diff --git a/.gitignore b/.gitignore
index cf41face..d7441e60 100644
--- a/.gitignore
+++ b/.gitignore
@@ -73,9 +73,11 @@ eagle.epf
 obj_*
 inc/commandslist.h
 inc/comps/*
+inc/shared_comps/*
 src/hal_tbl.c
 src/conf_templates.c
 stm32f303/inc/commandslist.h
 stm32f303/inc/comps/*
+stm32f303/inc/shared_comps/*
 stm32f303/src/hal_tbl.c
 toolchain-user.mak
diff --git a/Makefile b/Makefile
index 0dc011b2..8cf2f8fb 100644
--- a/Makefile
+++ b/Makefile
@@ -15,6 +15,8 @@ TARGET = $(OBJDIR)/stmbl
 # Define all C source files (dependencies are generated automatically)
 INCDIRS += inc
 INCDIRS += inc/comps
+INCDIRS += inc/comps/hw
+INCDIRS += inc/shared_comps
 INCDIRS += shared
 
 SOURCES += src/main.c
@@ -29,96 +31,97 @@ SOURCES += src/hal_tbl.c
 HWVERSION = v4
 
 ifeq ($(HWVERSION),v3)
-	COMPS += src/comps/hw/io3.c
-	COMPS += src/comps/hvf1.c
-	COMPS += shared/comps/pmsm.c
-	COMPS += shared/comps/curpid.c
-	COMPS += shared/comps/dq.c
-	COMPS += shared/comps/idq.c
-	SOURCES += shared/common_f1.c
+	SRC_COMPS += src/comps/hw/io3.c
+	SRC_COMPS += src/comps/hvf1.c
+	SHARED_COMPS += shared/comps/pmsm.c
+	SHARED_COMPS += shared/comps/curpid.c
+	SHARED_COMPS += shared/comps/dq.c
+	SHARED_COMPS += shared/comps/idq.c
+	SHARED_COMPS += shared/common_f1.c
 	CFLAGS += -DV3
 else
-	COMPS += src/comps/hw/io4.c
-	COMPS += src/comps/hv.c
+	SRC_COMPS += src/comps/hw/io4.c
+	SRC_COMPS += src/comps/hv.c
 	#TODO: need backport to v3
-	COMPS += src/comps/enc_cmd.c
-	COMPS += src/comps/o_fb.c
-	COMPS += src/comps/sserial.c
-	COMPS += src/comps/yaskawa.c
-	COMPS += src/comps/encs.c
-	COMPS += src/comps/encf.c
-	COMPS += src/comps/endat.c
+	SRC_COMPS += src/comps/enc_cmd.c
+	SRC_COMPS += src/comps/o_fb.c
+	SRC_COMPS += src/comps/sserial.c
+	SRC_COMPS += src/comps/yaskawa.c
+	SRC_COMPS += src/comps/encs.c
+	SRC_COMPS += src/comps/encf.c
+	SRC_COMPS += src/comps/endat.c
 	CFLAGS += -DV4
 endif
 
-COMPS += src/comps/usart.c
-COMPS += src/comps/encm.c
-COMPS += src/comps/dmm.c
-COMPS += src/comps/smartabs.c
-COMPS += src/comps/adc.c
-COMPS += src/comps/enc_fb.c
-COMPS += src/comps/conf.c
-COMPS += src/comps/res.c
-COMPS += src/comps/hx711.c
+SRC_COMPS += src/comps/usart.c
+SRC_COMPS += src/comps/encm.c
+SRC_COMPS += src/comps/dmm.c
+SRC_COMPS += src/comps/smartabs.c
+SRC_COMPS += src/comps/adc.c
+SRC_COMPS += src/comps/enc_fb.c
+SRC_COMPS += src/comps/conf.c
+SRC_COMPS += src/comps/res.c
+SRC_COMPS += src/comps/hx711.c
 
-COMPS += shared/comps/sim.c
-COMPS += shared/comps/term.c
-COMPS += shared/comps/svm.c
+SHARED_COMPS += shared/comps/sim.c
+SHARED_COMPS += shared/comps/term.c
+SHARED_COMPS += shared/comps/svm.c
 
-COMPS += shared/comps/vel.c
-COMPS += shared/comps/rev.c
-COMPS += shared/comps/hal_test.c
-# COMPS += shared/comps/dc.c
-COMPS += shared/comps/ypid.c
-COMPS += shared/comps/fault.c
-COMPS += shared/comps/pid.c
-COMPS += shared/comps/spid.c
-COMPS += shared/comps/pe.c
-COMPS += shared/comps/pmsm_limits.c
-COMPS += shared/comps/pmsm_ttc.c
-COMPS += shared/comps/dc_limits.c
-COMPS += shared/comps/dc_ttc.c
-COMPS += shared/comps/acim_ttc.c
-COMPS += shared/comps/uvw.c
-COMPS += shared/comps/fanuc.c
-COMPS += shared/comps/fb_switch.c
-COMPS += shared/comps/reslimit.c
-COMPS += shared/comps/iit.c
-COMPS += shared/comps/vel_int.c
-COMPS += shared/comps/linrev.c
-COMPS += shared/comps/psi.c
-COMPS += shared/comps/stp.c
-#COMPS += shared/comps/uf.c
-COMPS += shared/comps/uf2.c
-COMPS += shared/comps/ramp.c
-COMPS += shared/comps/scale.c
-COMPS += shared/comps/idx_home.c
-COMPS += shared/comps/move.c
-# COMPS += shared/comps/ac.c
-COMPS += shared/comps/not.c
-COMPS += shared/comps/and.c
-COMPS += shared/comps/or.c
-COMPS += shared/comps/jog.c
-COMPS += shared/comps/velbuf.c
-COMPS += shared/comps/avg.c
-COMPS += shared/comps/mux.c
-COMPS += shared/comps/veltopos.c
-# COMPS += shared/comps/wobl.c
-COMPS += shared/comps/debounce.c
-COMPS += shared/comps/pos_filter.c
-COMPS += shared/comps/rl.c
-COMPS += shared/comps/mad.c
-COMPS += shared/comps/sensorless.c
-COMPS += shared/comps/field.c
-COMPS += shared/comps/gain.c
-COMPS += shared/comps/rlpsij.c
-COMPS += shared/comps/veltime.c
-COMPS += shared/comps/mpid.c
-COMPS += shared/comps/fmove.c
-COMPS += shared/comps/home.c
-COMPS += shared/comps/en.c
-COMPS += shared/comps/th.c
+SHARED_COMPS += shared/comps/vel.c
+SHARED_COMPS += shared/comps/rev.c
+SHARED_COMPS += shared/comps/hal_test.c
+# SHARED_COMPS += shared/comps/dc.c
+SHARED_COMPS += shared/comps/ypid.c
+SHARED_COMPS += shared/comps/fault.c
+SHARED_COMPS += shared/comps/pid.c
+SHARED_COMPS += shared/comps/spid.c
+SHARED_COMPS += shared/comps/pe.c
+SHARED_COMPS += shared/comps/pmsm_limits.c
+SHARED_COMPS += shared/comps/pmsm_ttc.c
+SHARED_COMPS += shared/comps/dc_limits.c
+SHARED_COMPS += shared/comps/dc_ttc.c
+SHARED_COMPS += shared/comps/acim_ttc.c
+SHARED_COMPS += shared/comps/uvw.c
+SHARED_COMPS += shared/comps/fanuc.c
+SHARED_COMPS += shared/comps/fb_switch.c
+SHARED_COMPS += shared/comps/reslimit.c
+SHARED_COMPS += shared/comps/iit.c
+SHARED_COMPS += shared/comps/vel_int.c
+SHARED_COMPS += shared/comps/linrev.c
+SHARED_COMPS += shared/comps/psi.c
+SHARED_COMPS += shared/comps/stp.c
+#SHARED_COMPS += shared/comps/uf.c
+SHARED_COMPS += shared/comps/uf2.c
+SHARED_COMPS += shared/comps/ramp.c
+SHARED_COMPS += shared/comps/scale.c
+SHARED_COMPS += shared/comps/idx_home.c
+SHARED_COMPS += shared/comps/move.c
+# SHARED_COMPS += shared/comps/ac.c
+SHARED_COMPS += shared/comps/not.c
+SHARED_COMPS += shared/comps/and.c
+SHARED_COMPS += shared/comps/or.c
+SHARED_COMPS += shared/comps/jog.c
+SHARED_COMPS += shared/comps/velbuf.c
+SHARED_COMPS += shared/comps/avg.c
+SHARED_COMPS += shared/comps/mux.c
+SHARED_COMPS += shared/comps/veltopos.c
+# SHARED_COMPS += shared/comps/wobl.c
+SHARED_COMPS += shared/comps/debounce.c
+SHARED_COMPS += shared/comps/pos_filter.c
+SHARED_COMPS += shared/comps/rl.c
+SHARED_COMPS += shared/comps/mad.c
+SHARED_COMPS += shared/comps/sensorless.c
+SHARED_COMPS += shared/comps/field.c
+SHARED_COMPS += shared/comps/gain.c
+SHARED_COMPS += shared/comps/rlpsij.c
+SHARED_COMPS += shared/comps/veltime.c
+SHARED_COMPS += shared/comps/mpid.c
+SHARED_COMPS += shared/comps/fmove.c
+SHARED_COMPS += shared/comps/home.c
+SHARED_COMPS += shared/comps/en.c
+SHARED_COMPS += shared/comps/th.c
 
+COMPS = $(SRC_COMPS) $(SHARED_COMPS)
 SOURCES += $(COMPS)
 
 # SOURCES += src/eeprom.c
@@ -194,6 +197,8 @@ CPPFLAGS += -DHSE_VALUE=8000000
 LDSCRIPT = stm32_flash.ld
 
 #============================================================================
+SRC_COMP_OBJECTS = $(addprefix $(OBJDIR)/,$(addsuffix .o,$(basename $(SRC_COMPS))))
+SHARED_COMP_OBJECTS = $(addprefix $(OBJDIR)/,$(addsuffix .o,$(basename $(SHARED_COMPS))))
 OBJECTS += $(addprefix $(OBJDIR)/,$(addsuffix .o,$(basename $(SOURCES))))
 OBJECTS += hv_firmware.o
 CPPFLAGS += $(addprefix -I,$(INCDIRS))
@@ -289,18 +294,27 @@ bin: tbl $(TARGET).bin
 lss: $(TARGET).lss
 sym: $(TARGET).sym
 
-$(OBJECTS): src/hal_tbl.c
-
 $(OBJDIR)/shared/commands.o: inc/commandslist.h
 
 inc/commandslist.h: tools/create_cmd.py $(SOURCES)
 	@echo Generating commands list
 	@$(PYTHON) tools/create_cmd.py inc/commandslist.h $(SOURCES)
 
-src/hal_tbl.c &: tools/create_hal_tbl.py $(COMPS)
+src/hal_tbl.c: tools/create_hal_tbl.py $(COMPS)
 	@echo Generating HAL table
-	@$(PYTHON) tools/create_hal_tbl.py . $(COMPS)
-	@$(PYTHON) tools/inc_comps.py . $(COMPS)
+	@$(PYTHON) tools/create_hal_tbl.py src/hal_tbl.c $(COMPS)
+
+$(SRC_COMP_OBJECTS): $(OBJDIR)/src/comps/%.o: inc/comps/%_comp.h
+
+$(SHARED_COMP_OBJECTS): $(OBJDIR)/shared/comps/%.o: inc/shared_comps/%_comp.h
+
+inc/comps/%_comp.h: src/comps/%.c
+	@echo Generating H: $<
+	@$(PYTHON) tools/create_comp_h.py $@ $<
+
+inc/shared_comps/%_comp.h: shared/comps/%.c
+	@echo Generating H: $<
+	@$(PYTHON) tools/create_comp_h.py $@ $<
 
 src/conf_templates.c: tools/create_config.py $(CONFIG_TEMPLATES)
 	@echo Generating config
@@ -407,6 +421,7 @@ clean:
 	rm -rf $(OBJDIR)
 	rm -rf inc/commandslist.h
 	rm -rf inc/comps/*
+	rm -rf inc/shared_comps/*
 	rm -rf src/conf_templates.c
 	rm -rf src/hal_tbl.c
 	@$(MAKE) -f bootloader/Makefile clean
diff --git a/shared/comps/acim_ttc.c b/shared/comps/acim_ttc.c
index 8709bffd..ba7d9501 100644
--- a/shared/comps/acim_ttc.c
+++ b/shared/comps/acim_ttc.c
@@ -1,4 +1,4 @@
-#include "comps/acim_ttc_comp.h"
+#include "acim_ttc_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/and.c b/shared/comps/and.c
index ad0db223..5da0a7fa 100644
--- a/shared/comps/and.c
+++ b/shared/comps/and.c
@@ -1,4 +1,4 @@
-#include "comps/and_comp.h"
+#include "and_comp.h"
 #include "hal.h"
 
 HAL_COMP(and);
diff --git a/shared/comps/avg.c b/shared/comps/avg.c
index cfb669d4..d28245c5 100644
--- a/shared/comps/avg.c
+++ b/shared/comps/avg.c
@@ -1,4 +1,4 @@
-#include "comps/avg_comp.h"
+#include "avg_comp.h"
 #include "hal.h"
 #include "defines.h"
 
diff --git a/shared/comps/curpid.c b/shared/comps/curpid.c
index 972fc352..9b117764 100644
--- a/shared/comps/curpid.c
+++ b/shared/comps/curpid.c
@@ -1,4 +1,4 @@
-#include "comps/curpid_comp.h"
+#include "curpid_comp.h"
 #include "commands.h"
 #include "common.h"
 #include "hal.h"
diff --git a/shared/comps/dc_limits.c b/shared/comps/dc_limits.c
index bfcefe4e..77c7cad6 100644
--- a/shared/comps/dc_limits.c
+++ b/shared/comps/dc_limits.c
@@ -1,4 +1,4 @@
-#include "comps/dc_limits_comp.h"
+#include "dc_limits_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/dc_ttc.c b/shared/comps/dc_ttc.c
index 5b6d0626..7d0e26db 100644
--- a/shared/comps/dc_ttc.c
+++ b/shared/comps/dc_ttc.c
@@ -1,4 +1,4 @@
-#include "comps/dc_ttc_comp.h"
+#include "dc_ttc_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/debounce.c b/shared/comps/debounce.c
index a29d55f9..e3d2c609 100644
--- a/shared/comps/debounce.c
+++ b/shared/comps/debounce.c
@@ -1,4 +1,4 @@
-#include "comps/debounce_comp.h"
+#include "debounce_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/dq.c b/shared/comps/dq.c
index 30c4b9b1..43f80a72 100644
--- a/shared/comps/dq.c
+++ b/shared/comps/dq.c
@@ -1,4 +1,4 @@
-#include "comps/dq_comp.h"
+#include "dq_comp.h"
 #include "commands.h"
 #include "common.h"
 #include "hal.h"
diff --git a/shared/comps/en.c b/shared/comps/en.c
index c18691b0..c1a4afe0 100644
--- a/shared/comps/en.c
+++ b/shared/comps/en.c
@@ -1,4 +1,4 @@
-#include "comps/en_comp.h"
+#include "en_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/fanuc.c b/shared/comps/fanuc.c
index 297461e5..a9d782d8 100644
--- a/shared/comps/fanuc.c
+++ b/shared/comps/fanuc.c
@@ -1,4 +1,4 @@
-#include "comps/fanuc_comp.h"
+#include "fanuc_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/fault.c b/shared/comps/fault.c
index 9f414e96..999a88cd 100644
--- a/shared/comps/fault.c
+++ b/shared/comps/fault.c
@@ -1,4 +1,4 @@
-#include "comps/fault_comp.h"
+#include "fault_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/fb_switch.c b/shared/comps/fb_switch.c
index 86b82379..6c71879d 100644
--- a/shared/comps/fb_switch.c
+++ b/shared/comps/fb_switch.c
@@ -1,4 +1,4 @@
-#include "comps/fb_switch_comp.h"
+#include "fb_switch_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/field.c b/shared/comps/field.c
index 56aacda3..07eb0f79 100644
--- a/shared/comps/field.c
+++ b/shared/comps/field.c
@@ -1,4 +1,4 @@
-#include "comps/field_comp.h"
+#include "field_comp.h"
 /*
 * This file is part of the stmbl project.
 *
diff --git a/shared/comps/fmove.c b/shared/comps/fmove.c
index a545cc7b..87d10c1d 100644
--- a/shared/comps/fmove.c
+++ b/shared/comps/fmove.c
@@ -1,4 +1,4 @@
-#include "comps/fmove_comp.h"
+#include "fmove_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/gain.c b/shared/comps/gain.c
index 7f0d34c9..57b3ba99 100644
--- a/shared/comps/gain.c
+++ b/shared/comps/gain.c
@@ -1,4 +1,4 @@
-#include "comps/gain_comp.h"
+#include "gain_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/hal_test.c b/shared/comps/hal_test.c
index b13c5284..20f93135 100644
--- a/shared/comps/hal_test.c
+++ b/shared/comps/hal_test.c
@@ -1,4 +1,4 @@
-#include "comps/hal_test_comp.h"
+#include "hal_test_comp.h"
 #include "hal.h"
 
 HAL_COMP(hal_test);
diff --git a/shared/comps/home.c b/shared/comps/home.c
index 8e196541..85d8c778 100644
--- a/shared/comps/home.c
+++ b/shared/comps/home.c
@@ -1,4 +1,4 @@
-#include "comps/home_comp.h"
+#include "home_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/idq.c b/shared/comps/idq.c
index 99f9a87f..29e29807 100644
--- a/shared/comps/idq.c
+++ b/shared/comps/idq.c
@@ -1,4 +1,4 @@
-#include "comps/idq_comp.h"
+#include "idq_comp.h"
 #include "commands.h"
 #include "common.h"
 #include "hal.h"
diff --git a/shared/comps/idx_home.c b/shared/comps/idx_home.c
index 374df928..4be9e00d 100644
--- a/shared/comps/idx_home.c
+++ b/shared/comps/idx_home.c
@@ -1,4 +1,4 @@
-#include "comps/idx_home_comp.h"
+#include "idx_home_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/iit.c b/shared/comps/iit.c
index 919a3b95..bb4a56eb 100644
--- a/shared/comps/iit.c
+++ b/shared/comps/iit.c
@@ -1,4 +1,4 @@
-#include "comps/iit_comp.h"
+#include "iit_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/jog.c b/shared/comps/jog.c
index 32fd8d50..01207ca1 100644
--- a/shared/comps/jog.c
+++ b/shared/comps/jog.c
@@ -1,4 +1,4 @@
-#include "comps/jog_comp.h"
+#include "jog_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "defines.h"
diff --git a/shared/comps/linrev.c b/shared/comps/linrev.c
index c5b8373b..07c36d68 100644
--- a/shared/comps/linrev.c
+++ b/shared/comps/linrev.c
@@ -1,4 +1,4 @@
-#include "comps/linrev_comp.h"
+#include "linrev_comp.h"
 //Calculate motor angle from position in machine units
 
 /*
diff --git a/shared/comps/mad.c b/shared/comps/mad.c
index ccf9caad..803e294b 100644
--- a/shared/comps/mad.c
+++ b/shared/comps/mad.c
@@ -1,4 +1,4 @@
-#include "comps/mad_comp.h"
+#include "mad_comp.h"
 #include "hal.h"
 
 HAL_COMP(mad);
diff --git a/shared/comps/move.c b/shared/comps/move.c
index 0454d78c..1aea73c0 100644
--- a/shared/comps/move.c
+++ b/shared/comps/move.c
@@ -1,4 +1,4 @@
-#include "comps/move_comp.h"
+#include "move_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/mpid.c b/shared/comps/mpid.c
index 9a3cb756..435d5cd9 100644
--- a/shared/comps/mpid.c
+++ b/shared/comps/mpid.c
@@ -1,4 +1,4 @@
-#include "comps/mpid_comp.h"
+#include "mpid_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/mux.c b/shared/comps/mux.c
index ff3e0f46..68e2dfae 100644
--- a/shared/comps/mux.c
+++ b/shared/comps/mux.c
@@ -1,4 +1,4 @@
-#include "comps/mux_comp.h"
+#include "mux_comp.h"
 #include "hal.h"
 #include "defines.h"
 
diff --git a/shared/comps/not.c b/shared/comps/not.c
index f863ac2a..e566eb93 100644
--- a/shared/comps/not.c
+++ b/shared/comps/not.c
@@ -1,4 +1,4 @@
-#include "comps/not_comp.h"
+#include "not_comp.h"
 #include "hal.h"
 
 HAL_COMP(not);
diff --git a/shared/comps/or.c b/shared/comps/or.c
index 23230e07..e3a2a3d5 100644
--- a/shared/comps/or.c
+++ b/shared/comps/or.c
@@ -1,4 +1,4 @@
-#include "comps/or_comp.h"
+#include "or_comp.h"
 #include "hal.h"
 
 HAL_COMP(or);
diff --git a/shared/comps/pe.c b/shared/comps/pe.c
index 52cd5fde..b90610c5 100644
--- a/shared/comps/pe.c
+++ b/shared/comps/pe.c
@@ -1,4 +1,4 @@
-#include "comps/pe_comp.h"
+#include "pe_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/pid.c b/shared/comps/pid.c
index e19c1551..ba9e53bc 100644
--- a/shared/comps/pid.c
+++ b/shared/comps/pid.c
@@ -1,4 +1,4 @@
-#include "comps/pid_comp.h"
+#include "pid_comp.h"
 /*
 * This file is part of the stmbl project.
 *
diff --git a/shared/comps/pmsm_limits.c b/shared/comps/pmsm_limits.c
index 9b25da59..81c3191b 100644
--- a/shared/comps/pmsm_limits.c
+++ b/shared/comps/pmsm_limits.c
@@ -1,4 +1,4 @@
-#include "comps/pmsm_limits_comp.h"
+#include "pmsm_limits_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/pmsm_ttc.c b/shared/comps/pmsm_ttc.c
index 6ff7adb4..56765f53 100644
--- a/shared/comps/pmsm_ttc.c
+++ b/shared/comps/pmsm_ttc.c
@@ -1,4 +1,4 @@
-#include "comps/pmsm_ttc_comp.h"
+#include "pmsm_ttc_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/pos_filter.c b/shared/comps/pos_filter.c
index 2a7139a0..978a55d0 100644
--- a/shared/comps/pos_filter.c
+++ b/shared/comps/pos_filter.c
@@ -1,4 +1,4 @@
-#include "comps/pos_filter_comp.h"
+#include "pos_filter_comp.h"
 #include "hal.h"
 #include "angle.h"
 #include "defines.h"
diff --git a/shared/comps/psi.c b/shared/comps/psi.c
index b4512052..af980da3 100644
--- a/shared/comps/psi.c
+++ b/shared/comps/psi.c
@@ -1,4 +1,4 @@
-#include "comps/psi_comp.h"
+#include "psi_comp.h"
 #include "hal.h"
 #include "math.h"
 #include "defines.h"
diff --git a/shared/comps/ramp.c b/shared/comps/ramp.c
index dfe68698..57d4fcd1 100644
--- a/shared/comps/ramp.c
+++ b/shared/comps/ramp.c
@@ -1,4 +1,4 @@
-#include "comps/ramp_comp.h"
+#include "ramp_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "defines.h"
diff --git a/shared/comps/reslimit.c b/shared/comps/reslimit.c
index 1b417c4c..750d1714 100644
--- a/shared/comps/reslimit.c
+++ b/shared/comps/reslimit.c
@@ -1,4 +1,4 @@
-#include "comps/reslimit_comp.h"
+#include "reslimit_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/rev.c b/shared/comps/rev.c
index 5e3c49bd..bec0ba62 100644
--- a/shared/comps/rev.c
+++ b/shared/comps/rev.c
@@ -1,4 +1,4 @@
-#include "comps/rev_comp.h"
+#include "rev_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/rl.c b/shared/comps/rl.c
index 20bc75ab..c9fbf958 100644
--- a/shared/comps/rl.c
+++ b/shared/comps/rl.c
@@ -1,4 +1,4 @@
-#include "comps/rl_comp.h"
+#include "rl_comp.h"
 #include "hal.h"
 #include "angle.h"
 #include "defines.h"
diff --git a/shared/comps/rlpsij.c b/shared/comps/rlpsij.c
index eb1d92b1..8514f1d7 100644
--- a/shared/comps/rlpsij.c
+++ b/shared/comps/rlpsij.c
@@ -1,4 +1,4 @@
-#include "comps/rlpsij_comp.h"
+#include "rlpsij_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/scale.c b/shared/comps/scale.c
index 6d8becee..7894ef9a 100644
--- a/shared/comps/scale.c
+++ b/shared/comps/scale.c
@@ -1,4 +1,4 @@
-#include "comps/scale_comp.h"
+#include "scale_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/sensorless.c b/shared/comps/sensorless.c
index d2aa5ed4..e4596e34 100644
--- a/shared/comps/sensorless.c
+++ b/shared/comps/sensorless.c
@@ -1,4 +1,4 @@
-#include "comps/sensorless_comp.h"
+#include "sensorless_comp.h"
 /*
 * This file is part of the stmbl project.
 *
diff --git a/shared/comps/sim.c b/shared/comps/sim.c
index 09f924ec..fb77ac46 100644
--- a/shared/comps/sim.c
+++ b/shared/comps/sim.c
@@ -1,4 +1,4 @@
-#include "comps/sim_comp.h"
+#include "sim_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/spid.c b/shared/comps/spid.c
index 7f00d069..b71d077e 100644
--- a/shared/comps/spid.c
+++ b/shared/comps/spid.c
@@ -1,4 +1,4 @@
-#include "comps/spid_comp.h"
+#include "spid_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/stp.c b/shared/comps/stp.c
index b2cd03b0..758f9b7c 100644
--- a/shared/comps/stp.c
+++ b/shared/comps/stp.c
@@ -1,4 +1,4 @@
-#include "comps/stp_comp.h"
+#include "stp_comp.h"
 #include "hal.h"
 #include "math.h"
 #include "defines.h"
diff --git a/shared/comps/svm.c b/shared/comps/svm.c
index cfc4eea2..090a3730 100644
--- a/shared/comps/svm.c
+++ b/shared/comps/svm.c
@@ -1,4 +1,4 @@
-#include "comps/svm_comp.h"
+#include "svm_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/term.c b/shared/comps/term.c
index b2fd6c91..d8ed91aa 100644
--- a/shared/comps/term.c
+++ b/shared/comps/term.c
@@ -1,4 +1,4 @@
-#include "comps/term_comp.h"
+#include "term_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "defines.h"
diff --git a/shared/comps/th.c b/shared/comps/th.c
index f0af5c8c..9e77fe5c 100644
--- a/shared/comps/th.c
+++ b/shared/comps/th.c
@@ -1,4 +1,4 @@
-#include "comps/th_comp.h"
+#include "th_comp.h"
 #include "hal.h"
 
 HAL_COMP(th);
diff --git a/shared/comps/uf2.c b/shared/comps/uf2.c
index 22608c8e..d3a9e0b1 100644
--- a/shared/comps/uf2.c
+++ b/shared/comps/uf2.c
@@ -1,4 +1,4 @@
-#include "comps/uf2_comp.h"
+#include "uf2_comp.h"
 #include "hal.h"
 #include "defines.h"
 #include "angle.h"
diff --git a/shared/comps/uvw.c b/shared/comps/uvw.c
index 85e57d90..194a827b 100644
--- a/shared/comps/uvw.c
+++ b/shared/comps/uvw.c
@@ -1,4 +1,4 @@
-#include "comps/uvw_comp.h"
+#include "uvw_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/vel.c b/shared/comps/vel.c
index 7684b02c..293ad7ff 100644
--- a/shared/comps/vel.c
+++ b/shared/comps/vel.c
@@ -1,4 +1,4 @@
-#include "comps/vel_comp.h"
+#include "vel_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/vel_int.c b/shared/comps/vel_int.c
index b9596069..6f9d995b 100644
--- a/shared/comps/vel_int.c
+++ b/shared/comps/vel_int.c
@@ -1,4 +1,4 @@
-#include "comps/vel_int_comp.h"
+#include "vel_int_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/velbuf.c b/shared/comps/velbuf.c
index 62b2a4f4..d0770797 100644
--- a/shared/comps/velbuf.c
+++ b/shared/comps/velbuf.c
@@ -1,4 +1,4 @@
-#include "comps/velbuf_comp.h"
+#include "velbuf_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/veltime.c b/shared/comps/veltime.c
index 12d1f0ad..45ad464f 100644
--- a/shared/comps/veltime.c
+++ b/shared/comps/veltime.c
@@ -1,4 +1,4 @@
-#include "comps/veltime_comp.h"
+#include "veltime_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/veltopos.c b/shared/comps/veltopos.c
index 87ce24e9..fc6acb6e 100644
--- a/shared/comps/veltopos.c
+++ b/shared/comps/veltopos.c
@@ -1,4 +1,4 @@
-#include "comps/veltopos_comp.h"
+#include "veltopos_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/ypid.c b/shared/comps/ypid.c
index d8cb4269..c4a1fc29 100644
--- a/shared/comps/ypid.c
+++ b/shared/comps/ypid.c
@@ -1,4 +1,4 @@
-#include "comps/ypid_comp.h"
+#include "ypid_comp.h"
 /*
 * This file is part of the stmbl project.
 *
diff --git a/src/comps/adc.c b/src/comps/adc.c
index e4c29d06..9ea36c7a 100644
--- a/src/comps/adc.c
+++ b/src/comps/adc.c
@@ -1,4 +1,4 @@
-#include "comps/adc_comp.h"
+#include "adc_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/src/comps/conf.c b/src/comps/conf.c
index 431fde7d..548258ca 100644
--- a/src/comps/conf.c
+++ b/src/comps/conf.c
@@ -1,4 +1,4 @@
-#include "comps/conf_comp.h"
+#include "conf_comp.h"
 #include <stdio.h>
 #include "main.h"  // for Wait
 #include "commands.h"
diff --git a/src/comps/enc_cmd.c b/src/comps/enc_cmd.c
index a82ed204..97603357 100644
--- a/src/comps/enc_cmd.c
+++ b/src/comps/enc_cmd.c
@@ -1,4 +1,4 @@
-#include "comps/enc_cmd_comp.h"
+#include "enc_cmd_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/src/comps/enc_fb.c b/src/comps/enc_fb.c
index 894b9bb3..305d0d89 100644
--- a/src/comps/enc_fb.c
+++ b/src/comps/enc_fb.c
@@ -1,4 +1,4 @@
-#include "comps/enc_fb_comp.h"
+#include "enc_fb_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/src/comps/encf.c b/src/comps/encf.c
index 545dc529..e161dab1 100644
--- a/src/comps/encf.c
+++ b/src/comps/encf.c
@@ -1,4 +1,4 @@
-#include "comps/encf_comp.h"
+#include "encf_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/src/comps/encm.c b/src/comps/encm.c
index c9ef1db9..b6abb3c9 100644
--- a/src/comps/encm.c
+++ b/src/comps/encm.c
@@ -1,4 +1,4 @@
-#include "comps/encm_comp.h"
+#include "encm_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/src/comps/encs.c b/src/comps/encs.c
index 9645ce74..c610e752 100644
--- a/src/comps/encs.c
+++ b/src/comps/encs.c
@@ -1,4 +1,4 @@
-#include "comps/encs_comp.h"
+#include "encs_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/src/comps/endat.c b/src/comps/endat.c
index 77dc8537..a7a0aa55 100644
--- a/src/comps/endat.c
+++ b/src/comps/endat.c
@@ -1,4 +1,4 @@
-#include "comps/endat_comp.h"
+#include "endat_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/src/comps/hv.c b/src/comps/hv.c
index 1fd5a283..ef19150d 100644
--- a/src/comps/hv.c
+++ b/src/comps/hv.c
@@ -1,4 +1,4 @@
-#include "comps/hv_comp.h"
+#include "hv_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/src/comps/hw/io4.c b/src/comps/hw/io4.c
index 44ff2971..5f12bd12 100644
--- a/src/comps/hw/io4.c
+++ b/src/comps/hw/io4.c
@@ -1,4 +1,4 @@
-#include "comps/io4_comp.h"
+#include "io4_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "defines.h"
diff --git a/src/comps/hx711.c b/src/comps/hx711.c
index 1cd75cc0..10f53923 100644
--- a/src/comps/hx711.c
+++ b/src/comps/hx711.c
@@ -1,4 +1,4 @@
-#include "comps/hx711_comp.h"
+#include "hx711_comp.h"
 /*
 * This file is part of the stmbl project.
 *
diff --git a/src/comps/o_fb.c b/src/comps/o_fb.c
index d7fffd19..f52e1a3a 100644
--- a/src/comps/o_fb.c
+++ b/src/comps/o_fb.c
@@ -1,4 +1,4 @@
-#include "comps/o_fb_comp.h"
+#include "o_fb_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/src/comps/res.c b/src/comps/res.c
index 79ce3508..fc43f1a4 100644
--- a/src/comps/res.c
+++ b/src/comps/res.c
@@ -1,4 +1,4 @@
-#include "comps/res_comp.h"
+#include "res_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/src/comps/smartabs.c b/src/comps/smartabs.c
index a44ba56e..7d263509 100644
--- a/src/comps/smartabs.c
+++ b/src/comps/smartabs.c
@@ -1,4 +1,4 @@
-#include "comps/smartabs_comp.h"
+#include "smartabs_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/src/comps/sserial.c b/src/comps/sserial.c
index b7290e61..2135780b 100644
--- a/src/comps/sserial.c
+++ b/src/comps/sserial.c
@@ -1,4 +1,4 @@
-#include "comps/sserial_comp.h"
+#include "sserial_comp.h"
 /*
 * This file is part of the stmbl project.
 *
diff --git a/src/comps/usart.c b/src/comps/usart.c
index 27315917..4915303b 100644
--- a/src/comps/usart.c
+++ b/src/comps/usart.c
@@ -1,4 +1,4 @@
-#include "comps/usart_comp.h"
+#include "usart_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/src/comps/yaskawa.c b/src/comps/yaskawa.c
index fcbb820d..fdd29dd0 100644
--- a/src/comps/yaskawa.c
+++ b/src/comps/yaskawa.c
@@ -1,4 +1,4 @@
-#include "comps/yaskawa_comp.h"
+#include "yaskawa_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/stm32f303/Makefile b/stm32f303/Makefile
index c682822f..6e0d0edf 100644
--- a/stm32f303/Makefile
+++ b/stm32f303/Makefile
@@ -15,6 +15,7 @@ TARGET = $(OBJDIR)/hvf3
 # Define all C source files (dependencies are generated automatically)
 INCDIRS += stm32f303/inc
 INCDIRS += stm32f303/inc/comps
+INCDIRS += stm32f303/inc/shared_comps
 SOURCES += stm32f303/src/main.c
 SOURCES += stm32f303/src/adc.c
 SOURCES += stm32f303/src/dac.c
@@ -28,23 +29,24 @@ SOURCES += stm32f303/src/version.c
 SOURCES += stm32f303/src/hal_tbl.c
 
 CFLAGS += -DHAL_MAX_CTX=1024
-COMPS += stm32f303/src/comps/hv.c
-COMPS += stm32f303/src/comps/io.c
-COMPS += stm32f303/src/comps/ls.c
-#COMPS += stm32f303/src/comps/enc.c
+SRC_COMPS += stm32f303/src/comps/hv.c
+SRC_COMPS += stm32f303/src/comps/io.c
+SRC_COMPS += stm32f303/src/comps/ls.c
+#SRC_COMPS += stm32f303/src/comps/enc.c
 
-COMPS += shared/comps/sim.c
-COMPS += shared/comps/term.c
-COMPS += shared/comps/curpid.c
-COMPS += shared/comps/svm.c
-COMPS += shared/comps/dq.c
-COMPS += shared/comps/idq.c
-COMPS += shared/comps/sensorless.c
-# COMPS += shared/comps/vel.c
-# COMPS += shared/comps/hal_test.c
-# COMPS += shared/comps/dc.c
-# COMPS += shared/comps/ypid.c
+SHARED_COMPS += shared/comps/sim.c
+SHARED_COMPS += shared/comps/term.c
+SHARED_COMPS += shared/comps/curpid.c
+SHARED_COMPS += shared/comps/svm.c
+SHARED_COMPS += shared/comps/dq.c
+SHARED_COMPS += shared/comps/idq.c
+SHARED_COMPS += shared/comps/sensorless.c
+# SHARED_COMPS += shared/comps/vel.c
+# SHARED_COMPS += shared/comps/hal_test.c
+# SHARED_COMPS += shared/comps/dc.c
+# SHARED_COMPS += shared/comps/ypid.c
 
+COMPS = $(SRC_COMPS) $(SHARED_COMPS)
 SOURCES += $(COMPS)
 
 INCDIRS += shared
@@ -86,6 +88,8 @@ SOURCES += $(HAL_DRV_DIR)/Src/stm32f3xx_hal_uart_ex.c
 LDSCRIPT = stm32f303/STM32F303CBTx_FLASH.ld
 
 #============================================================================
+SRC_COMP_OBJECTS = $(addprefix $(OBJDIR)/,$(addsuffix .o,$(basename $(SRC_COMPS))))
+SHARED_COMP_OBJECTS = $(addprefix $(OBJDIR)/,$(addsuffix .o,$(basename $(SHARED_COMPS))))
 OBJECTS += $(addprefix $(OBJDIR)/,$(addsuffix .o,$(basename $(SOURCES))))
 CPPFLAGS += $(addprefix -I,$(INCDIRS))
 
@@ -197,18 +201,27 @@ sym: $(TARGET).sym
 # Display compiler version information
 #
 
-$(OBJECTS): stm32f303/src/hal_tbl.c
-
 $(OBJDIR)/shared/commands.o: stm32f303/inc/commandslist.h
 
 stm32f303/inc/commandslist.h: tools/create_cmd.py $(SOURCES)
 	@echo Generating commands list
 	@$(PYTHON) tools/create_cmd.py stm32f303/inc/commandslist.h $(SOURCES)
 
-stm32f303/src/hal_tbl.c &: tools/create_hal_tbl.py $(COMPS)
+stm32f303/src/hal_tbl.c: tools/create_hal_tbl.py $(COMPS)
 	@echo Generating HAL table
-	@$(PYTHON) tools/create_hal_tbl.py stm32f303 $(COMPS)
-	@$(PYTHON) tools/inc_comps.py . $(COMPS)
+	@$(PYTHON) tools/create_hal_tbl.py stm32f303/src/hal_tbl.c $(COMPS)
+
+$(SRC_COMP_OBJECTS): $(OBJDIR)/stm32f303/src/comps/%.o: stm32f303/inc/comps/%_comp.h
+
+$(SHARED_COMP_OBJECTS): $(OBJDIR)/shared/comps/%.o: stm32f303/inc/shared_comps/%_comp.h
+
+stm32f303/inc/comps/%_comp.h: stm32f303/src/comps/%.c
+	@echo Generating H: $<
+	@$(PYTHON) tools/create_comp_h.py $@ $<
+
+stm32f303/inc/shared_comps/%_comp.h: shared/comps/%.c
+	@echo Generating H: $<
+	@$(PYTHON) tools/create_comp_h.py $@ $<
 
 tbl: stm32f303/src/hal_tbl.c stm32f303/inc/commandslist.h
 
@@ -219,6 +232,7 @@ clean:
 	rm -rf $(OBJDIR)
 	rm -rf stm32f303/inc/commandslist.h
 	rm -rf stm32f303/inc/comps/*
+	rm -rf stm32f303/inc/shared_comps/*
 	rm -rf stm32f303/src/hal_tbl.c
 	rm -rf hv_firmware.o
 
diff --git a/stm32f303/src/comps/hv.c b/stm32f303/src/comps/hv.c
index 5f7ccb20..b8780c04 100644
--- a/stm32f303/src/comps/hv.c
+++ b/stm32f303/src/comps/hv.c
@@ -1,4 +1,4 @@
-#include "comps/hv_comp.h"
+#include "hv_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/stm32f303/src/comps/io.c b/stm32f303/src/comps/io.c
index cad2dd50..3a18e4d7 100644
--- a/stm32f303/src/comps/io.c
+++ b/stm32f303/src/comps/io.c
@@ -1,4 +1,4 @@
-#include "comps/io_comp.h"
+#include "io_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/stm32f303/src/comps/ls.c b/stm32f303/src/comps/ls.c
index 62887aac..2720df46 100644
--- a/stm32f303/src/comps/ls.c
+++ b/stm32f303/src/comps/ls.c
@@ -1,4 +1,4 @@
-#include "comps/ls_comp.h"
+#include "ls_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/tools/create_hal_tbl.py b/tools/create_hal_tbl.py
index 1be98460..920ff2c0 100755
--- a/tools/create_hal_tbl.py
+++ b/tools/create_hal_tbl.py
@@ -5,7 +5,7 @@ import file_updater
 
 comps = []
 
-code   = file_updater.FileUpdater(sys.argv[1] + '/src/hal_tbl.c')
+code = file_updater.FileUpdater(sys.argv[1])
 
 for infile in sys.argv[2:]:
     with open(infile) as f:
@@ -24,51 +24,6 @@ for infile in sys.argv[2:]:
                 pins.append((pin.groups()[0], int(pin.groups()[1])))
         comps.append((compname, pins, infile, comp_file))
 
-# header.write("#pragma once\n")
-# header.write("//generated by " + sys.argv[0] + " DO NOT EDIT\n\n")
-
-# header.write("struct pin_ctx_t{\n")
-# header.write("   hal_pin_inst_t rt_prio;\n")
-# header.write("   hal_pin_inst_t frt_prio;\n")
-# header.write("   hal_pin_inst_t rt_calc_time;\n")
-# header.write("   hal_pin_inst_t rt_start_time;\n")
-# header.write("   hal_pin_inst_t frt_calc_time;\n")
-# header.write("   hal_pin_inst_t frt_start_time;\n")
-# header.write("   hal_pin_inst_t nrt_calc_time;\n")
-# header.write("   hal_pin_inst_t nrt_start_time;\n")
-
-# header.write("};\n\n")
-
-for comp_name, pins, file_name, comp_file in comps:
-    header = file_updater.FileUpdater(sys.argv[1] + '/inc/comps/' + comp_file + '_comp.h')
-    header.write("#pragma once\n")
-    header.write("//generated by " + sys.argv[0] + " DO NOT EDIT\n\n")
-    header.write("#include \"hal.h\"\n")
-    header.write("struct " + comp_name + "_pin_ctx_t{ // found in " + file_name + "\n")
-    header.write("   hal_pin_inst_t rt_prio;\n")
-    header.write("   hal_pin_inst_t frt_prio;\n")
-    # header.write("   hal_pin_inst_t rt_calc_time;\n")
-    # header.write("   hal_pin_inst_t rt_start_time;\n")
-    # header.write("   hal_pin_inst_t frt_calc_time;\n")
-    # header.write("   hal_pin_inst_t frt_start_time;\n")
-    # header.write("   hal_pin_inst_t nrt_calc_time;\n")
-    # header.write("   hal_pin_inst_t nrt_start_time;\n")
-    
-    for (p, i) in pins:
-        if i > 1:
-            header.write("   hal_pin_inst_t " + p + "[" + str(i) + "]" + ";\n")
-        else:
-            header.write("   hal_pin_inst_t " + p + ";\n")
-    header.write("};\n")
-    header.close()
-    
-# header.write("extern const hal_comp_t * comps[];\n")
-# header.write("extern const pin_t pins[];\n")
-# header.write("extern const uint32_t comp_count;\n")
-# header.write("extern const uint32_t pin_count;\n\n")
-
-
-
 code.write("#include \"hal.h\"\n\n")
 code.write("//generated by " + sys.argv[0] + " DO NOT EDIT\n\n")
 for comp_name, pins, file_name, comp_file in comps:
diff --git a/tools/file_updater.py b/tools/file_updater.py
index 0d22fcd9..c29e6540 100644
--- a/tools/file_updater.py
+++ b/tools/file_updater.py
@@ -2,6 +2,7 @@
 import shutil
 import tempfile
 import filecmp
+import os
 
 def copyIfDifferent(src, dst_path):
     dst = None
@@ -20,6 +21,7 @@ def copyIfDifferent(src, dst_path):
 
 class FileUpdater:
     def __init__(self, path):
+        os.makedirs(os.path.dirname(path), exist_ok=True)
         self.filePath = path
         self.tempFile = tempfile.TemporaryFile(mode='r+')