diff --git a/Software/.vscode/settings.json b/Software/.vscode/settings.json
index faad003..c1c2686 100644
--- a/Software/.vscode/settings.json
+++ b/Software/.vscode/settings.json
@@ -1,4 +1,4 @@
 {
-    "cortex-debug.armToolchainPath": "/home/chiangni/.config/VSCodium/User/globalStorage/bmd.stm32-for-vscode/@xpack-dev-tools/arm-none-eabi-gcc/13.2.1-1.1.1/.content/bin",
-    "cortex-debug.openocdPath": "/home/chiangni/Documents/STM32/OpenOCD/xpacks/@xpack-dev-tools/openocd/.content/bin/openocd"
+    "cortex-debug.armToolchainPath": "/home/chiangni/.config/Code/User/globalStorage/bmd.stm32-for-vscode/@xpack-dev-tools/arm-none-eabi-gcc/13.3.1-1.1.1/.content/bin",
+    "cortex-debug.openocdPath": "/home/chiangni/.config/Code/User/globalStorage/bmd.stm32-for-vscode/@xpack-dev-tools/openocd/0.12.0-4.1/.content/bin/openocd"
 }
\ No newline at end of file
diff --git a/Software/Core/Inc/adc.h b/Software/Core/Inc/adc.h
new file mode 100644
index 0000000..391e3e9
--- /dev/null
+++ b/Software/Core/Inc/adc.h
@@ -0,0 +1,9 @@
+#ifndef INC_ADC
+#define INC_ADC
+#include "stm32f0xx_hal_adc.h"
+
+void adc_init(ADC_HandleTypeDef* hadc);
+void adc_loop(ADC_HandleTypeDef* hadc);
+void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc);
+
+#endif
\ No newline at end of file
diff --git a/Software/Core/Inc/stm32f0xx_hal_conf.h b/Software/Core/Inc/stm32f0xx_hal_conf.h
index 9db9553..0babd97 100644
--- a/Software/Core/Inc/stm32f0xx_hal_conf.h
+++ b/Software/Core/Inc/stm32f0xx_hal_conf.h
@@ -73,7 +73,7 @@
   *        (when HSE is used as system clock source, directly or through the PLL).
   */
 #if !defined  (HSE_VALUE)
-  #define HSE_VALUE    ((uint32_t)12000000) /*!< Value of the External oscillator in Hz */
+  #define HSE_VALUE    ((uint32_t)8000000) /*!< Value of the External oscillator in Hz */
 #endif /* HSE_VALUE */
 
 /**
diff --git a/Software/Core/Inc/stm32f0xx_it.h b/Software/Core/Inc/stm32f0xx_it.h
index 317e5aa..29d1034 100644
--- a/Software/Core/Inc/stm32f0xx_it.h
+++ b/Software/Core/Inc/stm32f0xx_it.h
@@ -51,7 +51,6 @@ void HardFault_Handler(void);
 void SVC_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
-void ADC1_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */
diff --git a/Software/Core/Lib/can-halal/README.md b/Software/Core/Lib/can-halal/README.md
new file mode 100644
index 0000000..823df03
--- /dev/null
+++ b/Software/Core/Lib/can-halal/README.md
@@ -0,0 +1,77 @@
+# FaSTTUBe CAN HAL Abstraction Layer
+
+This repository contains an abstraction layer to provide a simplified & unified
+interface to the STM32 bxCAN and FDCAN peripherals.
+
+## Installation
+
+Simply add the repository to your `Core/Lib` directory. You can also add it as a
+git submodule:
+
+    mkdir -p Core/Lib
+    cd Core/Lib
+    git submodule add ssh://git@git.fasttube.de:313/FaSTTUBe/can-halal.git
+
+The library needs to be told what STM family you're using, so make sure one of
+the following symbols is defined when `can-halal.c` is compiled or `can-halal.h`
+is included:
+
+- `STM32F3`
+- `STM32H7`
+
+When using the FDCAN peripheral (H7 series), you also need to define
+`FTCAN_NUM_FILTERS` (and set it to the value of "Std Filters Nbr" you configured
+in your `.ioc`).
+
+If you use
+[VSCode with the stm-32-for-vscode extension](https://podio.com/fasttubede/modulubergreifend/apps/tech-tutorials/items/57),
+you can add these definitions in the `STM32-for-VSCode-config.yaml` file, e.g.:
+
+```yaml
+# Compiler definitions. The -D prefix for the compiler will be automatically added.
+cDefinitions:
+  - STM32H7
+  - FTCAN_NUM_FILTERS=32
+```
+
+## Usage
+
+1. Include `can-halal.h`
+2. Call `ftcan_init()` with the appropriate handle
+3. Call `ftcan_add_filter()` with all your filters
+4. To transmit messages, call `ftcan_transmit()`
+5. When a message is received, `ftcan_msg_received_cb()` is called. It has a
+   default empty implementation, which you can simply override.
+
+## Enabling CAN in STM32CubeMX
+
+This isn't specific to `can-halal`, but for completeness sake is included here.
+
+### bxCAN (e.g. STM32F3xx)
+
+1. Enable the CAN peripheral  
+   ![Connectivity -> CAN -> Activated](doc/bxcan-activate.png)
+2. Setup the [bit timings](http://bittiming.can-wiki.info/).  
+   **Note:** the baud rate depends on your system clock, so make sure that is
+   setup correctly first!  
+   ![Connectivity -> CAN -> Parameter Settings -> Bit Timings Parameters](doc/bxcan-bittimings.png)
+3. Make sure the CAN_RX0 interrupt is enabled  
+   ![Connectivity -> CAN -> NVIC Settings -> CAN_RX0 interrupt](doc/bxcan-interrupt.png)
+
+### FDCAN (e.g. STM32H7xx)
+
+1. Enable the CAN peripheral  
+   ![Connectivity -> FDCAN(1)](doc/fdcan-activate.png)
+2. Setup the frame format, nominal SJW, filters, and FIFOs. The numbers for
+   filters/FIFOs in the screenshot are examples.  
+   **Note:** You need to tell `can-halal` about the number of filters by
+   defining `FTCAN_NUM_FILTERS` (see above).  
+   ![Connectivity -> FDCAN(1) -> Parameter Settings -> Basic Parameters](doc/fdcan-basic.png)
+3. Setup the [bit timings](http://bittiming.can-wiki.info/). We only use CAN in
+   classic mode, not FD mode, so we only need to worry about the nominal bit
+   timings  
+   **Note:** the baud rate depends on your system clock, so make sure that is
+   setup correctly first!  
+   ![Connectivity -> FDCAN(1) -> Parameter Settings -> Bit Timings Parameters](doc/fdcan-bittimings.png)
+4. Make sure the interrupts are enabled
+   ![Connectivity -> FDCAN(1) -> NVIC Settings](doc/fdcan-interrupt.png)
diff --git a/Software/Core/Lib/can-halal.c b/Software/Core/Lib/can-halal/can-halal.c
similarity index 96%
rename from Software/Core/Lib/can-halal.c
rename to Software/Core/Lib/can-halal/can-halal.c
index 7c85c0c..a99303a 100644
--- a/Software/Core/Lib/can-halal.c
+++ b/Software/Core/Lib/can-halal/can-halal.c
@@ -1,273 +1,273 @@
-#include "can-halal.h"
-
-#include <string.h>
-
-#if defined(FTCAN_IS_BXCAN)
-static CAN_HandleTypeDef *hcan;
-
-HAL_StatusTypeDef ftcan_init(CAN_HandleTypeDef *handle) {
-  hcan = handle;
-
-  HAL_StatusTypeDef status =
-      HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
-  if (status != HAL_OK) {
-    return status;
-  }
-
-  return HAL_CAN_Start(hcan);
-}
-
-HAL_StatusTypeDef ftcan_transmit(uint16_t id, const uint8_t *data,
-                                 size_t datalen) {
-  static CAN_TxHeaderTypeDef header;
-  header.StdId = id;
-  header.IDE = CAN_ID_STD;
-  header.RTR = CAN_RTR_DATA;
-  header.DLC = datalen;
-  uint32_t mailbox;
-  return HAL_CAN_AddTxMessage(hcan, &header, data, &mailbox);
-}
-
-HAL_StatusTypeDef ftcan_add_filter(uint16_t id, uint16_t mask) {
-  static uint32_t next_filter_no = 0;
-  static CAN_FilterTypeDef filter;
-  if (next_filter_no % 2 == 0) {
-    filter.FilterIdHigh = id << 5;
-    filter.FilterMaskIdHigh = mask << 5;
-    filter.FilterIdLow = id << 5;
-    filter.FilterMaskIdLow = mask << 5;
-  } else {
-    // Leave high filter untouched from the last configuration
-    filter.FilterIdLow = id << 5;
-    filter.FilterMaskIdLow = mask << 5;
-  }
-  filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
-  filter.FilterBank = next_filter_no / 2;
-  if (filter.FilterBank > FTCAN_NUM_FILTERS + 1) {
-    return HAL_ERROR;
-  }
-  filter.FilterMode = CAN_FILTERMODE_IDMASK;
-  filter.FilterScale = CAN_FILTERSCALE_16BIT;
-  filter.FilterActivation = CAN_FILTER_ENABLE;
-
-  // Disable slave filters
-  // TODO: Some STM32 have multiple CAN peripherals, and one uses the slave
-  // filter bank
-  filter.SlaveStartFilterBank = FTCAN_NUM_FILTERS;
-
-  HAL_StatusTypeDef status = HAL_CAN_ConfigFilter(hcan, &filter);
-  if (status == HAL_OK) {
-    next_filter_no++;
-  }
-  return status;
-}
-
-void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *handle) {
-  if (handle != hcan) {
-    return;
-  }
-  CAN_RxHeaderTypeDef header;
-  uint8_t data[8];
-  if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &header, data) != HAL_OK) {
-    return;
-  }
-
-  if (header.IDE != CAN_ID_STD) {
-    return;
-  }
-
-  ftcan_msg_received_cb(header.StdId, header.DLC, data);
-}
-#elif defined(FTCAN_IS_FDCAN)
-static FDCAN_HandleTypeDef *hcan;
-
-HAL_StatusTypeDef ftcan_init(FDCAN_HandleTypeDef *handle) {
-  hcan = handle;
-
-  HAL_StatusTypeDef status =
-      HAL_FDCAN_ActivateNotification(hcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
-  if (status != HAL_OK) {
-    return status;
-  }
-  // Reject non-matching messages
-  status =
-      HAL_FDCAN_ConfigGlobalFilter(hcan, FDCAN_REJECT, FDCAN_REJECT,
-                                   FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE);
-  if (status != HAL_OK) {
-    return status;
-  }
-
-  return HAL_FDCAN_Start(hcan);
-}
-
-HAL_StatusTypeDef ftcan_transmit(uint16_t id, const uint8_t *data,
-                                 size_t datalen) {
-  static FDCAN_TxHeaderTypeDef header;
-  header.Identifier = id;
-  header.IdType = FDCAN_STANDARD_ID;
-  header.TxFrameType = FDCAN_DATA_FRAME;
-  switch (datalen) {
-  case 0:
-    header.DataLength = FDCAN_DLC_BYTES_0;
-    break;
-  case 1:
-    header.DataLength = FDCAN_DLC_BYTES_1;
-    break;
-  case 2:
-    header.DataLength = FDCAN_DLC_BYTES_2;
-    break;
-  case 3:
-    header.DataLength = FDCAN_DLC_BYTES_3;
-    break;
-  case 4:
-    header.DataLength = FDCAN_DLC_BYTES_4;
-    break;
-  case 5:
-    header.DataLength = FDCAN_DLC_BYTES_5;
-    break;
-  case 6:
-    header.DataLength = FDCAN_DLC_BYTES_6;
-    break;
-  case 7:
-    header.DataLength = FDCAN_DLC_BYTES_7;
-    break;
-  case 8:
-  default:
-    header.DataLength = FDCAN_DLC_BYTES_8;
-    break;
-  }
-  header.ErrorStateIndicator = FDCAN_ESI_PASSIVE;
-  header.BitRateSwitch = FDCAN_BRS_OFF;
-  header.FDFormat = FDCAN_CLASSIC_CAN;
-  header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
-
-  // HAL_FDCAN_AddMessageToTxFifoQ doesn't modify the data, but it's not marked
-  // as const for some reason.
-  uint8_t *data_nonconst = (uint8_t *)data;
-  return HAL_FDCAN_AddMessageToTxFifoQ(hcan, &header, data_nonconst);
-}
-
-HAL_StatusTypeDef ftcan_add_filter(uint16_t id, uint16_t mask) {
-  static uint32_t next_filter_no = 0;
-  static FDCAN_FilterTypeDef filter;
-  filter.IdType = FDCAN_STANDARD_ID;
-  filter.FilterIndex = next_filter_no;
-  if (filter.FilterIndex > FTCAN_NUM_FILTERS + 1) {
-    return HAL_ERROR;
-  }
-  filter.FilterType = FDCAN_FILTER_MASK;
-  filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
-  filter.FilterID1 = id;
-  filter.FilterID2 = mask;
-
-  HAL_StatusTypeDef status = HAL_FDCAN_ConfigFilter(hcan, &filter);
-  if (status == HAL_OK) {
-    next_filter_no++;
-  }
-  return status;
-}
-
-void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *handle,
-                               uint32_t RxFifo0ITs) {
-  if (handle != hcan || (RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) == RESET) {
-    return;
-  }
-
-  static FDCAN_RxHeaderTypeDef header;
-  static uint8_t data[8];
-  if (HAL_FDCAN_GetRxMessage(hcan, FDCAN_RX_FIFO0, &header, data) != HAL_OK) {
-    return;
-  }
-
-  if (header.FDFormat != FDCAN_CLASSIC_CAN ||
-      header.RxFrameType != FDCAN_DATA_FRAME ||
-      header.IdType != FDCAN_STANDARD_ID) {
-    return;
-  }
-
-  size_t datalen;
-  switch (header.DataLength) {
-  case FDCAN_DLC_BYTES_0:
-    datalen = 0;
-    break;
-  case FDCAN_DLC_BYTES_1:
-    datalen = 1;
-    break;
-  case FDCAN_DLC_BYTES_2:
-    datalen = 2;
-    break;
-  case FDCAN_DLC_BYTES_3:
-    datalen = 3;
-    break;
-  case FDCAN_DLC_BYTES_4:
-    datalen = 4;
-    break;
-  case FDCAN_DLC_BYTES_5:
-    datalen = 5;
-    break;
-  case FDCAN_DLC_BYTES_6:
-    datalen = 6;
-    break;
-  case FDCAN_DLC_BYTES_7:
-    datalen = 7;
-    break;
-  case FDCAN_DLC_BYTES_8:
-    datalen = 8;
-    break;
-  default:
-    return;
-  }
-
-  ftcan_msg_received_cb(header.Identifier, datalen, data);
-}
-#endif
-
-__weak void ftcan_msg_received_cb(uint16_t id, size_t datalen,
-                                  const uint8_t *data) {}
-
-uint64_t ftcan_unmarshal_unsigned(const uint8_t **data_ptr, size_t num_bytes) {
-  if (num_bytes > 8) {
-    num_bytes = 8;
-  }
-
-  const uint8_t *data = *data_ptr;
-  uint64_t result = 0;
-  for (size_t i = 0; i < num_bytes; i++) {
-    result <<= 8;
-    result |= data[i];
-  }
-  *data_ptr += num_bytes;
-  return result;
-}
-
-int64_t ftcan_unmarshal_signed(const uint8_t **data_ptr, size_t num_bytes) {
-  if (num_bytes > 8) {
-    num_bytes = 8;
-  }
-
-  uint64_t result_unsigned = ftcan_unmarshal_unsigned(data_ptr, num_bytes);
-  // Sign extend by shifting left, then copying to a signed int and shifting
-  // back to the right
-  size_t diff_to_64 = 64 - num_bytes * 8;
-  result_unsigned <<= diff_to_64;
-  int64_t result;
-  memcpy(&result, &result_unsigned, 8);
-  return result >> diff_to_64;
-}
-
-uint8_t *ftcan_marshal_unsigned(uint8_t *data, uint64_t val, size_t num_bytes) {
-  if (num_bytes > 8) {
-    num_bytes = 8;
-  }
-
-  for (int i = num_bytes - 1; i >= 0; i--) {
-    data[i] = val & 0xFF;
-    val >>= 8;
-  }
-
-  return data + num_bytes;
-}
-
-uint8_t *ftcan_marshal_signed(uint8_t *data, int64_t val, size_t num_bytes) {
-  return ftcan_marshal_unsigned(data, val, num_bytes);
-}
+#include "can-halal.h"
+
+#include <string.h>
+
+#if defined(FTCAN_IS_BXCAN)
+static CAN_HandleTypeDef *hcan;
+
+HAL_StatusTypeDef ftcan_init(CAN_HandleTypeDef *handle) {
+  hcan = handle;
+
+  HAL_StatusTypeDef status =
+      HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
+  if (status != HAL_OK) {
+    return status;
+  }
+
+  return HAL_CAN_Start(hcan);
+}
+
+HAL_StatusTypeDef ftcan_transmit(uint16_t id, const uint8_t *data,
+                                 size_t datalen) {
+  static CAN_TxHeaderTypeDef header;
+  header.StdId = id;
+  header.IDE = CAN_ID_STD;
+  header.RTR = CAN_RTR_DATA;
+  header.DLC = datalen;
+  uint32_t mailbox;
+  return HAL_CAN_AddTxMessage(hcan, &header, data, &mailbox);
+}
+
+HAL_StatusTypeDef ftcan_add_filter(uint16_t id, uint16_t mask) {
+  static uint32_t next_filter_no = 0;
+  static CAN_FilterTypeDef filter;
+  if (next_filter_no % 2 == 0) {
+    filter.FilterIdHigh = id << 5;
+    filter.FilterMaskIdHigh = mask << 5;
+    filter.FilterIdLow = id << 5;
+    filter.FilterMaskIdLow = mask << 5;
+  } else {
+    // Leave high filter untouched from the last configuration
+    filter.FilterIdLow = id << 5;
+    filter.FilterMaskIdLow = mask << 5;
+  }
+  filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
+  filter.FilterBank = next_filter_no / 2;
+  if (filter.FilterBank > FTCAN_NUM_FILTERS + 1) {
+    return HAL_ERROR;
+  }
+  filter.FilterMode = CAN_FILTERMODE_IDMASK;
+  filter.FilterScale = CAN_FILTERSCALE_16BIT;
+  filter.FilterActivation = CAN_FILTER_ENABLE;
+
+  // Disable slave filters
+  // TODO: Some STM32 have multiple CAN peripherals, and one uses the slave
+  // filter bank
+  filter.SlaveStartFilterBank = FTCAN_NUM_FILTERS;
+
+  HAL_StatusTypeDef status = HAL_CAN_ConfigFilter(hcan, &filter);
+  if (status == HAL_OK) {
+    next_filter_no++;
+  }
+  return status;
+}
+
+void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *handle) {
+  if (handle != hcan) {
+    return;
+  }
+  CAN_RxHeaderTypeDef header;
+  uint8_t data[8];
+  if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &header, data) != HAL_OK) {
+    return;
+  }
+
+  if (header.IDE != CAN_ID_STD) {
+    return;
+  }
+
+  ftcan_msg_received_cb(header.StdId, header.DLC, data);
+}
+#elif defined(FTCAN_IS_FDCAN)
+static FDCAN_HandleTypeDef *hcan;
+
+HAL_StatusTypeDef ftcan_init(FDCAN_HandleTypeDef *handle) {
+  hcan = handle;
+
+  HAL_StatusTypeDef status =
+      HAL_FDCAN_ActivateNotification(hcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
+  if (status != HAL_OK) {
+    return status;
+  }
+  // Reject non-matching messages
+  status =
+      HAL_FDCAN_ConfigGlobalFilter(hcan, FDCAN_REJECT, FDCAN_REJECT,
+                                   FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE);
+  if (status != HAL_OK) {
+    return status;
+  }
+
+  return HAL_FDCAN_Start(hcan);
+}
+
+HAL_StatusTypeDef ftcan_transmit(uint16_t id, const uint8_t *data,
+                                 size_t datalen) {
+  static FDCAN_TxHeaderTypeDef header;
+  header.Identifier = id;
+  header.IdType = FDCAN_STANDARD_ID;
+  header.TxFrameType = FDCAN_DATA_FRAME;
+  switch (datalen) {
+  case 0:
+    header.DataLength = FDCAN_DLC_BYTES_0;
+    break;
+  case 1:
+    header.DataLength = FDCAN_DLC_BYTES_1;
+    break;
+  case 2:
+    header.DataLength = FDCAN_DLC_BYTES_2;
+    break;
+  case 3:
+    header.DataLength = FDCAN_DLC_BYTES_3;
+    break;
+  case 4:
+    header.DataLength = FDCAN_DLC_BYTES_4;
+    break;
+  case 5:
+    header.DataLength = FDCAN_DLC_BYTES_5;
+    break;
+  case 6:
+    header.DataLength = FDCAN_DLC_BYTES_6;
+    break;
+  case 7:
+    header.DataLength = FDCAN_DLC_BYTES_7;
+    break;
+  case 8:
+  default:
+    header.DataLength = FDCAN_DLC_BYTES_8;
+    break;
+  }
+  header.ErrorStateIndicator = FDCAN_ESI_PASSIVE;
+  header.BitRateSwitch = FDCAN_BRS_OFF;
+  header.FDFormat = FDCAN_CLASSIC_CAN;
+  header.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
+
+  // HAL_FDCAN_AddMessageToTxFifoQ doesn't modify the data, but it's not marked
+  // as const for some reason.
+  uint8_t *data_nonconst = (uint8_t *)data;
+  return HAL_FDCAN_AddMessageToTxFifoQ(hcan, &header, data_nonconst);
+}
+
+HAL_StatusTypeDef ftcan_add_filter(uint16_t id, uint16_t mask) {
+  static uint32_t next_filter_no = 0;
+  static FDCAN_FilterTypeDef filter;
+  filter.IdType = FDCAN_STANDARD_ID;
+  filter.FilterIndex = next_filter_no;
+  if (filter.FilterIndex > FTCAN_NUM_FILTERS + 1) {
+    return HAL_ERROR;
+  }
+  filter.FilterType = FDCAN_FILTER_MASK;
+  filter.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
+  filter.FilterID1 = id;
+  filter.FilterID2 = mask;
+
+  HAL_StatusTypeDef status = HAL_FDCAN_ConfigFilter(hcan, &filter);
+  if (status == HAL_OK) {
+    next_filter_no++;
+  }
+  return status;
+}
+
+void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *handle,
+                               uint32_t RxFifo0ITs) {
+  if (handle != hcan || (RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) == RESET) {
+    return;
+  }
+
+  static FDCAN_RxHeaderTypeDef header;
+  static uint8_t data[8];
+  if (HAL_FDCAN_GetRxMessage(hcan, FDCAN_RX_FIFO0, &header, data) != HAL_OK) {
+    return;
+  }
+
+  if (header.FDFormat != FDCAN_CLASSIC_CAN ||
+      header.RxFrameType != FDCAN_DATA_FRAME ||
+      header.IdType != FDCAN_STANDARD_ID) {
+    return;
+  }
+
+  size_t datalen;
+  switch (header.DataLength) {
+  case FDCAN_DLC_BYTES_0:
+    datalen = 0;
+    break;
+  case FDCAN_DLC_BYTES_1:
+    datalen = 1;
+    break;
+  case FDCAN_DLC_BYTES_2:
+    datalen = 2;
+    break;
+  case FDCAN_DLC_BYTES_3:
+    datalen = 3;
+    break;
+  case FDCAN_DLC_BYTES_4:
+    datalen = 4;
+    break;
+  case FDCAN_DLC_BYTES_5:
+    datalen = 5;
+    break;
+  case FDCAN_DLC_BYTES_6:
+    datalen = 6;
+    break;
+  case FDCAN_DLC_BYTES_7:
+    datalen = 7;
+    break;
+  case FDCAN_DLC_BYTES_8:
+    datalen = 8;
+    break;
+  default:
+    return;
+  }
+
+  ftcan_msg_received_cb(header.Identifier, datalen, data);
+}
+#endif
+
+__weak void ftcan_msg_received_cb(uint16_t id, size_t datalen,
+                                  const uint8_t *data) {}
+
+uint64_t ftcan_unmarshal_unsigned(const uint8_t **data_ptr, size_t num_bytes) {
+  if (num_bytes > 8) {
+    num_bytes = 8;
+  }
+
+  const uint8_t *data = *data_ptr;
+  uint64_t result = 0;
+  for (size_t i = 0; i < num_bytes; i++) {
+    result <<= 8;
+    result |= data[i];
+  }
+  *data_ptr += num_bytes;
+  return result;
+}
+
+int64_t ftcan_unmarshal_signed(const uint8_t **data_ptr, size_t num_bytes) {
+  if (num_bytes > 8) {
+    num_bytes = 8;
+  }
+
+  uint64_t result_unsigned = ftcan_unmarshal_unsigned(data_ptr, num_bytes);
+  // Sign extend by shifting left, then copying to a signed int and shifting
+  // back to the right
+  size_t diff_to_64 = 64 - num_bytes * 8;
+  result_unsigned <<= diff_to_64;
+  int64_t result;
+  memcpy(&result, &result_unsigned, 8);
+  return result >> diff_to_64;
+}
+
+uint8_t *ftcan_marshal_unsigned(uint8_t *data, uint64_t val, size_t num_bytes) {
+  if (num_bytes > 8) {
+    num_bytes = 8;
+  }
+
+  for (int i = num_bytes - 1; i >= 0; i--) {
+    data[i] = val & 0xFF;
+    val >>= 8;
+  }
+
+  return data + num_bytes;
+}
+
+uint8_t *ftcan_marshal_signed(uint8_t *data, int64_t val, size_t num_bytes) {
+  return ftcan_marshal_unsigned(data, val, num_bytes);
+}
diff --git a/Software/Core/Lib/can-halal.h b/Software/Core/Lib/can-halal/can-halal.h
similarity index 74%
rename from Software/Core/Lib/can-halal.h
rename to Software/Core/Lib/can-halal/can-halal.h
index 57c155f..766b1cd 100644
--- a/Software/Core/Lib/can-halal.h
+++ b/Software/Core/Lib/can-halal/can-halal.h
@@ -1,61 +1,71 @@
-#ifndef CAN_HALAL_H
-#define CAN_HALAL_H
-
-// Define family macros if none are defined and we recognize a chip macro
-#if !defined(STM32F3) && !defined(STM32H7)
-#if defined(STM32F302x6) || defined(STM32F302x8) || defined(STM32F302xB) ||    \
-    defined(STM32F302xC)
-#define STM32F3
-#endif
-#if defined(STM32H7A3xx)
-#define STM32H7
-#endif
-#endif
-
-#if defined(STM32F3)
-#include "stm32f3xx_hal.h"
-#define FTCAN_IS_BXCAN
-#define FTCAN_NUM_FILTERS 13
-#elif defined(STM32H7)
-#include "stm32h7xx_hal.h"
-#define FTCAN_IS_FDCAN
-#else
-#error "Couldn't detect STM family"
-#endif
-
-#if defined(FTCAN_IS_BXCAN)
-HAL_StatusTypeDef ftcan_init(CAN_HandleTypeDef *handle);
-#elif defined(FTCAN_IS_FDCAN)
-HAL_StatusTypeDef ftcan_init(FDCAN_HandleTypeDef *handle);
-#else
-#error "Unknown CAN peripheral"
-#endif
-
-HAL_StatusTypeDef ftcan_transmit(uint16_t id, const uint8_t *data,
-                                 size_t datalen);
-
-HAL_StatusTypeDef ftcan_add_filter(uint16_t id, uint16_t mask);
-
-/**
- * Define this function to be notified of incoming CAN messages
- */
-void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data);
-
-/**
- * Read num_bytes bytes from a message (unmarshalled network byte order). The
- * msg pointer is advanced by the corresponding number of bytes.
- *
- * Both methods return a 64-bit integer, but you can safely cast it to a smaller
- * integer type.
- */
-uint64_t ftcan_unmarshal_unsigned(const uint8_t **data, size_t num_bytes);
-int64_t ftcan_unmarshal_signed(const uint8_t **data, size_t num_bytes);
-
-/**
- * Write num_bytes to a message (marshalled in network byte order). The pointer
- * is advanced by the corresponding number of bytes and returned.
- */
-uint8_t *ftcan_marshal_unsigned(uint8_t *data, uint64_t val, size_t num_bytes);
-uint8_t *ftcan_marshal_signed(uint8_t *data, int64_t val, size_t num_bytes);
-
-#endif // CAN_HALAL_H
+#ifndef CAN_HALAL_H
+#define CAN_HALAL_H
+
+// Define family macros if none are defined and we recognize a chip macro
+#if !defined(STM32F3) && !defined(STM32H7) && !defined(STM32F0)
+#if defined(STM32F302x6) || defined(STM32F302x8) || defined(STM32F302xB) ||    \
+    defined(STM32F302xC)
+#define STM32F3
+#endif
+#if defined(STM32H7A3xx)
+#define STM32H7
+#endif
+#if defined(STM32F042x6)
+#define STM32F0
+#endif
+#endif
+
+#if defined(STM32F3)
+    #include "stm32f3xx_hal.h"
+    #define FTCAN_IS_BXCAN
+    #define FTCAN_NUM_FILTERS 13
+#elif defined(STM32H7)
+    #include "stm32h7xx_hal.h"
+    #define FTCAN_IS_FDCAN
+    #ifndef FTCAN_NUM_FILTERS
+        #error "Please configure the number of filters in CubeMX, and then add a compiler define for FTCAN_NUM_FILTERS"
+    #endif
+#elif defined(STM32F0)
+    #include "stm32f0xx_hal.h"
+    #define FTCAN_IS_BXCAN
+    #define FTCAN_NUM_FILTERS 13
+#else
+    #error "Couldn't detect STM family"
+#endif
+
+#if defined(FTCAN_IS_BXCAN)
+HAL_StatusTypeDef ftcan_init(CAN_HandleTypeDef *handle);
+#elif defined(FTCAN_IS_FDCAN)
+HAL_StatusTypeDef ftcan_init(FDCAN_HandleTypeDef *handle);
+#else
+#error "Unknown CAN peripheral"
+#endif
+
+HAL_StatusTypeDef ftcan_transmit(uint16_t id, const uint8_t *data,
+                                 size_t datalen);
+
+HAL_StatusTypeDef ftcan_add_filter(uint16_t id, uint16_t mask);
+
+/**
+ * Define this function to be notified of incoming CAN messages
+ */
+void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data);
+
+/**
+ * Read num_bytes bytes from a message (unmarshalled network byte order). The
+ * msg pointer is advanced by the corresponding number of bytes.
+ *
+ * Both methods return a 64-bit integer, but you can safely cast it to a smaller
+ * integer type.
+ */
+uint64_t ftcan_unmarshal_unsigned(const uint8_t **data, size_t num_bytes);
+int64_t ftcan_unmarshal_signed(const uint8_t **data, size_t num_bytes);
+
+/**
+ * Write num_bytes to a message (marshalled in network byte order). The pointer
+ * is advanced by the corresponding number of bytes and returned.
+ */
+uint8_t *ftcan_marshal_unsigned(uint8_t *data, uint64_t val, size_t num_bytes);
+uint8_t *ftcan_marshal_signed(uint8_t *data, int64_t val, size_t num_bytes);
+
+#endif // CAN_HALAL_H
diff --git a/Software/Core/Lib/can-halal/doc/bxcan-activate.png b/Software/Core/Lib/can-halal/doc/bxcan-activate.png
new file mode 100644
index 0000000..c24851f
Binary files /dev/null and b/Software/Core/Lib/can-halal/doc/bxcan-activate.png differ
diff --git a/Software/Core/Lib/can-halal/doc/bxcan-bittimings.png b/Software/Core/Lib/can-halal/doc/bxcan-bittimings.png
new file mode 100644
index 0000000..e594d30
Binary files /dev/null and b/Software/Core/Lib/can-halal/doc/bxcan-bittimings.png differ
diff --git a/Software/Core/Lib/can-halal/doc/bxcan-interrupt.png b/Software/Core/Lib/can-halal/doc/bxcan-interrupt.png
new file mode 100644
index 0000000..1959520
Binary files /dev/null and b/Software/Core/Lib/can-halal/doc/bxcan-interrupt.png differ
diff --git a/Software/Core/Lib/can-halal/doc/fdcan-activate.png b/Software/Core/Lib/can-halal/doc/fdcan-activate.png
new file mode 100644
index 0000000..2d31913
Binary files /dev/null and b/Software/Core/Lib/can-halal/doc/fdcan-activate.png differ
diff --git a/Software/Core/Lib/can-halal/doc/fdcan-basic.png b/Software/Core/Lib/can-halal/doc/fdcan-basic.png
new file mode 100644
index 0000000..d21c3aa
Binary files /dev/null and b/Software/Core/Lib/can-halal/doc/fdcan-basic.png differ
diff --git a/Software/Core/Lib/can-halal/doc/fdcan-bittimings.png b/Software/Core/Lib/can-halal/doc/fdcan-bittimings.png
new file mode 100644
index 0000000..060cd9e
Binary files /dev/null and b/Software/Core/Lib/can-halal/doc/fdcan-bittimings.png differ
diff --git a/Software/Core/Lib/can-halal/doc/fdcan-interrupt.png b/Software/Core/Lib/can-halal/doc/fdcan-interrupt.png
new file mode 100644
index 0000000..400f7ed
Binary files /dev/null and b/Software/Core/Lib/can-halal/doc/fdcan-interrupt.png differ
diff --git a/Software/Core/Src/adc.c b/Software/Core/Src/adc.c
index e69de29..51acbf6 100644
--- a/Software/Core/Src/adc.c
+++ b/Software/Core/Src/adc.c
@@ -0,0 +1,24 @@
+#include <stdint.h>
+
+#include "can-halal.h"
+#include "stm32f0xx_hal_adc.h"
+
+int16_t id = 0x200;
+int32_t adcRes = 0;
+
+void adc_init(ADC_HandleTypeDef* hadc){
+    HAL_ADCEx_Calibration_Start(hadc);
+}
+
+void adc_loop(ADC_HandleTypeDef* hadc){
+    HAL_ADC_Start_IT(hadc);
+    static uint8_t data[8];
+    ftcan_marshal_unsigned(data, adcRes, 4);
+    ftcan_transmit(id, data, sizeof(data));
+    HAL_Delay(5);
+    //testing gitignore
+}
+
+void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc){
+    adcRes = HAL_ADC_GetValue(hadc);
+}
\ No newline at end of file
diff --git a/Software/Core/Src/main.c b/Software/Core/Src/main.c
index 0095a8f..023a9be 100644
--- a/Software/Core/Src/main.c
+++ b/Software/Core/Src/main.c
@@ -21,7 +21,7 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-
+#include "adc.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -71,7 +71,6 @@ static void MX_TIM2_Init(void);
   */
 int main(void)
 {
-
   /* USER CODE BEGIN 1 */
 
   /* USER CODE END 1 */
@@ -98,7 +97,7 @@ int main(void)
   MX_CAN_Init();
   MX_TIM2_Init();
   /* USER CODE BEGIN 2 */
-
+  adc_init(&hadc);
   /* USER CODE END 2 */
 
   /* Infinite loop */
@@ -108,7 +107,7 @@ int main(void)
     /* USER CODE END WHILE */
 
     /* USER CODE BEGIN 3 */
-    ADCMeasureLooooop();
+    adc_loop(&hadc);
   }
   /* USER CODE END 3 */
 }
@@ -125,14 +124,12 @@ void SystemClock_Config(void)
   /** Initializes the RCC Oscillators according to the specified parameters
   * in the RCC_OscInitTypeDef structure.
   */
-  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI14|RCC_OSCILLATORTYPE_HSE;
-  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_HSI14;
+  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
   RCC_OscInitStruct.HSI14State = RCC_HSI14_ON;
+  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
   RCC_OscInitStruct.HSI14CalibrationValue = 16;
-  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
-  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
-  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL4;
-  RCC_OscInitStruct.PLL.PREDIV = RCC_PREDIV_DIV3;
+  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
   {
     Error_Handler();
@@ -142,7 +139,7 @@ void SystemClock_Config(void)
   */
   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                               |RCC_CLOCKTYPE_PCLK1;
-  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
+  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
   RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
 
@@ -230,15 +227,15 @@ static void MX_CAN_Init(void)
 
   /* USER CODE END CAN_Init 1 */
   hcan.Instance = CAN;
-  hcan.Init.Prescaler = 2;
+  hcan.Init.Prescaler = 16;
   hcan.Init.Mode = CAN_MODE_NORMAL;
   hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
-  hcan.Init.TimeSeg1 = CAN_BS1_13TQ;
-  hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
+  hcan.Init.TimeSeg1 = CAN_BS1_1TQ;
+  hcan.Init.TimeSeg2 = CAN_BS2_1TQ;
   hcan.Init.TimeTriggeredMode = DISABLE;
-  hcan.Init.AutoBusOff = ENABLE;
+  hcan.Init.AutoBusOff = DISABLE;
   hcan.Init.AutoWakeUp = DISABLE;
-  hcan.Init.AutoRetransmission = ENABLE;
+  hcan.Init.AutoRetransmission = DISABLE;
   hcan.Init.ReceiveFifoLocked = DISABLE;
   hcan.Init.TransmitFifoPriority = DISABLE;
   if (HAL_CAN_Init(&hcan) != HAL_OK)
diff --git a/Software/Core/Src/stm32f0xx_hal_msp.c b/Software/Core/Src/stm32f0xx_hal_msp.c
index f0d0afe..f04d789 100644
--- a/Software/Core/Src/stm32f0xx_hal_msp.c
+++ b/Software/Core/Src/stm32f0xx_hal_msp.c
@@ -20,6 +20,7 @@
 
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
+
 /* USER CODE BEGIN Includes */
 
 /* USER CODE END Includes */
@@ -64,7 +65,6 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
   */
 void HAL_MspInit(void)
 {
-
   /* USER CODE BEGIN MspInit 0 */
 
   /* USER CODE END MspInit 0 */
@@ -106,9 +106,6 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc)
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
-    /* ADC1 interrupt Init */
-    HAL_NVIC_SetPriority(ADC1_IRQn, 0, 0);
-    HAL_NVIC_EnableIRQ(ADC1_IRQn);
   /* USER CODE BEGIN ADC1_MspInit 1 */
 
   /* USER CODE END ADC1_MspInit 1 */
@@ -138,8 +135,6 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc)
     */
     HAL_GPIO_DeInit(GPIOA, GPIO_PIN_0|GPIO_PIN_1);
 
-    /* ADC1 interrupt DeInit */
-    HAL_NVIC_DisableIRQ(ADC1_IRQn);
   /* USER CODE BEGIN ADC1_MspDeInit 1 */
 
   /* USER CODE END ADC1_MspDeInit 1 */
diff --git a/Software/Core/Src/stm32f0xx_it.c b/Software/Core/Src/stm32f0xx_it.c
index 0b67aee..db62670 100644
--- a/Software/Core/Src/stm32f0xx_it.c
+++ b/Software/Core/Src/stm32f0xx_it.c
@@ -55,7 +55,7 @@
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
-extern ADC_HandleTypeDef hadc;
+
 /* USER CODE BEGIN EV */
 
 /* USER CODE END EV */
@@ -140,20 +140,6 @@ void SysTick_Handler(void)
 /* please refer to the startup file (startup_stm32f0xx.s).                    */
 /******************************************************************************/
 
-/**
-  * @brief This function handles ADC interrupt.
-  */
-void ADC1_IRQHandler(void)
-{
-  /* USER CODE BEGIN ADC1_IRQn 0 */
-
-  /* USER CODE END ADC1_IRQn 0 */
-  HAL_ADC_IRQHandler(&hadc);
-  /* USER CODE BEGIN ADC1_IRQn 1 */
-
-  /* USER CODE END ADC1_IRQn 1 */
-}
-
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
diff --git a/Software/Core/Src/syscalls.c b/Software/Core/Src/syscalls.c
deleted file mode 100644
index e33a849..0000000
--- a/Software/Core/Src/syscalls.c
+++ /dev/null
@@ -1,176 +0,0 @@
-/**
- ******************************************************************************
- * @file      syscalls.c
- * @author    Auto-generated by STM32CubeMX
- * @brief     Minimal System calls file
- *
- *            For more information about which c-functions
- *            need which of these lowlevel functions
- *            please consult the Newlib libc-manual
- ******************************************************************************
- * @attention
- *
- * Copyright (c) 2020-2024 STMicroelectronics.
- * All rights reserved.
- *
- * This software is licensed under terms that can be found in the LICENSE file
- * in the root directory of this software component.
- * If no LICENSE file comes with this software, it is provided AS-IS.
- *
- ******************************************************************************
- */
-
-/* Includes */
-#include <sys/stat.h>
-#include <stdlib.h>
-#include <errno.h>
-#include <stdio.h>
-#include <signal.h>
-#include <time.h>
-#include <sys/time.h>
-#include <sys/times.h>
-
-
-/* Variables */
-extern int __io_putchar(int ch) __attribute__((weak));
-extern int __io_getchar(void) __attribute__((weak));
-
-
-char *__env[1] = { 0 };
-char **environ = __env;
-
-
-/* Functions */
-void initialise_monitor_handles()
-{
-}
-
-int _getpid(void)
-{
-  return 1;
-}
-
-int _kill(int pid, int sig)
-{
-  (void)pid;
-  (void)sig;
-  errno = EINVAL;
-  return -1;
-}
-
-void _exit (int status)
-{
-  _kill(status, -1);
-  while (1) {}    /* Make sure we hang here */
-}
-
-__attribute__((weak)) int _read(int file, char *ptr, int len)
-{
-  (void)file;
-  int DataIdx;
-
-  for (DataIdx = 0; DataIdx < len; DataIdx++)
-  {
-    *ptr++ = __io_getchar();
-  }
-
-  return len;
-}
-
-__attribute__((weak)) int _write(int file, char *ptr, int len)
-{
-  (void)file;
-  int DataIdx;
-
-  for (DataIdx = 0; DataIdx < len; DataIdx++)
-  {
-    __io_putchar(*ptr++);
-  }
-  return len;
-}
-
-int _close(int file)
-{
-  (void)file;
-  return -1;
-}
-
-
-int _fstat(int file, struct stat *st)
-{
-  (void)file;
-  st->st_mode = S_IFCHR;
-  return 0;
-}
-
-int _isatty(int file)
-{
-  (void)file;
-  return 1;
-}
-
-int _lseek(int file, int ptr, int dir)
-{
-  (void)file;
-  (void)ptr;
-  (void)dir;
-  return 0;
-}
-
-int _open(char *path, int flags, ...)
-{
-  (void)path;
-  (void)flags;
-  /* Pretend like we always fail */
-  return -1;
-}
-
-int _wait(int *status)
-{
-  (void)status;
-  errno = ECHILD;
-  return -1;
-}
-
-int _unlink(char *name)
-{
-  (void)name;
-  errno = ENOENT;
-  return -1;
-}
-
-int _times(struct tms *buf)
-{
-  (void)buf;
-  return -1;
-}
-
-int _stat(char *file, struct stat *st)
-{
-  (void)file;
-  st->st_mode = S_IFCHR;
-  return 0;
-}
-
-int _link(char *old, char *new)
-{
-  (void)old;
-  (void)new;
-  errno = EMLINK;
-  return -1;
-}
-
-int _fork(void)
-{
-  errno = EAGAIN;
-  return -1;
-}
-
-int _execve(char *name, char **argv, char **env)
-{
-  (void)name;
-  (void)argv;
-  (void)env;
-  errno = ENOMEM;
-  return -1;
-}
diff --git a/Software/Core/Src/sysmem.c b/Software/Core/Src/sysmem.c
deleted file mode 100644
index 246470e..0000000
--- a/Software/Core/Src/sysmem.c
+++ /dev/null
@@ -1,79 +0,0 @@
-/**
- ******************************************************************************
- * @file      sysmem.c
- * @author    Generated by STM32CubeMX
- * @brief     System Memory calls file
- *
- *            For more information about which C functions
- *            need which of these lowlevel functions
- *            please consult the newlib libc manual
- ******************************************************************************
- * @attention
- *
- * Copyright (c) 2024 STMicroelectronics.
- * All rights reserved.
- *
- * This software is licensed under terms that can be found in the LICENSE file
- * in the root directory of this software component.
- * If no LICENSE file comes with this software, it is provided AS-IS.
- *
- ******************************************************************************
- */
-
-/* Includes */
-#include <errno.h>
-#include <stdint.h>
-
-/**
- * Pointer to the current high watermark of the heap usage
- */
-static uint8_t *__sbrk_heap_end = NULL;
-
-/**
- * @brief _sbrk() allocates memory to the newlib heap and is used by malloc
- *        and others from the C library
- *
- * @verbatim
- * ############################################################################
- * #  .data  #  .bss  #       newlib heap       #          MSP stack          #
- * #         #        #                         # Reserved by _Min_Stack_Size #
- * ############################################################################
- * ^-- RAM start      ^-- _end                             _estack, RAM end --^
- * @endverbatim
- *
- * This implementation starts allocating at the '_end' linker symbol
- * The '_Min_Stack_Size' linker symbol reserves a memory for the MSP stack
- * The implementation considers '_estack' linker symbol to be RAM end
- * NOTE: If the MSP stack, at any point during execution, grows larger than the
- * reserved size, please increase the '_Min_Stack_Size'.
- *
- * @param incr Memory size
- * @return Pointer to allocated memory
- */
-void *_sbrk(ptrdiff_t incr)
-{
-  extern uint8_t _end; /* Symbol defined in the linker script */
-  extern uint8_t _estack; /* Symbol defined in the linker script */
-  extern uint32_t _Min_Stack_Size; /* Symbol defined in the linker script */
-  const uint32_t stack_limit = (uint32_t)&_estack - (uint32_t)&_Min_Stack_Size;
-  const uint8_t *max_heap = (uint8_t *)stack_limit;
-  uint8_t *prev_heap_end;
-
-  /* Initialize heap end at first call */
-  if (NULL == __sbrk_heap_end)
-  {
-    __sbrk_heap_end = &_end;
-  }
-
-  /* Protect heap from growing into the reserved MSP stack */
-  if (__sbrk_heap_end + incr > max_heap)
-  {
-    errno = ENOMEM;
-    return (void *)-1;
-  }
-
-  prev_heap_end = __sbrk_heap_end;
-  __sbrk_heap_end += incr;
-
-  return (void *)prev_heap_end;
-}