library`: Specifies target library. Only required when running convenience commands or tests.
-- `--test`: Specify test file to run.
-- `--sanitizer`: Specifies the sanitizer. One of `asan` for Address sanitizer or `tsan` for Thread sanitizer. Defaults to `none`. Note it only works on `x86` platform.
+```
+scons [options]... <command> <target>
+
+Options:
+options can occur anywhere in the command string
+
+    --platform={x86|arm}    
+        Specifies target platform. One of `arm` or `x86`. Defaults to `arm` if not provided.
+
+    --define=...
+        Add CPP defines to a build.
+        - e.g.`--define="LOG_LEVEL=LOG_LEVEL_WARN"`
+
+    --sanitizer={asan|tsan}
+        (x86) Specifies the sanitizer. One of `asan` for Address sanitizer or `tsan` for Thread sanitizer. Defaults to `none`.
+    
+    --test=<test_name>
+        Additionally specify the name of test to run for `test` command.
+
+    --task=<task_name>
+        Specify a task to create for `new` command.
+
+    --mem-report
+        (arm) Reports the memory space after a build
+
+Commands:
+    NONE
+        Build the specified target, or all target if not specified.
+        - e.g. `scons`
+        - e.g. `scons <target>` (`scons --project=leds`)
+        if the target is a python project, run the project.
+
+    test
+        Test the specified target, or all target if not specified.
+        - e.g. `scons test`
+        - e.g. `scons test <target>` (`scons test --project=leds`)
+    
+    new
+        Creates a new project, smoke project, or library with the given name.
+        - e.g. `scons new <target>` (`scons new --project=new_led`)
+        if --task=<task> option is specified, instead create a new task within the target
+        - e.g. `scons new <target> --task=<task_name>` (`scons new --project=leds --task=led_task`)
+
+    sim
+        (x86) Run the project's binary.
+        - e.g. `scons sim --platform=x86 <target>` (`scons sim --platform=x86 --project=new_led`)
+
+    gdb
+        (x86) Run the project's binary with gdb.
+        - e.g. `scons gdb <target>` (`scons gdb --project=new_led`)
+
+    flash
+        (arm) Flash the project's binary using openocd. A controller board must be connected an powered.
+        - e.g. `scons flash <target>` (`scons flash --project=new_led`)
+
+    format
+        Format a target, or all targets if not specified. uses autopep8 for python and clang-format for c.
+        - e.g. `scons format`
+        - e.g. `scons format <target>` (`scons format --project=new_led`)
+
+    lint
+        Lint a target, or all targets if not specified. uses pylint for python and cpplint for c.
+        - e.g. `scons lint`
+        - e.g. `scons lint <target>` (`scons lint --project=new_led`)
+
+    clean
+        Delete the `build` directory.
+
+Target:
+targest can be specified with an option.
+
+    --project=<name>
+        specify the target as a project with `name`
+        - e.g. `--project=leds`
+
+    --library=<name>
+        specify the target as a library with `name`
+        - e.g. `--library=ms-common`
+
+    --python=<name>` or --py=<name>
+        specify the target as a project with `name` (same as `--py=...`)
+        - e.g. `--python=example`, `--py=example`
+
+    --smoke=<name>`
+        specify the target as a project with `name`, 
+        - e.g. `--smoke=adc`
+
+Convenience Commands:
+    <name>
+        build the target with the name
+        - e.g. `scons leds`
+        - e.g. `scons ms-common`
+    
+    <path>
+        build the target with the path. 
+        - e.g. `scons projects/leds`
+        - e.g. `scons libraries/ms-common`
+
+    test <name>/<path>
+        test the target with the name/path
+        - e.g. `scons test projects/leds`
+        (experimental, use at own risk)
+```
 
 # Future Improvements
 Features that would be nice to have in the future but haven't been done yet:
diff --git a/can/tools/can.py b/can/tools/can.py
new file mode 100644
index 000000000..9ccdf9877
--- /dev/null
+++ b/can/tools/can.py
@@ -0,0 +1,361 @@
+import struct
+import subprocess
+import time 
+import threading
+
+SYSTEM_CAN_MESSAGE_BABYDRIVER_BABYDRIVER = 2016
+SYSTEM_CAN_MESSAGE_BMS_CARRIER_BATTERY_STATUS = 1
+SYSTEM_CAN_MESSAGE_BMS_CARRIER_BATTERY_VT = 961
+SYSTEM_CAN_MESSAGE_BMS_CARRIER_BATTERY_AGGREGATE_VC = 1057
+SYSTEM_CAN_MESSAGE_BMS_CARRIER_BATTERY_FAN_STATE = 1825
+SYSTEM_CAN_MESSAGE_BMS_CARRIER_BATTERY_RELAY_INFO = 1857
+SYSTEM_CAN_MESSAGE_CAN_COMMUNICATION_ONE_SHOT_MSG = 2
+SYSTEM_CAN_MESSAGE_CAN_DEBUG_TEST_DEBUG = 3
+SYSTEM_CAN_MESSAGE_CENTRE_CONSOLE_CC_POWER_CONTROL = 36
+SYSTEM_CAN_MESSAGE_CENTRE_CONSOLE_DRIVE_OUTPUT = 68
+SYSTEM_CAN_MESSAGE_CHARGER_REQUEST_TO_CHARGE = 1541
+SYSTEM_CAN_MESSAGE_CHARGER_CHARGER_CONNECTED_STATE = 1605
+SYSTEM_CAN_MESSAGE_CHARGER_CHARGER_FAULT = 1701
+SYSTEM_CAN_MESSAGE_MOTOR_CONTROLLER_MOTOR_CONTROLLER_VC = 966
+SYSTEM_CAN_MESSAGE_MOTOR_CONTROLLER_MOTOR_VELOCITY = 998
+SYSTEM_CAN_MESSAGE_MOTOR_CONTROLLER_MOTOR_STATUS = 1030
+SYSTEM_CAN_MESSAGE_MOTOR_CONTROLLER_MOTOR_SINK_TEMPS = 1222
+SYSTEM_CAN_MESSAGE_MOTOR_CONTROLLER_DSP_BOARD_TEMPS = 1254
+SYSTEM_CAN_MESSAGE_MOTOR_CONTROLLER_MC_STATUS = 1286
+SYSTEM_CAN_MESSAGE_MOTOR_CONTROLLER_PRECHARGE_COMPLETED = 454
+SYSTEM_CAN_MESSAGE_NEW_CAN_TRANSMIT_MSG1 = 7
+SYSTEM_CAN_MESSAGE_NEW_CAN_TRANSMIT_MSG2 = 39
+SYSTEM_CAN_MESSAGE_NEW_CAN_TRANSMIT_MSG3 = 71
+SYSTEM_CAN_MESSAGE_PEDAL_PEDAL_OUTPUT = 584
+SYSTEM_CAN_MESSAGE_POWER_DISTRIBUTION_UV_CUTOFF_NOTIFICATION = 1449
+SYSTEM_CAN_MESSAGE_POWER_DISTRIBUTION_CURRENT_MEASUREMENT = 1737
+SYSTEM_CAN_MESSAGE_POWER_DISTRIBUTION_PD_FAULT = 1993
+SYSTEM_CAN_MESSAGE_POWER_DISTRIBUTION_HORN_AND_LIGHTS = 1481
+SYSTEM_CAN_MESSAGE_POWER_DISTRIBUTION_LIGHTS_SYNC = 745
+SYSTEM_CAN_MESSAGE_POWER_DISTRIBUTION_POWER_INFO = 105
+SYSTEM_CAN_MESSAGE_POWER_DISTRIBUTION_PD_STATUS = 41
+SYSTEM_CAN_MESSAGE_POWER_DISTRIBUTION_BMS_RELAYS = 329
+SYSTEM_CAN_MESSAGE_POWER_SELECT_POWER_SELECT_STATUS = 42
+SYSTEM_CAN_MESSAGE_POWER_SELECT_POWER_SELECT_AUX_MEASUREMENTS = 74
+SYSTEM_CAN_MESSAGE_POWER_SELECT_POWER_SELECT_DCDC_MEASUREMENTS = 106
+SYSTEM_CAN_MESSAGE_SOLAR_SENSE_MPPT_1 = 683
+SYSTEM_CAN_MESSAGE_SOLAR_SENSE_MPPT_2 = 715
+SYSTEM_CAN_MESSAGE_SOLAR_SENSE_MPPT_3 = 747
+SYSTEM_CAN_MESSAGE_SOLAR_SENSE_MPPT_4 = 779
+SYSTEM_CAN_MESSAGE_SOLAR_SENSE_MPPT_5 = 811
+SYSTEM_CAN_MESSAGE_SOLAR_SENSE_MPPT_6 = 651
+SYSTEM_CAN_MESSAGE_SOLAR_SENSE_CURRENT_SENSE = 843
+SYSTEM_CAN_MESSAGE_SOLAR_SENSE_THERMAL_STATUS = 875
+SYSTEM_CAN_MESSAGE_SOLAR_SENSE_THERMAL_TEMPS = 907
+SYSTEM_CAN_MESSAGE_SOLAR_SENSE_SOLAR_INFO = 939
+SYSTEM_CAN_MESSAGE_STEERING_STEERING_INFO = 684
+SYSTEM_CAN_MESSAGE_TELEMETRY_TEST_MSG = 13
+SYSTEM_CAN_MESSAGE_UV_CUTOFF_UV_CUTOFF_NOTIFICATION1 = 1454
+# Send single message
+def send_message(id, data):
+    # id: int -> hex, data: str
+    cmd = f"cansend vcan0 {hex(id)[2:].zfill(3)}#{data}"
+    subprocess.run(cmd, shell=True)
+
+def pack(num, size):
+    if isinstance(num, float) and (size == 32):
+        return struct.pack("f", num).hex()
+    elif (size == 32):
+        return struct.pack("i", num).hex()
+    elif (size == 16):
+        return struct.pack("h", num).hex()
+    elif (size == 8):
+        return struct.pack("b", num).hex()
+def send_babydriver_babydriver(id, data0, data1, data2, data3, data4, data5, data6):
+    send_message(SYSTEM_CAN_MESSAGE_BABYDRIVER_BABYDRIVER,
+        pack(id, 8) + 
+        pack(data0, 8) + 
+        pack(data1, 8) + 
+        pack(data2, 8) + 
+        pack(data3, 8) + 
+        pack(data4, 8) + 
+        pack(data5, 8) + 
+        pack(data6, 8))
+
+def send_bms_carrier_battery_status(batt_perc, status, fault):
+    send_message(SYSTEM_CAN_MESSAGE_BMS_CARRIER_BATTERY_STATUS,
+        pack(batt_perc, 16) + 
+        pack(status, 8) + 
+        pack(fault, 8))
+
+def send_bms_carrier_battery_vt(module_id, voltage, temperature):
+    send_message(SYSTEM_CAN_MESSAGE_BMS_CARRIER_BATTERY_VT,
+        pack(module_id, 16) + 
+        pack(voltage, 16) + 
+        pack(temperature, 16))
+
+def send_bms_carrier_battery_aggregate_vc(voltage, current):
+    send_message(SYSTEM_CAN_MESSAGE_BMS_CARRIER_BATTERY_AGGREGATE_VC,
+        pack(voltage, 32) + 
+        pack(current, 32))
+
+def send_bms_carrier_battery_fan_state(fan_1, fan_2, fan_3, fan_4, fan_5, fan_6, fan_7, fan_8):
+    send_message(SYSTEM_CAN_MESSAGE_BMS_CARRIER_BATTERY_FAN_STATE,
+        pack(fan_1, 8) + 
+        pack(fan_2, 8) + 
+        pack(fan_3, 8) + 
+        pack(fan_4, 8) + 
+        pack(fan_5, 8) + 
+        pack(fan_6, 8) + 
+        pack(fan_7, 8) + 
+        pack(fan_8, 8))
+
+def send_bms_carrier_battery_relay_info(state):
+    send_message(SYSTEM_CAN_MESSAGE_BMS_CARRIER_BATTERY_RELAY_INFO,
+        pack(state, 8))
+
+def send_can_communication_one_shot_msg(sig1, sig2):
+    send_message(SYSTEM_CAN_MESSAGE_CAN_COMMUNICATION_ONE_SHOT_MSG,
+        pack(sig1, 16) + 
+        pack(sig2, 16))
+
+def send_can_debug_test_debug(operation, operandA, operandB, operandC):
+    send_message(SYSTEM_CAN_MESSAGE_CAN_DEBUG_TEST_DEBUG,
+        pack(operation, 8) + 
+        pack(operandA, 8) + 
+        pack(operandB, 8) + 
+        pack(operandC, 8))
+
+def send_centre_console_cc_power_control(power_event, hazard_enabled):
+    send_message(SYSTEM_CAN_MESSAGE_CENTRE_CONSOLE_CC_POWER_CONTROL,
+        pack(power_event, 8) + 
+        pack(hazard_enabled, 8))
+
+def send_centre_console_drive_output(target_velocity, drive_state, cruise_control, regen_braking, precharge):
+    send_message(SYSTEM_CAN_MESSAGE_CENTRE_CONSOLE_DRIVE_OUTPUT,
+        pack(target_velocity, 32) + 
+        pack(drive_state, 8) + 
+        pack(cruise_control, 8) + 
+        pack(regen_braking, 8) + 
+        pack(precharge, 8))
+
+def send_charger_request_to_charge(signal1):
+    send_message(SYSTEM_CAN_MESSAGE_CHARGER_REQUEST_TO_CHARGE,
+        pack(signal1, 8))
+
+def send_charger_charger_connected_state(is_connected):
+    send_message(SYSTEM_CAN_MESSAGE_CHARGER_CHARGER_CONNECTED_STATE,
+        pack(is_connected, 8))
+
+def send_charger_charger_fault(fault):
+    send_message(SYSTEM_CAN_MESSAGE_CHARGER_CHARGER_FAULT,
+        pack(fault, 8))
+
+def send_motor_controller_motor_controller_vc(mc_voltage_l, mc_current_l, mc_voltage_r, mc_current_r):
+    send_message(SYSTEM_CAN_MESSAGE_MOTOR_CONTROLLER_MOTOR_CONTROLLER_VC,
+        pack(mc_voltage_l, 16) + 
+        pack(mc_current_l, 16) + 
+        pack(mc_voltage_r, 16) + 
+        pack(mc_current_r, 16))
+
+def send_motor_controller_motor_velocity(velocity_l, velocity_r):
+    send_message(SYSTEM_CAN_MESSAGE_MOTOR_CONTROLLER_MOTOR_VELOCITY,
+        pack(velocity_l, 16) + 
+        pack(velocity_r, 16))
+
+def send_motor_controller_motor_status(motor_status_l, motor_status_r):
+    send_message(SYSTEM_CAN_MESSAGE_MOTOR_CONTROLLER_MOTOR_STATUS,
+        pack(motor_status_l, 32) + 
+        pack(motor_status_r, 32))
+
+def send_motor_controller_motor_sink_temps(motor_temp_l, heatsink_temp_l, motor_temp_r, heatsink_temp_r):
+    send_message(SYSTEM_CAN_MESSAGE_MOTOR_CONTROLLER_MOTOR_SINK_TEMPS,
+        pack(motor_temp_l, 16) + 
+        pack(heatsink_temp_l, 16) + 
+        pack(motor_temp_r, 16) + 
+        pack(heatsink_temp_r, 16))
+
+def send_motor_controller_dsp_board_temps(dsp_temp_l, dsp_temp_r):
+    send_message(SYSTEM_CAN_MESSAGE_MOTOR_CONTROLLER_DSP_BOARD_TEMPS,
+        pack(dsp_temp_l, 32) + 
+        pack(dsp_temp_r, 32))
+
+def send_motor_controller_mc_status(limit_bitset_l, error_bitset_l, limit_bitset_r, error_bitset_r, board_fault_bitset, overtemp_bitset, precharge_status):
+    send_message(SYSTEM_CAN_MESSAGE_MOTOR_CONTROLLER_MC_STATUS,
+        pack(limit_bitset_l, 8) + 
+        pack(error_bitset_l, 8) + 
+        pack(limit_bitset_r, 8) + 
+        pack(error_bitset_r, 8) + 
+        pack(board_fault_bitset, 8) + 
+        pack(overtemp_bitset, 8) + 
+        pack(precharge_status, 8))
+
+def send_motor_controller_precharge_completed(notification):
+    send_message(SYSTEM_CAN_MESSAGE_MOTOR_CONTROLLER_PRECHARGE_COMPLETED,
+        pack(notification, 8))
+
+def send_new_can_transmit_msg1(status):
+    send_message(SYSTEM_CAN_MESSAGE_NEW_CAN_TRANSMIT_MSG1,
+        pack(status, 8))
+
+def send_new_can_transmit_msg2(signal, signal2):
+    send_message(SYSTEM_CAN_MESSAGE_NEW_CAN_TRANSMIT_MSG2,
+        pack(signal, 8) + 
+        pack(signal2, 8))
+
+def send_new_can_transmit_msg3(help):
+    send_message(SYSTEM_CAN_MESSAGE_NEW_CAN_TRANSMIT_MSG3,
+        pack(help, 8))
+
+def send_pedal_pedal_output(throttle_output, brake_output):
+    send_message(SYSTEM_CAN_MESSAGE_PEDAL_PEDAL_OUTPUT,
+        pack(throttle_output, 32) + 
+        pack(brake_output, 32))
+
+def send_power_distribution_uv_cutoff_notification(signal1):
+    send_message(SYSTEM_CAN_MESSAGE_POWER_DISTRIBUTION_UV_CUTOFF_NOTIFICATION,
+        pack(signal1, 8))
+
+def send_power_distribution_current_measurement(current_id, current):
+    send_message(SYSTEM_CAN_MESSAGE_POWER_DISTRIBUTION_CURRENT_MEASUREMENT,
+        pack(current_id, 16) + 
+        pack(current, 16))
+
+def send_power_distribution_pd_fault(fault_data, faulting_output):
+    send_message(SYSTEM_CAN_MESSAGE_POWER_DISTRIBUTION_PD_FAULT,
+        pack(fault_data, 16) + 
+        pack(faulting_output, 16))
+
+def send_power_distribution_horn_and_lights(horn_state, lights_state):
+    send_message(SYSTEM_CAN_MESSAGE_POWER_DISTRIBUTION_HORN_AND_LIGHTS,
+        pack(horn_state, 8) + 
+        pack(lights_state, 8))
+
+def send_power_distribution_lights_sync(signal1):
+    send_message(SYSTEM_CAN_MESSAGE_POWER_DISTRIBUTION_LIGHTS_SYNC,
+        pack(signal1, 8))
+
+def send_power_distribution_power_info(power_state, pd_fault):
+    send_message(SYSTEM_CAN_MESSAGE_POWER_DISTRIBUTION_POWER_INFO,
+        pack(power_state, 8) + 
+        pack(pd_fault, 8))
+
+def send_power_distribution_pd_status(fault_bitset):
+    send_message(SYSTEM_CAN_MESSAGE_POWER_DISTRIBUTION_PD_STATUS,
+        pack(fault_bitset, 8))
+
+def send_power_distribution_bms_relays(relays_state):
+    send_message(SYSTEM_CAN_MESSAGE_POWER_DISTRIBUTION_BMS_RELAYS,
+        pack(relays_state, 8))
+
+def send_power_select_power_select_status(status, fault):
+    send_message(SYSTEM_CAN_MESSAGE_POWER_SELECT_POWER_SELECT_STATUS,
+        pack(status, 8) + 
+        pack(fault, 8))
+
+def send_power_select_power_select_aux_measurements(aux_voltage, aux_current, aux_temp, power_supply_current):
+    send_message(SYSTEM_CAN_MESSAGE_POWER_SELECT_POWER_SELECT_AUX_MEASUREMENTS,
+        pack(aux_voltage, 16) + 
+        pack(aux_current, 16) + 
+        pack(aux_temp, 16) + 
+        pack(power_supply_current, 16))
+
+def send_power_select_power_select_dcdc_measurements(dcdc_voltage, dcdc_current, dcdc_temp, power_supply_voltage):
+    send_message(SYSTEM_CAN_MESSAGE_POWER_SELECT_POWER_SELECT_DCDC_MEASUREMENTS,
+        pack(dcdc_voltage, 16) + 
+        pack(dcdc_current, 16) + 
+        pack(dcdc_temp, 16) + 
+        pack(power_supply_voltage, 16))
+
+def send_solar_sense_mppt_1(current, voltage, pwm, status):
+    send_message(SYSTEM_CAN_MESSAGE_SOLAR_SENSE_MPPT_1,
+        pack(current, 16) + 
+        pack(voltage, 16) + 
+        pack(pwm, 16) + 
+        pack(status, 16))
+
+def send_solar_sense_mppt_2(current, voltage, pwm, status):
+    send_message(SYSTEM_CAN_MESSAGE_SOLAR_SENSE_MPPT_2,
+        pack(current, 16) + 
+        pack(voltage, 16) + 
+        pack(pwm, 16) + 
+        pack(status, 16))
+
+def send_solar_sense_mppt_3(current, voltage, pwm, status):
+    send_message(SYSTEM_CAN_MESSAGE_SOLAR_SENSE_MPPT_3,
+        pack(current, 16) + 
+        pack(voltage, 16) + 
+        pack(pwm, 16) + 
+        pack(status, 16))
+
+def send_solar_sense_mppt_4(current, voltage, pwm, status):
+    send_message(SYSTEM_CAN_MESSAGE_SOLAR_SENSE_MPPT_4,
+        pack(current, 16) + 
+        pack(voltage, 16) + 
+        pack(pwm, 16) + 
+        pack(status, 16))
+
+def send_solar_sense_mppt_5(current, voltage, pwm, status):
+    send_message(SYSTEM_CAN_MESSAGE_SOLAR_SENSE_MPPT_5,
+        pack(current, 16) + 
+        pack(voltage, 16) + 
+        pack(pwm, 16) + 
+        pack(status, 16))
+
+def send_solar_sense_mppt_6(current, voltage, pwm, status):
+    send_message(SYSTEM_CAN_MESSAGE_SOLAR_SENSE_MPPT_6,
+        pack(current, 16) + 
+        pack(voltage, 16) + 
+        pack(pwm, 16) + 
+        pack(status, 16))
+
+def send_solar_sense_current_sense(current, voltage, relay_status):
+    send_message(SYSTEM_CAN_MESSAGE_SOLAR_SENSE_CURRENT_SENSE,
+        pack(current, 16) + 
+        pack(voltage, 16) + 
+        pack(relay_status, 8))
+
+def send_solar_sense_thermal_status(overtemp, fullspeed, fan_fail, temp_1, temp_2):
+    send_message(SYSTEM_CAN_MESSAGE_SOLAR_SENSE_THERMAL_STATUS,
+        pack(overtemp, 8) + 
+        pack(fullspeed, 8) + 
+        pack(fan_fail, 8) + 
+        pack(temp_1, 16) + 
+        pack(temp_2, 16))
+
+def send_solar_sense_thermal_temps(temp_3, temp_4, temp_5, temp_6):
+    send_message(SYSTEM_CAN_MESSAGE_SOLAR_SENSE_THERMAL_TEMPS,
+        pack(temp_3, 16) + 
+        pack(temp_4, 16) + 
+        pack(temp_5, 16) + 
+        pack(temp_6, 16))
+
+def send_solar_sense_solar_info(solar_fault):
+    send_message(SYSTEM_CAN_MESSAGE_SOLAR_SENSE_SOLAR_INFO,
+        pack(solar_fault, 8))
+
+def send_steering_steering_info(input_cc, input_lights):
+    send_message(SYSTEM_CAN_MESSAGE_STEERING_STEERING_INFO,
+        pack(input_cc, 8) + 
+        pack(input_lights, 8))
+
+def send_telemetry_test_msg(test):
+    send_message(SYSTEM_CAN_MESSAGE_TELEMETRY_TEST_MSG,
+        pack(test, 8))
+
+def send_uv_cutoff_uv_cutoff_notification1(signal1):
+    send_message(SYSTEM_CAN_MESSAGE_UV_CUTOFF_UV_CUTOFF_NOTIFICATION1,
+        pack(signal1, 8))
+
+
+def repeat(repeat_period, send_device_message, *args):
+    def threading_repeat(kill_process):
+        while not kill_process.is_set():
+            send_device_message(*args)
+            time.sleep(repeat_period)
+
+    kill_process = threading.Event()
+
+    process_name = threading.Thread(target=threading_repeat, args=(kill_process,))
+    process_name.start()
+
+    return process_name, kill_process
+
+def end_repeat(send_device_message_process, kill_process):
+    kill_process.set()
+    send_device_message_process.join()
\ No newline at end of file
diff --git a/libraries/codegen/boards/centre_console.yaml b/libraries/codegen/boards/centre_console.yaml
index 07d624b34..300adaa62 100644
--- a/libraries/codegen/boards/centre_console.yaml
+++ b/libraries/codegen/boards/centre_console.yaml
@@ -11,7 +11,7 @@
 ---
   Messages:
     cc_power_control:
-      id: 1
+      id: 8
       target:
         power_distribution:
           watchdog: 0
@@ -23,7 +23,7 @@
           length: 8
 
     drive_output: 
-      id: 2
+      id: 9
       target:
         motor_controller:
           watchdog: 0
diff --git a/libraries/codegen/boards/motor_controller.yaml b/libraries/codegen/boards/motor_controller.yaml
index 1a41d7d91..433b488fd 100644
--- a/libraries/codegen/boards/motor_controller.yaml
+++ b/libraries/codegen/boards/motor_controller.yaml
@@ -11,7 +11,7 @@
 ---
   Messages:
     motor_controller_vc:
-      id: 30
+      id: 35
       target:
         centre_console:
           watchdog: 0
@@ -26,7 +26,7 @@
           length: 16
 
     motor_velocity:
-      id: 31
+      id: 36
       target:
         centre_console:
           watchdog: 0
@@ -37,7 +37,7 @@
           length: 16
 
     motor_status:
-      id: 32
+      id: 37
       target:
         centre_console:
           watchdog: 0
@@ -97,7 +97,7 @@
           length: 8
 
     precharge_completed:
-      id: 14
+      id: 16
       target:
         centre_console:
           watchdog: 0
diff --git a/libraries/codegen/boards/pedal.yaml b/libraries/codegen/boards/pedal.yaml
index 40ccc94dc..c28d5e912 100644
--- a/libraries/codegen/boards/pedal.yaml
+++ b/libraries/codegen/boards/pedal.yaml
@@ -17,6 +17,8 @@
           watchdog: 0
         centre_console:
           watchdog: 0
+        power_distribution:
+          watchdog: 0
       signals:
         throttle_output:
           length: 32
diff --git a/libraries/codegen/generator.py b/libraries/codegen/generator.py
index f01bf8e39..38172d1aa 100644
--- a/libraries/codegen/generator.py
+++ b/libraries/codegen/generator.py
@@ -76,6 +76,11 @@ def get_data():
                     "name": signal_name,
                     "start_bit": start_bit,
                     "length": signal["length"],
+                    "scale": 1,
+                    "offset": 0,
+                    "min": 0,
+                    "max": 100,
+                    "receiver": message["target"],
                 })
                 start_bit += signal["length"]
 
@@ -112,8 +117,6 @@ def main():
             output = env.get_template(template).render(data=data)
             Path(output_dir, get_file_name(template, args.board)).write_text(output)
 
-    print("Done autogenerating")
-
 
 if __name__ == "__main__":
     main()
diff --git a/libraries/codegen/templates/can.py.jinja b/libraries/codegen/templates/can.py.jinja
new file mode 100644
index 000000000..d09b2b3eb
--- /dev/null
+++ b/libraries/codegen/templates/can.py.jinja
@@ -0,0 +1,57 @@
+{% set boards = data["Boards"] -%}
+{% set messages = data["Messages"] -%}
+
+import struct
+import subprocess
+import time 
+import threading
+
+{% for message in messages -%}
+SYSTEM_CAN_MESSAGE_{{  message["sender"] | upper }}_{{ message.name | upper }} = {{ message.id * 0x20 +  + boards.index(message.sender)}}
+{% endfor -%}
+
+# Send single message
+def send_message(id, data):
+    # id: int -> hex, data: str
+    cmd = f"cansend vcan0 {hex(id)[2:].zfill(3)}#{data}"
+    subprocess.run(cmd, shell=True)
+
+def pack(num, size):
+    if isinstance(num, float) and (size == 32):
+        return struct.pack("f", num).hex()
+    elif (size == 32):
+        return struct.pack("i", num).hex()
+    elif (size == 16):
+        return struct.pack("h", num).hex()
+    elif (size == 8):
+        return struct.pack("b", num).hex()
+
+{%- for message in messages %}
+def send_{{ message["sender"] }}_{{ message.name }}(
+    {%- for signal in message.signals %}
+        {{- signal.name -}}{{- ", " if not loop.last -}}
+    {%- endfor -%}
+):
+    send_message(SYSTEM_CAN_MESSAGE_{{  message["sender"] | upper }}_{{ message.name | upper }},
+    {%- for signal in message.signals %}
+        pack({{ signal.name }}, {{ signal["length"] }}){{ ' + ' if not loop.last }}
+    {%- endfor -%}
+    )
+{% endfor %}
+
+def repeat(repeat_period, send_device_message, *args):
+    def threading_repeat(kill_process):
+        while not kill_process.is_set():
+            send_device_message(*args)
+            time.sleep(repeat_period)
+
+    kill_process = threading.Event()
+
+    process_name = threading.Thread(target=threading_repeat, args=(kill_process,))
+    process_name.start()
+
+    return process_name, kill_process
+
+def end_repeat(send_device_message_process, kill_process):
+    kill_process.set()
+    send_device_message_process.join()
diff --git a/libraries/codegen/templates/system_can.dbc.jinja b/libraries/codegen/templates/system_can.dbc.jinja
index ee491e3e8..74a941a05 100644
--- a/libraries/codegen/templates/system_can.dbc.jinja
+++ b/libraries/codegen/templates/system_can.dbc.jinja
@@ -38,11 +38,10 @@ BU_:
 
 {% for message in messages -%}
 
-BO_ {{message.id * 0x20 + boards.index(message.sender)}} {{message.name}} {{message.signals | sum("length")}} {{message.sender}}
+BO_ {{message.id * 0x20 + boards.index(message.sender)}} {{message.name}}: {{message.signals | sum("length") // 8 }} {{message.sender}}
 
   {%- for signal in message.signals %}
-  SG_ {{signal.name}} : {{signal.start_bit}}|{{signal.length}}@1+ ({{signal["scale"]}},{{signal["offset"]}}) [{{signal["min"]}}|{{signal["max"]}}] "{{signal["unit"]}}" {{signal.receiver | join(" ")}}
-  {# SG_ {{signal["signal_name"]}} : {{signal["start_bit"]}}|{{signal["length"]}}@1+ ({{signal["scale"]}},{{signal["offset"]}}) [{{signal["min"]}}|{{signal["max"]}}] "{{signal["unit"]}}" {{signal["receiver"]}} #}
+  SG_ {{signal.name}} : {{signal.start_bit}}|{{signal.length}}@1+ ({{signal["scale"]}},{{signal["offset"]}}) [{{signal["min"]}}|{{signal["max"]}}] "{{signal["unit"]}}" {{signal.receiver | join(", ")}}
   {%- endfor %}
 
 {% endfor -%}
diff --git a/libraries/core/config.json b/libraries/core/config.json
index 2c45a4d4e..9158c91df 100644
--- a/libraries/core/config.json
+++ b/libraries/core/config.json
@@ -6,7 +6,7 @@
     "stm32f10x"
   ],
   "mocks": {
-    "mock": [
+    "test_mock": [
       "status_impl_update"
     ]
   }
diff --git a/libraries/ms-common/inc/fsm.h b/libraries/ms-common/inc/fsm.h
index d361c5967..9c46d5e30 100644
--- a/libraries/ms-common/inc/fsm.h
+++ b/libraries/ms-common/inc/fsm.h
@@ -63,7 +63,7 @@
 #include "status.h"
 #include "tasks.h"
 
-#define FSM_PRIORITY 2
+#define FSM_PRIORITY 1
 // TODO(mitchellostler): make user defined
 #define FSM_TASK_STACK TASK_STACK_1024
 #define FSM_TIMEOUT_MS 1000
@@ -106,12 +106,12 @@ typedef struct Fsm {
 // Creates the FSM structure with the supplied number of states
 // and initializes its associated FSM task
 // num_states must be a defined constant
-#define FSM(name, num_fsm_states)   \
-  Fsm *name##_fsm = &((Fsm){        \
-      .num_states = num_fsm_states, \
-  });                               \
-  TASK(name, TASK_STACK_512) {      \
-    _fsm_task(context);             \
+#define FSM(name, num_fsm_states, stack_size) \
+  Fsm *name##_fsm = &((Fsm){                  \
+      .num_states = num_fsm_states,           \
+  });                                         \
+  TASK(name, stack_size) {                    \
+    _fsm_task(context);                       \
   }
 
 // Creates state with associated id in a state list
diff --git a/libraries/ms-common/inc/hw_timer.h b/libraries/ms-common/inc/hw_timer.h
new file mode 100644
index 000000000..55cc8f69a
--- /dev/null
+++ b/libraries/ms-common/inc/hw_timer.h
@@ -0,0 +1,15 @@
+#pragma once
+
+#include <stdint.h>
+
+#include "status.h"
+#include "stm32f10x_rcc.h"
+#include "stm32f10x_tim.h"
+
+typedef void (*TimerCallback)(void);
+
+void hw_timer_init(void);
+
+void hw_timer_delay_us(uint32_t us);
+
+void hw_timer_callback_us(uint32_t us, TimerCallback callback_function);
diff --git a/libraries/ms-common/src/arm/hw_timer.c b/libraries/ms-common/src/arm/hw_timer.c
new file mode 100644
index 000000000..8d0ad0ef7
--- /dev/null
+++ b/libraries/ms-common/src/arm/hw_timer.c
@@ -0,0 +1,45 @@
+#include "hw_timer.h"
+
+#include "log.h"
+#include "stm32f10x.h"
+
+void hw_timer_init(void) {
+  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
+
+  TIM_Cmd(TIM2, DISABLE);
+  TIM_ITConfig(TIM2, TIM_IT_CC1, DISABLE);
+  TIM_ITConfig(TIM2, TIM_IT_Update, DISABLE);
+
+  RCC_ClocksTypeDef clocks;
+  RCC_GetClocksFreq(&clocks);
+
+  TIM_TimeBaseInitTypeDef timer_init = {
+    .TIM_Prescaler = (clocks.PCLK1_Frequency / 1000000) - 1,  // 1 Mhz
+    .TIM_CounterMode = TIM_CounterMode_Up,
+    .TIM_Period = UINT16_MAX,
+    .TIM_ClockDivision = TIM_CKD_DIV1,
+  };
+  TIM_TimeBaseInit(TIM2, &timer_init);
+  TIM_Cmd(TIM2, ENABLE);
+}
+
+void hw_timer_delay_us(uint32_t us) {
+  TIM_SetCounter(TIM2, 0);
+  TIM_CCxCmd(TIM2, TIM_Channel_1, TIM_CCx_Enable);
+  TIM_SetCompare1(TIM2, us);
+  TIM_Cmd(TIM2, ENABLE);
+
+  while (!TIM_GetFlagStatus(TIM2, TIM_FLAG_CC1)) {
+    LOG_DEBUG("DELAYING\n");
+  }
+
+  TIM_ClearFlag(TIM2, TIM_FLAG_CC1);
+  TIM_CCxCmd(TIM2, TIM_Channel_1, TIM_CCx_Disable);
+  TIM_Cmd(TIM2, DISABLE);
+}
+
+void hw_timer_callback_us(uint32_t us, TimerCallback callback_function) {
+  hw_timer_delay_us(us);
+
+  if (callback_function != NULL) callback_function();
+}
diff --git a/libraries/ms-common/test/test_fsm.c b/libraries/ms-common/test/test_fsm.c
index 55093bdaa..6145a9862 100644
--- a/libraries/ms-common/test/test_fsm.c
+++ b/libraries/ms-common/test/test_fsm.c
@@ -12,7 +12,7 @@
 #define NUM_TEST1_EVENTS 3
 #define NUM_TEST1_TRANSITIONS 7
 
-FSM(test1, NUM_TEST1_STATES);
+FSM(test1, NUM_TEST1_STATES, TASK_STACK_512);
 
 // State Definitions for fsm "test1"
 typedef enum TestStateId {
diff --git a/libraries/ms-drivers/inc/ltc6811.h b/libraries/ms-drivers/inc/ltc6811.h
index 26ce022d2..8a4077fb6 100644
--- a/libraries/ms-drivers/inc/ltc6811.h
+++ b/libraries/ms-drivers/inc/ltc6811.h
@@ -74,17 +74,17 @@ static_assert(sizeof(LtcAfeConfigRegisterData) == 6, "LtcAfeConfigRegisterData m
 
 // COMM Register, refer to LTC6803 datasheet page 31, Table 15
 typedef struct {
-  uint8_t icom0 : 4;
-  uint8_t d0 : 8;
-  uint8_t fcom0 : 4;
+  uint16_t icom0 : 4;
+  uint16_t d0 : 8;
+  uint16_t fcom0 : 4;
 
-  uint8_t icom1 : 4;
-  uint8_t d1 : 8;
-  uint8_t fcom1 : 4;
+  uint16_t icom1 : 4;
+  uint16_t d1 : 8;
+  uint16_t fcom1 : 4;
 
-  uint8_t icom2 : 4;
-  uint8_t d2 : 8;
-  uint8_t fcom2 : 4;
+  uint16_t icom2 : 4;
+  uint16_t d2 : 8;
+  uint16_t fcom2 : 4;
 } _PACKED LtcAfeCommRegisterData;
 static_assert(sizeof(LtcAfeCommRegisterData) == 6, "LtcAfeCommRegisterData must be 6 bytes");
 
diff --git a/libraries/ms-drivers/test/test_max11600.c b/libraries/ms-drivers/test/test_max11600.c
index d47239eff..86ffb7fed 100644
--- a/libraries/ms-drivers/test/test_max11600.c
+++ b/libraries/ms-drivers/test/test_max11600.c
@@ -18,7 +18,7 @@ static I2CSettings i2c_settings = {
 
 void setup_test(void) {
   log_init();
-  LOG_DEBUG("here");
+  LOG_DEBUG("here\n");
   i2c_init(TEST_MAX11600_I2C_PORT, &i2c_settings);
   TEST_ASSERT_OK(max11600_init(&max_storage, TEST_MAX11600_I2C_PORT));
 }
diff --git a/libraries/ms-drivers/test/test_pca9555_gpio_expander.c b/libraries/ms-drivers/test/test_pca9555_gpio_expander.c
index f2cafc53b..8cf38a660 100644
--- a/libraries/ms-drivers/test/test_pca9555_gpio_expander.c
+++ b/libraries/ms-drivers/test/test_pca9555_gpio_expander.c
@@ -36,7 +36,6 @@ void setup_test(void) {
 void teardown_test(void) {}
 
 TEST_IN_TASK
-
 void test_gpio_set_state(void) {
   StatusCode status;
   uint8_t data = MOCK_REG;
diff --git a/libraries/unity/auto/test_runner.c.jinja b/libraries/unity/auto/test_runner.c.jinja
index 0a48c5dda..07331c496 100644
--- a/libraries/unity/auto/test_runner.c.jinja
+++ b/libraries/unity/auto/test_runner.c.jinja
@@ -45,7 +45,6 @@ void test_pre_task(void) {
 {% if data.has_in_task_test -%}
 /*=======IN TASK TESTS=====*/
 TASK(test_task, TASK_STACK_1024) {
-  UnityBegin("{{data.filename}}");
 
   {% for test in data.tests | selectattr("type", "eq", "TEST_IN_TASK") %}
   run_test({{test.name}}, "{{test.name}}", {{test.line}});
@@ -58,11 +57,16 @@ TASK(test_task, TASK_STACK_1024) {
 /*=======MAIN=====*/
 int main() {
   setup_test();
+
+  UnityBegin("{{data.filename}}");
   test_pre_task();
 {%- if data.has_in_task_test %}
   tasks_init();
   tasks_init_task(test_task, configMAX_PRIORITIES - 1, NULL);
   tasks_start(); 
+{%- else %}
+  exit(UnityEnd());
 {%- endif %}
+
   return 0;
 }
diff --git a/projects/can_communication/src/main.c b/projects/can_communication/src/main.c
index 110e2b0c1..799c63d7d 100644
--- a/projects/can_communication/src/main.c
+++ b/projects/can_communication/src/main.c
@@ -8,7 +8,7 @@
 
 static CanStorage s_can_storage = { 0 };
 const CanSettings can_settings = {
-  .device_id = 0x1,
+  .device_id = SYSTEM_CAN_DEVICE_CAN_COMMUNICATION,
   .bitrate = CAN_HW_BITRATE_500KBPS,
   .tx = { GPIO_PORT_A, 12 },
   .rx = { GPIO_PORT_A, 11 },
diff --git a/projects/can_debug/src/main.c b/projects/can_debug/src/main.c
index d1e701e89..76bed8c63 100644
--- a/projects/can_debug/src/main.c
+++ b/projects/can_debug/src/main.c
@@ -1,4 +1,5 @@
 #include "can.h"
+#include "can_board_ids.h"
 #include "can_debug.h"
 #include "log.h"
 #include "tasks.h"
@@ -9,7 +10,7 @@
 
 static CanStorage s_can_storage = { 0 };
 const CanSettings can_settings = {
-  .device_id = 0x1,
+  .device_id = SYSTEM_CAN_DEVICE_CAN_DEBUG,
   .bitrate = CAN_HW_BITRATE_500KBPS,
   .tx = { GPIO_PORT_A, 12 },
   .rx = { GPIO_PORT_A, 11 },
diff --git a/projects/centre_console/src/drive_fsm.c b/projects/centre_console/src/drive_fsm.c
index 7d98c3acb..68e061603 100644
--- a/projects/centre_console/src/drive_fsm.c
+++ b/projects/centre_console/src/drive_fsm.c
@@ -4,7 +4,7 @@
 #include "centre_console_getters.h"
 #include "centre_console_setters.h"
 
-FSM(drive, NUM_DRIVE_STATES);
+FSM(drive, NUM_DRIVE_STATES, TASK_STACK_512);
 
 #define NUM_DRIVE_FSM_BUTTONS 3
 
diff --git a/projects/centre_console/src/main.c b/projects/centre_console/src/main.c
index 19112fdc7..adf2486ef 100644
--- a/projects/centre_console/src/main.c
+++ b/projects/centre_console/src/main.c
@@ -24,7 +24,7 @@
 
 static CanStorage s_can_storage = { 0 };
 const CanSettings can_settings = {
-  .device_id = 0x1,
+  .device_id = SYSTEM_CAN_DEVICE_CENTRE_CONSOLE,
   .bitrate = CAN_HW_BITRATE_500KBPS,
   .tx = { GPIO_PORT_A, 12 },
   .rx = { GPIO_PORT_A, 11 },
diff --git a/projects/fsm_demo/src/fsm1.c b/projects/fsm_demo/src/fsm1.c
index 3b3745320..e0fbf86c9 100644
--- a/projects/fsm_demo/src/fsm1.c
+++ b/projects/fsm_demo/src/fsm1.c
@@ -6,7 +6,7 @@
 #include "notify.h"
 #include "task.h"
 
-FSM(fsm1, NUM_FSM1_STATES);
+FSM(fsm1, NUM_FSM1_STATES, TASK_STACK_512);
 
 // Input functions are executed each iteration of run_cycle, and
 // Output functions are executed only when a state is transitioned to
diff --git a/projects/fsm_demo/src/fsm2.c b/projects/fsm_demo/src/fsm2.c
index 48addd5bb..280b08b03 100644
--- a/projects/fsm_demo/src/fsm2.c
+++ b/projects/fsm_demo/src/fsm2.c
@@ -8,7 +8,7 @@
 
 // FSM2 Lags one cycle behind FSM1, so it will transition to state X
 // When FSM1 finishes state X
-FSM(fsm2, NUM_FSM2_STATES);
+FSM(fsm2, NUM_FSM2_STATES, TASK_STACK_512);
 
 static void prv_fsm2_state0_output(void *context) {
   LOG_DEBUG("Transitioned to FSM2 state0\n");
diff --git a/projects/fsm_demo/src/main.c b/projects/fsm_demo/src/main.c
index cc52c1a36..a29e70358 100644
--- a/projects/fsm_demo/src/main.c
+++ b/projects/fsm_demo/src/main.c
@@ -25,7 +25,6 @@ void run_medium_cycle() {
   wait_tasks(1);
   fsm_run_cycle(fsm2);
   wait_tasks(1);
-  delay_ms(1000);
 }
 
 int main(void) {
diff --git a/projects/motor_controller/src/main.c b/projects/motor_controller/src/main.c
index efcb52e64..7586dcc7d 100644
--- a/projects/motor_controller/src/main.c
+++ b/projects/motor_controller/src/main.c
@@ -15,7 +15,7 @@
 
 static CanStorage s_can_storage = { 0 };
 const CanSettings can_settings = {
-  .device_id = 0x1,
+  .device_id = SYSTEM_CAN_DEVICE_MOTOR_CONTROLLER,
   .bitrate = CAN_HW_BITRATE_500KBPS,
   .tx = { GPIO_PORT_A, 12 },
   .rx = { GPIO_PORT_A, 11 },
diff --git a/projects/new_can/src/main.c b/projects/new_can/src/main.c
index 65e824f6d..101d034c5 100644
--- a/projects/new_can/src/main.c
+++ b/projects/new_can/src/main.c
@@ -13,7 +13,7 @@
 
 static CanStorage s_can_storage = { 0 };
 const CanSettings can_settings = {
-  .device_id = 0x1,
+  .device_id = SYSTEM_CAN_DEVICE_NEW_CAN,
   .bitrate = CAN_HW_BITRATE_500KBPS,
   .tx = { GPIO_PORT_A, 12 },
   .rx = { GPIO_PORT_A, 11 },
diff --git a/projects/power_distribution/inc/outputs.h b/projects/power_distribution/inc/outputs.h
index 61f4bfbf3..bd0870bd3 100644
--- a/projects/power_distribution/inc/outputs.h
+++ b/projects/power_distribution/inc/outputs.h
@@ -60,6 +60,7 @@ typedef enum {
   OUTPUT_GROUP_LIGHTS_LEFT_TURN,
   OUTPUT_GROUP_LIGHTS_RIGHT_TURN,
   OUTPUT_GROUP_LIGHTS_HAZARD,
+  OUTPUT_GROUP_BRAKE,
   // Power States
   OUTPUT_GROUP_POWER_OFF,
   OUTPUT_GROUP_POWER_ON,
diff --git a/projects/power_distribution/inc/pin_defs.h b/projects/power_distribution/inc/pin_defs.h
index 6f9449d3b..b035dda0d 100644
--- a/projects/power_distribution/inc/pin_defs.h
+++ b/projects/power_distribution/inc/pin_defs.h
@@ -3,31 +3,31 @@
 
 // PCA9555 and I2C definitions
 #define PD_I2C_PORT I2C_PORT_1
-#define PD_PCA9555_I2C_ADDRESS_0 0x24
-#define PD_PCA9555_I2C_ADDRESS_1 0x26
+#define PD_PCA9555_I2C_ADDRESS_0 0x20
+#define PD_PCA9555_I2C_ADDRESS_1 0x21
 #define PD_I2C_SDA \
   { GPIO_PORT_B, 9 }
 #define PD_I2C_SCL \
   { GPIO_PORT_B, 8 }
 #define PCA9555_IO_INT1 \
-  { GPIO_PORT_B, 14 }
+  { GPIO_PORT_A, 9 }
 #define PCA9555_IO_INT2 \
-  { GPIO_PORT_B, 13 }
+  { GPIO_PORT_A, 10 }
 
 // Power, fan, and mux pin definitions
 #define PD_5V_REG_MONITOR_PIN \
   { GPIO_PORT_B, 1 }
 
 #define PD_MUX_OUTPUT_PIN \
-  { GPIO_PORT_A, 7 }
-#define PD_MUX_SEL1_PIN \
   { GPIO_PORT_A, 6 }
+#define PD_MUX_SEL1_PIN \
+  { GPIO_PORT_B, 15 }
 #define PD_MUX_SEL2_PIN \
-  { GPIO_PORT_A, 5 }
+  { GPIO_PORT_B, 14 }
 #define PD_MUX_SEL3_PIN \
-  { GPIO_PORT_A, 4 }
+  { GPIO_PORT_B, 13 }
 #define PD_MUX_SEL4_PIN \
-  { GPIO_PORT_A, 3 }
+  { GPIO_PORT_B, 12 }
 
 #define PD_SMBALERT_PIN \
   { GPIO_PORT_B, 10 }
@@ -41,94 +41,94 @@
   { GPIO_PORT_A, 8 }
 
 #define SOLAR_SENSE_1_EN \
-  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO0_0 }
+  { PD_PCA9555_I2C_ADDRESS_1, PCA9555_PIN_IO0_5 }
 
 #define SOLAR_SENSE_2_EN \
-  { PD_PCA9555_I2C_ADDRESS_1, PCA9555_PIN_IO0_1 }
+  { PD_PCA9555_I2C_ADDRESS_1, PCA9555_PIN_IO0_7 }
 
 #define SOLAR_SENSE_1_2_DSEL \
-  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO0_2 }
+  { PD_PCA9555_I2C_ADDRESS_1, PCA9555_PIN_IO0_6 }
 
 #define PEDAL_EN \
-  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO0_3 }
+  { PD_PCA9555_I2C_ADDRESS_1, PCA9555_PIN_IO0_2 }
 
 #define STEERING_EN \
-  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO0_4 }
+  { PD_PCA9555_I2C_ADDRESS_1, PCA9555_PIN_IO0_4 }
 
 #define PEDAL_STEERING_DSEL \
-  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO0_5 }
+  { PD_PCA9555_I2C_ADDRESS_1, PCA9555_PIN_IO0_3 }
 
 #define LEFT_TURN_EN \
-  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO0_6 }
+  { PD_PCA9555_I2C_ADDRESS_1, PCA9555_PIN_IO1_0 }
 
 #define RIGHT_TURN_EN \
-  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO0_7 }
+  { PD_PCA9555_I2C_ADDRESS_1, PCA9555_PIN_IO0_1 }
 
 #define LEFT_RIGHT_TURN_DSEL \
-  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO1_0 }
+  { PD_PCA9555_I2C_ADDRESS_1, PCA9555_PIN_IO0_0 }
 
 #define DRL_LIGHT_EN \
-  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO1_1 }
+  { PD_PCA9555_I2C_ADDRESS_1, PCA9555_PIN_IO1_4 }
 
 #define BRAKE_LIGHT_EN \
-  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO1_2 }
+  { PD_PCA9555_I2C_ADDRESS_1, PCA9555_PIN_IO1_6 }
 
 #define DRL_BRAKE_LIGHT_DSEL \
-  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO1_3 }
+  { PD_PCA9555_I2C_ADDRESS_1, PCA9555_PIN_IO1_5 }
 
 #define CENTER_CONSOLE_EN \
-  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO1_4 }
+  { PD_PCA9555_I2C_ADDRESS_1, PCA9555_PIN_IO1_1 }
 
 #define BMS_DCDC_EN \
-  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO1_5 }
+  { PD_PCA9555_I2C_ADDRESS_1, PCA9555_PIN_IO1_3 }
 
 #define CENTER_CONSOLE_BMS_DCDC_DSEL \
-  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO1_6 }
+  { PD_PCA9555_I2C_ADDRESS_1, PCA9555_PIN_IO1_2 }
 
 #define MCI_EN \
-  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO0_0 }
+  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO1_4 }
 
 #define BPS_LIGHT_EN \
-  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO0_1 }
+  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO1_6 }
 
 #define MCI_BPS_LIGHT_DSEL \
-  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO0_2 }
+  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO1_5 }
 
 #define SPARE_12V_1_EN \
-  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO0_3 }
+  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO1_3 }
 
 #define SPARE_12V_2_EN \
-  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO0_4 }
+  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO1_1 }
 
 #define SPARE_12V_1_2_DSEL \
-  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO0_5 }
+  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO1_2 }
 
 #define BMS_AUX_EN \
-  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO0_6 }
+  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO0_0 }
 
 #define DRIVER_FAN_EN \
-  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO0_7 }
+  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO0_2 }
 
 #define BMS_AUX_DRIVER_FAN_DSEL \
-  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO1_0 }
+  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO0_1 }
 
 #define REAR_CAM_LCD_EN \
-  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO1_1 }
+  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO0_6 }
 
 #define SPARE_5V_DCDC_EN \
-  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO1_2 }
+  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO1_0 }
 
 #define REAR_CAM_LCD_SPARE_5V_DCDC_DSEL \
-  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO1_3 }
+  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO0_7 }
 
 #define TELEMETRY_EN \
-  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO1_4 }
+  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO0_3 }
 
 #define SPARE_5V_AUX_EN \
-  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO1_5 }
+  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO0_5 }
 
 #define TELEMETRY_SPARE_5V_AUX_DSEL \
-  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO1_6 }
+  { PD_PCA9555_I2C_ADDRESS_0, PCA9555_PIN_IO0_4 }
 
 // Select Pins
 
@@ -154,13 +154,11 @@
 
 // Fault pin addresses
 // GPIO
-#define AUX_FAULT_GPIO_1 \
-  { .port = GPIO_PORT_B, .pin = 3 }
-#define AUX_FAULT_GPIO_2 \
-  { .port = GPIO_PORT_B, .pin = 4 }
-#define DCDC_FAULT_GPIO_1 \
-  { .port = GPIO_PORT_A, .pin = 15 }
-#define DCDC_FAULT_GPIO_2 \
-  { .port = GPIO_PORT_B, .pin = 5 }
-#define DCDC_FAULT_GPIO_3 \
-  { .port = GPIO_PORT_A, .pin = 6 }
+#define AUX_VALID1 \
+  { .port = GPIO_PORT_B, .pin = 10 }
+#define AUX_VALID2 \
+  { .port = GPIO_PORT_B, .pin = 2 }
+#define DCDC_VALID1 \
+  { .port = GPIO_PORT_B, .pin = 1 }
+#define DCDC_VALID2 \
+  { .port = GPIO_PORT_B, .pin = 0 }
diff --git a/projects/power_distribution/inc/power_seq_fsm.h b/projects/power_distribution/inc/power_seq_fsm.h
index d15a8191a..c0c8034ca 100644
--- a/projects/power_distribution/inc/power_seq_fsm.h
+++ b/projects/power_distribution/inc/power_seq_fsm.h
@@ -7,8 +7,8 @@
 #include "task.h"
 
 // TODO: figure out actual values for timeout
-#define BMS_RESPONSE_TIMEOUT_MS 10000
-#define MCI_RESPONSE_TIMEOUT_MS 12000
+#define BMS_RESPONSE_TIMEOUT_MS 3000
+#define MCI_RESPONSE_TIMEOUT_MS 300
 
 #define NUM_POWER_STATES 6
 
diff --git a/projects/power_distribution/src/lights_fsm.c b/projects/power_distribution/src/lights_fsm.c
index 2465f7fac..f8c1911a7 100644
--- a/projects/power_distribution/src/lights_fsm.c
+++ b/projects/power_distribution/src/lights_fsm.c
@@ -4,6 +4,13 @@
 #include "outputs.h"
 #include "power_distribution_getters.h"
 
+static void prv_brake_lights() {
+  if (get_pedal_output_brake_output())
+    pd_set_output_group(OUTPUT_GROUP_BRAKE, OUTPUT_STATE_ON);
+  else
+    pd_set_output_group(OUTPUT_GROUP_BRAKE, OUTPUT_STATE_OFF);
+}
+
 // Placeholder GPIO Address, will be updated
 GpioAddress RIGHT_LIGHT_ADDR = { .port = GPIO_PORT_B, .pin = 5 };
 GpioAddress LEFT_LIGHT_ADDR = { .port = GPIO_PORT_A, .pin = 15 };
@@ -12,7 +19,7 @@ GpioAddress LEFT_LIGHT_ADDR = { .port = GPIO_PORT_A, .pin = 15 };
 static SoftTimer s_timer_single;
 static EELightType light_id_callback;
 
-FSM(lights, NUM_LIGHTS_STATES);
+FSM(lights, NUM_LIGHTS_STATES, TASK_STACK_512);
 static OutputState left_signal_state = OUTPUT_STATE_OFF;
 static OutputState right_signal_state = OUTPUT_STATE_OFF;
 static LightsStateId fsm_prev_state = INIT_STATE;
@@ -55,6 +62,7 @@ static void prv_lights_signal_blinker(SoftTimerId id) {
 }
 
 static void prv_init_state_input(Fsm *fsm, void *context) {
+  prv_brake_lights();
   // can transition to LEFT, RIGHT, HAZARD
   EELightType light_event = get_steering_info_input_lights();
   HazardStatus hazard_status = get_cc_power_control_hazard_enabled();
@@ -75,6 +83,7 @@ static void prv_init_state_output(void *context) {
 }
 
 static void prv_left_signal_input(Fsm *fsm, void *context) {
+  prv_brake_lights();
   // can transition to INIT, RIGHT, HAZARD
   EELightType light_event = get_steering_info_input_lights();
   HazardStatus hazard_status = get_cc_power_control_hazard_enabled();
@@ -99,6 +108,7 @@ static void prv_left_signal_output(void *context) {
 }
 
 static void prv_right_signal_input(Fsm *fsm, void *context) {
+  prv_brake_lights();
   // can transition to INIT, LEFT, HAZARD
   EELightType light_event = get_steering_info_input_lights();
   HazardStatus hazard_status = get_cc_power_control_hazard_enabled();
@@ -123,6 +133,7 @@ static void prv_right_signal_output(void *context) {
 }
 
 static void prv_hazard_input(Fsm *fsm, void *context) {
+  prv_brake_lights();
   // can transition to INIT, BPS_FAULT
   EELightType light_event = get_steering_info_input_lights();
   HazardStatus hazard_status = get_cc_power_control_hazard_enabled();
diff --git a/projects/power_distribution/src/main.c b/projects/power_distribution/src/main.c
index 757cace7c..52869a792 100644
--- a/projects/power_distribution/src/main.c
+++ b/projects/power_distribution/src/main.c
@@ -2,6 +2,7 @@
 
 #include "bts_load_switch.h"
 #include "can.h"
+#include "can_board_ids.h"
 #include "gpio.h"
 #include "i2c.h"
 #include "interrupt.h"
@@ -13,11 +14,9 @@
 #include "power_seq_fsm.h"
 #include "tasks.h"
 
-#define DEVICE_ID 0x06
-
 static CanStorage s_can_storage = { 0 };
 const CanSettings can_settings = {
-  .device_id = DEVICE_ID,
+  .device_id = SYSTEM_CAN_DEVICE_POWER_DISTRIBUTION,
   .bitrate = CAN_HW_BITRATE_500KBPS,
   .tx = { GPIO_PORT_A, 12 },
   .rx = { GPIO_PORT_A, 11 },
@@ -31,6 +30,7 @@ I2CSettings i2c_settings = {
 };
 
 void pre_loop_init() {
+  pca9555_gpio_init(I2C_PORT_1);
   pd_output_init();
   pd_sense_init();
   adc_init();
@@ -58,9 +58,8 @@ int main() {
   log_init();
   interrupt_init();
   gpio_init();
-  i2c_init(I2C_PORT_1, &i2c_settings);
-  pca9555_gpio_init(I2C_PORT_1);
   can_init(&s_can_storage, &can_settings);
+  i2c_init(I2C_PORT_1, &i2c_settings);
   // set_master_cycle_time(250);  // Give it enough time to run an entire medium cycle
   // set_medium_cycle_count(2);   // adjust medium cycle count to run once per 500ms
   init_power_seq();
diff --git a/projects/power_distribution/src/output_config.c b/projects/power_distribution/src/output_config.c
index 0c1729daa..e191dab5e 100644
--- a/projects/power_distribution/src/output_config.c
+++ b/projects/power_distribution/src/output_config.c
@@ -310,6 +310,8 @@ static OutputGroupDef s_output_group_hazards = {
   .outputs = { LEFT_TURN, RIGHT_TURN },
 };
 
+static OutputGroupDef s_output_group_brake = { .num_outputs = 1, .outputs = { BRAKE_LIGHT } };
+
 static OutputGroupDef s_output_group_power_off = { .num_outputs = 2,
                                                    .outputs = { CENTER_CONSOLE, BMS_DCDC } };
 
@@ -335,4 +337,9 @@ const OutputGroupDef *g_output_group_map[NUM_OUTPUT_GROUPS] = {
   [OUTPUT_GROUP_LIGHTS_LEFT_TURN] = &s_output_group_left_signal,
   [OUTPUT_GROUP_LIGHTS_RIGHT_TURN] = &s_output_group_right_signal,
   [OUTPUT_GROUP_LIGHTS_HAZARD] = &s_output_group_hazards,
+  [OUTPUT_GROUP_BRAKE] = &s_output_group_brake,
+  [OUTPUT_GROUP_POWER_OFF] = &s_output_group_power_off,
+  [OUTPUT_GROUP_POWER_ON] = &s_output_group_power_on,
+  [OUTPUT_GROUP_POWER_DRIVE] = &s_output_group_power_drive,
+  [OUTPUT_GROUP_POWER_FAULT] = &s_output_group_power_fault,
 };
diff --git a/projects/power_distribution/src/pd_fault.c b/projects/power_distribution/src/pd_fault.c
index 01fa19211..80657e444 100644
--- a/projects/power_distribution/src/pd_fault.c
+++ b/projects/power_distribution/src/pd_fault.c
@@ -3,17 +3,17 @@
 #include "adc.h"
 #include "exported_enums.h"
 #include "gpio.h"
+#include "log.h"
 #include "pin_defs.h"
 #include "power_distribution_setters.h"
 
 static uint8_t s_fault_bitset = 0;
 
 // Fault pin address definitions
-static const GpioAddress aux_fault_gpio_1 = AUX_FAULT_GPIO_1;
-static const GpioAddress aux_fault_gpio_2 = AUX_FAULT_GPIO_2;
-static const GpioAddress dcdc_fault_gpio_1 = DCDC_FAULT_GPIO_1;
-static const GpioAddress dcdc_fault_gpio_2 = DCDC_FAULT_GPIO_2;
-static const GpioAddress dcdc_fault_gpio_3 = DCDC_FAULT_GPIO_3;
+static const GpioAddress aux_valid1 = AUX_VALID1;
+static const GpioAddress aux_valid2 = AUX_VALID2;
+static const GpioAddress dcdc_valid1 = DCDC_VALID1;
+static const GpioAddress dcdc_valid2 = DCDC_VALID2;
 
 static void prv_set_fault_bit(uint8_t mask, bool condition) {
   if (condition) {
@@ -24,27 +24,23 @@ static void prv_set_fault_bit(uint8_t mask, bool condition) {
 }
 
 static bool prv_check_aux_fault(void) {
-  GpioState aux_gpio_1_state;
-  GpioState aux_gpio_2_state;
-  if (!status_ok(gpio_get_state(&aux_fault_gpio_1, &aux_gpio_1_state)) ||
-      !status_ok(gpio_get_state(&aux_fault_gpio_2, &aux_gpio_2_state))) {
+  GpioState aux_valid1_state;
+  GpioState aux_valid2_state;
+  if (!status_ok(gpio_get_state(&aux_valid1, &aux_valid1_state)) ||
+      !status_ok(gpio_get_state(&aux_valid2, &aux_valid2_state))) {
     return true;
   }
-  return (aux_gpio_1_state == GPIO_STATE_LOW || aux_gpio_2_state == GPIO_STATE_LOW);
+  return (aux_valid1_state == GPIO_STATE_HIGH || aux_valid2_state == GPIO_STATE_HIGH);
 }
 
 static bool prv_check_dcdc_fault(void) {
-  GpioState dcdc_gpio_1_state;
-  GpioState dcdc_gpio_2_state;
-  GpioState dcdc_gpio_3_state;
-  if (!status_ok(gpio_get_state(&dcdc_fault_gpio_1, &dcdc_gpio_1_state)) ||
-      !status_ok(gpio_get_state(&dcdc_fault_gpio_2, &dcdc_gpio_2_state)) ||
-      !status_ok(gpio_get_state(&dcdc_fault_gpio_3, &dcdc_gpio_3_state))) {
+  GpioState dcdc_valid1_state;
+  GpioState dcdc_valid2_state;
+  if (!status_ok(gpio_get_state(&dcdc_valid1, &dcdc_valid1_state)) ||
+      !status_ok(gpio_get_state(&dcdc_valid2, &dcdc_valid2_state))) {
     return true;
   }
-
-  return (dcdc_gpio_1_state == GPIO_STATE_LOW || dcdc_gpio_2_state == GPIO_STATE_LOW ||
-          dcdc_gpio_3_state == GPIO_STATE_HIGH);
+  return (dcdc_valid1_state == GPIO_STATE_HIGH || dcdc_valid2_state == GPIO_STATE_HIGH);
 }
 
 uint8_t check_pd_fault(void) {
diff --git a/projects/power_distribution/src/power_seq_fsm.c b/projects/power_distribution/src/power_seq_fsm.c
index b03112a55..0e2423b2c 100644
--- a/projects/power_distribution/src/power_seq_fsm.c
+++ b/projects/power_distribution/src/power_seq_fsm.c
@@ -12,7 +12,7 @@
     return;                                                                \
   }
 
-FSM(power_seq, NUM_POWER_STATES);
+FSM(power_seq, NUM_POWER_STATES, TASK_STACK_256);
 
 static PowerFsmContext power_context = { 0 };
 
@@ -32,7 +32,7 @@ static void prv_off_state_input(Fsm *fsm, void *context) {
   }
   CentreConsoleCCPwrEvent cc_power_event = get_cc_power_control_power_event();
   if (cc_power_event == EE_CC_PWR_CTL_EVENT_BTN_AND_BRAKE) {
-    power_context.target_state = POWER_STATE_DRIVE;
+    power_context.target_state = POWER_STATE_ON;
     fsm_transition(fsm, TRANSMIT_BMS_CLOSE_RELAYS);
   } else if (cc_power_event == EE_CC_PWR_CTL_EVENT_BTN) {
     power_context.target_state = POWER_STATE_ON;
@@ -72,14 +72,6 @@ static void prv_on_state_output(void *context) {
 
 static void prv_on_state_input(Fsm *fsm, void *context) {
   pd_fault_ok_or_transition(fsm);
-  if (power_context.target_state == POWER_STATE_OFF) {
-    fsm_transition(fsm, POWER_STATE_OFF);
-    return;
-  }
-  if (power_context.target_state == POWER_STATE_DRIVE) {
-    fsm_transition(fsm, TURN_ON_DRIVE_OUTPUTS);
-    return;
-  }
 
   if (!get_received_cc_power_control()) {
     return;
diff --git a/projects/power_distribution/test/test_lights_fsm.c b/projects/power_distribution/test/test_lights_fsm.c
index 05832e171..5ce98066b 100644
--- a/projects/power_distribution/test/test_lights_fsm.c
+++ b/projects/power_distribution/test/test_lights_fsm.c
@@ -3,7 +3,7 @@
 #include "task_test_helpers.h"
 #include "unity.h"
 
-#define HAZARD_SIGNAL_MSG g_rx_struct.power_info_hazard_state
+#define HAZARD_SIGNAL_MSG g_rx_struct.cc_power_control_hazard_enabled
 #define STEERING_ANALOG_SIGNAL_MSG g_rx_struct.steering_info_input_lights
 
 void setup_test(void) {
diff --git a/projects/power_select/src/power_select_aux_bat_task.c b/projects/power_select/src/power_select_aux_bat_task.c
index 2054d7124..c83b18be0 100644
--- a/projects/power_select/src/power_select_aux_bat_task.c
+++ b/projects/power_select/src/power_select_aux_bat_task.c
@@ -13,7 +13,7 @@ static uint16_t adc_reading_voltage;
 static uint16_t adc_reading_current;
 static uint16_t adc_reading_temp;
 
-FSM(aux_bat, NUM_POWER_SELECT_STATES);
+FSM(aux_bat, NUM_POWER_SELECT_STATES, TASK_STACK_512);
 
 static void prv_aux_bat_inactive_input(Fsm *fsm, void *context) {
   GpioState state = GPIO_STATE_LOW;
diff --git a/projects/power_select/src/power_select_dcdc_task.c b/projects/power_select/src/power_select_dcdc_task.c
index 6348cd728..22b2b814d 100644
--- a/projects/power_select/src/power_select_dcdc_task.c
+++ b/projects/power_select/src/power_select_dcdc_task.c
@@ -13,7 +13,7 @@ static uint16_t adc_reading_voltage;
 static uint16_t adc_reading_current;
 static uint16_t adc_reading_temp;
 
-FSM(dcdc, NUM_POWER_SELECT_STATES);
+FSM(dcdc, NUM_POWER_SELECT_STATES, TASK_STACK_512);
 
 static void prv_dcdc_inactive_input(Fsm *fsm, void *context) {
   GpioState state = GPIO_STATE_LOW;
diff --git a/projects/power_select/src/power_select_power_supply_task.c b/projects/power_select/src/power_select_power_supply_task.c
index 9b3b19d10..51541f841 100644
--- a/projects/power_select/src/power_select_power_supply_task.c
+++ b/projects/power_select/src/power_select_power_supply_task.c
@@ -11,7 +11,7 @@ const GpioAddress g_power_supply_current_pin = POWER_SELECT_PWR_SUP_ISENSE_ADDR;
 static uint16_t adc_reading_voltage;
 static uint16_t adc_reading_current;
 
-FSM(power_supply, NUM_POWER_SELECT_STATES);
+FSM(power_supply, NUM_POWER_SELECT_STATES, TASK_STACK_512);
 
 static void prv_power_supply_inactive_input(Fsm *fsm, void *context) {
   GpioState state = GPIO_STATE_LOW;
diff --git a/projects/solar_sense/src/main.c b/projects/solar_sense/src/main.c
index afc0fadd2..642bc9a04 100644
--- a/projects/solar_sense/src/main.c
+++ b/projects/solar_sense/src/main.c
@@ -1,5 +1,6 @@
 #include <stdio.h>
 
+#include "can_board_ids.h"
 #include "log.h"
 #include "master_task.h"
 #include "mppt.h"
@@ -18,7 +19,7 @@ void run_slow_cycle() {}
 
 static CanStorage s_can_storage = { 0 };
 const CanSettings can_settings = {
-  .device_id = 0x1,
+  .device_id = SYSTEM_CAN_DEVICE_SOLAR_SENSE,
   .bitrate = CAN_HW_BITRATE_500KBPS,
   .tx = { GPIO_PORT_A, 12 },
   .rx = { GPIO_PORT_A, 11 },
diff --git a/projects/steering/src/main.c b/projects/steering/src/main.c
index eddbbdeb5..e32122164 100644
--- a/projects/steering/src/main.c
+++ b/projects/steering/src/main.c
@@ -3,6 +3,7 @@
 
 #include "adc.h"
 #include "can.h"
+#include "can_board_ids.h"
 #include "gpio.h"
 #include "gpio_it.h"
 #include "gpio_mcu.h"
@@ -11,11 +12,9 @@
 #include "steering_task.h"
 #include "tasks.h"
 
-#define DEVICE_ID 0x02
-
 static CanStorage s_can_storage = { 0 };
 const CanSettings can_settings = {
-  .device_id = DEVICE_ID,
+  .device_id = SYSTEM_CAN_DEVICE_STEERING,
   .bitrate = CAN_HW_BITRATE_125KBPS,
   .tx = { GPIO_PORT_A, 12 },
   .rx = { GPIO_PORT_A, 11 },
diff --git a/projects/telemetry/src/main.c b/projects/telemetry/src/main.c
index cd6d7a765..bc6f6eb55 100644
--- a/projects/telemetry/src/main.c
+++ b/projects/telemetry/src/main.c
@@ -14,7 +14,7 @@ static const CanMessageId telemetry_ids[] = {
 
 static CanStorage s_can_storage = { 0 };
 const CanSettings can_settings = {
-  .device_id = 0x1,
+  .device_id = SYSTEM_CAN_DEVICE_TELEMETRY,
   .bitrate = CAN_HW_BITRATE_500KBPS,
   .tx = { GPIO_PORT_A, 12 },
   .rx = { GPIO_PORT_A, 11 },
diff --git a/projects/uv_cutoff/src/main.c b/projects/uv_cutoff/src/main.c
index bc9e46de4..ee82337a9 100644
--- a/projects/uv_cutoff/src/main.c
+++ b/projects/uv_cutoff/src/main.c
@@ -36,7 +36,7 @@ static const GpioAddress lights = { .port = LIGHTS_PORT, .pin = LIGHTS_PIN };
 
 static CanStorage s_can_storage = { 0 };
 static const CanSettings can_settings = {
-  .device_id = 0x1,
+  .device_id = SYSTEM_CAN_DEVICE_UV_CUTOFF,
   .bitrate = CAN_HW_BITRATE_500KBPS,
   .tx = { GPIO_PORT_A, 12 },
   .rx = { GPIO_PORT_A, 11 },
diff --git a/py/example/main.py b/py/example/main.py
index 547f1eaff..cb082ae7a 100644
--- a/py/example/main.py
+++ b/py/example/main.py
@@ -1,3 +1,6 @@
+'''
+Example script
+'''
 from example_module.add import add
 
 print("1 + 1 =", add(1, 1))
diff --git a/py/example_module/add.py b/py/example_module/add.py
index 19cf2a0e4..e60341a9e 100644
--- a/py/example_module/add.py
+++ b/py/example_module/add.py
@@ -1,2 +1,8 @@
-def add(a, b):
-    return a + b
\ No newline at end of file
+'''
+Example module add
+'''
+
+
+def add(lhs, rhs):
+    '''add two numbers'''
+    return lhs + rhs
diff --git a/py/motor_controller/config.json b/py/motor_controller/config.json
new file mode 100644
index 000000000..68c4a6bcc
--- /dev/null
+++ b/py/motor_controller/config.json
@@ -0,0 +1,3 @@
+{
+  "no_lint": true
+}
\ No newline at end of file
diff --git a/py/motor_controller/main.py b/py/motor_controller/main.py
index a6206bb27..728c54261 100644
--- a/py/motor_controller/main.py
+++ b/py/motor_controller/main.py
@@ -105,15 +105,15 @@ def main():
             "brake": 0,
         }
 
-        rx = defaultdict(int)
+        rx_data = defaultdict(int)
 
         while True:
             # std input
             state |= handle_stdin()
             # Can RX
-            rx |= rx_all(proc)
+            rx_data |= rx_all(proc)
 
-            update_display(state, rx)
+            update_display(state, rx_data)
 
             # every 200 ms
             can.send_centre_console_drive_output(
diff --git a/scons/build.scons b/scons/build.scons
index 6cbffb1b5..4eedf836d 100644
--- a/scons/build.scons
+++ b/scons/build.scons
@@ -1,10 +1,8 @@
 from scons.common import parse_config
-import subprocess
-import os
+from pathlib import Path
 
 Import("VARS")
 
-TYPE = VARS.get("TYPE")
 TARGET = VARS.get("TARGET")
 PLATFORM = VARS.get("PLATFORM")
 env = VARS.get("env")
@@ -20,16 +18,9 @@ PY_DIR = ROOT.Dir('py')
 PROJ_DIR = ROOT.Dir('projects')
 LIB_DIR = ROOT.Dir('libraries')
 SMOKE_DIR = ROOT.Dir('smoke')
-CAN_DIR = ROOT.Dir('can')
-
-PROJ_DIRS = [entry for entry in PROJ_DIR.glob('*')]
-LIB_DIRS = [entry for entry in LIB_DIR.glob('*')]
-SMOKE_DIRS = [entry for entry in SMOKE_DIR.glob('*')]
 
 LIB_BIN_DIR = BIN_DIR.Dir('libraries')
 
-PLATFORM_DIR = ROOT.Dir('platform')
-
 CODEGEN_DIR = LIB_DIR.Dir("codegen")
 BOARDS_DIR = CODEGEN_DIR.Dir("boards")
 GENERATOR = CODEGEN_DIR.File("generator.py")
@@ -37,180 +28,147 @@ TEMPLATES_DIR = CODEGEN_DIR.Dir("templates")
 
 LIBRARIES_INC_DIR = LIB_DIR.Dir("ms-common").Dir("inc")
 
-# Recursively get library dependencies for entry
+
+def src(path):
+    # return all source files within a path
+    srcs = []
+    for file in path.glob("src/*.[cs]") + path.glob(f"src/{PLATFORM}/*.[cs]"):
+        if file.abspath.startswith(OBJ_DIR.abspath):
+            srcs.append(file)
+        else:
+            srcs.append(OBJ_DIR.File(file.path))
+    return srcs
+
+
+def inc(path):
+    # return all include directories within a path
+    return [path.Dir("inc"), path.Dir("inc").Dir(PLATFORM)]
+
+
 def get_lib_deps(entry):
+    # Recursively get library dependencies for entry
     config = parse_config(entry)
     deps = config['libs'] + config['{}_libs'.format(PLATFORM)]
     for dep in deps:
         deps += get_lib_deps(LIB_DIR.Dir(dep))
     return deps
 
-def lib_bin(lib_name):
-    return BIN_DIR.Dir(LIB_DIR.name).File('lib{}.a'.format(lib_name))
-
-# ELFs are used for gdb and x86
-def proj_elf(proj_name, is_smoke=False):
-    return BIN_DIR.Dir(SMOKE_DIR.name if is_smoke else PROJ_DIR.name).File(proj_name)
-
-# .bin is used for flashing to MCU
-def proj_bin(proj_name, is_smoke=False):
-    return proj_elf(proj_name, is_smoke).File(proj_name + '.bin')
 
 ###########################################################
 # Header file generation from jinja templates
 ###########################################################
-def generate_can_files(env, target=[], source=[], project=TARGET, is_smoke=False):
-    source_yaml = BOARDS_DIR.File(project + ".yaml")
-    if is_smoke:
-        project_can_dir = OBJ_DIR.Dir("smoke").Dir(project).Dir("can")
-    else:
-        project_can_dir = OBJ_DIR.Dir("projects").Dir(project).Dir("can")
+autogen_sources = [BOARDS_DIR.glob("*"), TEMPLATES_DIR.glob("*"), GENERATOR]
+
+env.Command(
+    LIBRARIES_INC_DIR.File("can_board_ids.h"),
+    autogen_sources,
+    env.Action(f"python3 {GENERATOR} -f {LIBRARIES_INC_DIR} -t can_board_ids.h.jinja",
+               f"Autogen    {LIBRARIES_INC_DIR}/can_board_ids.h")
+)
+
+
+def generate_can_files(env, project):
+    project_can_dir = OBJ_DIR.Dir(project).Dir("can")
     source_dir = project_can_dir.Dir("src")
     header_dir = project_can_dir.Dir("inc")
-    source += [BOARDS_DIR, TEMPLATES_DIR, GENERATOR]
-    
     header_files = []
     source_files = []
     source_command = f"-f {source_dir} -t"
     header_command = f"-f {header_dir} -t"
 
     # TODO: Fix up system_can.dbc output directory
-    for template in TEMPLATES_DIR.glob('*.jinja'):
+    # project specific files
+    header_command += " can_codegen.h.jinja"
+    header_files.append(header_dir.File("can_codegen.h"))
+    for template in TEMPLATES_DIR.glob('_*.jinja'):
         # name of output file
-        file_name = os.path.splitext(template.name)[0]
-        if file_name.startswith("_"):
-            file_name = project + file_name
-        if file_name == "can.py":
-            env.Command(
-                PY_DIR.File(file_name),
-                [BOARDS_DIR, TEMPLATES_DIR, GENERATOR],
-                f"python3 {GENERATOR} -f {PY_DIR} -t {template.name}"
-            )
-        elif file_name == "can_board_ids.h":
-            env.Command(
-                LIBRARIES_INC_DIR.File(file_name),
-                [BOARDS_DIR, TEMPLATES_DIR, GENERATOR],
-                f"python3 {GENERATOR} -f {LIBRARIES_INC_DIR} -t {template.name}"
-            )
-            target.append(LIBRARIES_INC_DIR.File(file_name))
-        elif ".c" in file_name:
+        file_name = Path(project).stem + Path(template.name).stem
+        if ".c" in file_name:
             source_command += " " + template.name
             source_files.append(source_dir.File(file_name))
         else:
             header_command += " " + template.name
             header_files.append(header_dir.File(file_name))
 
-    source.append(source_yaml)
-    # env.Command(header_files, source, f"python3 {GENERATOR} -b {project} {header_command}")
-    # env.Command(source_files, source, f"python3 {GENERATOR} -b {project} {source_command}")
-    command = f"python3 {GENERATOR} -b {project} {source_command} {header_command}"
-    env.Command(header_files + source_files, source, command)
+    command = env.Action(f"python3 {GENERATOR} -b {Path(project).stem} {source_command} {header_command}",
+                         f"Autogen    {project} can files")
+    # print([f.path for f in header_files + source_files])
+    env.Command(header_files + source_files, autogen_sources, command)
 
     # Add a VariantDir that point to can folder. Create the can target specific for the project
-    VariantDir(project_can_dir, CAN_DIR, duplicate=0)
-    source_files = []
-    source_files += project_can_dir.Dir('src').glob('*.[cs]')
-    source_files += project_can_dir.Dir('src').Dir(PLATFORM).glob('*.[cs]')
+    VariantDir(project_can_dir, ROOT.Dir('can'), duplicate=0)
+    return src(project_can_dir), [header_dir] + inc(ROOT.Dir("can"))
 
-    target += source_files + header_files
-    return source_files, header_dir
 
-def addBuildPath(string: str):
-    if (not string.startswith('build')):
-        return f"#/{OBJ_DIR.path}/{string}"
-    else:
-        return f"#/{string}"
+###########################################################
+# Create appropriate targets for all libraries
+###########################################################
+# Just include all library headers
+# This resolves dependency issues like ms-freertos including FreeRTOS headers
+# even though FreeRTOS depends on ms-freertos, not the other way around
+lib_incs = [inc(lib_dir) for lib_dir in LIB_DIR.glob('*')]
+for entry in LIB_DIR.glob('*'):
+    config = parse_config(entry)
+    lib_deps = get_lib_deps(entry)
+    target = env.Library(
+        target=LIB_BIN_DIR.File(f'lib{entry.name}.a'),
+        source=src(entry),
+        LIBS=env['LIBS'] + lib_deps * 2,
+        LIBPATH=[LIB_BIN_DIR],
+        CPPPATH=env['CPPPATH'] + lib_incs,
+        CCFLAGS=env['CCFLAGS'] + config['cflags'],
+    )
+    Alias(entry.path, target)
+    Alias(entry.name, target)
 
-# Create appropriate targets for all projects and libraries
-for entry in PROJ_DIRS + LIB_DIRS + SMOKE_DIRS:
-    srcs = []
-    inc_dirs = []
-    lib_incs = []
-    
+###########################################################
+# Create appropriate targets for all projects and smoke projects
+###########################################################
+for entry in PROJ_DIR.glob('*') + SMOKE_DIR.glob('*'):
     config = parse_config(entry)
-    
-    if config["can"]:
-        is_smoke = entry in SMOKE_DIRS
-        can_location_name = entry.name
 
+    incs = inc(entry)
+    srcs = src(entry)
+
+    if config["can"]:
         # Add Autogenerated files
-        can_sources, can_header_dir = generate_can_files(env, project=can_location_name, is_smoke=is_smoke)
+        can_sources, can_headers = generate_can_files(env, entry.path)
         srcs += can_sources
-        inc_dirs.append(can_header_dir)
-    
-    if "include" in config:
-        for i in config["include"]:
-            inc_dirs.append(Dir(i))
-
-    if "sources" in config:
-        for i in config["sources"]:
-            srcs.append(File(i))
-
-    # Glob the source files from OBJ_DIR because it's a variant dir
-    # See: https://scons.org/doc/1.2.0/HTML/scons-user/x3346.html
-    # str(entry) is e.g. 'projects/example', so this is like build/obj/projects/example/src
-    srcs += entry.Dir('src').glob('*.[cs]')
-    srcs += entry.Dir('src').Dir(PLATFORM).glob('*.[cs]')
-    
-    inc_dirs.append(entry.Dir('inc'))
-    inc_dirs.append(entry.Dir('inc').Dir(PLATFORM))
-
-    # Just include all library headers
-    # This resolves dependency issues like ms-freertos including FreeRTOS headers
-    # even though FreeRTOS depends on ms-freertos, not the other way around
-    lib_incs += [lib_dir.Dir('inc') for lib_dir in LIB_DIRS]
-    lib_incs += [lib_dir.Dir('inc').Dir(PLATFORM) for lib_dir in LIB_DIRS]
-
-    # Add #/build/{PLATFORM} to srcs path so that .o files stays in build
-    srcs = [addBuildPath(x.path) for x in srcs]
-    inc_dirs = [addBuildPath(x.path) for x in inc_dirs]
-
-    env.Append(CPPDEFINES=[GetOption('define')])
-    if entry in PROJ_DIRS or entry in SMOKE_DIRS:
-        # print(entry, srcs)
-        is_smoke = entry in SMOKE_DIRS
-        lib_deps = get_lib_deps(entry)
-        output = proj_elf(entry.name, is_smoke)
-        # SCons automagically handles object creation and linking
-
-        target = env.Program(
-            target=output,
-            source=srcs,
-            CPPPATH=env['CPPPATH'] + [inc_dirs, lib_incs],
-            # link each library twice so that dependency cycles are resolved
-            # See: https://stackoverflow.com/questions/45135
-            LIBS=env['LIBS'] + lib_deps * 2,
-            LIBPATH=[LIB_BIN_DIR],
-            CCFLAGS=env['CCFLAGS'] + config['cflags'],
-        )
-        
-        # .bin file only required for arm, not x86
-        if PLATFORM == 'arm':
-            target = env.Bin(target=proj_bin(entry.name, is_smoke), source=target)  
-    elif entry in LIB_DIRS:
-        output = lib_bin(entry.name)
-        target = env.Library(
-            target=output,
-            source=srcs,
-            CPPPATH=env['CPPPATH'] + [inc_dirs, lib_incs],
-            CCFLAGS=env['CCFLAGS'] + config['cflags'],
-        )
-                
+        incs += can_headers
+
+    incs += map(ROOT.Dir, config.get("include", []))
+    srcs += map(OBJ_DIR.File, config.get("sources", []))
+
+    lib_deps = get_lib_deps(entry)
+    # SCons automagically handles object creation and linking
+    target = env.Program(
+        target=BIN_DIR.File(entry.path),
+        source=srcs,
+        CPPPATH=env['CPPPATH'] + incs + lib_incs,
+        # link each library twice so that dependency cycles are resolved
+        # See: https://stackoverflow.com/questions/45135
+        LIBS=env['LIBS'] + lib_deps * 2,
+        LIBPATH=[LIB_BIN_DIR],
+        CCFLAGS=env['CCFLAGS'] + config['cflags'],
+    )
+
+    # .bin file only required for arm, not x86
+    if PLATFORM == 'arm':
+        target = env.Bin(target=BIN_DIR.File(entry.path + '.bin'),
+                         source=target)
+
     # Create an alias for the entry so we can do `scons leds` and it Just Works
+    Alias(entry.path, target)
     Alias(entry.name, target)
 
 ###########################################################
 # Python
 ###########################################################
-def run_python(target, source, env):
-    py_env = os.environ.copy()
-    py_env["PYTHONPATH"] = os.path.abspath("py/")
-    subprocess.run(["python3", f"py/{TARGET}/main.py"], env=py_env).check_returncode()
+for entry in PY_DIR.glob("*", exclude=["*.*", "__pycache__"]):
+    target = env.Command(entry.path, [],
+                         f"PYTHONPATH={PY_DIR.path} python3 {entry.path}/main.py")
+    Alias(entry.path, target)
+    Alias(entry.name, target)
 
 # Build all projects when you just run `scons`
-if (TYPE != 'python'):
-    Default(TARGET or [proj.name for proj in PROJ_DIRS])
-else:
-    py = Command('py.txt', [], run_python)
-    Default(py)
-    Depends(py, PY_DIR.File("can.py"))
+Default(TARGET or [e.path for e in PROJ_DIR.glob('*')])
diff --git a/scons/common.py b/scons/common.py
index 0d7223ba9..f429f0f20 100644
--- a/scons/common.py
+++ b/scons/common.py
@@ -1,4 +1,7 @@
 import json
+import subprocess
+import serial  # pip install pyserial
+
 
 def parse_config(entry):
     # Default config to empty for fields that don't exist
@@ -19,3 +22,35 @@ def parse_config(entry):
         for key, value in config.items():
             ret[key] = value
     return ret
+
+
+def flash_run(entry):
+    '''flash and run file, return a pyserial object which monitors the device serial output'''
+    try:
+        output = subprocess.check_output(["ls", "/dev/serial/by-id/"])
+        device_path = f"/dev/serial/by-id/{str(output, 'ASCII').strip()}"
+        serialData = serial.Serial(device_path, 115200)
+    except:
+        print()
+        print("Flashing requires a controller board to be connected, use --platform=x86 for x86 targets")
+
+    OPENOCD = 'openocd'
+    OPENOCD_SCRIPT_DIR = '/usr/share/openocd/scripts/'
+    PROBE = 'cmsis-dap'
+    PLATFORM_DIR = 'platform'
+    OPENOCD_CFG = [
+        OPENOCD,
+        '-s {}'.format(OPENOCD_SCRIPT_DIR),
+        '-f interface/{}.cfg'.format(PROBE),
+        '-f target/stm32f1x.cfg',
+        '-f {}/stm32f1-openocd.cfg'.format(PLATFORM_DIR),
+        '-c "stm32f1x.cpu configure -rtos FreeRTOS"',
+        '-c "stm_flash {}"'.format(entry),
+        '-c shutdown'
+    ]
+    cmd = 'sudo {}'.format(' '.join(OPENOCD_CFG))
+
+    subprocess.run(cmd, shell=True).check_returncode()
+
+    print("Flash complete")
+    return serialData
diff --git a/scons/lint_format.scons b/scons/lint_format.scons
index ad4c6e794..b7a3890eb 100644
--- a/scons/lint_format.scons
+++ b/scons/lint_format.scons
@@ -1,7 +1,6 @@
 from scons.common import parse_config
 import glob
 import subprocess
-import scons
 
 ###########################################################
 # Variables setup
@@ -9,80 +8,41 @@ import scons
 
 Import('VARS')
 
-TYPE = VARS.get("TYPE")
 TARGET = VARS.get("TARGET")
 
 ROOT = Dir('#')
 
-PROJ_DIR = ROOT.Dir('projects')
-LIB_DIR = ROOT.Dir('libraries')
-SMOKE_DIR = ROOT.Dir("SMOKE_DIR")
+PROJ_DIRS = ROOT.glob('projects/*')
+LIB_DIRS = ROOT.glob('libraries/*')
+SMOKE_DIRS = ROOT.glob('smoke/*')
+PY_DIRS = ROOT.glob('py/*')
 
-PROJ_DIRS = [entry for entry in PROJ_DIR.glob('*')]
-LIB_DIRS = [entry for entry in LIB_DIR.glob('*')]
 
 ###########################################################
 # Linting and Formatting
 ###########################################################
-
-# Convert a list of paths/Dirs to space-separated paths.
-def dirs_to_str(dir_list):
-    # Use str(file) to ensure Dir objects are converted to paths.
-    return ' '.join([str(file) for file in dir_list])
-
-# Glob files by extension in a particular directory. Defaults to root directory.
-def glob_by_extension(extension, dir='.'):
-    return glob.glob('{}/**/*.{}'.format(str(dir), extension), recursive=True)
-
-# Retrieve files to lint - returns a tuple (c_lint_files, py_lint_files)
-def get_lint_files():
-    c_lint_files = []
-    py_lint_files = []
-
-    lint_dirs = []
-
-    # Get directories to lint based on PROJECT/LIBRARY args.
-    # If no PROJECT/LIBRARY argument,lint all directories.
-    if TYPE == 'project':
-        lint_dirs.append(PROJ_DIR.Dir(TARGET))
-        lint_dirs.append(SMOKE_DIR.Dir(TARGET))
-    elif TYPE == 'library':
-        lint_dirs.append(LIB_DIR.Dir(TARGET))
-    else:
-        lint_dirs += PROJ_DIRS + LIB_DIRS
-
-    # Get all src and header files (*.c, *.h) to lint/format
-    for dir in lint_dirs:
-        config = parse_config(dir)
-
-        # Avoid linting/formatting external libraries
-        if not config.get('no_lint'):
-            c_lint_files += glob_by_extension('[ch]', dir)
-            py_lint_files += glob_by_extension('py', dir)
-
-    return (c_lint_files, py_lint_files)
-
 def run_lint(target, source, env):
     C_LINT_CMD = 'cpplint --quiet'
     PY_LINT_CMD = 'pylint --rcfile={}/.pylintrc'.format(ROOT.abspath)
 
-    c_lint_files, py_lint_files = get_lint_files()
-
     errors = 0
     # Lint C source files
-    if len(c_lint_files) > 0:
-        print('\nLinting *.[ch] in {}, {} ...'.format(PROJ_DIR, LIB_DIR))
-        errors += subprocess.run('{} {}'.format(C_LINT_CMD, dirs_to_str(c_lint_files)), shell=True).returncode
+    if len(c_files) > 0:
+        print(f'\nLinting *.[ch] files ...')
+        errors += subprocess.run(f'{C_LINT_CMD} {c_files_str}',
+                                 shell=True).returncode
 
     # Lint Python files
-    if len(py_lint_files) > 0:
+    if len(py_files) > 0:
         print('\nLinting *.py files ...')
-        errors += subprocess.run('{} {}'.format(PY_LINT_CMD, dirs_to_str(py_lint_files)), shell=True).returncode
+        errors += subprocess.run(f'{PY_LINT_CMD} {py_files_str}',
+                                 shell=True).returncode
 
     print('Done Linting.')
     if (errors > 0):
         Exit("Lint errors")
 
+
 def run_format(target, source, env):
     # Formatter configs
     AUTOPEP8_CONFIG = '-a --max-line-length 100 -r'
@@ -91,19 +51,40 @@ def run_format(target, source, env):
     C_FORMAT_CMD = 'clang-format {}'.format(CLANG_FORMAT_CONFIG)
     PY_FORMAT_CMD = 'autopep8 {} -i'.format(AUTOPEP8_CONFIG)
 
-    c_format_files, py_format_files = get_lint_files()
-
     # Format C source files
-    if len(c_format_files) > 0:
-        print('\nFormatting *.[ch] in {}, {} ...'.format(str(PROJ_DIR), str(LIB_DIR)))
-        subprocess.run('{} {}'.format(C_FORMAT_CMD, dirs_to_str(c_format_files)), shell=True)
+    if len(c_files) > 0:
+        print(f'\nFormatting *.[ch] files ...')
+        subprocess.run(f'{C_FORMAT_CMD} {c_files_str}', shell=True)
 
     # Format Python source files
-    if len(py_format_files) > 0:
+    if len(py_files) > 0:
         print('\nFormatting *.py files ...')
-        subprocess.run('{} {}'.format(PY_FORMAT_CMD, dirs_to_str(py_format_files)), shell=True)
+        subprocess.run(f'{PY_FORMAT_CMD} {py_files_str}', shell=True)
 
     print('Done Formatting.')
 
+
+# Retrieve files to lint - returns a tuple (c_lint_files, py_lint_files)
+c_files = []
+py_files = []
+# Get directories to lint based on PROJECT/LIBRARY args.
+# If no PROJECT/LIBRARY argument,lint all directories.
+# Get all src and header files (*.c, *.h) to lint/format
+if TARGET:
+    target_dirs = [ROOT.Dir(TARGET)]
+else:
+    target_dirs = PROJ_DIRS + LIB_DIRS + SMOKE_DIRS + PY_DIRS
+
+for dir in target_dirs:
+    config = parse_config(dir)
+    if config.get('no_lint'):  # Avoid linting/formatting external libraries
+        continue
+
+    c_files += glob.glob(f'{dir.abspath}/**/*.[ch]', recursive=True)
+    py_files += glob.glob(f'{dir.abspath}/**/*.py', recursive=True)
+
+c_files_str = ' '.join(c_files)
+py_files_str = ' '.join(py_files)
+
 Command('#/lint', [], run_lint)
 Command('#/format', [], run_format)
diff --git a/scons/new_target.scons b/scons/new_target.scons
index fdfc3dbea..368aca487 100644
--- a/scons/new_target.scons
+++ b/scons/new_target.scons
@@ -1,15 +1,6 @@
-#!/usr/bin/env python3
-"""New target script.
-
-This module sets up the folder structure and config.json for a new project or library.
-
-Usage: python3 new_target.py project|library name
-"""
-import os
-import textwrap
 import json
-import sys
-from string import Template
+import jinja2
+from pathlib import Path
 
 ###########################################################
 # Variables setup
@@ -17,111 +8,86 @@ from string import Template
 
 Import('VARS')
 
-TYPE = VARS.get("TYPE")
 TARGET = VARS.get("TARGET")
 
-README_TEMPLATE = Template("""\
-    <!--
-        General guidelines
-        These are just guidelines, not strict rules - document however seems best.
-        A README for a firmware-only project (e.g. Babydriver, MPXE, bootloader, CAN explorer) should answer the following questions:
-            - What is it?
-            - What problem does it solve?
-            - How do I use it? (with usage examples / example commands, etc)
-            - How does it work? (architectural overview)
-        A README for a board project (powering a hardware board, e.g. power distribution, centre console, charger, BMS carrier) should answer the following questions:
-            - What is the purpose of the board?
-            - What are all the things that the firmware needs to do?
-            - How does it fit into the overall system?
-            - How does it work? (architectural overview, e.g. what each module's purpose is or how data flows through the firmware)
-    -->
-    # $name
-
-    """)
-
-DEFAULT_DEPS = ["FreeRTOS", "ms-common"]
-
-main_template_file = open(os.path.join('template', 'main_template.txt'), 'r')
-
-def generate_config(target_type):
-    """Generates a new config.json file for a project/library.
-
-    Args:
-        target_type: Either 'project' or 'library'
-
-    Returns:
-        dict: dictionary representation of the initial config.json file.
-    """
-    deps = DEFAULT_DEPS if target_type == 'project' or target_type == 'smoke' else []
+# default configuration for projects
+DEFAULT_CONFIG = {"libs": ["FreeRTOS", "ms-common"]}
+
+
+def new_task(target, task_name):
+    '''Create a new task within target'''
+    DATA = {"task_name": task_name}
+    target_path = Path(target)
+    target_path.joinpath("inc").mkdir()
+    target_path.joinpath("src").mkdir()
+
+    templateLoader = jinja2.FileSystemLoader(searchpath="scons/template")
+    env = jinja2.Environment(loader=templateLoader)
+
+    template = env.get_template("_task.h.jinja")
+    output = template.render(data=DATA)
+    target_path.joinpath(f'inc/{task_name}_task.h').write_text(output)
 
-    return {"libs": deps}
+    template = env.get_template("_task.c.jinja")
+    output = template.render(data=DATA)
+    target_path.joinpath(f'src/{task_name}_task.c').write_text(output)
 
-def new_target(target_type, name):
+
+def new_target(target, source, env):
     """Creates a new project or library.
 
     Creates a subfolder in the appropriate folder with the specified name
     with the following structure:
 
-    projects/libraries
+    project/library/smoke
     - name
         - inc
         - README.md
         - config.json 
         - src
         - test
-
-    where config.json is required for the project or library to be valid.
-
-    Args:
-        target_type: Either 'project' or 'library' or 'python'.
-        name: The new project or library's name.
-
-    Returns:
-        None
+    py
+    - name
+        - __init__.py
+        - main.py
     """
-    if (target_type == 'python'):
-        return new_py_project(name)
+    if not TARGET:
+        print("Missing target. Expected --project=..., or --library=..., or --python=..., or --smoke=...")
+        return
+
+    task_name = GetOption("task")
+    if task_name:
+        new_task(TARGET, task_name)
+        return
 
-    type_folders = {
-        'project': 'projects',
-        'library': 'libraries',
-        'smoke': 'smoke'
-    }
+    target_dir = Path(TARGET)
+    target_dir.mkdir(parents=True)
 
-    proj_path = os.path.join(type_folders[target_type], name)
-    folders = ['src', 'inc', 'test']
+    if TARGET.startswith('py'):
+        target_dir.joinpath('__init__.py').touch()
+        target_dir.joinpath('main.py').touch()
+        print(f'Created new {TARGET}')
+        return
 
-    for folder in folders:
-        os.makedirs(os.path.join(proj_path, folder), exist_ok=True)
+    for folder in ['src', 'inc', 'test']:
+        target_dir.joinpath(folder).mkdir(parents=True, exist_ok=True)
 
-    with open(os.path.join(proj_path, 'config.json'), 'w') as config_file:
-        json.dump(generate_config(target_type), config_file, indent=4)
+    config = []
+    if TARGET.startswith("project") or TARGET.startswith("smoke"):
+        config = DEFAULT_CONFIG
 
-    with open(os.path.join(proj_path, 'README.md'), 'w') as readme_file:
-        readme_file.write(textwrap.dedent(README_TEMPLATE.substitute({'name': name})))
+    target_dir.joinpath("config.json").write_text(json.dumps(config, indent=4))
 
-    with open(os.path.join(proj_path, 'src', 'main.c'), 'w') as main_file:
-        main_file.write(textwrap.dedent(main_template_file.read()))
+    readme_template = Path("scons/template/README.md")
+    readme_file = target_dir.joinpath("README.md")
+    readme_file.write_text(readme_template.read_text() + target_dir.name)
 
-    print('Created new {0} {1}'.format(target_type, name))
+    main_c_template = Path("scons/template/main.c")
+    main_c_file = target_dir.joinpath("src/main.c")
+    main_c_file.write_text(main_c_template.read_text())
 
-def new_py_project(name):
-    os.makedirs(os.path.join('py', name), exist_ok=True)
-    open(os.path.join('py', name, '__init__.py'), 'a').close()
-    open(os.path.join('py', name, 'main.py'), 'a').close()
+    print(f'Created new {TARGET}')
 
-def make_new_target(target, source, env):
-    # No project or library option provided
-    if not TYPE:
-        print("Missing project or library name. Expected --project=..., or --library=..., or --python")
-        sys.exit(1)
-    
-    if env.get("smoke") and TYPE == 'project':
-        new_target('smoke', TARGET)
-    else:
-        new_target(TYPE, TARGET)
 
-new = Command('new_proj.txt', [], make_new_target)
+new = Command('new_proj.txt', [], new_target)
 Alias('new', new)
-new = Command('new_smoke.txt', [], make_new_target, smoke=True)
-Alias('new_smoke', new)
diff --git a/scons/new_task.py b/scons/new_task.py
deleted file mode 100644
index 3b7e8579f..000000000
--- a/scons/new_task.py
+++ /dev/null
@@ -1,120 +0,0 @@
-import os
-import sys
-import jinja2
-import yaml
-import argparse
-import re
-
-def read_yaml(yaml_file):
-    """reads yaml file and returns information in data"""
-    with open(yaml_file, "r", encoding="utf-8") as f:
-        data = yaml.load(f, Loader=yaml.FullLoader)
-        return data
-
-def get_function_line_spacing(function_words):
-    """Returns an integer that indicates the amount of
-    spaces needed leading up to the first open bracket
-    Loop through the line array until the first open bracket to find where
-    the parameter declaration starts to determine correct spacing"""
-    spacing = 0
-    bracket_location = -1
-    for i, n_m in enumerate(function_words):
-        if '(' in n_m:
-            bracket_location = i
-            break
-
-        spacing += len(n_m)
-        if '\n' in n_m:
-            spacing -= 1
-
-    if bracket_location == -1:
-        raise Exception("No bracket in provided line!")
-
-    # Count the number of letters leading up to the bracket
-    for i in range(len(function_words[bracket_location])):
-        spacing += 1
-        if function_words[bracket_location][i] == '(':
-            break
-    return spacing
-
-
-def format_function_length(function_line, spacing=0):
-    """Custom jinja filter that takes in the function string
-    and format it to indent to a new line whenever string length
-    reaches 100 characters."""
-
-    # Splits by whitespace
-    function_line = re.split(r'(\s+)', function_line)
-    letter_count = 0
-
-    spacing += get_function_line_spacing(function_line)
-    for a_b in enumerate(function_line):
-        letter_count += len(a_b)
-        if letter_count >= 100:
-            a_b = "\n" + (" " * spacing) + a_b
-            letter_count = len(a_b)
-    function_line = "".join(function_line)
-    return function_line
-
-
-def write_template(env, template_name, file_path, data):
-    """writes and creates a file from jinja template and yaml data"""
-    template = env.get_template(template_name)
-    output = template.render(data=data)
-    with open(file_path, "a", encoding="utf-8") as f:
-        f.write(output)
-
-def new_task(type, name, task_name):
-    folder_choice = {
-        'project' : 'projects',
-        'library' : 'libraries'
-    }
-    subfolders = ['src', 'inc']
-
-    folder_path = os.path.join(folder_choice[type], name)
-    
-    for folder in subfolders:
-        os.makedirs(os.path.join(folder_path, folder), exist_ok=True)
-
-    DATA = {
-        "task_name" : task_name,
-        "proj_name" : name
-    }
-    src_path = os.path.join(folder_path, subfolders[0])
-    inc_path = os.path.join(folder_path, subfolders[1])
-
-    for template_iterable in ["_task.c.jinja", "_task.h.jinja"]:
-        template_name = template_iterable
-        templateLoader = jinja2.FileSystemLoader(searchpath="scons/template")
-        env = jinja2.Environment(loader=templateLoader)
-        env.filters["format_function_length"] = format_function_length
-
-        if ".h.jinja" in template_name:
-            file_path = inc_path + "/" + name + "_" + task_name + template_name[:-6]
-        else:
-            file_path = src_path + "/" + name + "_" + task_name + template_name[:-6]
-
-        write_template(env, template_name, file_path, DATA)
-
-def make_new_task(target, source, env):
-    TYPE = env["VARS"]["TYPE"]
-    TARGET = env["VARS"]["TARGET"]
-    NAME = env["VARS"]["NAME"]
-    # No project or library option provided
-    if TYPE not in ['project', 'libray']:
-        print("Missing project or library name. Expected --project=..., or --library=...")
-        sys.exit(1)
-
-    # Chain or's to select the first non-None value 
-    new_task(TYPE, TARGET, NAME)
-
-def main():
-    PARSER = argparse.ArgumentParser()
-    PARSER.add_argument("-c",'--type', choices=['project', 'library'], dest="type")
-    PARSER.add_argument("--task_name", dest="task_name")
-    PARSER.add_argument("-n",'--name', dest="name")
-    ARGPARSER = PARSER.parse_args()
-    new_task(ARGPARSER.type, ARGPARSER.name, ARGPARSER.task_name)
-
-if __name__ == '__main__':
-    main()
diff --git a/scons/template/README.md b/scons/template/README.md
new file mode 100644
index 000000000..d54852911
--- /dev/null
+++ b/scons/template/README.md
@@ -0,0 +1,15 @@
+<!--
+General guidelines
+These are just guidelines, not strict rules - document however seems best.
+A README for a firmware-only project (e.g. Babydriver, MPXE, bootloader, CAN explorer) should answer the following questions:
+    - What is it?
+    - What problem does it solve?
+    - How do I use it? (with usage examples / example commands, etc)
+    - How does it work? (architectural overview)
+A README for a board project (powering a hardware board, e.g. power distribution, centre console, charger, BMS carrier) should answer the following questions:
+    - What is the purpose of the board?
+    - What are all the things that the firmware needs to do?
+    - How does it fit into the overall system?
+    - How does it work? (architectural overview, e.g. what each module's purpose is or how data flows through the firmware)
+-->
+# 
\ No newline at end of file
diff --git a/scons/template/_task.c.jinja b/scons/template/_task.c.jinja
index f7ed56756..2e8050e36 100644
--- a/scons/template/_task.c.jinja
+++ b/scons/template/_task.c.jinja
@@ -1,13 +1,12 @@
 #include "log.h"
 #include "tasks.h"
-#include "{{data['proj_name']}}_{{data['task_name']}}_task.h"
+#include "{{data.task_name}}_task.h"
 
-static SemaphoreHandle_t s_{{data['proj_name']}}_{{data['task_name']}}_sem_handle;
-static StaticSemaphore_t s_{{data['proj_name']}}_{{data['task_name']}}_sem;
+static SemaphoreHandle_t s_{{data.task_name}}_sem_handle;
+static StaticSemaphore_t s_{{data.task_name}}_sem;
 
-void run_{{data['proj_name']}}_{{data['task_name']}}_cycle()
-{
-    BaseType_t ret = xSemaphoreGive(s_{{data['proj_name']}}_{{data['task_name']}}_sem_handle);
+void run_{{data.task_name}}_cycle() {
+    BaseType_t ret = xSemaphoreGive(s_{{data.task_name}}_sem_handle);
 
     if (ret == pdFALSE) {
         return STATUS_CODE_INTERNAL_ERROR;
@@ -16,36 +15,27 @@ void run_{{data['proj_name']}}_{{data['task_name']}}_cycle()
     return STATUS_CODE_OK;
 }
 
-TASK({{data['task_name']}}, TASK_MIN_STACK_SIZE)
-{
+TASK({{data.task_name}}, TASK_MIN_STACK_SIZE) {
     int counter = 0;
-    while (true)
-    {
-        xSemaphoreTake(s_{{data['proj_name']}}_{{data['task_name']}}_sem_handle, portMAX_DELAY);
+    while (true) {
+        xSemaphoreTake(s_{{data.task_name}}_sem_handle, portMAX_DELAY);
         counter++;
-        run_{{data['proj_name']}}_{{data['task_name']}}_fast_cycle();
+        run_{{data.task_name}}_fast_cycle();
         if ((counter % 10) == 0)
-            run_{{data['proj_name']}}_{{data['task_name']}}_medium_cycle();
+            run_{{data.task_name}}_medium_cycle();
         if ((counter % 100) == 0)
-            run_{{data['proj_name']}}_{{data['task_name']}}_slow_cycle();
+            run_{{data.task_name}}_slow_cycle();
         xSemaphoreGive(s_end_task_sem);
     }
 }
 
-void run_{{data['proj_name']}}_{{data['task_name']}}_fast_cycle()
-{
-}
+void run_{{data.task_name}}_fast_cycle() {}
 
-void run_{{data['proj_name']}}_{{data['task_name']}}_medium_cycle()
-{
-}
+void run_{{data.task_name}}_medium_cycle() {}
 
-void run_{{data['proj_name']}}_{{data['task_name']}}_slow_cycle()
-{
-}
+void run_{{data.task_name}}_slow_cycle() {}
 
-StatusCode init_{{data['proj_name']}}_{{data['task_name']}}()
-{
-    status_ok_or_return(tasks_init_task({{data['task_name']}}, TASK_PRIORITY(2), NULL));
+StatusCode init_{{data.task_name}}() {
+    status_ok_or_return(tasks_init_task({{data.task_name}}, TASK_PRIORITY(2), NULL));
     return STATUS_CODE_OK;
 }
\ No newline at end of file
diff --git a/scons/template/_task.h.jinja b/scons/template/_task.h.jinja
index 0502e22a9..238f4cd17 100644
--- a/scons/template/_task.h.jinja
+++ b/scons/template/_task.h.jinja
@@ -1,14 +1,14 @@
 #include "status.h"
 
 /*
- * Name: {{data['proj_name']}}_{{data['task_name']}}
+ * Name: {{data.task_name}}
  * Description: What this task does and to use it
  * Author: <who ever wrote this>
  * Date: <date last editted>
 */
 
-void run_{{data['proj_name']}}_{{data['task_name']}}_cycle();
-void run_{{data['proj_name']}}_{{data['task_name']}}_fast_cycle();
-void run_{{data['proj_name']}}_{{data['task_name']}}_medium_cycle();
-void run_{{data['proj_name']}}_{{data['task_name']}}_slow_cycle();
-StatusCode init_{{data['proj_name']}}_{{data['task_name']}}();
\ No newline at end of file
+void run_{{data.task_name}}_cycle();
+void run_{{data.task_name}}_fast_cycle();
+void run_{{data.task_name}}_medium_cycle();
+void run_{{data.task_name}}_slow_cycle();
+StatusCode init_{{data.task_name}}();
\ No newline at end of file
diff --git a/scons/template/main.c b/scons/template/main.c
new file mode 100644
index 000000000..edca49486
--- /dev/null
+++ b/scons/template/main.c
@@ -0,0 +1,26 @@
+#include <stdio.h>
+
+#include "log.h"
+#include "master_task.h"
+#include "tasks.h"
+
+void pre_loop_init() {}
+
+void run_fast_cycle() {}
+
+void run_medium_cycle() {}
+
+void run_slow_cycle() {}
+
+int main() {
+  tasks_init();
+  log_init();
+  LOG_DEBUG("Welcome to TEST!");
+
+  init_master_task();
+
+  tasks_start();
+
+  LOG_DEBUG("exiting main?");
+  return 0;
+}
diff --git a/scons/template/main_template.txt b/scons/template/main_template.txt
deleted file mode 100644
index 2627f420f..000000000
--- a/scons/template/main_template.txt
+++ /dev/null
@@ -1,39 +0,0 @@
-#include <stdio.h>
-
-#include "log.h"
-#include "tasks.h"
-#include "master_task.h"
-
-void pre_loop_init() 
-{
-
-}
-
-void run_fast_cycle()
-{
-
-}
-
-void run_medium_cycle()
-{
-
-}
-
-void run_slow_cycle()
-{
-
-}
-
-int main() {
-   tasks_init();
-   log_init();
-   LOG_DEBUG("Welcome to TEST!");
-
-   init_master_task();
-
-   tasks_start();
-
-   LOG_DEBUG("exiting main?");
-   return 0;
-}
-
diff --git a/scons/test.scons b/scons/test.scons
index fe4d8ddfe..317d95ff1 100644
--- a/scons/test.scons
+++ b/scons/test.scons
@@ -1,33 +1,13 @@
-from scons.common import parse_config
+from scons.common import parse_config, flash_run
 import subprocess
-import serial # pip install pyserial
+from pathlib import Path
 
 Import('VARS')
 
-TYPE = VARS.get("TYPE")
 TARGET = VARS.get("TARGET")
 PLATFORM = VARS.get("PLATFORM")
 env = VARS.get("env")
 
-# Recursively get library dependencies for entry
-def get_lib_deps(entry):
-    config = parse_config(entry)
-    deps = config['libs'] + config['{}_libs'.format(PLATFORM)]
-    for dep in deps:
-        deps += get_lib_deps(LIB_DIR.Dir(dep))
-    return deps
-
-def lib_bin(lib_name):
-    return BIN_DIR.Dir(LIB_DIR.name).File('lib{}.a'.format(lib_name))
-
-# ELFs are used for gdb and x86
-def proj_elf(proj_name, is_smoke=False):
-    return BIN_DIR.Dir(SMOKE_DIR.name if is_smoke else PROJ_DIR.name).File(proj_name)
-
-# .bin is used for flashing to MCU
-def proj_bin(proj_name, is_smoke=False):
-    return proj_elf(proj_name, is_smoke).File(proj_name + '.bin')
-
 ROOT = Dir('#')
 
 BUILD_DIR = ROOT.Dir('build').Dir(PLATFORM)
@@ -38,156 +18,77 @@ TEST_DIR = BUILD_DIR.Dir('test')
 PROJ_DIR = ROOT.Dir('projects')
 LIB_DIR = ROOT.Dir('libraries')
 SMOKE_DIR = ROOT.Dir('smoke')
-CAN_DIR = ROOT.Dir('can')
 
-PROJ_DIRS = [entry for entry in PROJ_DIR.glob('*')]
-LIB_DIRS = [entry for entry in LIB_DIR.glob('*')]
-SMOKE_DIRS = [entry for entry in SMOKE_DIR.glob('*')]
+GEN_RUNNER = 'libraries/unity/auto/generate_test_runner.py'
+GEN_RUNNER_CONFIG = 'libraries/unity/unity_config.yml'
 
-LIB_BIN_DIR = BIN_DIR.Dir('libraries')
+###########################################################
+# Create appropriate test targets, (when lib/proj target is defined)
+###########################################################
+run_list = []
 
-PLATFORM_DIR = ROOT.Dir('platform')
 
-CODEGEN_DIR = LIB_DIR.Dir("codegen")
-BOARDS_DIR = CODEGEN_DIR.Dir("boards")
-GENERATOR = CODEGEN_DIR.File("generator.py")
-TEMPLATES_DIR = CODEGEN_DIR.Dir("templates")
+def add_to_run_list(target, source, env):
+    run_list.extend(source)
 
-LIBRARIES_INC_DIR = LIB_DIR.Dir("ms-common").Dir("inc")
 
-GEN_RUNNER = 'libraries/unity/auto/generate_test_runner.py'
-GEN_RUNNER_CONFIG = 'libraries/unity/unity_config.yml'
+def add_test_targets(target, source, env):
+    entry = ROOT.Dir(Path(target[0].path).relative_to(BIN_DIR.path))
+    config = parse_config(entry)
 
-# tests dict maps proj/lib -> list of their test executables
-tests = {}
-
-def addBuildPath(string: str):
-    if (not string.startswith('build')):
-        return f"#/{OBJ_DIR.path}/{string}"
-    else:
-        return f"#/{string}"
-
-# Create the test executable targets
-for entry in PROJ_DIRS + LIB_DIRS + SMOKE_DIRS:
-    tests[entry.name] = []
-    for test_file in OBJ_DIR.Dir(str(entry)).Dir('test').glob('*.c'):
-        # Link runner object, test file object, and proj/lib objects
-        # into executable
-        config = parse_config(entry)
-        test_module_name = test_file.name.replace('test_', '').replace('.c', '')
-        mock_link_flags = []
-        if test_module_name in config['mocks']:
-            mocks = config['mocks'][test_module_name]
-            mock_link_flags = ['-Wl,-wrap,' + mock for mock in mocks]
-
-        objs = OBJ_DIR.Dir(str(entry.path)).Dir('src').glob('*.o')
-        objs += OBJ_DIR.Dir(str(entry.path)).Dir('src').Dir(PLATFORM).glob('*.o')
-
-        if config["can"]:
-            objs += OBJ_DIR.Dir(entry.path).Dir('can').Dir("src").glob('*.o')
-            objs += OBJ_DIR.Dir(entry.path).Dir('can').Dir("src").Dir(PLATFORM).glob('*.o')
-
-        entry_objects = []
-        for obj in objs:
-            if 'main.o' not in obj.name:
-                entry_objects.append(obj)
-
-        inc_dirs = [entry.Dir('inc')]
-        inc_dirs += [entry.Dir('inc').Dir(PLATFORM)]
-        if config["can"]:
-            inc_dirs.append(OBJ_DIR.Dir(entry.path).Dir('can').Dir("inc"))
-            inc_dirs.append(CAN_DIR.Dir("inc"))
-        lib_incs = [lib_dir.Dir('inc') for lib_dir in LIB_DIRS]
-        lib_incs += [lib_dir.Dir('inc').Dir(PLATFORM) for lib_dir in LIB_DIRS]
-        lib_deps = get_lib_deps(entry)
-
-        # Flags used for both preprocessing and compiling
-        cpppath = env['CPPPATH'] + [inc_dirs, lib_incs]
-        ccflags = env['CCFLAGS'] + config['cflags']
-
-        # Create the test_*_runner.c file
-        runner_file = TEST_DIR.Dir(entry.name).File(test_file.name.replace('.c', '_runner.c'))
-        test_runner = env.Command(runner_file, test_file,
-            Action(
-                'python3 {} {} $SOURCE $TARGET'.format(GEN_RUNNER, GEN_RUNNER_CONFIG),
-                cmdstr='Generating test runner $TARGET'))
-
-        output = TEST_DIR.Dir(entry.name).Dir('test').File(test_file.name.replace('.c', ''))
-
-        srcs = [test_file] + test_runner + entry_objects
-        srcs = [addBuildPath(x.path) for x in srcs]
-
-        target = env.Program(
-            target=output,
-            source=srcs,
-            # We do env['variable'] + [entry-specific variables] to avoid
-            # mutating the environment for other entries
-            CPPPATH=cpppath,
-            LIBS=env['LIBS'] + lib_deps * 2 + ['unity'],
-            LIBPATH=[LIB_BIN_DIR],
-            CCFLAGS=ccflags,
+    if entry.path.startswith("libraries"):
+        # libraries target will look like libraries/lib[name].a
+        # extract the name and convert to the directory of the actual library
+        entry = ROOT.Dir(f"libraries/{entry.name[3:-2]}")
+    # non-libraries has a main.o that needs to be removed from the source for tests
+    sources_no_main = list(filter(lambda f: f.name != "main.o", source))
+
+    # create target for every test
+    for test_file in entry.glob('test/*.c'):
+        test_module_name = Path(test_file.path).stem
+
+        mocks = config.get("mocks", {}).get(test_module_name, [])
+        mock_link_flags = [f'-Wl,-wrap,{mock}' for mock in mocks]
+
+        runner_exec = TEST_DIR.File(f"{entry.path}/bin/{test_module_name}")
+
+        runner_file = TEST_DIR.File(test_file.path)
+        autogen = env.Action(f'python3 {GEN_RUNNER} {GEN_RUNNER_CONFIG} {test_file.path} {runner_file.path}',
+                             f'Autogen    {test_file.path} test_runner')
+        runner_file = env.Command(
+            runner_file,
+            [test_file, ROOT.Dir("libraries/unity/auto").glob("*")],
+            autogen)
+        test_sources = [runner_file, OBJ_DIR.File(test_file.path)]
+
+        test_target = env.Program(
+            target=runner_exec,
+            source=sources_no_main + test_sources,
+            LIBS=env['LIBS'] + ['unity'],
             LINKFLAGS=env['LINKFLAGS'] + mock_link_flags,
+            PROGEMITTER=None,  # don't trigger emitter recursively
         )
+
         if PLATFORM == 'arm':
-            target = env.Bin(target=output.File(test_file.name + '.bin'), source=target)
-
-        # Make test executable depend on the project / library final target
-        if entry in PROJ_DIRS:
-            Depends(target, proj_elf(entry.name, entry in SMOKE_DIRS))
-        elif entry in LIB_DIRS:
-            Depends(target, lib_bin(entry.name))
-
-        # Add to tests dict
-        tests[entry.name] += [node for node in target]
-
-def get_test_list():
-    # Based on the project/library and test in options,
-    # create a list of tests to run
-    # Assume only one of project or library is set
-    entry = TARGET
-    if entry and tests.get(entry):
-        if GetOption('testfile'):
-            return [test for test in tests[entry] if (test.name + '.').startswith(f"test_{GetOption('testfile')}.")]
-        else:
-            return [test for test in tests[entry]]
-    else:
-        ret = []
-        for test_list in tests.values():
-            ret += test_list
-        return ret
-
-def test_runner(target, source, env):
-    test_list = get_test_list()
-
-    if PLATFORM == "arm":
-        output = subprocess.check_output(["ls", "/dev/serial/by-id/"])
-        device_path = f"/dev/serial/by-id/{str(output, 'ASCII').strip()}"
-        serialData = serial.Serial(device_path,115200)
-    
-    fails = 0
-    for test in test_list:
+            test_target = env.Bin(target=ROOT.File(runner_exec.path+'.bin'),
+                                  source=test_target)
+        env.Command(f"test/{entry.path}/{test_module_name}",
+                    test_target, env.Action(add_to_run_list, None))
+    # target and source are not modified
+    # this emitter only adds the test targets based on the project/library's inc + src
+    return target, source
+
+
+def run_test(target, source, env):
+    fails = []
+    for test_name, test_file in zip(source, run_list):
         if PLATFORM == "x86":
-            test_process = subprocess.run(test.get_path())
-            fails += (test_process.returncode != 0)
+            test_process = subprocess.run(test_file.path)
+            if test_process.returncode != 0:
+                fails.append(test_name)
 
         elif PLATFORM == "arm":
-            OPENOCD = 'openocd'
-            OPENOCD_SCRIPT_DIR = '/usr/share/openocd/scripts/'
-            PROBE = 'cmsis-dap'
-            OPENOCD_CFG = [
-                OPENOCD,
-                '-s {}'.format(OPENOCD_SCRIPT_DIR),
-                '-f interface/{}.cfg'.format(PROBE),
-                '-f target/stm32f1x.cfg',
-                '-f {}/stm32f1-openocd.cfg'.format(PLATFORM_DIR),
-                '-c "stm32f1x.cpu configure -rtos FreeRTOS"',
-                '-c "stm_flash {}"'.format(test),
-                '-c shutdown'
-            ]
-            cmd = 'sudo {}'.format(' '.join(OPENOCD_CFG))
-            print(f"Flashing {test}")
-            subprocess.run(cmd, shell=True, stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
-            print(f"Starting {test}")
+            serialData = flash_run(test_file)
 
             # wait until test ok or fail
             while True:
@@ -196,10 +97,24 @@ def test_runner(target, source, env):
                 if line.startswith('OK'):
                     break
                 if line.startswith('FAIL'):
-                    fails += 1
+                    fails.append(test_name)
                     break
 
-    print(f"{len(test_list)} Files tested {fails} Failures")
+    print(f"{len(run_list)} Files tested {len(fails)} Failures")
+    for fail in fails:
+        print(f"  {fail}")
+    return ""
+
+
+env.Append(PROGEMITTER=add_test_targets)
+env.Append(LIBEMITTER=add_test_targets)
+# generate all test target names
+all_tests = []
+for entry in PROJ_DIR.glob('*') + LIB_DIR.glob('*') + SMOKE_DIR.glob('*'):
+    for test_file in entry.glob('test/*.c'):
+        test_module_name = Path(test_file.path).stem
+        all_tests.append(f"test/{entry.path}/{test_module_name}")
 
-test = Command('#/test', [], test_runner)
-Depends(test, get_test_list())
+TARGET = str(Path("test", TARGET or '', GetOption("testfile") or ''))
+selected_tests = [t for t in all_tests if t.startswith(TARGET)]
+env.Command("#/test", selected_tests, env.Action(run_test, "Running tests:"))
diff --git a/smoke/adc/src/main.c b/smoke/adc/src/main.c
index e3a5cec08..38dc52373 100644
--- a/smoke/adc/src/main.c
+++ b/smoke/adc/src/main.c
@@ -1,7 +1,8 @@
 #include <stdio.h>
+
+#include "adc.h"
 #include "delay.h"
 #include "gpio.h"
-#include "adc.h"
 #include "interrupt.h"
 #include "log.h"
 #include "tasks.h"
@@ -9,47 +10,41 @@
 #define ADC_TIMEOUT_MS 100
 
 static const GpioAddress adc_addy[] = {
-  { .port = GPIO_PORT_A, .pin = 0 },   
-  { .port = GPIO_PORT_A, .pin = 1 },   
-  { .port = GPIO_PORT_A, .pin = 2 },
-  { .port = GPIO_PORT_A, .pin = 3 },
-  { .port = GPIO_PORT_A, .pin = 4 },
-  { .port = GPIO_PORT_A, .pin = 5 },
-  { .port = GPIO_PORT_A, .pin = 6 },
-  { .port = GPIO_PORT_A, .pin = 7 },
-  { .port = GPIO_PORT_B, .pin = 0 },
-  { .port = GPIO_PORT_B, .pin = 1 },
+  { .port = GPIO_PORT_A, .pin = 0 }, { .port = GPIO_PORT_A, .pin = 1 },
+  { .port = GPIO_PORT_A, .pin = 2 }, { .port = GPIO_PORT_A, .pin = 3 },
+  { .port = GPIO_PORT_A, .pin = 4 }, { .port = GPIO_PORT_A, .pin = 5 },
+  { .port = GPIO_PORT_A, .pin = 6 }, { .port = GPIO_PORT_A, .pin = 7 },
+  { .port = GPIO_PORT_B, .pin = 0 }, { .port = GPIO_PORT_B, .pin = 1 },
 };
 
 TASK(smoke_adc_task, TASK_STACK_512) {
-   for (uint8_t i = 0; i < SIZEOF_ARRAY(adc_addy); i++) {
-      gpio_init_pin(&adc_addy[i], GPIO_ANALOG, GPIO_STATE_LOW);
-      adc_add_channel(adc_addy[i]);
-   }
-
-   adc_init();
-
-   while(true) {
-      uint16_t data = 0;
-      adc_run();
-      for (uint8_t i = 0; i < SIZEOF_ARRAY(adc_addy); i++) {
-        adc_read_converted(adc_addy[i], &data);
-        printf("%d%d: %d\n\r", adc_addy[i].port, adc_addy[i].pin, data);
-      }
-      delay_ms(1000);
-   }
+  for (uint8_t i = 0; i < SIZEOF_ARRAY(adc_addy); i++) {
+    gpio_init_pin(&adc_addy[i], GPIO_ANALOG, GPIO_STATE_LOW);
+    adc_add_channel(adc_addy[i]);
+  }
+
+  adc_init();
+
+  while (true) {
+    uint16_t data = 0;
+    adc_run();
+    for (uint8_t i = 0; i < SIZEOF_ARRAY(adc_addy); i++) {
+      adc_read_converted(adc_addy[i], &data);
+      printf("%d%d: %d\n\r", adc_addy[i].port, adc_addy[i].pin, data);
+    }
+    delay_ms(1000);
+  }
 }
 
 int main() {
-   tasks_init();
-   interrupt_init();
-   gpio_init();
-   log_init();
+  tasks_init();
+  interrupt_init();
+  gpio_init();
+  log_init();
 
-   tasks_init_task(smoke_adc_task, TASK_PRIORITY(2), NULL);
+  tasks_init_task(smoke_adc_task, TASK_PRIORITY(2), NULL);
 
-   tasks_start();
+  tasks_start();
 
-   return 0;
+  return 0;
 }
-
diff --git a/smoke/gpio/src/main.c b/smoke/gpio/src/main.c
index c314d1c75..86477b0d0 100644
--- a/smoke/gpio/src/main.c
+++ b/smoke/gpio/src/main.c
@@ -156,4 +156,4 @@ int main(void) {
 
   LOG_DEBUG("Tasks Ended\n");
   return 0;
-}
\ No newline at end of file
+}
diff --git a/smoke/hw_timer/README.md b/smoke/hw_timer/README.md
new file mode 100644
index 000000000..5395454a2
--- /dev/null
+++ b/smoke/hw_timer/README.md
@@ -0,0 +1,16 @@
+<!--
+    General guidelines
+    These are just guidelines, not strict rules - document however seems best.
+    A README for a firmware-only project (e.g. Babydriver, MPXE, bootloader, CAN explorer) should answer the following questions:
+        - What is it?
+        - What problem does it solve?
+        - How do I use it? (with usage examples / example commands, etc)
+        - How does it work? (architectural overview)
+    A README for a board project (powering a hardware board, e.g. power distribution, centre console, charger, BMS carrier) should answer the following questions:
+        - What is the purpose of the board?
+        - What are all the things that the firmware needs to do?
+        - How does it fit into the overall system?
+        - How does it work? (architectural overview, e.g. what each module's purpose is or how data flows through the firmware)
+-->
+# adc
+
diff --git a/smoke/hw_timer/config.json b/smoke/hw_timer/config.json
new file mode 100644
index 000000000..4019f4748
--- /dev/null
+++ b/smoke/hw_timer/config.json
@@ -0,0 +1,6 @@
+{
+    "libs": [
+        "FreeRTOS",
+        "ms-common"
+    ]
+}
\ No newline at end of file
diff --git a/smoke/hw_timer/src/main.c b/smoke/hw_timer/src/main.c
new file mode 100644
index 000000000..0a406235d
--- /dev/null
+++ b/smoke/hw_timer/src/main.c
@@ -0,0 +1,45 @@
+#include <stdio.h>
+
+#include "adc.h"
+#include "delay.h"
+#include "gpio.h"
+#include "hw_timer.h"
+#include "interrupt.h"
+#include "log.h"
+#include "tasks.h"
+
+static const GpioAddress leds[] = {
+  { .port = GPIO_PORT_B, .pin = 5 },   //
+  { .port = GPIO_PORT_B, .pin = 4 },   //
+  { .port = GPIO_PORT_B, .pin = 3 },   //
+  { .port = GPIO_PORT_A, .pin = 15 },  //
+};
+
+void pre_loop_init() {}
+
+TASK(hw_timer_task, TASK_STACK_512) {
+  for (uint8_t i = 0; i < SIZEOF_ARRAY(leds); i++) {
+    gpio_init_pin(&leds[i], GPIO_OUTPUT_PUSH_PULL, GPIO_STATE_LOW);
+  }
+
+  while (true) {
+    gpio_toggle_state(&leds[0]);
+    gpio_toggle_state(&leds[3]);
+    LOG_DEBUG("HW Delay");
+    hw_timer_delay_us(1000);
+  }
+}
+
+int main() {
+  tasks_init();
+  interrupt_init();
+  gpio_init();
+  hw_timer_init();
+  log_init();
+
+  tasks_init_task(hw_timer_task, TASK_PRIORITY(2), NULL);
+
+  tasks_start();
+
+  return 0;
+}
diff --git a/smoke/i2c/src/main.c b/smoke/i2c/src/main.c
index 856cfdd77..726a266c2 100644
--- a/smoke/i2c/src/main.c
+++ b/smoke/i2c/src/main.c
@@ -1,14 +1,15 @@
 #include <stdbool.h>
+
+#include "delay.h"
 #include "gpio.h"
 #include "i2c.h"
-#include "tasks.h"
 #include "log.h"
-#include "delay.h"
+#include "tasks.h"
 
 // ==== WRITE PARAMETERS ====
 
 // Fill in these variables with the port and address to write to.
-#define WRITE_I2C_PORT I2C_PORT_1 // I2C_Port_2 is also available
+#define WRITE_I2C_PORT I2C_PORT_1  // I2C_Port_2 is also available
 #define WRITE_I2C_ADDRESS 0x24
 
 // Fill in this array with the bytes to write.
@@ -17,7 +18,7 @@ static const uint8_t bytes_to_write[] = { 0x10, 0x2F };
 // ==== READ PARAMETERS ====
 
 // Fill in these variables with the port and address to read from.
-#define READ_I2C_PORT I2C_PORT_1 
+#define READ_I2C_PORT I2C_PORT_1
 #define READ_I2C_ADDRESS 0x08
 
 // Fill in this variable with the number of bytes to read.
@@ -36,28 +37,25 @@ static const uint8_t bytes_to_write[] = { 0x10, 0x2F };
   { .port = GPIO_PORT_B, .pin = 10 }
 
 static I2CSettings i2c_settings = {
-  .speed = I2C_SPEED_STANDARD,  
-  .sda = I2C1_SDA, 
-  .scl = I2C1_SCL, 
+  .speed = I2C_SPEED_STANDARD,
+  .sda = I2C1_SDA,
+  .scl = I2C1_SCL,
 };
 
-static const GpioAddress test_pin = {
-    .pin = 3,
-    .port = GPIO_PORT_B
-};
+static const GpioAddress test_pin = { .pin = 3, .port = GPIO_PORT_B };
 
-TASK(smoke_i2c_task, TASK_STACK_512){
+TASK(smoke_i2c_task, TASK_STACK_512) {
   uint16_t tx_len = SIZEOF_ARRAY(bytes_to_write);
-  uint8_t rx_buf[SIZEOF_ARRAY(bytes_to_write)] = {0};
-  gpio_init_pin(&test_pin ,GPIO_OUTPUT_PUSH_PULL, GPIO_STATE_HIGH);
-  uint8_t dat[2] = {0xff, 0xff};
+  uint8_t rx_buf[SIZEOF_ARRAY(bytes_to_write)] = { 0 };
+  gpio_init_pin(&test_pin, GPIO_OUTPUT_PUSH_PULL, GPIO_STATE_HIGH);
+  uint8_t dat[2] = { 0xff, 0xff };
   StatusCode ret = i2c_write_reg(WRITE_I2C_PORT, WRITE_I2C_ADDRESS, 0x02, dat, 2);
   while (true) {
     // I2C write
     uint8_t rx_data[2] = { 0 };
     // StatusCode ret = i2c_write(WRITE_I2C_PORT, WRITE_I2C_ADDRESS, dat, 2);
     StatusCode ret1 = i2c_read_reg(WRITE_I2C_PORT, WRITE_I2C_ADDRESS, 0x02, rx_data, 2);
-    LOG_DEBUG("ret: %d %d, DATA : %d %d\n\r",ret , ret1, rx_data[0], rx_data[1]);
+    LOG_DEBUG("ret: %d %d, DATA : %d %d\n\r", ret, ret1, rx_data[0], rx_data[1]);
     // I2C read (uncomment to test)
     // i2c_read(READ_I2C_PORT, READ_I2C_ADDRESS, rx_buf, 6);
     delay_ms(1000);
diff --git a/smoke/pd_load_switch_validate/src/main.c b/smoke/pd_load_switch_validate/src/main.c
index 8bdb2ee48..30265a988 100644
--- a/smoke/pd_load_switch_validate/src/main.c
+++ b/smoke/pd_load_switch_validate/src/main.c
@@ -1,11 +1,11 @@
 #include <stdio.h>
 
 #include "delay.h"
+#include "i2c.h"
 #include "log.h"
 #include "master_task.h"
 #include "pca_config.h"
 #include "tasks.h"
-#include "i2c.h"
 
 Pca9555GpioAddress addy[] = {
   { .i2c_address = I2C_ADDRESS_1, .pin = PCA9555_PIN_IO1_0 },
diff --git a/smoke/pedal_calib/src/main.c b/smoke/pedal_calib/src/main.c
index 74881888c..fb8eb08d2 100644
--- a/smoke/pedal_calib/src/main.c
+++ b/smoke/pedal_calib/src/main.c
@@ -25,7 +25,6 @@ I2CSettings i2c_settings = {
   .sda = { .port = GPIO_PORT_B, .pin = 11 },
 };
 
-
 /* TODO - ads1015 storage needs to be changed to MAX11600 (pending driver completion) */
 void test_throttle_calibration_run(void) {
   LOG_DEBUG("Please ensure the throttle is not being pressed.\n");
@@ -74,9 +73,9 @@ int main(void) {
 
   StatusCode ret = calib_init(&global_calib_blob, sizeof(global_calib_blob), true);
   if (ret == STATUS_CODE_OK) {
-      LOG_DEBUG("calib_init test: OK\n");
+    LOG_DEBUG("calib_init test: OK\n");
   } else {
-      LOG_DEBUG("calib_init test: FAILED (Error code: %d)\n", (int)ret);
+    LOG_DEBUG("calib_init test: FAILED (Error code: %d)\n", (int)ret);
   }
 
   pedal_calib_init(&s_throttle_calibration_storage);
@@ -85,5 +84,6 @@ int main(void) {
   test_throttle_calibration_run();
   test_brake_calibration_run();
 
-  while(1);
-}
\ No newline at end of file
+  while (1) {
+  }
+}
diff --git a/smoke/power_distribution/config.json b/smoke/power_distribution/config.json
index b2f5f4d97..726bef5e0 100644
--- a/smoke/power_distribution/config.json
+++ b/smoke/power_distribution/config.json
@@ -6,11 +6,11 @@
         "master"
     ],
     "include": [
-        "#/projects/power_distribution/inc"
+        "projects/power_distribution/inc"
     ],
     "sources": [
-        "#/projects/power_distribution/src/outputs.c",
-        "#/projects/power_distribution/src/output_config.c",
-        "#/projects/power_distribution/src/output_current_sense.c"
+        "projects/power_distribution/src/outputs.o",
+        "projects/power_distribution/src/output_config.o",
+        "projects/power_distribution/src/output_current_sense.o"
     ]
 }
\ No newline at end of file
diff --git a/smoke/power_distribution/inc/power_distribution.h b/smoke/power_distribution/inc/power_distribution.h
index d32a5df65..1b82b0573 100644
--- a/smoke/power_distribution/inc/power_distribution.h
+++ b/smoke/power_distribution/inc/power_distribution.h
@@ -1,21 +1,21 @@
 #pragma once
 #include "bts_load_switch.h"
-#include "pca9555_gpio_expander.h"
 #include "gpio.h"
 #include "i2c.h"
+#include "pca9555_gpio_expander.h"
 #include "pin_defs.h"
 
-#define CHECK_EQUAL(actual, expected)                         \
-  ({                                                          \
-    __typeof__(actual) a = (actual);                          \
-    __typeof__(actual) e = (__typeof__(actual)) (expected);   \
-    if (a != e) {                                             \
-      LOG_DEBUG("Equal check failed!\n");                     \
-    }                                                         \
+#define CHECK_EQUAL(actual, expected)                      \
+  ({                                                       \
+    __typeof__(actual) a = (actual);                       \
+    __typeof__(actual) e = (__typeof__(actual))(expected); \
+    if (a != e) {                                          \
+      LOG_DEBUG("Equal check failed!\n");                  \
+    }                                                      \
   })
 
 I2CSettings i2c_settings = {
-  .speed = I2C_SPEED_STANDARD, 
+  .speed = I2C_SPEED_STANDARD,
   .sda = PD_I2C_SDA,
   .scl = PD_I2C_SCL,
 };
diff --git a/smoke/power_distribution/src/main.c b/smoke/power_distribution/src/main.c
index 07832d49b..ffdd60f97 100644
--- a/smoke/power_distribution/src/main.c
+++ b/smoke/power_distribution/src/main.c
@@ -1,20 +1,18 @@
 #include <stdio.h>
 
+#include "adc.h"
+#include "delay.h"
+#include "interrupt.h"
 #include "log.h"
-#include "tasks.h"
 #include "master_task.h"
-#include "delay.h"
-#include "adc.h"
-#include "power_distribution.h"
-#include "outputs.h"
 #include "output_current_sense.h"
-#include "interrupt.h"
+#include "outputs.h"
+#include "power_distribution.h"
+#include "tasks.h"
 
-static const OutputGroup output_groups_to_test[] = {
-  OUTPUT_GROUP_LIGHTS_LEFT_TURN
-};
+static const OutputGroup output_groups_to_test[] = { OUTPUT_GROUP_LIGHTS_LEFT_TURN };
 
-static const GpioAddress test_gpio =   { .port = GPIO_PORT_B, .pin = 5 };
+static const GpioAddress test_gpio = { .port = GPIO_PORT_B, .pin = 5 };
 
 void pd_print_adc_readings(OutputGroup group) {
   if (group == OUTPUT_GROUP_ALL) {
@@ -31,18 +29,18 @@ void pd_print_adc_readings(OutputGroup group) {
   }
 }
 
-TASK(smoke_pd, TASK_STACK_512){
+TASK(smoke_pd, TASK_STACK_512) {
   gpio_init_pin(&test_gpio, GPIO_OUTPUT_PUSH_PULL, GPIO_STATE_LOW);
-  
+
   pd_output_init();
   pd_sense_init();
   adc_init();
   uint16_t num_test_grps = SIZEOF_ARRAY(output_groups_to_test);
 
-  while(true) {
-    for(uint8_t i = 0; i < num_test_grps; i++) {
+  while (true) {
+    for (uint8_t i = 0; i < num_test_grps; i++) {
       uint16_t sense = 0;
-      
+
       gpio_toggle_state(&test_gpio);
       pd_set_output_group(output_groups_to_test[i], OUTPUT_STATE_ON);
       delay_ms(2000);
@@ -73,4 +71,3 @@ int main() {
   LOG_DEBUG("exiting main?");
   return 0;
 }
-
diff --git a/smoke/spi/src/main.c b/smoke/spi/src/main.c
index c74f16e37..706a9947f 100644
--- a/smoke/spi/src/main.c
+++ b/smoke/spi/src/main.c
@@ -1,7 +1,7 @@
 #include <stdio.h>
 
-#include "gpio.h"
 #include "delay.h"
+#include "gpio.h"
 #include "log.h"
 #include "spi.h"
 #include "tasks.h"
@@ -41,7 +41,7 @@ static SpiSettings spi_settings = {
 
 TASK(smoke_spi_task, TASK_STACK_512) {
   spi_init(SPI_PORT_2, &spi_settings);
-  uint8_t spi_tx_data[5]  = { 0x02, 0x28, 0x7, 0x8, 0x9 };
+  uint8_t spi_tx_data[5] = { 0x02, 0x28, 0x7, 0x8, 0x9 };
   while (true) {
     spi_cs_set_state(SPI_PORT_2, GPIO_STATE_LOW);
     uint8_t read_bytes[3] = { 0 };
diff --git a/smoke/uart/src/main.c b/smoke/uart/src/main.c
index 07d90a7b5..7c43800af 100644
--- a/smoke/uart/src/main.c
+++ b/smoke/uart/src/main.c
@@ -8,7 +8,8 @@
 
 static const char test[] = "test uart\n";
 
-// This might cause issues because logs are initialized on the same port at a different baudrate, check this if there are issues
+// This might cause issues because logs are initialized on the same port at a different baudrate,
+// check this if there are issues
 static UartSettings uart_settings = { .tx = { .port = GPIO_PORT_A, .pin = 10 },
                                       .rx = { .port = GPIO_PORT_A, .pin = 11 },
                                       .baudrate = 9600 };
diff --git a/smoke/uv_cutoff/src/main.c b/smoke/uv_cutoff/src/main.c
index 86d5ae4f5..db8e05e34 100644
--- a/smoke/uv_cutoff/src/main.c
+++ b/smoke/uv_cutoff/src/main.c
@@ -1,10 +1,10 @@
 #include <stdio.h>
 
-#include "can.h"
 #include "assert.h"
-#include "gpio.h"
+#include "can.h"
 #include "can_board_ids.h"
 #include "delay.h"
+#include "gpio.h"
 #include "interrupt.h"
 #include "log.h"
 #include "misc.h"
@@ -30,9 +30,9 @@ static const GpioAddress horn = { .port = HORN_PORT, .pin = HORN_PIN };
 
 static const GpioAddress lights = { .port = LIGHTS_PORT, .pin = LIGHTS_PIN };
 
-  StatusCode status;
-  GpioState state_val;
-  int lights_check = 0;
+StatusCode status;
+GpioState state_val;
+int lights_check = 0;
 
 static UVCutoffState state = UV_CUTOFF_ACTIVE;
 
@@ -45,7 +45,7 @@ void uv_smoke_logic() {
   }
   if (uv_value == GPIO_STATE_LOW) {
     state = UV_CUTOFF_DISCONNECTED;
-  } else { 
+  } else {
     state = UV_CUTOFF_ACTIVE;
   }
 
@@ -54,7 +54,7 @@ void uv_smoke_logic() {
   if (state == UV_CUTOFF_DISCONNECTED) {
     return;
   }
-  
+
   if (get_horn_and_lights_horn_state()) {
     status = gpio_set_state(&horn, GPIO_STATE_LOW);
     if (status == STATUS_CODE_OK) {
@@ -65,16 +65,15 @@ void uv_smoke_logic() {
     if (status == STATUS_CODE_OK) {
       gpio_get_state(&horn, &state_val);
     }
-    
   }
 
-  if(lights_check) {
+  if (lights_check) {
     if (get_horn_and_lights_lights_state()) {
       status = gpio_set_state(&lights, GPIO_STATE_LOW);
       if (status == STATUS_CODE_OK) {
         gpio_get_state(&lights, &state_val);
       }
-      
+
     } else {
       status = gpio_set_state(&lights, GPIO_STATE_HIGH);
       if (status == STATUS_CODE_OK) {
@@ -82,29 +81,28 @@ void uv_smoke_logic() {
       }
     }
   }
-  
 }
 
 TASK(smoke_task, TASK_MIN_STACK_SIZE) {
   //
-  //TEST 1 - Disconnected UV status
+  // TEST 1 - Disconnected UV status
   LOG_DEBUG("Running test for UV Disconnected state\n");
-  gpio_set_state(&uv_status,GPIO_STATE_LOW);
+  gpio_set_state(&uv_status, GPIO_STATE_LOW);
   uv_smoke_logic();
-  assert( g_tx_struct.uv_cutoff_notification1_signal1 == UV_CUTOFF_DISCONNECTED );
+  assert(g_tx_struct.uv_cutoff_notification1_signal1 == UV_CUTOFF_DISCONNECTED);
   LOG_DEBUG("uv_cutoff notification signal set to 'UV_CUTOFF_DISCONNECTED'\n");
   delay_ms(1000);
-  //TEST 2 - Active UV status
+  // TEST 2 - Active UV status
   LOG_DEBUG("Running test for UV Active state\n");
-  gpio_set_state(&uv_status,GPIO_STATE_HIGH);
+  gpio_set_state(&uv_status, GPIO_STATE_HIGH);
   uv_smoke_logic();
-  assert( g_tx_struct.uv_cutoff_notification1_signal1 == UV_CUTOFF_ACTIVE );
+  assert(g_tx_struct.uv_cutoff_notification1_signal1 == UV_CUTOFF_ACTIVE);
   LOG_DEBUG("uv_cutoff notification signal set to 'UV_CUTOFF_ACTIVE'\n");
   delay_ms(1000);
-  //TEST 3 - Horn state HIGH
+  // TEST 3 - Horn state HIGH
   LOG_DEBUG("Running test for Horn in state HIGH\n");
-  gpio_set_state(&uv_status,GPIO_STATE_HIGH);
-  gpio_set_state(&horn,GPIO_STATE_HIGH);
+  gpio_set_state(&uv_status, GPIO_STATE_HIGH);
+  gpio_set_state(&horn, GPIO_STATE_HIGH);
   g_rx_struct.horn_and_lights_horn_state = GPIO_STATE_HIGH;
   lights_check = 0;
   uv_smoke_logic();
@@ -112,10 +110,10 @@ TASK(smoke_task, TASK_MIN_STACK_SIZE) {
   assert(state_val == GPIO_STATE_LOW);
   LOG_DEBUG("horn state set to LOW\n");
   delay_ms(1000);
-  //TEST 4 - Lights state HIGH
+  // TEST 4 - Lights state HIGH
   LOG_DEBUG("Running test for Lights in state HIGH\n");
-  gpio_set_state(&uv_status,GPIO_STATE_HIGH);
-  gpio_set_state(&lights,GPIO_STATE_HIGH);
+  gpio_set_state(&uv_status, GPIO_STATE_HIGH);
+  gpio_set_state(&lights, GPIO_STATE_HIGH);
   g_rx_struct.horn_and_lights_lights_state = GPIO_STATE_HIGH;
   lights_check = 1;
   uv_smoke_logic();
@@ -123,10 +121,10 @@ TASK(smoke_task, TASK_MIN_STACK_SIZE) {
   assert(state_val == GPIO_STATE_LOW);
   LOG_DEBUG("lights state set to LOW\n");
   delay_ms(1000);
-  //TEST 5 - Horn state LOW
+  // TEST 5 - Horn state LOW
   LOG_DEBUG("Running test for Horn in state LOW\n");
-  gpio_set_state(&uv_status,GPIO_STATE_HIGH);
-  gpio_set_state(&horn,GPIO_STATE_LOW);
+  gpio_set_state(&uv_status, GPIO_STATE_HIGH);
+  gpio_set_state(&horn, GPIO_STATE_LOW);
   g_rx_struct.horn_and_lights_horn_state = GPIO_STATE_LOW;
   lights_check = 0;
   uv_smoke_logic();
@@ -134,10 +132,10 @@ TASK(smoke_task, TASK_MIN_STACK_SIZE) {
   assert(state_val == GPIO_STATE_HIGH);
   LOG_DEBUG("horn state set to HIGH\n");
   delay_ms(1000);
-  //TEST 6 - Lights state LOW
+  // TEST 6 - Lights state LOW
   LOG_DEBUG("Running test for Lights in state LOW\n");
-  gpio_set_state(&uv_status,GPIO_STATE_HIGH);
-  gpio_set_state(&lights,GPIO_STATE_LOW);
+  gpio_set_state(&uv_status, GPIO_STATE_HIGH);
+  gpio_set_state(&lights, GPIO_STATE_LOW);
   g_rx_struct.horn_and_lights_lights_state = GPIO_STATE_LOW;
   lights_check = 1;
   uv_smoke_logic();
@@ -151,10 +149,10 @@ TASK(smoke_task, TASK_MIN_STACK_SIZE) {
 int main() {
   tasks_init();
   log_init();
-  
+
   gpio_init();
 
-  //IT SHOULD BE GPIO_INPUT_PULL_UP BUT CHANGED FOR TESTING PURPOSES ONLY
+  // IT SHOULD BE GPIO_INPUT_PULL_UP BUT CHANGED FOR TESTING PURPOSES ONLY
   gpio_init_pin(&uv_status, GPIO_OUTPUT_PUSH_PULL, GPIO_STATE_HIGH);
   gpio_init_pin(&horn, GPIO_OUTPUT_PUSH_PULL, GPIO_STATE_LOW);
   gpio_init_pin(&lights, GPIO_OUTPUT_PUSH_PULL, GPIO_STATE_LOW);