diff --git a/.gitmodules b/.gitmodules
index 384e898..9cba8ca 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,6 @@
 [submodule "CM7/Cube++"]
 	path = CM7/Cube++
 	url = https://github.com/cjchanx/CubePlusPlus.git
+[submodule "CM7/Components/sensor-driverpack"]
+	path = CM7/Components/sensor-driverpack
+	url = https://github.com/cjchanx/sensor-driverpack.git
diff --git a/.mxproject b/.mxproject
index 57024a0..00de50c 100644
--- a/.mxproject
+++ b/.mxproject
@@ -1,91 +1,91 @@
 [CortexM7:PreviousLibFiles]
-LibFiles=Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_cortex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_cortex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_crc.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_crc_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_crc.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_bus.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_rcc.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_crs.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_system.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_utils.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_gpio.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_hsem.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_hsem.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_dma.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_dmamux.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_mdma.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_pwr.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h;Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_exti.h;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_ll_exti.c;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_i2c.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_qspi.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_spi.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_usart.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_lpuart.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h;Middlewares\Third_Party\FreeRTOS\Source\include\croutine.h;Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h;Middlewares\Third_Party\FreeRTOS\Source\include\event_groups.h;Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h;Middlewares\Third_Party\FreeRTOS\Source\include\list.h;Middlewares\Third_Party\FreeRTOS\Source\include\message_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_prototypes.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h;Middlewares\Third_Party\FreeRTOS\Source\include\portable.h;Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h;Middlewares\Third_Party\FreeRTOS\Source\include\queue.h;Middlewares\Third_Party\FreeRTOS\Source\include\semphr.h;Middlewares\Third_Party\FreeRTOS\Source\include\stack_macros.h;Middlewares\Third_Party\FreeRTOS\Source\include\StackMacros.h;Middlewares\Third_Party\FreeRTOS\Source\include\stream_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\task.h;Middlewares\Third_Party\FreeRTOS\Source\include\timers.h;Middlewares\Third_Party\FreeRTOS\Source\include\atomic.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.h;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\portmacro.h;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_cortex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_crc.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_crc_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_rcc.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_rcc_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_flash.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_flash_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_gpio.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_hsem.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_dma.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_dma_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_mdma.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pwr.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pwr_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_i2c.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_i2c_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_exti.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_ll_rcc.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_ll_utils.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_qspi.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_spi.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_spi_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_tim.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_tim_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_uart.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_uart_ex.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_ll_usart.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_ll_gpio.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_ll_exti.c;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_ll_dma.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_cortex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_cortex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_crc.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_crc_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_crc.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_bus.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_rcc.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_crs.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_system.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_utils.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_gpio.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_hsem.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_hsem.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_dma.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_dmamux.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_mdma.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_pwr.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h;Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_exti.h;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_ll_exti.c;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_i2c.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_qspi.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_spi.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_usart.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_lpuart.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h;Middlewares\Third_Party\FreeRTOS\Source\include\croutine.h;Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h;Middlewares\Third_Party\FreeRTOS\Source\include\event_groups.h;Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h;Middlewares\Third_Party\FreeRTOS\Source\include\list.h;Middlewares\Third_Party\FreeRTOS\Source\include\message_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_prototypes.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h;Middlewares\Third_Party\FreeRTOS\Source\include\portable.h;Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h;Middlewares\Third_Party\FreeRTOS\Source\include\queue.h;Middlewares\Third_Party\FreeRTOS\Source\include\semphr.h;Middlewares\Third_Party\FreeRTOS\Source\include\stack_macros.h;Middlewares\Third_Party\FreeRTOS\Source\include\StackMacros.h;Middlewares\Third_Party\FreeRTOS\Source\include\stream_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\task.h;Middlewares\Third_Party\FreeRTOS\Source\include\timers.h;Middlewares\Third_Party\FreeRTOS\Source\include\atomic.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.h;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\portmacro.h;Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h747xx.h;Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h;Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h;Drivers\CMSIS\Device\ST\STM32H7xx\Source\Templates\system_stm32h7xx.c;Drivers\CMSIS\Include\cmsis_armcc.h;Drivers\CMSIS\Include\cmsis_armclang.h;Drivers\CMSIS\I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+LibFiles=Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_cortex.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_cortex.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_crc.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_crc_ex.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_crc.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_rcc_ex.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_bus.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_rcc.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_crs.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_system.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_utils.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_flash.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_flash_ex.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_gpio.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_gpio_ex.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_gpio.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_hsem.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_hsem.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_dma.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_dma_ex.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_dma.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_dmamux.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_mdma.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_pwr.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_pwr_ex.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_pwr.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_def.h;Drivers/STM32H7xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_i2c.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_i2c_ex.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_exti.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_exti.h;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_exti.c;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_i2c.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_qspi.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_spi.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_spi.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_spi_ex.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_tim_ex.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_usart.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_ll_lpuart.h;Drivers/STM32H7xx_HAL_Driver/Inc/stm32h7xx_hal_uart_ex.h;Middlewares/Third_Party/FreeRTOS/Source/include/croutine.h;Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h;Middlewares/Third_Party/FreeRTOS/Source/include/event_groups.h;Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h;Middlewares/Third_Party/FreeRTOS/Source/include/list.h;Middlewares/Third_Party/FreeRTOS/Source/include/message_buffer.h;Middlewares/Third_Party/FreeRTOS/Source/include/mpu_prototypes.h;Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h;Middlewares/Third_Party/FreeRTOS/Source/include/portable.h;Middlewares/Third_Party/FreeRTOS/Source/include/projdefs.h;Middlewares/Third_Party/FreeRTOS/Source/include/queue.h;Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h;Middlewares/Third_Party/FreeRTOS/Source/include/stack_macros.h;Middlewares/Third_Party/FreeRTOS/Source/include/StackMacros.h;Middlewares/Third_Party/FreeRTOS/Source/include/stream_buffer.h;Middlewares/Third_Party/FreeRTOS/Source/include/task.h;Middlewares/Third_Party/FreeRTOS/Source/include/timers.h;Middlewares/Third_Party/FreeRTOS/Source/include/atomic.h;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.h;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_crc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_crc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_gpio.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_hsem.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_mdma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_exti.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_rcc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_utils.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_qspi.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi_ex.c;Drivers/STM32H7xx_HAL_Driver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
 [CortexM7:PreviousUsedCubeIDEFiles]
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-HeaderPath=Drivers\STM32H7xx_HAL_Driver\Inc;Drivers\STM32H7xx_HAL_Driver\Inc\Legacy;Middlewares\Third_Party\FreeRTOS\Source\include;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F;Drivers\CMSIS\Device\ST\STM32H7xx\Include;Drivers\CMSIS\Include;CM7\Core\Inc;Drivers\STM32H7xx_HAL_Driver\Inc;Drivers\STM32H7xx_HAL_Driver\Inc\Legacy;Middlewares\Third_Party\FreeRTOS\Source\include;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F;Drivers\CMSIS\Device\ST\STM32H7xx\Include;Drivers\CMSIS\Include;
+SourceFiles=CM7/Core/Src/main.c;CM7/Core/Src/freertos.c;CM7/Core/Src/stm32h7xx_it.c;CM7/Core/Src/stm32h7xx_hal_msp.c;CM7/Core/Src/stm32h7xx_hal_timebase_tim.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_exti.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_crc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_crc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_gpio.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_hsem.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_mdma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_exti.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_rcc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_utils.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_qspi.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_usart.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_gpio.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_exti.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_dma.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_exti.c;Drivers/CMSIS/Device/ST/STM32H7xx/Source/Templates/system_stm32h7xx.c;;;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;
+HeaderPath=Drivers/STM32H7xx_HAL_Driver/Inc;Drivers/STM32H7xx_HAL_Driver/Inc/Legacy;Middlewares/Third_Party/FreeRTOS/Source/include;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F;Drivers/CMSIS/Device/ST/STM32H7xx/Include;Drivers/CMSIS/Include;CM7/Core/Inc;Drivers/STM32H7xx_HAL_Driver/Inc;Drivers/STM32H7xx_HAL_Driver/Inc/Legacy;Middlewares/Third_Party/FreeRTOS/Source/include;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F;Drivers/CMSIS/Device/ST/STM32H7xx/Include;Drivers/CMSIS/Include;
 CDefines=CORE_CM7;USE_HAL_DRIVER;STM32H747xx;USE_FULL_LL_DRIVER;USE_HAL_DRIVER;USE_FULL_LL_DRIVER;USE_HAL_DRIVER;USE_FULL_LL_DRIVER;USE_HAL_DRIVER;
 
 [CortexM4:PreviousLibFiles]
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H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_exti.h;Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_ll_exti.c;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_qspi.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h;Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h747xx.h;Drivers\CMSIS\Device\ST\STM32H7xx\Include\stm32h7xx.h;Drivers\CMSIS\Device\ST\STM32H7xx\Include\system_stm32h7xx.h;Drivers\CMSIS\Device\ST\STM32H7xx\Source\Templates\system_stm32h7xx.c;Drivers\CMSIS\Include\cmsis_armcc.h;Drivers\CMSIS\Include\cmsis_armclang.h;Drivers\CMSIS\Include\cmsis_armclang_ltm.h;Drivers\CMSIS\Include\cmsis_compiler.h;Drivers\CMSIS\Include\cmsis_gcc.h;Drivers\CMSIS\Include\cmsis_iccarm.h;Drivers\CMSIS\Include\cmsis_version.h;Drivers\CMSIS\Include\core_armv81mml.h;Drivers\CMSIS\Include\core_armv8mbl.h;Drivers\CMSIS\Include\core_armv8mml.h;Drivers\CMSIS\Include\core_cm0.h;Drivers\CMSIS\Include\core_cm0plus.h;Drivers\CMSIS\Include\core_cm1.h;Drivers\CMSIS\Include\core_cm23.h;Drivers\CMSIS\Include\core_cm3.h;Drivers\CMSIS\Include\core_cm33.h;Drivers\CMSIS\Include\core_cm35p.h;Drivers\CMSIS\Include\core_cm4.h;Drivers\CMSIS\Include\core_cm7.h;Drivers\CMSIS\Include\core_sc000.h;Drivers\CMSIS\Include\core_sc300.h;Drivers\CMSIS\Include\mpu_armv7.h;Drivers\CMSIS\Include\mpu_armv8.h;Drivers\CMSIS\Include\tz_context.h;
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
 [CortexM4:PreviousUsedCubeIDEFiles]
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-HeaderPath=Drivers\STM32H7xx_HAL_Driver\Inc;Drivers\STM32H7xx_HAL_Driver\Inc\Legacy;Drivers\CMSIS\Device\ST\STM32H7xx\Include;Drivers\CMSIS\Include;CM4\Core\Inc;Drivers\STM32H7xx_HAL_Driver\Inc;Drivers\STM32H7xx_HAL_Driver\Inc\Legacy;Drivers\CMSIS\Device\ST\STM32H7xx\Include;Drivers\CMSIS\Include;
+SourceFiles=CM4/Core/Src/main.c;CM4/Core/Src/stm32h7xx_it.c;CM4/Core/Src/stm32h7xx_hal_msp.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_exti.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_crc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_crc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_gpio.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_hsem.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_mdma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_exti.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_rcc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_utils.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_qspi.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_exti.c;Drivers/CMSIS/Device/ST/STM32H7xx/Source/Templates/system_stm32h7xx.c;;;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;
+HeaderPath=Drivers/STM32H7xx_HAL_Driver/Inc;Drivers/STM32H7xx_HAL_Driver/Inc/Legacy;Drivers/CMSIS/Device/ST/STM32H7xx/Include;Drivers/CMSIS/Include;CM4/Core/Inc;Drivers/STM32H7xx_HAL_Driver/Inc;Drivers/STM32H7xx_HAL_Driver/Inc/Legacy;Drivers/CMSIS/Device/ST/STM32H7xx/Include;Drivers/CMSIS/Include;
 CDefines=CORE_CM4;USE_HAL_DRIVER;STM32H747xx;USE_HAL_DRIVER;USE_HAL_DRIVER;USE_HAL_DRIVER;
 
 [PreviousLibFiles]
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MSIS/Device/ST/STM32H7xx/Source/Templates/system_stm32h7xx.c;Common/Src/system_stm32h7xx_dualcore_boot_cm4_cm7.c;Common/Src/system_stm32h7xx_dualcore_boot_cm4_cm7.c;;;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;
+HeaderPath=Drivers/STM32H7xx_HAL_Driver/Inc;Drivers/STM32H7xx_HAL_Driver/Inc/Legacy;Middlewares/Third_Party/FreeRTOS/Source/include;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F;Drivers/CMSIS/Device/ST/STM32H7xx/Include;Drivers/CMSIS/Include;CM7/Core/Inc;CM4/Core/Inc;
 CDefines=USE_FULL_LL_DRIVER;CORE_CM4;USE_FULL_LL_DRIVER;CORE_CM7;CORE_CM7;USE_HAL_DRIVER;STM32H747xx;USE_FULL_LL_DRIVER;USE_HAL_DRIVER;USE_FULL_LL_DRIVER;USE_HAL_DRIVER;USE_FULL_LL_DRIVER;USE_HAL_DRIVER;CORE_CM4;CORE_CM4;USE_HAL_DRIVER;STM32H747xx;USE_HAL_DRIVER;USE_HAL_DRIVER;USE_HAL_DRIVER;USE_HAL_DRIVER;
 
 [CortexM7:PreviousGenFiles]
 AdvancedFolderStructure=true
 HeaderFileListSize=5
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-HeaderFiles#3=..\CM7\Core\Inc\stm32h7xx_hal_conf.h
-HeaderFiles#4=..\CM7\Core\Inc\main.h
+HeaderFiles#0=../CM7/Core/Inc/FreeRTOSConfig.h
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 HeaderFolderListSize=1
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 HeaderFiles=;
 SourceFileListSize=5
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-SourceFiles#3=..\CM7\Core\Src\stm32h7xx_hal_timebase_tim.c
-SourceFiles#4=..\CM7\Core\Src\main.c
+SourceFiles#0=../CM7/Core/Src/freertos.c
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 SourceFolderListSize=1
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+SourcePath#0=../CM7/Core/Src
 SourceFiles=;
 
 [CortexM4:PreviousGenFiles]
 AdvancedFolderStructure=true
 HeaderFileListSize=3
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-HeaderFiles#1=..\CM4\Core\Inc\stm32h7xx_hal_conf.h
-HeaderFiles#2=..\CM4\Core\Inc\main.h
+HeaderFiles#0=../CM4/Core/Inc/stm32h7xx_it.h
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 HeaderFolderListSize=1
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 HeaderFiles=;
 SourceFileListSize=3
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+SourceFiles#0=../CM4/Core/Src/stm32h7xx_it.c
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+SourceFiles#2=../CM4/Core/Src/main.c
 SourceFolderListSize=1
-SourcePath#0=..\CM4\Core\Src
+SourcePath#0=../CM4/Core/Src
 SourceFiles=;
 
 [PreviousGenFiles]
 AdvancedFolderStructure=true
 HeaderFileListSize=8
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-HeaderFiles#1=..\CM7\Core\Inc\stm32h7xx_it.h
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-HeaderFiles#6=..\CM4\Core\Inc\stm32h7xx_hal_conf.h
-HeaderFiles#7=..\CM4\Core\Inc\main.h
+HeaderFiles#0=../CM7/Core/Inc/FreeRTOSConfig.h
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 HeaderFolderListSize=2
-HeaderPath#0=..\CM7\Core\Inc
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+HeaderPath#0=../CM7/Core/Inc
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 HeaderFiles=;
 SourceFileListSize=8
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+SourceFiles#0=../CM7/Core/Src/freertos.c
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 SourceFolderListSize=2
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 SourceFiles=;
 
diff --git a/.vscode/settings.json b/.vscode/settings.json
index c2ca2c4..50b4474 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -3,5 +3,11 @@
     "stm32-for-vscode.makePath": "C:\\USERS\\AIDEN\\APPDATA\\ROAMING\\CODE\\USER\\GLOBALSTORAGE\\BMD.STM32-FOR-VSCODE\\@XPACK-DEV-TOOLS\\WINDOWS-BUILD-TOOLS\\4.4.1-2.1\\.CONTENT\\BIN\\MAKE.EXE",
     "stm32-for-vscode.armToolchainPath": "c:\\Users\\aiden\\AppData\\Roaming\\Code\\User\\globalStorage\\bmd.stm32-for-vscode\\@xpack-dev-tools\\arm-none-eabi-gcc\\13.2.1-1.1.1\\.content\\bin",
     "cortex-debug.armToolchainPath": "c:\\Users\\aiden\\AppData\\Roaming\\Code\\User\\globalStorage\\bmd.stm32-for-vscode\\@xpack-dev-tools\\arm-none-eabi-gcc\\13.2.1-1.1.1\\.content\\bin",
-    "cortex-debug.openocdPath": "C:\\USERS\\AIDEN\\APPDATA\\ROAMING\\CODE\\USER\\GLOBALSTORAGE\\BMD.STM32-FOR-VSCODE\\@XPACK-DEV-TOOLS\\OPENOCD\\0.12.0-3.1\\.CONTENT\\BIN\\OPENOCD.EXE"
+    "cortex-debug.openocdPath": "C:\\USERS\\AIDEN\\APPDATA\\ROAMING\\CODE\\USER\\GLOBALSTORAGE\\BMD.STM32-FOR-VSCODE\\@XPACK-DEV-TOOLS\\OPENOCD\\0.12.0-3.1\\.CONTENT\\BIN\\OPENOCD.EXE",
+    "files.associations": {
+        "array": "cpp",
+        "vector": "cpp",
+        "xstring": "cpp",
+        "xutility": "cpp"
+    }
 }
\ No newline at end of file
diff --git a/CM4/.cproject b/CM4/.cproject
index 2a76e2a..c7caf0b 100644
--- a/CM4/.cproject
+++ b/CM4/.cproject
@@ -24,7 +24,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.1404684974" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.value.hard" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.2062526209" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.725429347" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32H747IGTx || 1 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../../Drivers/STM32H7xx_HAL_Driver/Inc | ../../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../../Drivers/CMSIS/Include ||  ||  || CORE_CM4 | USE_HAL_DRIVER | STM32H747xx ||  || Core/Src | Drivers | Core/Startup | Common ||  ||  || ${workspace_loc:/${ProjName}/STM32H747IGTX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None ||  ||  || " valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.1960622455" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="64" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.1960622455" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="64.75" valueType="string"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.157094079" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/Payload_CM4}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.1280650592" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.1428040859" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
@@ -120,7 +120,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.94382336" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.value.hard" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.995573916" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.97607505" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32H747IGTx || 1 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../../Drivers/STM32H7xx_HAL_Driver/Inc | ../../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../../Drivers/CMSIS/Include ||  ||  || CORE_CM4 | USE_HAL_DRIVER | STM32H747xx ||  || Core/Src | Drivers | Core/Startup | Common ||  ||  || ${workspace_loc:/${ProjName}/STM32H747IGTX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None ||  ||  || " valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.1311987542" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="64" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.1311987542" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="64.75" valueType="string"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.820136260" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/Payload_CM4}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.962970512" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.60314350" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
diff --git a/CM4/Core/Src/main.c b/CM4/Core/Src/main.c
index 4249f00..27bd339 100644
--- a/CM4/Core/Src/main.c
+++ b/CM4/Core/Src/main.c
@@ -118,6 +118,24 @@ int main(void)
   /* USER CODE END 3 */
 }
 
+/**
+  * @brief Peripherals Common Clock Configuration
+  * @retval None
+  */
+void PeriphCommonClock_Config(void)
+{
+  RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
+
+  /** Initializes the peripherals clock
+  */
+  PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_CKPER;
+  PeriphClkInitStruct.CkperClockSelection = RCC_CLKPSOURCE_HSI;
+  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
+  {
+    Error_Handler();
+  }
+}
+
 /**
   * @brief CRC Initialization Function
   * @param None
diff --git a/CM7/.cproject b/CM7/.cproject
index 918dafa..78c0331 100644
--- a/CM7/.cproject
+++ b/CM7/.cproject
@@ -24,8 +24,8 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.1527849778" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.value.hard" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.734508297" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1700170333" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32H747IGTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../../Drivers/STM32H7xx_HAL_Driver/Inc | ../../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../../Drivers/CMSIS/Include | ../../Middlewares/Third_Party/FreeRTOS/Source/include | ../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS | ../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F ||  ||  || CORE_CM7 | USE_HAL_DRIVER | STM32H747xx | USE_FULL_LL_DRIVER ||  || Core/Src | Drivers | Core/Startup | Middlewares | Common ||  ||  || ${workspace_loc:/${ProjName}/STM32H747IGTX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None ||  ||  || " valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.582115419" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="64" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat.2031683588" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat" value="true" valueType="boolean"/>
+							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.582115419" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="64.75" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat.127135560" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat" value="true" valueType="boolean"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.1294608709" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/Payload_CM7}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.657126726" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.1092710738" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
@@ -49,9 +49,11 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/FlightControl/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/AltitudeFilters/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Flash/Inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors/Inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/sensor-driverpack}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/sensor-driverpack/MPL3115A2S}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/FlightControl}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/BaroTask/Inc}&quot;"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input.80200489" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input"/>
@@ -88,9 +90,11 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/FlightControl/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/AltitudeFilters/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Flash/Inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors/Inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/sensor-driverpack}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/sensor-driverpack/MPL3115A2S}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/FlightControl}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/BaroTask/Inc}&quot;"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1823486062" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
@@ -129,9 +133,11 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/FlightControl/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/AltitudeFilters/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Flash/Inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors/Inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/sensor-driverpack}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/sensor-driverpack/MPL3115A2S}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/FlightControl}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/BaroTask/Inc}&quot;"/>
 								</option>
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.languagestandard.1832425275" name="Language standard" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.languagestandard" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.languagestandard.value.gnupp20" valueType="enumerated"/>
@@ -198,7 +204,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.1312654294" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.value.hard" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.152263522" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1683053512" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32H747IGTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../../Drivers/STM32H7xx_HAL_Driver/Inc | ../../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy | ../../Drivers/CMSIS/Device/ST/STM32H7xx/Include | ../../Drivers/CMSIS/Include | ../../Middlewares/Third_Party/FreeRTOS/Source/include | ../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS | ../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F ||  ||  || CORE_CM7 | USE_HAL_DRIVER | STM32H747xx | USE_FULL_LL_DRIVER ||  || Core/Src | Drivers | Core/Startup | Middlewares | Common ||  ||  || ${workspace_loc:/${ProjName}/STM32H747IGTX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None ||  ||  || " valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.238067989" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="64" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.238067989" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="64.75" valueType="string"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.1961943739" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/Payload_CM7}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.498458674" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.1638255642" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
@@ -219,9 +225,11 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/FlightControl/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/AltitudeFilters/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Flash/Inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors/Inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/sensor-driverpack}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/sensor-driverpack/MPL3115A2S}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/FlightControl}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/BaroTask/Inc}&quot;"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input.1762545555" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input"/>
@@ -259,9 +267,11 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/FlightControl/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/AltitudeFilters/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Flash/Inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors/Inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/sensor-driverpack}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/sensor-driverpack/MPL3115A2S}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/FlightControl}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/BaroTask/Inc}&quot;"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1789179262" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
@@ -299,9 +309,11 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/FlightControl/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/AltitudeFilters/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Flash/Inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors/Inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/sensor-driverpack}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/sensor-driverpack/MPL3115A2S}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/FlightControl}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/Sensors/Inc}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Components/BaroTask/Inc}&quot;"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp.1488462777" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp"/>
diff --git a/CM7/.settings/language.settings.xml b/CM7/.settings/language.settings.xml
index 20bb3cc..9b8dc58 100644
--- a/CM7/.settings/language.settings.xml
+++ b/CM7/.settings/language.settings.xml
@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1559420596093442871" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-888376475142397995" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1559419888463963378" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-888377182771877488" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
diff --git a/CM7/.settings/stm32cubeide.project.prefs b/CM7/.settings/stm32cubeide.project.prefs
index 21ec017..0c92ed9 100644
--- a/CM7/.settings/stm32cubeide.project.prefs
+++ b/CM7/.settings/stm32cubeide.project.prefs
@@ -1,4 +1,4 @@
 635E684B79701B039C64EA45C3F84D30=EB92BDC8CA3A439D88C6F56E4DDF7E32
 8DF89ED150041C4CBC7CB9A9CAA90856=AC892FC3BC99DC619B57AAD46AD701C9
-DC22A860405A8BF2F2C095E5B6529F12=AC892FC3BC99DC619B57AAD46AD701C9
+DC22A860405A8BF2F2C095E5B6529F12=CCB8BBB4600E8D3236F4086153F9624D
 eclipse.preferences.version=1
diff --git a/CM7/Components/BaroTask/BaroTask.cpp b/CM7/Components/BaroTask/BaroTask.cpp
index 6ed4cbb..6999d7b 100644
--- a/CM7/Components/BaroTask/BaroTask.cpp
+++ b/CM7/Components/BaroTask/BaroTask.cpp
@@ -19,6 +19,7 @@
 #include "DebugTask.hpp"
 #include "FlightTask.hpp"
 #include "CubeDefines.hpp"
+#include "stdint.h"
 // #include "FlashTask.hpp"
 
 /* Macros --------------------------------------------------------------------*/
@@ -29,7 +30,7 @@
 
 /* Variables -----------------------------------------------------------------*/
 extern SPI_HandleTypeDef hspi2;
-// extern I2C_HandleTypeDef hi2c2;
+extern I2C_HandleTypeDef hi2c2;
 
 /* Prototypes ----------------------------------------------------------------*/
 
@@ -38,7 +39,6 @@ extern SPI_HandleTypeDef hspi2;
  * @brief Default constructor, sets up storage for member variables
  */
 BaroTask::BaroTask() : Task(BARO_TASK_QUEUE_DEPTH_OBJS), mario(hspi2, 0), luigi(hspi2, 1)
-					   //, Bowser(hi2c2)
 {
   data = (BarometerData*)cube_malloc(sizeof(BarometerData));
 }
@@ -73,16 +73,21 @@ void BaroTask::Run(void * pvParams)
   //Initialize the barometers
   mario.init();
   luigi.init();
-  //Bowser.init();
-  osDelay(30);
+  // bowser.init();
+  osDelay(10);
 
   //Main loop
   while (1) {
     Command cm;
-    //Wait forever for a command
-    qEvtQueue->ReceiveWait(cm);
-    //Process the command
-    HandleCommand(cm);
+
+    if(qEvtQueue->Receive(&cm, 1000)) {
+      //Process the command
+      HandleCommand(cm);
+    }
+    else {
+      sampleBarometers();
+    }
+    
   }
 }
 
@@ -124,36 +129,35 @@ void BaroTask::HandleRequestCommand(uint16_t taskCommand)
   //Switch for task specific command within DATA_COMMAND
   switch (taskCommand) 
   {
+  case BARO_REQUEST_DATA_EVEREST:
+    SendDataToEverest();
+    break;
   case BARO_REQUEST_NEW_SAMPLE:
-    mario.readPressure(data->marioPressure);
-    mario.readTemperature(data->marioTemperature);
-    luigi.readPressure(data->luigiPressure);
-    luigi.readTemperature(data->luigiTemperature);
-    // bowser.readPressure(data->bowserPressure);
-    // bowser.readTemperature(data->bowserTemperature);
+    sampleBarometers();
     break;
   case BARO_REQUEST_FLASH_LOG:
     // LogDataToFlash();
     break;
   case BARO_REQUEST_DEBUG:
-	char tx_buffer[1000];
-    SOAR_PRINT("\t-- Mario Data --\n");
+	char tx_buffer[50];
+    SOAR_PRINT("-- Mario Data (LPS22HH U3) --\n");
     sprintf(tx_buffer, "Pressure (mbar)    : %.2f\r\n", data->marioPressure);
     SOAR_PRINT(tx_buffer);
     sprintf(tx_buffer, "Temperature (degC) : %.2f\r\n", data->marioTemperature);
     SOAR_PRINT(tx_buffer);
-    SOAR_PRINT("\t-- Luigi Data --\n");
+
+    SOAR_PRINT("-- Luigi Data (LPS22HH U4) --\n");
     sprintf(tx_buffer, "Pressure (mbar)    : %.2f\r\n", data->luigiPressure);
     SOAR_PRINT(tx_buffer);
     sprintf(tx_buffer, "Temperature (degC) : %.2f\r\n", data->luigiTemperature);
     SOAR_PRINT(tx_buffer);
-    /*
-    SOAR_PRINT("\t-- Bowser Data --\n");
-    sprintf(tx_buffer, "Pressure (mbar)    : %.2f\r\n", data->bowserPressure_);
-    SOAR_PRINT(tx_buffer);
-    sprintf(tx_buffer, "Temperature (degC) : %.2f\r\n", data->bowserTemperature_);
-    SOAR_PRINT(tx_buffer);
-     */
+
+    // SOAR_PRINT("-- Bowser Data (MS5611 U4) --\n");
+    // sprintf(tx_buffer, "Pressure (mbar): %.2f\r\n", static_cast<float>(data->bowserPressure) / 100.0);
+    // SOAR_PRINT(tx_buffer);
+
+    // sprintf(tx_buffer, "Temperature (degC): %.2f\r\n", static_cast<float>(data->bowserTemperature) / 100.0);
+    // SOAR_PRINT(tx_buffer);
     break;
   default:
     SOAR_PRINT("UARTTask - Received Unsupported REQUEST_COMMAND {%d}\n", taskCommand);
@@ -162,24 +166,50 @@ void BaroTask::HandleRequestCommand(uint16_t taskCommand)
 }
 
 /**
- * @brief Logs barometer data sample to flash
+ * @brief Updates the barometer values 
  */
-/*
-void BaroTask::LogDataToFlash()
-{
-    Command flashCommand(DATA_COMMAND, WRITE_DATA_TO_FLASH);
-    flashCommand.CopyDataToCommand((uint8_t*)data, sizeof(BarometerData));
-    FlashTask::Inst().GetEventQueue()->Send(flashCommand);
+void BaroTask::sampleBarometers() {
+  mario.readPressure(data->marioPressure);
+  mario.readTemperature(data->marioTemperature);
+  luigi.readPressure(data->luigiPressure);
+  luigi.readTemperature(data->luigiTemperature);
+}
+
+/**
+ * @brief Convert the pressure read from the mario barometer to an altitude
+ */
+float BaroTask::marioPressureToAltitude(float marioPressure) {
+  // TODO : Complete this with the relevant equation
+}
+
+/**
+ * @brief Convert the pressure read from the luigi barometer to an altitude
+ */
+float BaroTask::luigiPressureToAltitude(float luigiPressure) {
+  // TODO : Complete this with the relevant equation
+}
+
+/**
+ * @brief Send the data to Everest
+ */
+void Barotask::SendDataToEverest() {
+  uint32_t marioData = marioPressureToAltitude(data->marioPressure);
+  uint32_t luigiData = marioPressureToAltitude(data->luigiPressure);
+  
+  BarometerAltitudeData altitudeData;
+  altitudeData-> marioAltitude = marioData;
+  altitudeData-> luigiAltitude = luigiData;
+  
+  Command cmd(DATA_COMMAND, (uint16_t)BARO_REQUEST_DATA_EVEREST);
+  cmd.CopyDataToCommand((uint8_t*)altitudeData, sizeof(altitudeData));
+  Everest::Inst().GetEventQueue()->Send(cmd);
 }
-*/
 
 /**
  * @brief Sends the pressure data
  * @param
  */
-void BaroTask::sendPressureData(LPS22HH& mario, LPS22HH& luigi
-								//, MS5611& bowser
-								)
+void BaroTask::sendPressureData(LPS22HH& mario, LPS22HH& luigi)
 {
   Command baroData(DATA_COMMAND, OSC_RECEIVE_PRESSURE);
   baroData.AllocateData(sizeof(float));
@@ -190,12 +220,10 @@ void BaroTask::sendPressureData(LPS22HH& mario, LPS22HH& luigi
   luigi.readPressure(data->luigiPressure);
   baroData.CopyDataToCommand((uint8_t*)&data->luigiPressure, sizeof(float));
 
-  /*
-  bowser.readPressure(data->bowserPressure);
-  baroData.CopyDataToCommand((uint8_t*)&data->bowserPressure, sizeof(float));
-  */
+  // bowser.readPressure(data->bowserPressure);
+  // baroData.CopyDataToCommand((uint8_t*)&data->bowserPressure, sizeof(float));
 
-  FlightTask::Inst().GetEventQueue()->Send(baroData);
+  // FlightTask::Inst().GetEventQueue()->Send(baroData);  DO NOT SEND TO FLIGHT TASK
 }
 
 /**
@@ -203,9 +231,7 @@ void BaroTask::sendPressureData(LPS22HH& mario, LPS22HH& luigi
  * @brief Sends the temperature data
  * @param
  */
-void BaroTask::sendTemperatureData(LPS22HH& mario, LPS22HH& luigi
-								  //, MS5611& bowser
-								  )
+void BaroTask::sendTemperatureData(LPS22HH& mario, LPS22HH& luigi, MS5611& bowser)
 {
   Command baroData(DATA_COMMAND, OSC_RECEIVE_TEMPERATURE);
   baroData.AllocateData(sizeof(float));
@@ -216,10 +242,8 @@ void BaroTask::sendTemperatureData(LPS22HH& mario, LPS22HH& luigi
   luigi.readTemperature(data->luigiTemperature);
   baroData.CopyDataToCommand((uint8_t*)&data->luigiTemperature, sizeof(float));
 
-  /*
-  bowser.readTemperature(data->bowserTemperature);
-  baroData.CopyDataToCommand((uint8_t*)&data->bowserTemperature, sizeof(float));
-  */
+  // bowser.readTemperature(data->bowserTemperature);
+  // baroData.CopyDataToCommand((uint8_t*)&data->bowserTemperature, sizeof(float));
 
-  FlightTask::Inst().GetEventQueue()->Send(baroData);
+  // FlightTask::Inst().GetEventQueue()->Send(baroData);  DO NOT SEND TO FLIGHT TASK
 }
diff --git a/CM7/Components/BaroTask/Inc/BaroTask.hpp b/CM7/Components/BaroTask/Inc/BaroTask.hpp
index 3d6c421..8018fb4 100644
--- a/CM7/Components/BaroTask/Inc/BaroTask.hpp
+++ b/CM7/Components/BaroTask/Inc/BaroTask.hpp
@@ -12,7 +12,7 @@
 #include "SystemDefines.hpp"
 #include "main_system.hpp"
 #include "LPS22HH.hpp"
-//#include "MS5611.hpp"
+#include "MS5611.hpp"
 
 /* Macros/Enums ------------------------------------------------------------*/
 enum BARO_COMMANDS {
@@ -20,6 +20,7 @@ enum BARO_COMMANDS {
     BARO_REQUEST_NEW_SAMPLE,  // Get new barometer samples, task will be blocked for polling time
     BARO_REQUEST_DEBUG,       // Send the current barometer data over the Debug UART
     BARO_REQUEST_FLASH_LOG,   // Log the current barometer data to flash
+    BARO_REQUEST_DATA_EVEREST,
 };
 
 /* Class ------------------------------------------------------------------*/
@@ -48,18 +49,20 @@ class BaroTask : public Task
     BaroTask(const BaroTask&);             // Prevent copy-construction
     BaroTask& operator=(const BaroTask&);  // Prevent assignment
 
-    void sendPressureData(LPS22HH& mario, LPS22HH& luigi
-    			 	 	 //, MS5611& bowser
-    					 );
-    void sendTemperatureData(LPS22HH& mario, LPS22HH& luigi
-    					 //, MS5611& bowser
-    					 );
+    void sendPressureData(LPS22HH& mario, LPS22HH& luigi);
+    void sendTemperatureData(LPS22HH& mario, LPS22HH& luigi);
+    void sampleBarometers();
+    void SendDataToEverest();
 
     // Private Variables
     LPS22HH mario;
     LPS22HH luigi;
     // MS5611 bowser;
     BarometerData* data;
+
+    // Helper Functions
+    float marioPressureToAltitude(float marioPressure);
+    float luigiPressureToAltitude(float luigiPressure);
 };
 
 #endif /* BAROTASK_INC_BAROTASK_HPP_ */
diff --git a/CM7/Components/Data.hpp b/CM7/Components/Data.hpp
index 9cd6286..bd1b109 100644
--- a/CM7/Components/Data.hpp
+++ b/CM7/Components/Data.hpp
@@ -5,7 +5,7 @@
 #ifndef DATA_HPP_
 #define DATA_HPP_
 
-#include <stdint.h>
+#include "stdint.h"
 #include "SystemDefines.hpp"
 
 typedef struct IMUData {
@@ -29,10 +29,16 @@ typedef struct BarometerData {
     float marioTemperature;
     float luigiPressure;
     float luigiTemperature;
-    // float bowserPressure;
-    // float bowserTemperature;
+    // uint32_t bowserPressure;
+    // uint32_t bowserTemperature;
 } BarometerData;
 
+
+typedef struct BarometerAltitudeData {
+    uint32_t marioAltitude;
+    uint32_t luigiAltitude;
+}
+
 /*
  * Data Containers
  * Acts as a pointer to the other data structs alongside a timestamp for logging to flash.
diff --git a/CM7/Components/Debug/DebugTask.cpp b/CM7/Components/Debug/DebugTask.cpp
index fae0726..9e917c3 100644
--- a/CM7/Components/Debug/DebugTask.cpp
+++ b/CM7/Components/Debug/DebugTask.cpp
@@ -15,6 +15,7 @@
 
 // External Tasks (to send debug commands to)
 #include "FlightTask.hpp"
+#include "BaroTask.hpp"
 #include "GPIO.hpp"
 #include "IMUTask//Inc//IMUTask.hpp"
 
diff --git a/CM7/Components/FlightControl/FlightTask.cpp b/CM7/Components/FlightControl/FlightTask.cpp
index 4423379..6175b2e 100644
--- a/CM7/Components/FlightControl/FlightTask.cpp
+++ b/CM7/Components/FlightControl/FlightTask.cpp
@@ -4,7 +4,7 @@
  * Description        : Primary flight task, default task for the system.
  ******************************************************************************
 */
-#include <OsirisSM.hpp>
+#include "OsirisSM.hpp"
 #include "FlightTask.hpp"
 #include "GPIO.hpp"
 #include "SystemDefines.hpp"
diff --git a/CM7/Components/FlightControl/Inc/FlightTask.hpp b/CM7/Components/FlightControl/Inc/FlightTask.hpp
index 52e15fb..9c1f9c4 100644
--- a/CM7/Components/FlightControl/Inc/FlightTask.hpp
+++ b/CM7/Components/FlightControl/Inc/FlightTask.hpp
@@ -6,7 +6,7 @@
 */
 #ifndef SOAR_FLIGHTTASK_HPP_
 #define SOAR_FLIGHTTASK_HPP_
-#include <OsirisSM.hpp>
+#include "OsirisSM.hpp"
 #include "Task.hpp"
 #include "SystemDefines.hpp"
 
diff --git a/CM7/Components/FlightControl/Inc/OsirisSM.hpp b/CM7/Components/FlightControl/Inc/OsirisSM.hpp
index 6a06dd2..5a2158f 100644
--- a/CM7/Components/FlightControl/Inc/OsirisSM.hpp
+++ b/CM7/Components/FlightControl/Inc/OsirisSM.hpp
@@ -45,6 +45,7 @@ enum OsirisControlCommands
 
 	// -- PRELAUNCH --
 	OSC_PRELAUNCH_TO_LAUNCH,
+	OSC_PRELAUNCH_TO_DROGUE,	// Used to bypass launch state if launch detection fails
 
 	// -- LAUNCH --
 	OSC_LAUNCH_TO_DROGUE,
@@ -107,6 +108,8 @@ class OsirisSM
 
     void HandleCommand(Command& cm);
 
+    OsirisState GetStateID() { return os_currentState->GetStateID(); }
+
 protected:
     OsirisState TransitionState(OsirisState nextState);
 
diff --git a/CM7/Components/FlightControl/Inc/TransitionController.hpp b/CM7/Components/FlightControl/Inc/TransitionController.hpp
new file mode 100644
index 0000000..ffc385a
--- /dev/null
+++ b/CM7/Components/FlightControl/Inc/TransitionController.hpp
@@ -0,0 +1,37 @@
+/**
+ ******************************************************************************
+ * File Name          : TransitionController.hpp
+ * Description        : Send state transitions based on IMU and Altimeter data
+ ******************************************************************************
+*/
+
+#include "FlightTask.hpp"
+#include "OsirisSM.hpp"
+#include "data.hpp"
+#include "stdint.h"
+#include "Timer.hpp"
+
+class TransitionController {
+
+	static TransitionController& Inst() {
+		static TransitionController inst;
+		return inst;
+	}
+
+	public :
+		TransitionController();
+		void UpdateStateFromAltitude(LastThreePoints updatedData);
+		void UpdateStateFromAccel(float updateVerticalAccel);
+		void Setup();
+
+	private:
+		inline static void TransitionToLaunch() { FlightTask::Inst().SendCommand(Command(CONTROL_ACTION, OSC_PRELAUNCH_TO_LAUNCH)); }
+		inline static void TransitionToDrogue() { FlightTask::Inst().SendCommand(Command(CONTROL_ACTION, OSC_LAUNCH_TO_DROGUE)); }
+		inline static void TransitionToMain() { FlightTask::Inst().SendCommand(Command(CONTROL_ACTION, OSC_DROGUE_TO_MAIN)); }
+		inline static void TransitionToPostLaunch() { FlightTask::Inst().SendCommand(Command(CONTROL_ACTION, OSC_MAIN_TO_POSTLAUNCH)); }
+		static void TransitionToPreLaunch() { FlightTask::Inst().SendCommand(Command(CONTROL_ACTION, OSC_ANY_TO_PRELAUNCH)); }
+		static void LaunchTransitionCallback(TimerHandle_t rtTimerHandle);
+		bool IsDirectionNegative(LastThreePoints updatedData);
+		uint16_t ThreePointBackward(LastThreePoints data);
+		Timer* launchTransitionTimer;
+};
diff --git a/CM7/Components/FlightControl/OsirisSM.cpp b/CM7/Components/FlightControl/OsirisSM.cpp
index 8882252..601ecea 100644
--- a/CM7/Components/FlightControl/OsirisSM.cpp
+++ b/CM7/Components/FlightControl/OsirisSM.cpp
@@ -208,6 +208,9 @@ OsirisState PreLaunch::HandleCommand(Command& cm)
 					// Transition to Launch state
 					nextStateID = OS_LAUNCH;
 					break;
+				case OSC_PRELAUNCH_TO_DROGUE:
+					nextStateID = OS_LAUNCH;
+					break;
 				case OSC_ANY_TO_PRELAUNCH:
 					// Transition to PreLaunch state
 					nextStateID = OS_PRELAUNCH;
diff --git a/CM7/Components/FlightControl/TransitionController.cpp b/CM7/Components/FlightControl/TransitionController.cpp
new file mode 100644
index 0000000..3c7dbcf
--- /dev/null
+++ b/CM7/Components/FlightControl/TransitionController.cpp
@@ -0,0 +1,61 @@
+/**
+ ******************************************************************************
+ * File Name          : TransitionController.cpp
+ * Description        : Send state transitions based on IMU and Altimeter data
+ ******************************************************************************
+*/
+
+#include "TransitionController.hpp"
+#include "stdint.h"
+
+TransitionController::TransitionController() {
+
+}
+
+void TransitionController::Setup() {
+	launchTransitionTimer = new Timer(LaunchTransitionCallback);
+	launchTransitionTimer->ChangePeriodMs(2500);
+}
+
+void TransitionController::LaunchTransitionCallback(TimerHandle_t rtTimerHandle) {
+//	if(GetMadwickAccel() > 4.0) { MODIFY THIS TO CONFIRM THE ACCELERATION
+		TransitionToLaunch();
+//	}
+}
+
+void TransitionController::UpdateStateFromAltitude(LastThreePoints updatedData) {
+	if((updatedData.point1 < 9500.0) && IsDirectionNegative(updatedData)) {
+		TransitionToDrogue();
+	}
+	else if((updatedData.point1 < 1800.0) && IsDirectionNegative(updatedData)) {
+		TransitionToMain();
+	}
+	else if((updatedData.point1 < 300.0) && IsDirectionNegative(updatedData)) {
+		TransitionToMain();
+	}
+}
+
+void TransitionController::UpdateStateFromAccel(float verticalAccel) {
+	// Transition to Launch State if acceleration is > 4g for 3s
+	if(verticalAccel > 4.0) {
+		if(launchTransitionTimer->GetState() == UNINITIALIZED || launchTransitionTimer->GetState() == PAUSED) {
+			launchTransitionTimer->Start();
+		}
+		else if (launchTransitionTimer->GetState() == COUNTING) {
+			// Do nothing
+		}
+	}
+}
+
+bool TransitionController::IsDirectionNegative(LastThreePoints updatedData) {
+	if (ThreePointBackward(updatedData) < 0 ) {
+		return true;
+	}
+
+	return false;
+}
+
+uint16_t TransitionController::ThreePointBackward(LastThreePoints updatedData) {
+	return (updatedData.point3 - 4 * updatedData.point2 + 3 * updatedData.point1);
+}
+
diff --git a/CM7/Components/Sensors/AltimeterTask.cpp b/CM7/Components/Sensors/AltimeterTask.cpp
new file mode 100644
index 0000000..5bc1948
--- /dev/null
+++ b/CM7/Components/Sensors/AltimeterTask.cpp
@@ -0,0 +1,118 @@
+/**
+ ******************************************************************************
+ * File Name          : AltimeterTask.cpp
+ * Description        : Primary Altimeter task, default task for the system.
+ ******************************************************************************
+*/
+#include "AltimeterTask.hpp"
+#include "GPIO.hpp"
+#include "SystemDefines.hpp"
+#include "MPL3115A2S_Driver.h"
+#include "Data.hpp"
+#include "CubeDefines.hpp"
+/**
+ * @brief Constructor for AltimeterTask
+ */
+AltimeterTask::AltimeterTask() : Task(ALTIMETER_TASK_QUEUE_DEPTH_OBJS)
+{
+    data = (AltimeterData*)cube_malloc(sizeof(AltimeterData));
+}
+
+/**
+ * @brief Initialize the AltimeterTask
+ */
+void AltimeterTask::InitTask()
+{
+    // Make sure the task is not already initialized
+    SOAR_ASSERT(rtTaskHandle == nullptr, "Cannot initialize Altimeter task twice");
+
+    BaseType_t rtValue =
+        xTaskCreate((TaskFunction_t)AltimeterTask::RunTask,
+            (const char*)"AltimeterTask",
+            (uint16_t)ALTIMETER_TASK_STACK_DEPTH_WORDS,
+            (void*)this,
+            (UBaseType_t)ALTIMETER_TASK_RTOS_PRIORITY,
+            (TaskHandle_t*)&rtTaskHandle);
+
+    SOAR_ASSERT(rtValue == pdPASS, "AltimeterTask::InitTask() - xTaskCreate() failed");
+}
+
+/**
+ * @brief Instance Run loop for the Altimeter Task, runs on scheduler start as long as the task is initialized.
+ * @param pvParams RTOS Passed void parameters, contains a pointer to the object instance, should not be used
+ */
+void AltimeterTask::Run(void * pvParams)
+{
+    
+    MPL3115A2S_Config cfg {0};
+    MPL3115A2S_Data_Config dcfg {0};
+    MPL3115A2S_Int_Config icfg {0};
+
+    cfg.altimeter_mode = 1;
+    cfg.os_ratio = MPL3115A2S_CTRL_OS32;
+    dcfg.enable_all_flags = 1;
+
+    MPL3115A2S_Init(&cfg, &dcfg, &icfg);
+
+    while (1) {
+
+        //Process commands in blocking mode
+        Command cm;
+
+        if(qEvtQueue->Receive(cm, 100)) {
+            HandleCommand(cm);
+        }
+        else {
+            SampleAltimeter();
+        }
+    }
+}
+
+/**
+ * @brief Handle a command from the Command Queue
+ * @param cm Command to handle
+ */
+void AltimeterTask::HandleCommand(Command& cm)
+{
+    switch(cm.GetCommand()) {
+        case REQUEST_COMMAND:
+            SampleAltimeter();
+            switch(cm.GetTaskCommand()) {
+                case ALTIMETER_REQUEST_POLL:
+                    SampleAltimeter();
+                    break;
+                case SEND_TO_ALTITUDE_TO_EVEREST:
+                    SendAltitudeToAltimeterFilter();
+                    break;
+                default:
+                    break;
+            }
+            break;
+        default:
+            break;
+    }
+	// Make sure the command is reset
+    cm.Reset();
+}
+
+/**
+ * @brief This function reads and updates altitude readings from the barometer
+ */
+void AltimeterTask::SampleAltimeter()
+{
+    float alt, temp;
+    MPL3115A2S_ReadDataPolling(&alt, &temp);
+
+    data->altitude = (int32_t) alt;
+    data->timestamp = HAL_GetTick();
+}
+
+/**
+ * @brief This function sends the latest sample of altitude data to the altimeter filter (Everest)
+ * 
+ */
+void AltimeterTask::SendAltitudeToAltimeterFilter() {
+    Command cmd(DATA_COMMAND, (uint16_t)BOWSERTASK_ALTITUDE);
+    cmd.CopyDataToCommand((uint8_t*)data, sizeof(AltimeterData));
+    Everest::Inst().GetEventQueue()->Send(cmd);
+}
\ No newline at end of file
diff --git a/CM7/Components/Sensors/Inc/AltimeterTask.hpp b/CM7/Components/Sensors/Inc/AltimeterTask.hpp
new file mode 100644
index 0000000..871642e
--- /dev/null
+++ b/CM7/Components/Sensors/Inc/AltimeterTask.hpp
@@ -0,0 +1,58 @@
+/**
+ ******************************************************************************
+ * File Name          : AltimeterTask.hpp
+ * Description        : Primary flight task, default task for the system.
+ ******************************************************************************
+*/
+#ifndef SOAR_ALTIMETERTASK_HPP_
+#define SOAR_ALTIMETERTASK_HPP_
+#include "Task.hpp"
+#include "SystemDefines.hpp"
+#include "Data.hpp"
+
+/* Macros/Enums ------------------------------------------------------------*/
+
+/* Macros/Enums ------------------------------------------------------------*/
+enum AltimeterTaskRequests
+{
+	ALTIMETER_REQUEST_NONE = 0,
+	ALTIMETER_REQUEST_POLL,  // Poll Request
+    ALTIMETER_REQUEST_DEBUG, // Debug Poll + Print
+    SEND_TO_ALTITUDE_TO_EVEREST,
+};
+
+class AltimeterTask : public Task
+{
+public:
+    static AltimeterTask& Inst() {
+        static AltimeterTask inst;
+        return inst;
+    }
+
+    void InitTask();
+
+protected:
+    static void RunTask(void* pvParams) { AltimeterTask::Inst().Run(pvParams); } // Static Task Interface, passes control to the instance Run();
+
+    void Run(void * pvParams); // Main run code
+
+    void HandleCommand(Command& cm);
+
+    void SampleAltimeter();
+
+    
+
+private:
+    // Private Functions
+    AltimeterTask();        // Private constructor
+    AltimeterTask(const AltimeterTask&);                        // Prevent copy-construction
+    AltimeterTask& operator=(const AltimeterTask&);            // Prevent assignment
+    void SendAltitudeToAltimeterFilter();
+
+    // Private Variables
+    AltimeterData* data;
+    uint32_t timestampPT;
+
+};
+
+#endif    // SOAR_ALTIMETERTASK_HPP
diff --git a/CM7/Components/Sensors/Inc/LPS22HH.hpp b/CM7/Components/Sensors/Inc/LPS22HH.hpp
index 3537999..a9ce26b 100644
--- a/CM7/Components/Sensors/Inc/LPS22HH.hpp
+++ b/CM7/Components/Sensors/Inc/LPS22HH.hpp
@@ -17,7 +17,7 @@
 //#define data_drdy
 //#define fifo_irq
 
-#define BOOT_TIME 300 //ms
+#define BOOT_TIME 10 //ms
 
 typedef union {
   int16_t i16bit;
@@ -34,7 +34,19 @@ typedef union {
   uint8_t u8bit[6];
 } axis3bit16_t;
 
-class LPS22HH {
+class LPS22HH
+{
+public:
+	LPS22HH(SPI_HandleTypeDef &spi, bool unitSelect);
+
+	// Returns True on Success
+	bool init(void);
+
+	bool readPressure(float &pressureOut);
+	bool readTemperature(float &temperatureOut);
+
+  // bool setInterrupts(bool useInterrupts);
+
 private:
 	SPI_HandleTypeDef spi;
 
@@ -59,16 +71,6 @@ class LPS22HH {
 	static int32_t readReg(void *handle, uint8_t reg, uint8_t *bufp, uint16_t len);
 	static int32_t writeReg(void *handle, uint8_t reg, const uint8_t *bufp, uint16_t len);
 	static void initDelay(uint32_t ms);
-
-public:
-	LPS22HH(SPI_HandleTypeDef &spi, bool unitSelect);
-
-	// Returns True on Success
-	bool init(void);
-	bool readPressure(float &pressureOut);
-	bool readTemperature(float &temperatureOut);
-	
-  // bool setInterrupts(bool useInterrupts);
 };
 
 #endif /* SENSORS_INC_LPS22HH_HPP_ */
diff --git a/CM7/Components/Sensors/Inc/MS5611.hpp b/CM7/Components/Sensors/Inc/MS5611.hpp
new file mode 100644
index 0000000..3d72559
--- /dev/null
+++ b/CM7/Components/Sensors/Inc/MS5611.hpp
@@ -0,0 +1,67 @@
+/*
+ * MS561101BA03_50.hpp
+ *
+ *  Created on: Jun 10, 2024
+ *      Author: shaan
+ */
+#include "cstdio"
+#include "stm32h7xx_hal.h"
+#include "Task.hpp"
+#include <cmsis_os.h>
+#include <string.h>
+
+#ifndef SENSORS_INC_MS5611_HPP_
+#define SENSORS_INC_MS5611_HPP_
+#define MS5611_ADDR 0b11101111   //Shifted address for 7-bit I2C address
+#define TEST_REG    0x00       // Register address to send test message
+
+class MS5611
+{
+public:
+	MS5611(I2C_HandleTypeDef port);
+
+    /* Initializes the I2C line and resets IMU*/
+    bool init(void);
+
+    void readPressure(uint32_t &pressureOut);
+    void readTemperature(uint32_t &temperatureOut);
+
+private:
+    /*Reads ADC value from barometer*/
+    void readADCP();
+    void readADCT();
+
+    void readPROM();
+    void calculateT(uint32_t &temperatureOut);
+    void calculateP(uint32_t &pressureOut);
+
+    /*Reads + converts pressure to digital number, stores in barometer eeprom*/
+    void convertT();
+    void convertP();
+
+    bool initStatus = false;
+
+    uint8_t reset_data = 0x1E;  // reset CMD
+    uint8_t cmdReadADC = 0x00; // read CMD for ADC
+
+    uint8_t osrP;
+    uint8_t osrT;
+
+    uint8_t bufP[3];
+    uint8_t bufT[3];
+
+    uint8_t delayP;
+    uint8_t delayT;
+
+    uint16_t prom[6];
+
+    uint32_t dpv;
+    uint32_t dtv;
+
+    uint32_t temperature;
+    uint32_t pressure;
+
+    I2C_HandleTypeDef port;
+};
+
+#endif /* SENSORS_INC_MS5611_HPP_ */
diff --git a/CM7/Components/Sensors/LPS22HH.cpp b/CM7/Components/Sensors/LPS22HH.cpp
index c0824d6..9eb370c 100644
--- a/CM7/Components/Sensors/LPS22HH.cpp
+++ b/CM7/Components/Sensors/LPS22HH.cpp
@@ -24,16 +24,15 @@ bool LPS22HH::init(void)
 
   // Check device ID
   while (whoamI != LPS22HH_ID) {
-	SOAR_PRINT("WHO_AM_I: 0x%02X\n", whoamI);
-	osDelay(300);
+	//SOAR_PRINT("WHO_AM_I: 0x%02X\n", whoamI);
     lps22hh_reset_set(&lps22hhDriver, PROPERTY_ENABLE);
 	do {
 	  lps22hh_reset_get(&lps22hhDriver, &rst);
 	} while (rst);
-	osDelay(300);
+	osDelay(10);
 	lps22hh_device_id_get(&lps22hhDriver, &whoamI);
   }
-  SOAR_PRINT("WHO_AM_I: 0x%02X\n", whoamI);
+  //SOAR_PRINT("WHO_AM_I: 0x%02X\n", whoamI);
   initStatus = true;
 
   /* Restore default configuration */
diff --git a/CM7/Components/Sensors/MS5611.cpp b/CM7/Components/Sensors/MS5611.cpp
new file mode 100644
index 0000000..c5d4425
--- /dev/null
+++ b/CM7/Components/Sensors/MS5611.cpp
@@ -0,0 +1,210 @@
+#include <MS5611.hpp>
+
+MS5611::MS5611(I2C_HandleTypeDef port)
+{
+	this->port = port;
+}
+
+bool MS5611::init(void)
+{
+	bool retCheck = HAL_I2C_Master_Transmit(&port, 0b11101110, &reset_data, 1, HAL_MAX_DELAY);
+	if (retCheck == HAL_OK)//reset sequence - needed after every power-on
+	{
+		osDelay(10); //wait 10 ms for reset
+		initStatus = true;
+	} else {
+		osDelay(10);
+		initStatus = false;
+	}
+	return initStatus;
+}
+
+void MS5611::readPressure(uint32_t &pressureOut)
+{
+	readPROM();
+	convertP();
+	readADCP();
+	calculateP(pressureOut);
+}
+
+void MS5611::readTemperature(uint32_t &temperatureOut)
+{
+	readPROM();
+	convertT();
+	readADCT();
+	calculateT(temperatureOut);
+}
+
+void MS5611::readADCP()
+{
+    osDelay(30);
+//	uint8_t REG_TEMP=0x00;
+//	for (int i =0;i<3;i++){
+//	bufT[i]=REG_TEMP;
+//}
+
+	// Transmit ADC Read command after conversion
+	HAL_I2C_Master_Transmit(&port, 0b11101111, &cmdReadADC, 1, HAL_MAX_DELAY);
+
+	HAL_I2C_Master_Receive(&port, 0b11101111, bufP, 3, HAL_MAX_DELAY);
+
+//	dpv = (uint32_t)(bufP[0]<<16)|(bufP[1]<<8)|bufP[2];
+	dpv = 0x00000000;
+	dpv = dpv | (bufP[0] << 16);
+	dpv = dpv | (bufP[1] << 8);
+	dpv = dpv | (bufP[2] << 0);
+}
+
+void MS5611::readADCT()
+{
+    osDelay(30);
+//	uint8_t REG_TEMP=0x00;
+//	for (int i =0;i<3;i++){
+//	bufT[i]=REG_TEMP;
+//}
+
+	// Transmit ADC Read command after conversion
+ 	HAL_I2C_Master_Transmit(&port, 0b11101111, &cmdReadADC, 1, HAL_MAX_DELAY);
+
+	HAL_I2C_Master_Receive(&port, 0b11101111, bufT, 3, HAL_MAX_DELAY);
+	//dtv = ((uint32_t)bufT[0]<<16)|(bufT[1]<<8)|bufT[2];
+	dtv = 0x00000000;
+	dtv = dtv | (bufT[0] << 16);
+	dtv = dtv | (bufT[1] << 8);
+	dtv = dtv | (bufT[2] << 0);
+}
+
+
+void MS5611::readPROM()
+{
+    uint8_t cmd = 0xA2;// first variable cmd to read PROM data for C1
+    uint8_t data[2];
+
+    for (int i = 0; i < 6; i++)
+    {
+        HAL_I2C_Master_Transmit(&port, 0b11101111, &cmd, 1, HAL_MAX_DELAY);
+        HAL_I2C_Master_Receive(&port, 0b11101111, data, 2, HAL_MAX_DELAY);
+        prom[i] = (data[0] << 8) | data[1];
+        cmd += 2;
+    }
+}
+
+void MS5611::calculateT(uint32_t &temperatureOut)
+{
+    int64_t dT = dtv - ((uint32_t)prom[4] << 8);//dT = D2 - C5 * 2^8
+    int64_t TEMP = 2000 + ((dT * prom[5]) >> 23);//TEMP = 20°C + dT* TEMPSENS= 2000 + dT * C6 / 2^23
+
+    int64_t OFF = ((uint64_t)prom[1] << 16) + ((prom[3] * dT) >> 7);
+    int64_t SENS = ((uint64_t)prom[0] << 15) + ((prom[2] * dT) >> 8);
+
+    //Second order temperature compensation
+    int64_t OFF2 = 0;
+    int64_t SENS2 = 0;
+
+    if (TEMP < 2000) {
+        OFF2 = 5 * ((TEMP - 2000) * (TEMP - 2000)) / 2;
+        SENS2 = 5 * ((TEMP - 2000) * (TEMP - 2000)) / 4;
+        if (TEMP < -1500) {
+            OFF2 = OFF2 + 7 * ((TEMP + 1500) * (TEMP + 1500));
+            SENS2 = SENS2 + 11 * ((TEMP + 1500) * (TEMP + 1500)) / 2;
+        }
+    }
+
+    //Offset and sensitivity compensation
+    OFF = OFF - OFF2;
+    SENS = SENS - SENS2;
+
+    int32_t P = (((dpv * SENS) >> 21) - OFF) >> 15;
+
+    temperatureOut = TEMP;
+}
+
+void MS5611::calculateP(uint32_t &pressureOut)
+{
+    int64_t dT = dtv - ((uint32_t)prom[4] << 8);//dT = D2 - C5 * 2^8
+    int64_t TEMP = 2000 + ((dT * prom[5]) >> 23);//TEMP = 20°C + dT* TEMPSENS= 2000 + dT * C6 / 2^23
+
+    int64_t OFF = ((uint64_t)prom[1] << 16) + ((prom[3] * dT) >> 7);
+    int64_t SENS = ((uint64_t)prom[0] << 15) + ((prom[2] * dT) >> 8);
+
+    //Second order temperature compensation
+    int64_t OFF2 = 0;
+    int64_t SENS2 = 0;
+
+    if (TEMP < 2000) {
+        OFF2 = 5 * ((TEMP - 2000) * (TEMP - 2000)) / 2;
+        SENS2 = 5 * ((TEMP - 2000) * (TEMP - 2000)) / 4;
+        if (TEMP < -1500) {
+            OFF2 = OFF2 + 7 * ((TEMP + 1500) * (TEMP + 1500));
+            SENS2 = SENS2 + 11 * ((TEMP + 1500) * (TEMP + 1500)) / 2;
+        }
+    }
+
+    //Offset and sensitivity compensation
+    OFF = OFF - OFF2;
+    SENS = SENS - SENS2;
+
+    int32_t P = (((dpv * SENS) >> 21) - OFF) >> 15;
+
+    pressureOut = P;
+}
+
+void MS5611::convertP()
+{
+	osrP = 0x46;//convert pressure command code, OSR - 2048 (datasheet page 10)
+
+	//set delay between transmit and receive based on osr for pressure
+	if(osrP==0x40)
+	{
+		delayP = 1;
+	}
+	else if(osrP==0x42)
+	{
+		delayP = 2;
+	}
+	else if(osrP==0x44)
+	{
+		delayP = 3;
+	}
+	else if(osrP==0x46)
+	{
+		delayP = 5;
+	}
+	else if(osrP==0x48)
+	{
+		delayP = 10;
+	}
+
+	HAL_I2C_Master_Transmit(&port, 0b11101110, &osrP, 1, HAL_MAX_DELAY);
+	osDelay(delayP);//from page 3 of datasheet based on OSR
+}
+
+void MS5611::convertT()
+{
+	osrT = 0x56;//convert temperature command, OSR - 2048 (datasheet page 10)
+
+	//set delay between transmit and receive based on osr for temperature
+	if(osrT==0x50)
+	{
+		delayT = 1;
+	}
+	else if(osrT==0x52)
+	{
+		delayT = 2;
+	}
+	else if(osrP==0x54)
+	{
+		delayT = 3;
+	}
+	else if(osrP==0x56)
+	{
+		delayT = 5;
+	}
+	else if(osrP==0x58)
+	{
+		delayT = 10;
+	}
+
+	HAL_I2C_Master_Transmit(&port, 0b11101110, &osrT, 1, HAL_MAX_DELAY);
+	osDelay(delayT);//from page 3 of datasheet based on OSR
+}
diff --git a/CM7/Components/SystemDefines.hpp b/CM7/Components/SystemDefines.hpp
index 1c97b5b..3119c79 100644
--- a/CM7/Components/SystemDefines.hpp
+++ b/CM7/Components/SystemDefines.hpp
@@ -60,6 +60,7 @@ constexpr uint8_t IMU_TASK_RTOS_PRIORITY = 2;            // Priority of the IMU
 constexpr uint8_t IMU_TASK_QUEUE_DEPTH_OBJS = 10;        // Size of the IMU task queue
 constexpr uint16_t IMU_TASK_STACK_DEPTH_WORDS = 512;        // Size of the IMU task stack
 
+// Altitude Task
 constexpr uint8_t ALTITUDE_TASK_RTOS_PRIORITY = 2;            // Priority of the Altitude task
 constexpr uint8_t ALTITUDE_TASK_QUEUE_DEPTH_OBJS = 10;        // Size of the Altitude task queue
 constexpr uint16_t ALTITUDE_TASK_STACK_DEPTH_WORDS = 512;        // Size of the Altitude task stack
@@ -69,4 +70,9 @@ constexpr uint8_t BARO_TASK_RTOS_PRIORITY = 2;            // Priority of the deb
 constexpr uint8_t BARO_TASK_QUEUE_DEPTH_OBJS = 10;        // Size of the debug task queue
 constexpr uint16_t BARO_TASK_STACK_DEPTH_WORDS = 512;     // Size of the debug task stack
 
+// ALTIMETER TASK
+constexpr uint8_t ALTIMETER_TASK_RTOS_PRIORITY = 2;            // Priority of the debug task
+constexpr uint8_t ALTIMETER_TASK_QUEUE_DEPTH_OBJS = 10;        // Size of the debug task queue
+constexpr uint16_t ALTIMETER_TASK_STACK_DEPTH_WORDS = 512;        // Size of the debug task stack
+
 #endif // CUBE_MAIN_SYSTEM_DEFINES_H
diff --git a/CM7/Components/data.hpp b/CM7/Components/data.hpp
new file mode 100644
index 0000000..cd9d5d8
--- /dev/null
+++ b/CM7/Components/data.hpp
@@ -0,0 +1,63 @@
+/*
+ * Data.hpp
+ */
+
+#ifndef DATA_HPP_
+#define DATA_HPP_
+
+#include "stdint.h"
+#include "SystemDefines.hpp"
+
+typedef struct IMUData {
+	float xAccel;
+	float yAccel;
+	float zAccel;
+} IMUData;
+
+typedef struct AltimeterData {
+	float altitude;
+	float temp;
+} AltimeterData;
+
+/*
+ *  mario  = Experiment Board LPS22HH U3
+ *  luigi  = Experiment Board LPS22HH U4
+ *  bowser = Main Board MS5611 U4
+ */
+typedef struct BarometerData {
+    float marioPressure;
+    float marioTemperature;
+    float luigiPressure;
+    float luigiTemperature;
+    // uint32_t bowserPressure;
+    // uint32_t bowserTemperature;
+} BarometerData;
+
+typedef struct AltimeterData {
+    uint32_t altitude;  // scale the the data by 100 when sending to achieve a 2 decimal point accuracy
+    uint32_t timestamp;
+} AltimeterData;
+
+typedef struct BarometerAltitudeData {
+    uint32_t marioAltitude;
+    uint32_t luigiAltitude;
+}
+
+/*
+ * Data Containers
+ * Acts as a pointer to the other data structs alongside a timestamp for logging to flash.
+ */
+typedef struct AllData {
+	// IMUData*         	 imuData;
+	// AltimeterData* 		 altimeterData;
+    BarometerData*       barometerData;
+    uint32_t 			 time;
+} AllData;
+// Used to send the 3 newest altitude data points
+typedef struct LastThreePoints {
+	uint16_t point1;
+	uint16_t point2;
+	uint16_t point3;
+} LastThreePoints;
+
+#endif /* DATA_HPP_ */
diff --git a/CM7/Components/sensor-driverpack b/CM7/Components/sensor-driverpack
new file mode 160000
index 0000000..ce9fd9e
--- /dev/null
+++ b/CM7/Components/sensor-driverpack
@@ -0,0 +1 @@
+Subproject commit ce9fd9e3494081b4c5890a9e0dc8f3a94b16ffc1
diff --git a/CM7/Core/Src/main.c b/CM7/Core/Src/main.c
index 11e12b7..8c3a096 100644
--- a/CM7/Core/Src/main.c
+++ b/CM7/Core/Src/main.c
@@ -68,6 +68,7 @@ osThreadId defaultTaskHandle;
 
 /* Private function prototypes -----------------------------------------------*/
 void SystemClock_Config(void);
+void PeriphCommonClock_Config(void);
 static void MX_GPIO_Init(void);
 static void MX_QUADSPI_Init(void);
 static void MX_SPI1_Init(void);
@@ -124,6 +125,9 @@ int main(void)
 
   /* Configure the system clock */
   SystemClock_Config();
+
+/* Configure the peripherals common clocks */
+  PeriphCommonClock_Config();
 /* USER CODE BEGIN Boot_Mode_Sequence_2 */
 /* When system initialization is finished, Cortex-M7 will release Cortex-M4 by means of
 HSEM notification */
@@ -221,7 +225,7 @@ void SystemClock_Config(void)
 
   /** Configure the main internal regulator output voltage
   */
-  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE3);
+  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE2);
 
   while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}
 
@@ -234,12 +238,12 @@ void SystemClock_Config(void)
   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
   RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
   RCC_OscInitStruct.PLL.PLLM = 4;
-  RCC_OscInitStruct.PLL.PLLN = 9;
+  RCC_OscInitStruct.PLL.PLLN = 32;
   RCC_OscInitStruct.PLL.PLLP = 2;
   RCC_OscInitStruct.PLL.PLLQ = 2;
   RCC_OscInitStruct.PLL.PLLR = 2;
   RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
-  RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOMEDIUM;
+  RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
   RCC_OscInitStruct.PLL.PLLFRACN = 3072;
   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
   {
@@ -251,9 +255,9 @@ void SystemClock_Config(void)
   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                               |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2
                               |RCC_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
-  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
+  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
   RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
-  RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV1;
+  RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV4;
   RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2;
   RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV2;
   RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;
@@ -265,6 +269,24 @@ void SystemClock_Config(void)
   }
 }
 
+/**
+  * @brief Peripherals Common Clock Configuration
+  * @retval None
+  */
+void PeriphCommonClock_Config(void)
+{
+  RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
+
+  /** Initializes the peripherals clock
+  */
+  PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_CKPER;
+  PeriphClkInitStruct.CkperClockSelection = RCC_CLKPSOURCE_HSI;
+  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
+  {
+    Error_Handler();
+  }
+}
+
 /**
   * @brief CRC Initialization Function
   * @param None
@@ -312,7 +334,7 @@ static void MX_I2C1_Init(void)
 
   /* USER CODE END I2C1_Init 1 */
   hi2c1.Instance = I2C1;
-  hi2c1.Init.Timing = 0x00707CBB;
+  hi2c1.Init.Timing = 0x00807DBE;
   hi2c1.Init.OwnAddress1 = 0;
   hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
   hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
@@ -360,7 +382,7 @@ static void MX_I2C2_Init(void)
 
   /* USER CODE END I2C2_Init 1 */
   hi2c2.Instance = I2C2;
-  hi2c2.Init.Timing = 0x00707CBB;
+  hi2c2.Init.Timing = 0x00807DBE;
   hi2c2.Init.OwnAddress1 = 0;
   hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
   hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
diff --git a/CM7/Core/Src/stm32h7xx_hal_msp.c b/CM7/Core/Src/stm32h7xx_hal_msp.c
index 3b377c8..db2f60d 100644
--- a/CM7/Core/Src/stm32h7xx_hal_msp.c
+++ b/CM7/Core/Src/stm32h7xx_hal_msp.c
@@ -401,7 +401,7 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi)
   /** Initializes the peripherals clock
   */
     PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_SPI1;
-    PeriphClkInitStruct.Spi123ClockSelection = RCC_SPI123CLKSOURCE_PLL;
+    PeriphClkInitStruct.Spi123ClockSelection = RCC_SPI123CLKSOURCE_CLKP;
     if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
     {
       Error_Handler();
@@ -436,7 +436,7 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi)
   /** Initializes the peripherals clock
   */
     PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_SPI2;
-    PeriphClkInitStruct.Spi123ClockSelection = RCC_SPI123CLKSOURCE_PLL;
+    PeriphClkInitStruct.Spi123ClockSelection = RCC_SPI123CLKSOURCE_CLKP;
     if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
     {
       Error_Handler();
diff --git a/Payload.ioc b/Payload.ioc
index 4823371..b18ce84 100644
--- a/Payload.ioc
+++ b/Payload.ioc
@@ -14,9 +14,9 @@ FREERTOS_M7.configUSE_TIMERS=1
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
 I2C1.IPParameters=Timing
-I2C1.Timing=0x00707CBB
+I2C1.Timing=0x00807DBE
 I2C2.IPParameters=Timing
-I2C2.Timing=0x00707CBB
+I2C2.Timing=0x00807DBE
 KeepUserPlacement=false
 Mcu.CPN=STM32H747IGT6
 Mcu.Context0=CortexM7
@@ -418,87 +418,94 @@ ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=true
 ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false-CortexM7,2-MX_GPIO_Init-GPIO-false-HAL-true-CortexM7,3-MX_QUADSPI_Init-QUADSPI-false-HAL-true-CortexM7,4-MX_SPI1_Init-SPI1-false-HAL-true-CortexM7,5-MX_I2C1_Init-I2C1-false-HAL-true-CortexM7,6-MX_I2C2_Init-I2C2-false-HAL-true-CortexM7,7-MX_SPI2_Init-SPI2-false-HAL-true-CortexM7,8-MX_SPI5_Init-SPI5-false-HAL-true-CortexM7,9-MX_USART2_UART_Init-USART2-false-HAL-true-CortexM7,10-MX_UART4_Init-UART4-false-HAL-true-CortexM7,11-MX_USART6_UART_Init-USART6-false-LL-true-CortexM7,12-MX_SPI6_Init-SPI6-false-HAL-true-CortexM7,13-MX_FREERTOS_Init-FREERTOS_M7-false-HAL-false-CortexM7,14-MX_CRC_Init-CRC-false-HAL-true-CortexM7,1-MX_QUADSPI_Init-QUADSPI-true-HAL-false-CortexM4,2-MX_CRC_Init-CRC-true-HAL-false-CortexM4,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true-CortexM7,0-MX_CORTEX_M4_Init-CORTEX_M4-false-HAL-true-CortexM4
 RCC.ADCFreq_Value=129000000
-RCC.AHB12Freq_Value=64000000
-RCC.AHB4Freq_Value=64000000
-RCC.APB1Freq_Value=32000000
-RCC.APB2Freq_Value=32000000
-RCC.APB3Freq_Value=32000000
-RCC.APB4Freq_Value=32000000
-RCC.AXIClockFreq_Value=64000000
+RCC.AHB12Freq_Value=64750000
+RCC.AHB4Freq_Value=64750000
+RCC.APB1Freq_Value=32375000
+RCC.APB2Freq_Value=32375000
+RCC.APB3Freq_Value=32375000
+RCC.APB4Freq_Value=32375000
+RCC.AXIClockFreq_Value=64750000
 RCC.CECFreq_Value=32000
 RCC.CKPERFreq_Value=64000000
-RCC.CPU2Freq_Value=64000000
-RCC.CPU2SystikFreq_Value=64000000
-RCC.CortexFreq_Value=64000000
-RCC.CpuClockFreq_Value=64000000
-RCC.D1CPREFreq_Value=64000000
+RCC.CPU2Freq_Value=64750000
+RCC.CPU2SystikFreq_Value=64750000
+RCC.CortexFreq_Value=259000000
+RCC.CpuClockFreq_Value=259000000
+RCC.D1CPREFreq_Value=259000000
 RCC.D1PPRE=RCC_APB3_DIV2
 RCC.D2PPRE1=RCC_APB1_DIV2
 RCC.D2PPRE2=RCC_APB2_DIV2
 RCC.D3PPRE=RCC_APB4_DIV2
-RCC.DFSDMACLkFreq_Value=75000000
-RCC.DFSDMFreq_Value=32000000
+RCC.DFSDMACLkFreq_Value=259000000
+RCC.DFSDMFreq_Value=32375000
 RCC.DIVM1=4
-RCC.DIVN1=9
-RCC.DIVP1Freq_Value=75000000
+RCC.DIVN1=32
+RCC.DIVP1Freq_Value=259000000
 RCC.DIVP2Freq_Value=129000000
 RCC.DIVP3Freq_Value=129000000
-RCC.DIVQ1Freq_Value=75000000
+RCC.DIVQ1Freq_Value=259000000
 RCC.DIVQ2Freq_Value=129000000
 RCC.DIVQ3Freq_Value=129000000
-RCC.DIVR1Freq_Value=75000000
+RCC.DIVR1Freq_Value=259000000
 RCC.DIVR2Freq_Value=129000000
 RCC.DIVR3Freq_Value=129000000
 RCC.DSIFreq_Value=62500000
 RCC.DSITXEscFreq_Value=15625000
-RCC.FDCANFreq_Value=75000000
-RCC.FMCFreq_Value=64000000
+RCC.FDCANFreq_Value=259000000
+RCC.FMCFreq_Value=64750000
 RCC.FamilyName=M
-RCC.HCLK3ClockFreq_Value=64000000
-RCC.HCLKFreq_Value=64000000
-RCC.HRTIMFreq_Value=64000000
-RCC.I2C123Freq_Value=32000000
-RCC.I2C4Freq_Value=32000000
-RCC.IPParameters=ADCFreq_Value,AHB12Freq_Value,AHB4Freq_Value,APB1Freq_Value,APB2Freq_Value,APB3Freq_Value,APB4Freq_Value,AXIClockFreq_Value,CECFreq_Value,CKPERFreq_Value,CPU2Freq_Value,CPU2SystikFreq_Value,CortexFreq_Value,CpuClockFreq_Value,D1CPREFreq_Value,D1PPRE,D2PPRE1,D2PPRE2,D3PPRE,DFSDMACLkFreq_Value,DFSDMFreq_Value,DIVM1,DIVN1,DIVP1Freq_Value,DIVP2Freq_Value,DIVP3Freq_Value,DIVQ1Freq_Value,DIVQ2Freq_Value,DIVQ3Freq_Value,DIVR1Freq_Value,DIVR2Freq_Value,DIVR3Freq_Value,DSIFreq_Value,DSITXEscFreq_Value,FDCANFreq_Value,FMCFreq_Value,FamilyName,HCLK3ClockFreq_Value,HCLKFreq_Value,HRTIMFreq_Value,I2C123Freq_Value,I2C4Freq_Value,LPTIM1Freq_Value,LPTIM2Freq_Value,LPTIM345Freq_Value,LPUART1Freq_Value,LTDCFreq_Value,MCO1PinFreq_Value,MCO2PinFreq_Value,PLLDSIVCOFreq_Value,PLLFRACN,QSPIFreq_Value,RNGFreq_Value,RTCFreq_Value,SAI1Freq_Value,SAI23Freq_Value,SAI4AFreq_Value,SAI4BFreq_Value,SDMMCFreq_Value,SPDIFRXFreq_Value,SPI123Freq_Value,SPI45Freq_Value,SPI6Freq_Value,SWPMI1Freq_Value,SYSCLKFreq_VALUE,SupplySource,Tim1OutputFreq_Value,Tim2OutputFreq_Value,TraceFreq_Value,USART16Freq_Value,USART234578Freq_Value,USBFreq_Value,VCO1OutputFreq_Value,VCO2OutputFreq_Value,VCO3OutputFreq_Value,VCOInput1Freq_Value,VCOInput2Freq_Value,VCOInput3Freq_Value
-RCC.LPTIM1Freq_Value=32000000
-RCC.LPTIM2Freq_Value=32000000
-RCC.LPTIM345Freq_Value=32000000
-RCC.LPUART1Freq_Value=32000000
+RCC.HCLK3ClockFreq_Value=64750000
+RCC.HCLKFreq_Value=64750000
+RCC.HPRE=RCC_HCLK_DIV4
+RCC.HRTIMFreq_Value=64750000
+RCC.I2C123Freq_Value=32375000
+RCC.I2C4Freq_Value=32375000
+RCC.IPParameters=ADCFreq_Value,AHB12Freq_Value,AHB4Freq_Value,APB1Freq_Value,APB2Freq_Value,APB3Freq_Value,APB4Freq_Value,AXIClockFreq_Value,CECFreq_Value,CKPERFreq_Value,CPU2Freq_Value,CPU2SystikFreq_Value,CortexFreq_Value,CpuClockFreq_Value,D1CPREFreq_Value,D1PPRE,D2PPRE1,D2PPRE2,D3PPRE,DFSDMACLkFreq_Value,DFSDMFreq_Value,DIVM1,DIVN1,DIVP1Freq_Value,DIVP2Freq_Value,DIVP3Freq_Value,DIVQ1Freq_Value,DIVQ2Freq_Value,DIVQ3Freq_Value,DIVR1Freq_Value,DIVR2Freq_Value,DIVR3Freq_Value,DSIFreq_Value,DSITXEscFreq_Value,FDCANFreq_Value,FMCFreq_Value,FamilyName,HCLK3ClockFreq_Value,HCLKFreq_Value,HPRE,HRTIMFreq_Value,I2C123Freq_Value,I2C4Freq_Value,LPTIM1Freq_Value,LPTIM2Freq_Value,LPTIM345Freq_Value,LPUART1Freq_Value,LTDCFreq_Value,MCO1PinFreq_Value,MCO2PinFreq_Value,PLL1_VCI_Range-AdvancedSettings,PLL2FRACN,PLL3FRACN,PLLDSIVCOFreq_Value,PLLFRACN,QSPIFreq_Value,RNGFreq_Value,RTCFreq_Value,SAI1Freq_Value,SAI23Freq_Value,SAI4AFreq_Value,SAI4BFreq_Value,SDMMCFreq_Value,SPDIFRXFreq_Value,SPI123CLockSelection,SPI123Freq_Value,SPI45Freq_Value,SPI6Freq_Value,SWPMI1Freq_Value,SYSCLKFreq_VALUE,SYSCLKSource,SupplySource,Tim1OutputFreq_Value,Tim2OutputFreq_Value,TraceFreq_Value,USART16Freq_Value,USART234578Freq_Value,USBFreq_Value,VCO1OutputFreq_Value,VCO2OutputFreq_Value,VCO3OutputFreq_Value,VCOInput1Freq_Value,VCOInput2Freq_Value,VCOInput3Freq_Value
+RCC.LPTIM1Freq_Value=32375000
+RCC.LPTIM2Freq_Value=32375000
+RCC.LPTIM345Freq_Value=32375000
+RCC.LPUART1Freq_Value=32375000
 RCC.LTDCFreq_Value=129000000
 RCC.MCO1PinFreq_Value=64000000
-RCC.MCO2PinFreq_Value=64000000
+RCC.MCO2PinFreq_Value=259000000
+RCC.PLL1_VCI_Range-AdvancedSettings=RCC_PLL1VCIRANGE_1
+RCC.PLL2FRACN=0
+RCC.PLL3FRACN=0
 RCC.PLLDSIVCOFreq_Value=1000000000
 RCC.PLLFRACN=3072
-RCC.QSPIFreq_Value=64000000
+RCC.QSPIFreq_Value=64750000
 RCC.RNGFreq_Value=48000000
 RCC.RTCFreq_Value=32000
-RCC.SAI1Freq_Value=75000000
-RCC.SAI23Freq_Value=75000000
-RCC.SAI4AFreq_Value=75000000
-RCC.SAI4BFreq_Value=75000000
-RCC.SDMMCFreq_Value=75000000
-RCC.SPDIFRXFreq_Value=75000000
-RCC.SPI123Freq_Value=75000000
-RCC.SPI45Freq_Value=32000000
-RCC.SPI6Freq_Value=32000000
-RCC.SWPMI1Freq_Value=32000000
-RCC.SYSCLKFreq_VALUE=64000000
+RCC.SAI1Freq_Value=259000000
+RCC.SAI23Freq_Value=259000000
+RCC.SAI4AFreq_Value=259000000
+RCC.SAI4BFreq_Value=259000000
+RCC.SDMMCFreq_Value=259000000
+RCC.SPDIFRXFreq_Value=259000000
+RCC.SPI123CLockSelection=RCC_SPI123CLKSOURCE_CLKP
+RCC.SPI123Freq_Value=64000000
+RCC.SPI45Freq_Value=32375000
+RCC.SPI6Freq_Value=32375000
+RCC.SWPMI1Freq_Value=32375000
+RCC.SYSCLKFreq_VALUE=259000000
+RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
 RCC.SupplySource=PWR_LDO_SUPPLY
-RCC.Tim1OutputFreq_Value=64000000
-RCC.Tim2OutputFreq_Value=64000000
+RCC.Tim1OutputFreq_Value=64750000
+RCC.Tim2OutputFreq_Value=64750000
 RCC.TraceFreq_Value=64000000
-RCC.USART16Freq_Value=32000000
-RCC.USART234578Freq_Value=32000000
-RCC.USBFreq_Value=75000000
-RCC.VCO1OutputFreq_Value=150000000
+RCC.USART16Freq_Value=32375000
+RCC.USART234578Freq_Value=32375000
+RCC.USBFreq_Value=259000000
+RCC.VCO1OutputFreq_Value=518000000
 RCC.VCO2OutputFreq_Value=258000000
 RCC.VCO3OutputFreq_Value=258000000
 RCC.VCOInput1Freq_Value=16000000
 RCC.VCOInput2Freq_Value=2000000
 RCC.VCOInput3Freq_Value=2000000
-SPI1.CalculateBaudRate=37.5 MBits/s
+SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_2
+SPI1.CalculateBaudRate=32.0 MBits/s
 SPI1.Direction=SPI_DIRECTION_2LINES
-SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate
+SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler
 SPI1.Mode=SPI_MODE_MASTER
 SPI1.VirtualType=VM_MASTER
 SPI2.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_256
@@ -510,7 +517,7 @@ SPI2.Direction=SPI_DIRECTION_2LINES
 SPI2.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,BaudRatePrescaler,CLKPolarity,CLKPhase
 SPI2.Mode=SPI_MODE_MASTER
 SPI2.VirtualType=VM_MASTER
-SPI5.CalculateBaudRate=16.0 MBits/s
+SPI5.CalculateBaudRate=16.1875 MBits/s
 SPI5.Direction=SPI_DIRECTION_2LINES
 SPI5.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate
 SPI5.Mode=SPI_MODE_MASTER