diff --git a/.DS_Store b/.DS_Store
index f7b5150..727bd4c 100644
Binary files a/.DS_Store and b/.DS_Store differ
diff --git a/.cproject b/.cproject
index 9a195ef..60fc330 100644
--- a/.cproject
+++ b/.cproject
@@ -53,8 +53,8 @@
 									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/include"/>
 									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2"/>
 									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Libs/rtos2-utils/include}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Tacos/include}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CAN-Demo/Libs/rtos2-utils/include}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CAN-Demo/TACOS/include}&quot;"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1002361924" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
 							</tool>
@@ -72,9 +72,9 @@
 									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/include"/>
 									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2"/>
 									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Tacos/include}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Libs/rtos2-utils/include}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/App/Inc/sta}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CAN-Demo/TACOS/include}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CAN-Demo/App/Inc/sta}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/CAN-Demo/Libs/rtos2-utils/include}&quot;"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols.2087867384" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="DEBUG"/>
@@ -114,7 +114,7 @@
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
 						<entry flags="VALUE_WORKSPACE_PATH" kind="sourcePath" name="Libs"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
-						<entry flags="VALUE_WORKSPACE_PATH" kind="sourcePath" name="Tacos"/>
+						<entry flags="VALUE_WORKSPACE_PATH" kind="sourcePath" name="TACOS/src"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
diff --git a/.gitmodules b/.gitmodules
index c7a0181..b26bad9 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -6,3 +6,6 @@
 	path = Libs/rtos2-utils
 	url = ssh://git@git.intern.spaceteamaachen.de:22222/ALPAKA/rtos2-utils.git
 	branch = libs-rework
+[submodule "TACOS"]
+	path = TACOS
+	url = ssh://git@git.intern.spaceteamaachen.de:22222/ALPAKA/TACOS.git
diff --git a/.settings/org.eclipse.cdt.core.prefs b/.settings/org.eclipse.cdt.core.prefs
new file mode 100644
index 0000000..c8ec5df
--- /dev/null
+++ b/.settings/org.eclipse.cdt.core.prefs
@@ -0,0 +1,6 @@
+doxygen/doxygen_new_line_after_brief=true
+doxygen/doxygen_use_brief_tag=false
+doxygen/doxygen_use_javadoc_tags=true
+doxygen/doxygen_use_pre_tag=false
+doxygen/doxygen_use_structural_commands=false
+eclipse.preferences.version=1
diff --git a/CAN-Card_Module_Software Debug.launch b/CAN-Card_Module_Software Debug.launch
index c298460..32c7ba3 100644
--- a/CAN-Card_Module_Software Debug.launch	
+++ b/CAN-Card_Module_Software Debug.launch	
@@ -30,7 +30,7 @@
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_logging" value="false"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_max_halt_delay" value="false"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_shared_stlink" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.frequency" value="100"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.frequency" value="0"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.halt_all_on_reset" value="false"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.log_file" value="/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Debug/st-link_gdbserver_log.txt"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.low_power_debug" value="enable"/>
diff --git a/Debug/App/Src/subdir.mk b/Debug/App/Src/subdir.mk
index 81d6046..707663f 100644
--- a/Debug/App/Src/subdir.mk
+++ b/Debug/App/Src/subdir.mk
@@ -19,7 +19,7 @@ CPP_DEPS += \
 
 # Each subdirectory must supply rules for building sources it contributes
 App/Src/%.o App/Src/%.su App/Src/%.cyclo: ../App/Src/%.cpp App/Src/subdir.mk
-	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Tacos/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
+	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/TACOS/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
 
 clean: clean-App-2f-Src
 
diff --git a/Debug/Core/Src/subdir.mk b/Debug/Core/Src/subdir.mk
index 4dd477f..d11b3bc 100644
--- a/Debug/Core/Src/subdir.mk
+++ b/Debug/Core/Src/subdir.mk
@@ -43,7 +43,7 @@ OBJS += \
 
 # Each subdirectory must supply rules for building sources it contributes
 Core/Src/%.o Core/Src/%.su Core/Src/%.cyclo: ../Core/Src/%.c Core/Src/subdir.mk
-	arm-none-eabi-gcc "$<" -mcpu=cortex-m4 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Tacos/include" -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
+	arm-none-eabi-gcc "$<" -mcpu=cortex-m4 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/TACOS/include" -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
 
 clean: clean-Core-2f-Src
 
diff --git a/Debug/Drivers/STM32F4xx_HAL_Driver/Src/subdir.mk b/Debug/Drivers/STM32F4xx_HAL_Driver/Src/subdir.mk
index eb0c5f6..237d216 100644
--- a/Debug/Drivers/STM32F4xx_HAL_Driver/Src/subdir.mk
+++ b/Debug/Drivers/STM32F4xx_HAL_Driver/Src/subdir.mk
@@ -64,7 +64,7 @@ OBJS += \
 
 # Each subdirectory must supply rules for building sources it contributes
 Drivers/STM32F4xx_HAL_Driver/Src/%.o Drivers/STM32F4xx_HAL_Driver/Src/%.su Drivers/STM32F4xx_HAL_Driver/Src/%.cyclo: ../Drivers/STM32F4xx_HAL_Driver/Src/%.c Drivers/STM32F4xx_HAL_Driver/Src/subdir.mk
-	arm-none-eabi-gcc "$<" -mcpu=cortex-m4 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Tacos/include" -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
+	arm-none-eabi-gcc "$<" -mcpu=cortex-m4 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/TACOS/include" -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
 
 clean: clean-Drivers-2f-STM32F4xx_HAL_Driver-2f-Src
 
diff --git a/Debug/Libs/sta-core/src/atomic/subdir.mk b/Debug/Libs/sta-core/src/atomic/subdir.mk
index 84f6637..794de5c 100644
--- a/Debug/Libs/sta-core/src/atomic/subdir.mk
+++ b/Debug/Libs/sta-core/src/atomic/subdir.mk
@@ -19,7 +19,7 @@ CPP_DEPS += \
 
 # Each subdirectory must supply rules for building sources it contributes
 Libs/sta-core/src/atomic/%.o Libs/sta-core/src/atomic/%.su Libs/sta-core/src/atomic/%.cyclo: ../Libs/sta-core/src/atomic/%.cpp Libs/sta-core/src/atomic/subdir.mk
-	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Tacos/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
+	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/TACOS/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
 
 clean: clean-Libs-2f-sta-2d-core-2f-src-2f-atomic
 
diff --git a/Debug/Libs/sta-core/src/bus/i2c/subdir.mk b/Debug/Libs/sta-core/src/bus/i2c/subdir.mk
index 0360029..4bfdb43 100644
--- a/Debug/Libs/sta-core/src/bus/i2c/subdir.mk
+++ b/Debug/Libs/sta-core/src/bus/i2c/subdir.mk
@@ -19,7 +19,7 @@ CPP_DEPS += \
 
 # Each subdirectory must supply rules for building sources it contributes
 Libs/sta-core/src/bus/i2c/%.o Libs/sta-core/src/bus/i2c/%.su Libs/sta-core/src/bus/i2c/%.cyclo: ../Libs/sta-core/src/bus/i2c/%.cpp Libs/sta-core/src/bus/i2c/subdir.mk
-	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Tacos/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
+	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/TACOS/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
 
 clean: clean-Libs-2f-sta-2d-core-2f-src-2f-bus-2f-i2c
 
diff --git a/Debug/Libs/sta-core/src/bus/spi/subdir.mk b/Debug/Libs/sta-core/src/bus/spi/subdir.mk
index e4d12ad..0ea49ad 100644
--- a/Debug/Libs/sta-core/src/bus/spi/subdir.mk
+++ b/Debug/Libs/sta-core/src/bus/spi/subdir.mk
@@ -22,7 +22,7 @@ CPP_DEPS += \
 
 # Each subdirectory must supply rules for building sources it contributes
 Libs/sta-core/src/bus/spi/%.o Libs/sta-core/src/bus/spi/%.su Libs/sta-core/src/bus/spi/%.cyclo: ../Libs/sta-core/src/bus/spi/%.cpp Libs/sta-core/src/bus/spi/subdir.mk
-	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Tacos/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
+	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/TACOS/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
 
 clean: clean-Libs-2f-sta-2d-core-2f-src-2f-bus-2f-spi
 
diff --git a/Debug/Libs/sta-core/src/bus/subdir.mk b/Debug/Libs/sta-core/src/bus/subdir.mk
index 3883bae..dd6a813 100644
--- a/Debug/Libs/sta-core/src/bus/subdir.mk
+++ b/Debug/Libs/sta-core/src/bus/subdir.mk
@@ -19,7 +19,7 @@ CPP_DEPS += \
 
 # Each subdirectory must supply rules for building sources it contributes
 Libs/sta-core/src/bus/%.o Libs/sta-core/src/bus/%.su Libs/sta-core/src/bus/%.cyclo: ../Libs/sta-core/src/bus/%.cpp Libs/sta-core/src/bus/subdir.mk
-	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Tacos/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
+	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/TACOS/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
 
 clean: clean-Libs-2f-sta-2d-core-2f-src-2f-bus
 
diff --git a/Debug/Libs/sta-core/src/bus/uart/subdir.mk b/Debug/Libs/sta-core/src/bus/uart/subdir.mk
index 6012f49..d7a187e 100644
--- a/Debug/Libs/sta-core/src/bus/uart/subdir.mk
+++ b/Debug/Libs/sta-core/src/bus/uart/subdir.mk
@@ -19,7 +19,7 @@ CPP_DEPS += \
 
 # Each subdirectory must supply rules for building sources it contributes
 Libs/sta-core/src/bus/uart/%.o Libs/sta-core/src/bus/uart/%.su Libs/sta-core/src/bus/uart/%.cyclo: ../Libs/sta-core/src/bus/uart/%.cpp Libs/sta-core/src/bus/uart/subdir.mk
-	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Tacos/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
+	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/TACOS/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
 
 clean: clean-Libs-2f-sta-2d-core-2f-src-2f-bus-2f-uart
 
diff --git a/Debug/Libs/sta-core/src/can/subdir.mk b/Debug/Libs/sta-core/src/can/subdir.mk
index a4ae28d..743a9d1 100644
--- a/Debug/Libs/sta-core/src/can/subdir.mk
+++ b/Debug/Libs/sta-core/src/can/subdir.mk
@@ -19,7 +19,7 @@ CPP_DEPS += \
 
 # Each subdirectory must supply rules for building sources it contributes
 Libs/sta-core/src/can/%.o Libs/sta-core/src/can/%.su Libs/sta-core/src/can/%.cyclo: ../Libs/sta-core/src/can/%.cpp Libs/sta-core/src/can/subdir.mk
-	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Tacos/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
+	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/TACOS/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
 
 clean: clean-Libs-2f-sta-2d-core-2f-src-2f-can
 
diff --git a/Debug/Libs/sta-core/src/debug/printing/subdir.mk b/Debug/Libs/sta-core/src/debug/printing/subdir.mk
index d6abdca..a4644c9 100644
--- a/Debug/Libs/sta-core/src/debug/printing/subdir.mk
+++ b/Debug/Libs/sta-core/src/debug/printing/subdir.mk
@@ -22,7 +22,7 @@ CPP_DEPS += \
 
 # Each subdirectory must supply rules for building sources it contributes
 Libs/sta-core/src/debug/printing/%.o Libs/sta-core/src/debug/printing/%.su Libs/sta-core/src/debug/printing/%.cyclo: ../Libs/sta-core/src/debug/printing/%.cpp Libs/sta-core/src/debug/printing/subdir.mk
-	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Tacos/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
+	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/TACOS/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
 
 clean: clean-Libs-2f-sta-2d-core-2f-src-2f-debug-2f-printing
 
diff --git a/Debug/Libs/sta-core/src/debug/subdir.mk b/Debug/Libs/sta-core/src/debug/subdir.mk
index 5b3f583..68bf5e0 100644
--- a/Debug/Libs/sta-core/src/debug/subdir.mk
+++ b/Debug/Libs/sta-core/src/debug/subdir.mk
@@ -16,7 +16,7 @@ CPP_DEPS += \
 
 # Each subdirectory must supply rules for building sources it contributes
 Libs/sta-core/src/debug/%.o Libs/sta-core/src/debug/%.su Libs/sta-core/src/debug/%.cyclo: ../Libs/sta-core/src/debug/%.cpp Libs/sta-core/src/debug/subdir.mk
-	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Tacos/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
+	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/TACOS/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
 
 clean: clean-Libs-2f-sta-2d-core-2f-src-2f-debug
 
diff --git a/Debug/Libs/sta-core/src/devices/arduino/bus/subdir.mk b/Debug/Libs/sta-core/src/devices/arduino/bus/subdir.mk
index 65298b5..57a1385 100644
--- a/Debug/Libs/sta-core/src/devices/arduino/bus/subdir.mk
+++ b/Debug/Libs/sta-core/src/devices/arduino/bus/subdir.mk
@@ -19,7 +19,7 @@ CPP_DEPS += \
 
 # Each subdirectory must supply rules for building sources it contributes
 Libs/sta-core/src/devices/arduino/bus/%.o Libs/sta-core/src/devices/arduino/bus/%.su Libs/sta-core/src/devices/arduino/bus/%.cyclo: ../Libs/sta-core/src/devices/arduino/bus/%.cpp Libs/sta-core/src/devices/arduino/bus/subdir.mk
-	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Tacos/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
+	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/TACOS/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
 
 clean: clean-Libs-2f-sta-2d-core-2f-src-2f-devices-2f-arduino-2f-bus
 
diff --git a/Debug/Libs/sta-core/src/devices/arduino/subdir.mk b/Debug/Libs/sta-core/src/devices/arduino/subdir.mk
index e2de13b..30673af 100644
--- a/Debug/Libs/sta-core/src/devices/arduino/subdir.mk
+++ b/Debug/Libs/sta-core/src/devices/arduino/subdir.mk
@@ -19,7 +19,7 @@ CPP_DEPS += \
 
 # Each subdirectory must supply rules for building sources it contributes
 Libs/sta-core/src/devices/arduino/%.o Libs/sta-core/src/devices/arduino/%.su Libs/sta-core/src/devices/arduino/%.cyclo: ../Libs/sta-core/src/devices/arduino/%.cpp Libs/sta-core/src/devices/arduino/subdir.mk
-	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Tacos/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
+	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/TACOS/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
 
 clean: clean-Libs-2f-sta-2d-core-2f-src-2f-devices-2f-arduino
 
diff --git a/Debug/Libs/sta-core/src/devices/raspi/bus/subdir.mk b/Debug/Libs/sta-core/src/devices/raspi/bus/subdir.mk
index 035412b..4fedd53 100644
--- a/Debug/Libs/sta-core/src/devices/raspi/bus/subdir.mk
+++ b/Debug/Libs/sta-core/src/devices/raspi/bus/subdir.mk
@@ -19,7 +19,7 @@ CPP_DEPS += \
 
 # Each subdirectory must supply rules for building sources it contributes
 Libs/sta-core/src/devices/raspi/bus/%.o Libs/sta-core/src/devices/raspi/bus/%.su Libs/sta-core/src/devices/raspi/bus/%.cyclo: ../Libs/sta-core/src/devices/raspi/bus/%.cpp Libs/sta-core/src/devices/raspi/bus/subdir.mk
-	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Tacos/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
+	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/TACOS/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
 
 clean: clean-Libs-2f-sta-2d-core-2f-src-2f-devices-2f-raspi-2f-bus
 
diff --git a/Debug/Libs/sta-core/src/devices/raspi/subdir.mk b/Debug/Libs/sta-core/src/devices/raspi/subdir.mk
index 12c5d70..ae55ec7 100644
--- a/Debug/Libs/sta-core/src/devices/raspi/subdir.mk
+++ b/Debug/Libs/sta-core/src/devices/raspi/subdir.mk
@@ -19,7 +19,7 @@ CPP_DEPS += \
 
 # Each subdirectory must supply rules for building sources it contributes
 Libs/sta-core/src/devices/raspi/%.o Libs/sta-core/src/devices/raspi/%.su Libs/sta-core/src/devices/raspi/%.cyclo: ../Libs/sta-core/src/devices/raspi/%.cpp Libs/sta-core/src/devices/raspi/subdir.mk
-	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Tacos/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
+	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/TACOS/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
 
 clean: clean-Libs-2f-sta-2d-core-2f-src-2f-devices-2f-raspi
 
diff --git a/Debug/Libs/sta-core/src/devices/stm32/bus/subdir.mk b/Debug/Libs/sta-core/src/devices/stm32/bus/subdir.mk
index 1e5c3d3..e8c0ff7 100644
--- a/Debug/Libs/sta-core/src/devices/stm32/bus/subdir.mk
+++ b/Debug/Libs/sta-core/src/devices/stm32/bus/subdir.mk
@@ -22,7 +22,7 @@ CPP_DEPS += \
 
 # Each subdirectory must supply rules for building sources it contributes
 Libs/sta-core/src/devices/stm32/bus/%.o Libs/sta-core/src/devices/stm32/bus/%.su Libs/sta-core/src/devices/stm32/bus/%.cyclo: ../Libs/sta-core/src/devices/stm32/bus/%.cpp Libs/sta-core/src/devices/stm32/bus/subdir.mk
-	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Tacos/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
+	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/TACOS/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
 
 clean: clean-Libs-2f-sta-2d-core-2f-src-2f-devices-2f-stm32-2f-bus
 
diff --git a/Debug/Libs/sta-core/src/devices/stm32/subdir.mk b/Debug/Libs/sta-core/src/devices/stm32/subdir.mk
index d995898..61ffb21 100644
--- a/Debug/Libs/sta-core/src/devices/stm32/subdir.mk
+++ b/Debug/Libs/sta-core/src/devices/stm32/subdir.mk
@@ -28,7 +28,7 @@ CPP_DEPS += \
 
 # Each subdirectory must supply rules for building sources it contributes
 Libs/sta-core/src/devices/stm32/%.o Libs/sta-core/src/devices/stm32/%.su Libs/sta-core/src/devices/stm32/%.cyclo: ../Libs/sta-core/src/devices/stm32/%.cpp Libs/sta-core/src/devices/stm32/subdir.mk
-	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Tacos/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
+	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/TACOS/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
 
 clean: clean-Libs-2f-sta-2d-core-2f-src-2f-devices-2f-stm32
 
diff --git a/Debug/Libs/sta-core/src/devices/template/subdir.mk b/Debug/Libs/sta-core/src/devices/template/subdir.mk
index 812dedd..0bb9da6 100644
--- a/Debug/Libs/sta-core/src/devices/template/subdir.mk
+++ b/Debug/Libs/sta-core/src/devices/template/subdir.mk
@@ -19,7 +19,7 @@ CPP_DEPS += \
 
 # Each subdirectory must supply rules for building sources it contributes
 Libs/sta-core/src/devices/template/%.o Libs/sta-core/src/devices/template/%.su Libs/sta-core/src/devices/template/%.cyclo: ../Libs/sta-core/src/devices/template/%.cpp Libs/sta-core/src/devices/template/subdir.mk
-	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Tacos/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
+	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/TACOS/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
 
 clean: clean-Libs-2f-sta-2d-core-2f-src-2f-devices-2f-template
 
diff --git a/Debug/Libs/sta-core/src/subdir.mk b/Debug/Libs/sta-core/src/subdir.mk
index a45bf97..62d25b7 100644
--- a/Debug/Libs/sta-core/src/subdir.mk
+++ b/Debug/Libs/sta-core/src/subdir.mk
@@ -16,7 +16,7 @@ CPP_DEPS += \
 
 # Each subdirectory must supply rules for building sources it contributes
 Libs/sta-core/src/%.o Libs/sta-core/src/%.su Libs/sta-core/src/%.cyclo: ../Libs/sta-core/src/%.cpp Libs/sta-core/src/subdir.mk
-	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Tacos/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
+	arm-none-eabi-g++ "$<" -mcpu=cortex-m4 -std=gnu++14 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F407xx -c -I../Core/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc -I../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I../Drivers/CMSIS/Include -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/sta-core/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc" -I../Middlewares/Third_Party/FreeRTOS/Source/include -I../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/TACOS/include" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/App/Inc/sta" -I"/Users/carlos/Documents/RWTH/space_team/CAN-Demo/Libs/rtos2-utils/include" -O0 -ffunction-sections -fdata-sections -fno-exceptions -fno-rtti -fno-use-cxa-atexit -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"$(@:%.o=%.d)" -MT"$@" --specs=nano.specs -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb -o "$@"
 
 clean: clean-Libs-2f-sta-2d-core-2f-src
 
diff --git a/Debug/makefile b/Debug/makefile
index 1dd16f8..3c57810 100644
--- a/Debug/makefile
+++ b/Debug/makefile
@@ -9,7 +9,7 @@ RM := rm -rf
 
 # All of the sources participating in the build are defined here
 -include sources.mk
--include Tacos/src/subdir.mk
+-include TACOS/src/subdir.mk
 -include Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/subdir.mk
 -include Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/subdir.mk
 -include Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/subdir.mk
diff --git a/Debug/objects.list b/Debug/objects.list
index b6d4981..820e63c 100644
--- a/Debug/objects.list
+++ b/Debug/objects.list
@@ -88,7 +88,7 @@
 "./Middlewares/Third_Party/FreeRTOS/Source/timers.o"
 "./Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.o"
 "./Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.o"
-"./Tacos/src/manager.o"
-"./Tacos/src/startup.o"
-"./Tacos/src/statemachine.o"
-"./Tacos/src/thread.o"
+"./TACOS/src/manager.o"
+"./TACOS/src/startup.o"
+"./TACOS/src/statemachine.o"
+"./TACOS/src/thread.o"
diff --git a/Debug/sources.mk b/Debug/sources.mk
index 97268e4..45aa89f 100644
--- a/Debug/sources.mk
+++ b/Debug/sources.mk
@@ -66,5 +66,5 @@ Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 \
 Middlewares/Third_Party/FreeRTOS/Source \
 Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F \
 Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang \
-Tacos/src \
+TACOS/src \
 
diff --git a/Tacos/.gitignore b/Tacos/.gitignore
new file mode 100644
index 0000000..b9309ce
--- /dev/null
+++ b/Tacos/.gitignore
@@ -0,0 +1,15 @@
+# IDE settings
+.settings/
+
+# Contain local paths
+.mxproject
+*.launch
+
+# Build artifacts
+Debug/
+Release/
+
+# Doxygen
+docs/html
+docs/latex
+
diff --git a/Tacos/README.md b/Tacos/README.md
new file mode 100644
index 0000000..152f808
--- /dev/null
+++ b/Tacos/README.md
@@ -0,0 +1,66 @@
+# TACOS
+
+This is the Trajectory Analysis Control OS (TACOS) that serves as a starting point for developing TACOS-based projects, by implementing threads in the App directory. TACOS is a subset of the features provided by ALPAKA. In particular, TACOS consists of the STM32-specific components of sta-core, rtos-2 and rtos2-utils.
+
+## Setting Up TACOS
+
+Add this as a library an existing CubeIDE project using FreeRTOS. Generally, we advise you to add it as a submodule. Make sure that you add the include paths for Tacos, i.e. sta-core and rtos2-utils, to the project with the following steps:    
+``` 
+Properties -> C/C++ General -> Paths and Symbols -> Includes -> GNU C -> Add... 
+Properties -> C/C++ General -> Paths and Symbols -> Includes -> GNU C++ -> Add... 
+Properties -> C/C++ General -> Paths and Symbols -> Source Location -> Add Folder... 
+```
+
+Create a new thread via the project's IOC and call `startALPAKA()` from this thread. If your thread is called `defaultTask`, the corresponding function `StartDefaultTask` generated in `Core/Src/freertos.c` should look like this:
+```
+void StartDefaultTask(void *argument)
+{
+  /* USER CODE BEGIN StartDefaultTask */
+	extern void startALPAKA(void *);
+	startALPAKA(argument);
+
+  /* Infinite loop */
+  for(;;)
+  {
+    osDelay(1);
+  }
+  /* USER CODE END StartDefaultTask */
+}
+```
+
+## Configuring TACOS
+Be sure to add a "config.hpp" to the App/Inc/sta directory. This file could look like this:
+```
+#ifndef INC_STA_CONFIG_HPP_
+#define INC_STA_CONFIG_HPP_
+
+// Use the STM32F411 microprocessor.
+#include <sta/devices/stm32/mcu/STM32F411xE.hpp>
+
+// Doesn't really do too much right now. Has to be added for successful compilation.
+#define STA_PRINTF_USE_STDLIB
+
+// Enable debug serial output and assertions.
+#define STA_ASSERT_FORCE
+#define STA_DEBUGGING_ENABLED
+
+// Activate the timer for microsecond delays.
+// #define STA_STM32_DELAY_ENABLE
+// #define STA_STM32_DELAY_US_TIM htim1
+
+// Settings for the rtos-utils
+#define STA_RTOS_SYSTEM_EVENTS_ENABLE
+// #define STA_RTOS_SYSTEM_WATCHDOG_ENABLE
+// #define STA_RTOS_WATCHDOG_ENABLE
+
+
+// Settings for TACOS
+#define STA_TACOS_MANAGER_PRIORITY osPriorityNormal
+#define STA_TACOS_STATEMACHINE_PRIORITY osPriorityNormal
+
+// Statemachine settings. Here, we only have a single state which is also the initial state.
+#define STA_TACOS_NUM_STATES 3
+#define STA_TACOS_INITIAL_STATE 0
+
+#endif /* INC_STA_CONFIG_HPP_ */
+```
\ No newline at end of file