diff --git a/.gitignore b/.gitignore
index ff73199c..d7441e60 100644
--- a/.gitignore
+++ b/.gitignore
@@ -72,10 +72,12 @@ eagle.epf
 *.eps
 obj_*
 inc/commandslist.h
-inc/hal_tbl.h
+inc/comps/*
+inc/shared_comps/*
 src/hal_tbl.c
 src/conf_templates.c
 stm32f303/inc/commandslist.h
-stm32f303/inc/hal_tbl.h
+stm32f303/inc/comps/*
+stm32f303/inc/shared_comps/*
 stm32f303/src/hal_tbl.c
 toolchain-user.mak
diff --git a/Makefile b/Makefile
index 7687fec3..e5726179 100644
--- a/Makefile
+++ b/Makefile
@@ -14,6 +14,9 @@ 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
@@ -28,96 +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
@@ -136,6 +140,8 @@ SOURCES += src/conf_templates.c
 
 SOURCES += shared/ringbuf.c
 
+CONFIG_TEMPLATES = $(wildcard conf/template/*.txt)
+
 USB_VCP_DIR = lib/STM32_USB_Device_VCP-1.2.0
 
 CPPFLAGS += -DUSBD_PRODUCT_STRING='"STMBL Virtual ComPort"'
@@ -191,6 +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))
@@ -286,33 +294,56 @@ bin: tbl $(TARGET).bin
 lss: $(TARGET).lss
 sym: $(TARGET).sym
 
-inc/commandslist.h: tbl
-inc/hal_tbl.h: tbl
-src/hal_tbl.c: tbl
-src/conf_templates.c: tbl
+$(OBJDIR)/shared/commands.o: inc/commandslist.h
 
-#generate hal and command tables
-tbl:
-	@echo Generating tables
-	@$(PYTHON) tools/create_hal_tbl.py . $(COMPS)
-	@$(PYTHON) tools/create_config.py conf/template/* > src/conf_templates.c
-	@$(PYTHON) tools/create_cmd.py $(SOURCES) > inc/commandslist.h
+inc/commandslist.h: tools/create_cmd.py $(SOURCES)
+	@echo Generating commands list
+	@$(MKDIR) -p $(dir $@)
+	@$(PYTHON) tools/create_cmd.py $@ $(SOURCES)
 
-#build f4 bootloader
-boot:
+src/hal_tbl.c: tools/create_hal_tbl.py $(COMPS)
+	@echo Generating HAL table
+	@$(MKDIR) -p $(dir $@)
+	@$(PYTHON) tools/create_hal_tbl.py $@ $(COMPS)
+
+$(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: $<
+	@$(MKDIR) -p $(dir $@)
+	@$(PYTHON) tools/create_comp_h.py $@ $<
+
+inc/shared_comps/%_comp.h: shared/comps/%.c
+	@echo Generating H: $<
+	@$(MKDIR) -p $(dir $@)
+	@$(PYTHON) tools/create_comp_h.py $@ $<
+
+src/conf_templates.c: tools/create_config.py $(CONFIG_TEMPLATES)
+	@echo Generating config
+	@$(MKDIR) -p $(dir $@)
+	@$(PYTHON) tools/create_config.py src/conf_templates.c $(CONFIG_TEMPLATES)
+
+tbl: inc/commandslist.h src/hal_tbl.c src/conf_templates.c
+
+obj_boot/blboot.bin: force_look
 	$(MAKE) -f bootloader/Makefile
 
+#build f4 bootloader
+boot: obj_boot/blboot.bin
+
 #flash f4 bootloader using stlink
-boot_flash: boot
+boot_flash:
 	$(MAKE) -f bootloader/Makefile flash
 
 #flash f4 bootloader using df-util
-boot_btburn: boot
+boot_btburn:
 	$(MAKE) -f bootloader/Makefile btburn
 
 
 #build f3 bootloader
-f3_boot:
+f3_boot: force_look
 	$(MAKE) -f f3_boot/Makefile
 
 #flash f3 bootloader using stlink
@@ -325,7 +356,7 @@ f3_boot_btburn:
 
 
 #build f3 firmware
-f3:
+f3: force_look
 	$(MAKE) -f stm32f303/Makefile
 
 #flash f3 firmware using stlink
@@ -338,39 +369,50 @@ f3_btburn:
 
 
 #generate f3 firmware object from f3 bin
-hv_firmware.o:
+hv_firmware.o: force_look
 	$(MAKE) -f stm32f303/Makefile all
 
 #build f103 firmware for V3 hardware
-f1:
+f1: force_look
 	$(MAKE) -f stm32f103/Makefile
 
 #flash f103 firmware for V3 hardware using stlink
 f1_flash: boot
 	$(MAKE) -f stm32f103/Makefile flash
 
-f3_all_btburn:
+f3_all_btburn: f3.bin
 	@$(DFU-UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D f3.bin
-all_btburn:
+all_btburn: tools/bootloader.py f4.bin
 	@$(PYTHON) tools/bootloader.py
 	@sleep 1
 	@$(DFU-UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D f4.bin
-all_flash:
+all_flash: f4.bin
 	@$(ST-FLASH) --reset write f4.bin 0x08000000
-f3_all_flash:
+f3_all_flash: f3.bin
 	@$(ST-FLASH) --reset write f3.bin 0x08000000
 
 deploy: f3_boot f3 boot build binall
 
-binall:
+f4.bin: obj_boot/blboot.bin conf/festo.txt $(TARGET).bin
 	cat obj_boot/blboot.bin /dev/zero | head -c 32768 > f4.bin
 	cat conf/festo.txt /dev/zero | head -c 32768 >> f4.bin
-	cat obj_app/stmbl.bin >> f4.bin
+	cat $(TARGET).bin >> f4.bin
+
+f3.bin: obj_f3_boot/f3_boot.bin obj_hvf3/hvf3.bin
 	cat obj_f3_boot/f3_boot.bin /dev/zero | head -c 16384 > f3.bin
 	cat obj_hvf3/hvf3.bin >> f3.bin
+
+# TODO: consolidate these two rules into a wildcard version?
+f4.dfu: tools/dfu-convert.py f4.bin
 	$(PYTHON) tools/dfu-convert.py -b 0x08000000:f4.bin f4.dfu
+
+f3.dfu: tools/dfu-convert.py f3.bin
 	$(PYTHON) tools/dfu-convert.py -b 0x08000000:f3.bin f3.dfu
-	$(PYTHON) tools/dfu-convert.py -b 0x08010000:obj_app/stmbl.bin stmbl.dfu
+
+stmbl.dfu: tools/dfu-convert.py $(TARGET).bin
+	$(PYTHON) tools/dfu-convert.py -b 0x08010000:$(TARGET).bin stmbl.dfu
+
+binall: f4.dfu f3.dfu stmbl.dfu
 
 format:
 	find src/ f3_boot/ bootloader/ stm32f103/ stm32f303/ shared/ inc/ tools/ -iname '*.h' -o -iname '*.c' | xargs clang-format -i
@@ -380,10 +422,13 @@ format:
 clean:
 	@echo Cleaning project:
 	rm -rf hv_firmware.o
-	rm -rf f3.bin f4.bin f3.dfu f4.dfu stmbl.dfu 
+	rm -rf f3.bin f4.bin f3.dfu f4.dfu stmbl.dfu
 	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
 	@$(MAKE) -f f3_boot/Makefile clean
 	@$(MAKE) -f stm32f103/Makefile clean
@@ -397,9 +442,18 @@ include base.mak
 #
 -include $(OBJECTS:.o=.d)
 
+force_look:
+	@true
+
 # Listing of phony targets
 #
-.PHONY: all build flash clean \
-        boot boot_clean boot_flash btburn boot_btflash boot_flash\
-        elf lss sym \
-        showsize gccversion tbl f3_boot binall deploy format f3_all_btburn all_btburn f3_all_flash all_flash
+.PHONY: all build clean \
+        elf hex bin lss sym tbl \
+        boot boot_flash boot_brburn \
+        f3_boot f3_boot_flash f3_boot_btburn \
+        f3 f3_flash f3_btburn \
+        f1 f1_flash \
+        f3_all_btburn all_btburn all_flash f3_all_flash \
+        deploy \
+        format \
+        force_look
diff --git a/base.mak b/base.mak
index eac25290..8a6b694f 100644
--- a/base.mak
+++ b/base.mak
@@ -74,7 +74,7 @@ showsize: build
 
 # Flash the device
 #
-btburn: build showsize $(TARGET).dfu
+btburn: tools/bootloader.py build showsize $(TARGET).dfu
 	@$(PYTHON) tools/bootloader.py
 	@sleep 1
 	@$(DFU-UTIL) -d 0483:df11 -a 0 -s $(ADDRESS):leave -D $(TARGET).dfu
@@ -89,3 +89,5 @@ flash: $(TARGET).bin
 
 include toolchain.mak
 -include toolchain-user.mak
+
+.PHONY: gccversion showsize btburn flash
diff --git a/bootloader/Makefile b/bootloader/Makefile
index e22c3959..69385fe5 100644
--- a/bootloader/Makefile
+++ b/bootloader/Makefile
@@ -155,7 +155,5 @@ include base.mak
 
 # Listing of phony targets
 #
-.PHONY: all build flash btfash clean \
-        boot boot_clean boot_flash \
-        elf lss sym \
-        showsize gccversion
+.PHONY: all build clean \
+        elf hex bin lss sym
diff --git a/f3_boot/Makefile b/f3_boot/Makefile
index 7244bf17..f7905e4d 100644
--- a/f3_boot/Makefile
+++ b/f3_boot/Makefile
@@ -175,7 +175,5 @@ include base.mak
 
 # Listing of phony targets
 #
-.PHONY: all build flash clean \
-        boot boot_clean boot_flash btburn boot_btflash boot_flash\
-        elf lss sym \
-        showsize gccversion
+.PHONY: all build clean \
+        elf hex bin lss sym
diff --git a/shared/comps/ac.c b/shared/comps/ac.c
index c0907036..17e17ceb 100644
--- a/shared/comps/ac.c
+++ b/shared/comps/ac.c
@@ -1,3 +1,4 @@
+#include "comps/ac_comp.h"
 #include "hal.h"
 
 HAL_COMP(ac);
diff --git a/shared/comps/acim_ttc.c b/shared/comps/acim_ttc.c
index 13fef23e..ba7d9501 100644
--- a/shared/comps/acim_ttc.c
+++ b/shared/comps/acim_ttc.c
@@ -1,3 +1,4 @@
+#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 39553570..5da0a7fa 100644
--- a/shared/comps/and.c
+++ b/shared/comps/and.c
@@ -1,3 +1,4 @@
+#include "and_comp.h"
 #include "hal.h"
 
 HAL_COMP(and);
diff --git a/shared/comps/auto_ac.c b/shared/comps/auto_ac.c
index 19816c53..7025cbf7 100644
--- a/shared/comps/auto_ac.c
+++ b/shared/comps/auto_ac.c
@@ -1,3 +1,4 @@
+#include "comps/auto_ac_comp.h"
 #include "hal.h"
 #include "defines.h"
 
diff --git a/shared/comps/avg.c b/shared/comps/avg.c
index 1470ea28..d28245c5 100644
--- a/shared/comps/avg.c
+++ b/shared/comps/avg.c
@@ -1,3 +1,4 @@
+#include "avg_comp.h"
 #include "hal.h"
 #include "defines.h"
 
diff --git a/shared/comps/curpid.c b/shared/comps/curpid.c
index c0f1bbce..9b117764 100644
--- a/shared/comps/curpid.c
+++ b/shared/comps/curpid.c
@@ -1,3 +1,4 @@
+#include "curpid_comp.h"
 #include "commands.h"
 #include "common.h"
 #include "hal.h"
diff --git a/shared/comps/dc.c b/shared/comps/dc.c
index 4d23ab5a..0b0c7c65 100644
--- a/shared/comps/dc.c
+++ b/shared/comps/dc.c
@@ -1,3 +1,4 @@
+#include "comps/dc_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/dc_limits.c b/shared/comps/dc_limits.c
index 6f3ab01a..77c7cad6 100644
--- a/shared/comps/dc_limits.c
+++ b/shared/comps/dc_limits.c
@@ -1,3 +1,4 @@
+#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 64872f93..7d0e26db 100644
--- a/shared/comps/dc_ttc.c
+++ b/shared/comps/dc_ttc.c
@@ -1,3 +1,4 @@
+#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 6aeef727..e3d2c609 100644
--- a/shared/comps/debounce.c
+++ b/shared/comps/debounce.c
@@ -1,3 +1,4 @@
+#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 48acdcc3..43f80a72 100644
--- a/shared/comps/dq.c
+++ b/shared/comps/dq.c
@@ -1,3 +1,4 @@
+#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 a04fa921..c1a4afe0 100644
--- a/shared/comps/en.c
+++ b/shared/comps/en.c
@@ -1,3 +1,4 @@
+#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 0cd9663f..a9d782d8 100644
--- a/shared/comps/fanuc.c
+++ b/shared/comps/fanuc.c
@@ -1,3 +1,4 @@
+#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 61ff5895..999a88cd 100644
--- a/shared/comps/fault.c
+++ b/shared/comps/fault.c
@@ -1,3 +1,4 @@
+#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 17ff817b..6c71879d 100644
--- a/shared/comps/fb_switch.c
+++ b/shared/comps/fb_switch.c
@@ -1,3 +1,4 @@
+#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 028ba726..07eb0f79 100644
--- a/shared/comps/field.c
+++ b/shared/comps/field.c
@@ -1,3 +1,4 @@
+#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 6dc38622..87d10c1d 100644
--- a/shared/comps/fmove.c
+++ b/shared/comps/fmove.c
@@ -1,3 +1,4 @@
+#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 7acb8bbb..57b3ba99 100644
--- a/shared/comps/gain.c
+++ b/shared/comps/gain.c
@@ -1,3 +1,4 @@
+#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 41b29a89..20f93135 100644
--- a/shared/comps/hal_test.c
+++ b/shared/comps/hal_test.c
@@ -1,3 +1,4 @@
+#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 9b86d8d2..85d8c778 100644
--- a/shared/comps/home.c
+++ b/shared/comps/home.c
@@ -1,3 +1,4 @@
+#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 e68f3c9c..29e29807 100644
--- a/shared/comps/idq.c
+++ b/shared/comps/idq.c
@@ -1,3 +1,4 @@
+#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 b8aaddb2..4be9e00d 100644
--- a/shared/comps/idx_home.c
+++ b/shared/comps/idx_home.c
@@ -1,3 +1,4 @@
+#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 1a870b77..bb4a56eb 100644
--- a/shared/comps/iit.c
+++ b/shared/comps/iit.c
@@ -1,3 +1,4 @@
+#include "iit_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/iit_old.c b/shared/comps/iit_old.c
index 7f013c6f..4af6f0a4 100644
--- a/shared/comps/iit_old.c
+++ b/shared/comps/iit_old.c
@@ -1,3 +1,4 @@
+#include "comps/iit_old_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/jog.c b/shared/comps/jog.c
index 9ffa7359..01207ca1 100644
--- a/shared/comps/jog.c
+++ b/shared/comps/jog.c
@@ -1,3 +1,4 @@
+#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 cb2b1490..07c36d68 100644
--- a/shared/comps/linrev.c
+++ b/shared/comps/linrev.c
@@ -1,3 +1,4 @@
+#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 0f772ab1..803e294b 100644
--- a/shared/comps/mad.c
+++ b/shared/comps/mad.c
@@ -1,3 +1,4 @@
+#include "mad_comp.h"
 #include "hal.h"
 
 HAL_COMP(mad);
diff --git a/shared/comps/move.c b/shared/comps/move.c
index ee445c29..1aea73c0 100644
--- a/shared/comps/move.c
+++ b/shared/comps/move.c
@@ -1,3 +1,4 @@
+#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 d59e4e9b..435d5cd9 100644
--- a/shared/comps/mpid.c
+++ b/shared/comps/mpid.c
@@ -1,3 +1,4 @@
+#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 51f9069d..68e2dfae 100644
--- a/shared/comps/mux.c
+++ b/shared/comps/mux.c
@@ -1,3 +1,4 @@
+#include "mux_comp.h"
 #include "hal.h"
 #include "defines.h"
 
diff --git a/shared/comps/not.c b/shared/comps/not.c
index d5bd5375..e566eb93 100644
--- a/shared/comps/not.c
+++ b/shared/comps/not.c
@@ -1,3 +1,4 @@
+#include "not_comp.h"
 #include "hal.h"
 
 HAL_COMP(not);
diff --git a/shared/comps/or.c b/shared/comps/or.c
index 56f55c74..e3a2a3d5 100644
--- a/shared/comps/or.c
+++ b/shared/comps/or.c
@@ -1,3 +1,4 @@
+#include "or_comp.h"
 #include "hal.h"
 
 HAL_COMP(or);
diff --git a/shared/comps/pe.c b/shared/comps/pe.c
index 11ebe976..b90610c5 100644
--- a/shared/comps/pe.c
+++ b/shared/comps/pe.c
@@ -1,3 +1,4 @@
+#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 f3c45c4b..ba9e53bc 100644
--- a/shared/comps/pid.c
+++ b/shared/comps/pid.c
@@ -1,3 +1,4 @@
+#include "pid_comp.h"
 /*
 * This file is part of the stmbl project.
 *
diff --git a/shared/comps/pmsm.c b/shared/comps/pmsm.c
index 8cd89cf8..59079c17 100644
--- a/shared/comps/pmsm.c
+++ b/shared/comps/pmsm.c
@@ -1,3 +1,4 @@
+#include "comps/pmsm_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 1c2c3dd5..81c3191b 100644
--- a/shared/comps/pmsm_limits.c
+++ b/shared/comps/pmsm_limits.c
@@ -1,3 +1,4 @@
+#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 80ac7f98..56765f53 100644
--- a/shared/comps/pmsm_ttc.c
+++ b/shared/comps/pmsm_ttc.c
@@ -1,3 +1,4 @@
+#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 98c4aaea..978a55d0 100644
--- a/shared/comps/pos_filter.c
+++ b/shared/comps/pos_filter.c
@@ -1,3 +1,4 @@
+#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 970cf927..af980da3 100644
--- a/shared/comps/psi.c
+++ b/shared/comps/psi.c
@@ -1,3 +1,4 @@
+#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 cc058a51..57d4fcd1 100644
--- a/shared/comps/ramp.c
+++ b/shared/comps/ramp.c
@@ -1,3 +1,4 @@
+#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 3daf4822..750d1714 100644
--- a/shared/comps/reslimit.c
+++ b/shared/comps/reslimit.c
@@ -1,3 +1,4 @@
+#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 8ffd18fe..bec0ba62 100644
--- a/shared/comps/rev.c
+++ b/shared/comps/rev.c
@@ -1,3 +1,4 @@
+#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 4280c28b..c9fbf958 100644
--- a/shared/comps/rl.c
+++ b/shared/comps/rl.c
@@ -1,3 +1,4 @@
+#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 1e1928fc..8514f1d7 100644
--- a/shared/comps/rlpsij.c
+++ b/shared/comps/rlpsij.c
@@ -1,3 +1,4 @@
+#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 72d63c2e..7894ef9a 100644
--- a/shared/comps/scale.c
+++ b/shared/comps/scale.c
@@ -1,3 +1,4 @@
+#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 31e26199..e4596e34 100644
--- a/shared/comps/sensorless.c
+++ b/shared/comps/sensorless.c
@@ -1,3 +1,4 @@
+#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 11a5d4f7..fb77ac46 100644
--- a/shared/comps/sim.c
+++ b/shared/comps/sim.c
@@ -1,3 +1,4 @@
+#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 6fe5ebef..b71d077e 100644
--- a/shared/comps/spid.c
+++ b/shared/comps/spid.c
@@ -1,3 +1,4 @@
+#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 0b7e03be..758f9b7c 100644
--- a/shared/comps/stp.c
+++ b/shared/comps/stp.c
@@ -1,3 +1,4 @@
+#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 bb880f05..090a3730 100644
--- a/shared/comps/svm.c
+++ b/shared/comps/svm.c
@@ -1,3 +1,4 @@
+#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 2794cff7..d8ed91aa 100644
--- a/shared/comps/term.c
+++ b/shared/comps/term.c
@@ -1,3 +1,4 @@
+#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 22027c10..9e77fe5c 100644
--- a/shared/comps/th.c
+++ b/shared/comps/th.c
@@ -1,3 +1,4 @@
+#include "th_comp.h"
 #include "hal.h"
 
 HAL_COMP(th);
diff --git a/shared/comps/uf.c b/shared/comps/uf.c
index fb92eb0e..36cf36b1 100644
--- a/shared/comps/uf.c
+++ b/shared/comps/uf.c
@@ -1,3 +1,4 @@
+#include "comps/uf_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/uf2.c b/shared/comps/uf2.c
index 12805b9c..d3a9e0b1 100644
--- a/shared/comps/uf2.c
+++ b/shared/comps/uf2.c
@@ -1,3 +1,4 @@
+#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 1fd7175f..194a827b 100644
--- a/shared/comps/uvw.c
+++ b/shared/comps/uvw.c
@@ -1,3 +1,4 @@
+#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 63adaf57..293ad7ff 100644
--- a/shared/comps/vel.c
+++ b/shared/comps/vel.c
@@ -1,3 +1,4 @@
+#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 b895b49b..6f9d995b 100644
--- a/shared/comps/vel_int.c
+++ b/shared/comps/vel_int.c
@@ -1,3 +1,4 @@
+#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 a8896fe4..d0770797 100644
--- a/shared/comps/velbuf.c
+++ b/shared/comps/velbuf.c
@@ -1,3 +1,4 @@
+#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 e4701867..45ad464f 100644
--- a/shared/comps/veltime.c
+++ b/shared/comps/veltime.c
@@ -1,3 +1,4 @@
+#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 9b9af853..fc6acb6e 100644
--- a/shared/comps/veltopos.c
+++ b/shared/comps/veltopos.c
@@ -1,3 +1,4 @@
+#include "veltopos_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/wobl.c b/shared/comps/wobl.c
index 1a8b7e1c..a37fb38f 100644
--- a/shared/comps/wobl.c
+++ b/shared/comps/wobl.c
@@ -1,3 +1,4 @@
+#include "comps/wobl_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/shared/comps/ypid.c b/shared/comps/ypid.c
index 50e048f5..c4a1fc29 100644
--- a/shared/comps/ypid.c
+++ b/shared/comps/ypid.c
@@ -1,3 +1,4 @@
+#include "ypid_comp.h"
 /*
 * This file is part of the stmbl project.
 *
diff --git a/shared/hal.h b/shared/hal.h
index 88e684f1..6d40c607 100644
--- a/shared/hal.h
+++ b/shared/hal.h
@@ -191,4 +191,13 @@ uint32_t hal_parse(char *cmd);
 void hal_error(uint32_t error_handler);
 void hal_set_debug_level(uint32_t debug_level);
 
-#include "hal_tbl.h"
+//#include "hal_tbl.h"
+struct pin_ctx_t{
+   hal_pin_inst_t rt_prio;
+   hal_pin_inst_t frt_prio;
+};
+
+extern const hal_comp_t * comps[];
+extern const pin_t pins[];
+extern const uint32_t comp_count;
+extern const uint32_t pin_count;
\ No newline at end of file
diff --git a/src/comps/adc.c b/src/comps/adc.c
index 6684f46e..9ea36c7a 100644
--- a/src/comps/adc.c
+++ b/src/comps/adc.c
@@ -1,3 +1,4 @@
+#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 0d691a77..548258ca 100644
--- a/src/comps/conf.c
+++ b/src/comps/conf.c
@@ -1,3 +1,4 @@
+#include "conf_comp.h"
 #include <stdio.h>
 #include "main.h"  // for Wait
 #include "commands.h"
diff --git a/src/comps/dmm.c b/src/comps/dmm.c
index bb582dee..3dfea75a 100644
--- a/src/comps/dmm.c
+++ b/src/comps/dmm.c
@@ -1,3 +1,4 @@
+#include "comps/dmm_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/src/comps/enc_cmd.c b/src/comps/enc_cmd.c
index 20c81266..97603357 100644
--- a/src/comps/enc_cmd.c
+++ b/src/comps/enc_cmd.c
@@ -1,3 +1,4 @@
+#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 efcd2630..305d0d89 100644
--- a/src/comps/enc_fb.c
+++ b/src/comps/enc_fb.c
@@ -1,3 +1,4 @@
+#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 1adb5a78..e161dab1 100644
--- a/src/comps/encf.c
+++ b/src/comps/encf.c
@@ -1,3 +1,4 @@
+#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 a8402150..b6abb3c9 100644
--- a/src/comps/encm.c
+++ b/src/comps/encm.c
@@ -1,3 +1,4 @@
+#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 22e11b2f..c610e752 100644
--- a/src/comps/encs.c
+++ b/src/comps/encs.c
@@ -1,3 +1,4 @@
+#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 2b268d47..a7a0aa55 100644
--- a/src/comps/endat.c
+++ b/src/comps/endat.c
@@ -1,3 +1,4 @@
+#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 76929240..ef19150d 100644
--- a/src/comps/hv.c
+++ b/src/comps/hv.c
@@ -1,3 +1,4 @@
+#include "hv_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/src/comps/hvf1.c b/src/comps/hvf1.c
index 8143c687..e1a751f0 100644
--- a/src/comps/hvf1.c
+++ b/src/comps/hvf1.c
@@ -1,3 +1,4 @@
+#include "comps/hvf1_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/src/comps/hw/io3.c b/src/comps/hw/io3.c
index 9cc55c7c..7d916bcc 100644
--- a/src/comps/hw/io3.c
+++ b/src/comps/hw/io3.c
@@ -1,3 +1,4 @@
+#include "comps/io3_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "defines.h"
diff --git a/src/comps/hw/io4.c b/src/comps/hw/io4.c
index 2398882a..5f12bd12 100644
--- a/src/comps/hw/io4.c
+++ b/src/comps/hw/io4.c
@@ -1,3 +1,4 @@
+#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 5e61dec9..10f53923 100644
--- a/src/comps/hx711.c
+++ b/src/comps/hx711.c
@@ -1,3 +1,4 @@
+#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 1744dad9..f52e1a3a 100644
--- a/src/comps/o_fb.c
+++ b/src/comps/o_fb.c
@@ -1,3 +1,4 @@
+#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 94690ce3..fc43f1a4 100644
--- a/src/comps/res.c
+++ b/src/comps/res.c
@@ -1,3 +1,4 @@
+#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 67791bb2..7d263509 100644
--- a/src/comps/smartabs.c
+++ b/src/comps/smartabs.c
@@ -1,3 +1,4 @@
+#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 803b1c71..2135780b 100644
--- a/src/comps/sserial.c
+++ b/src/comps/sserial.c
@@ -1,3 +1,4 @@
+#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 d39d9a7c..4915303b 100644
--- a/src/comps/usart.c
+++ b/src/comps/usart.c
@@ -1,3 +1,4 @@
+#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 aa092791..fdd29dd0 100644
--- a/src/comps/yaskawa.c
+++ b/src/comps/yaskawa.c
@@ -1,3 +1,4 @@
+#include "yaskawa_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/stm32f103/Makefile b/stm32f103/Makefile
index 71c0690f..7fd49945 100644
--- a/stm32f103/Makefile
+++ b/stm32f103/Makefile
@@ -155,5 +155,4 @@ include toolchain.mak
 # Listing of phony targets
 #
 .PHONY: all build flash clean \
-        elf lss sym \
-        showsize gccversion
+        elf hex bin lss sym
diff --git a/stm32f303/Makefile b/stm32f303/Makefile
index 9c884abe..9aceb369 100644
--- a/stm32f303/Makefile
+++ b/stm32f303/Makefile
@@ -14,6 +14,8 @@ 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
@@ -27,23 +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
@@ -85,6 +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))
 
@@ -93,7 +98,7 @@ CPPFLAGS += $(addprefix -I,$(INCDIRS))
 #  -g             generate debugging information
 #  -save-temps    preserve .s and .i-files
 #
-#CPPFLAGS += 
+#CPPFLAGS +=
 # CPPFLAGS += -g
 # CPPFLAGS += -save-temps=obj
 
@@ -181,9 +186,12 @@ ADDRESS = 0x8004000
 #
 all: gccversion build showsize
 
-build: tbl elf hex bin lss sym
+hv_firmware.o: obj_hvf3/hvf3.bin
 	$(OBJCOPY) --rename-section .data=.hv_firmware -I binary obj_hvf3/hvf3.bin -B arm -O elf32-littlearm hv_firmware.o
 
+build: tbl elf hex bin lss sym hv_firmware.o
+
+
 elf: $(TARGET).elf
 hex: $(TARGET).hex
 bin: tbl $(TARGET).bin
@@ -193,15 +201,33 @@ sym: $(TARGET).sym
 # Display compiler version information
 #
 
-stm32f303/inc/commandslist.h: tbl
-stm32f303/inc/hal_tbl.h: tbl
-stm32f303/src/hal_tbl.c: tbl
+$(OBJDIR)/shared/commands.o: stm32f303/inc/commandslist.h
 
-tbl:
-	@echo Generating tables
-	@$(PYTHON) tools/create_hal_tbl.py stm32f303/ $(COMPS)
-	#shared/comps/*.c src/comps/hw/*.c src/comps/*.c
-	@$(PYTHON) tools/create_cmd.py $(SOURCES) > stm32f303/inc/commandslist.h
+stm32f303/inc/commandslist.h: tools/create_cmd.py $(SOURCES)
+	@echo Generating commands list
+	@$(MKDIR) -p $(dir $@)
+	@$(PYTHON) tools/create_cmd.py $@ $(SOURCES)
+
+stm32f303/src/hal_tbl.c: tools/create_hal_tbl.py $(COMPS)
+	@echo Generating HAL table
+	@$(MKDIR) -p $(dir $@)
+	@$(PYTHON) tools/create_hal_tbl.py $@ $(COMPS)
+
+$(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: $<
+	@$(MKDIR) -p $(dir $@)
+	@$(PYTHON) tools/create_comp_h.py $@ $<
+
+stm32f303/inc/shared_comps/%_comp.h: shared/comps/%.c
+	@echo Generating H: $<
+	@$(MKDIR) -p $(dir $@)
+	@$(PYTHON) tools/create_comp_h.py $@ $<
+
+tbl: stm32f303/src/hal_tbl.c stm32f303/inc/commandslist.h
 
 # Target: clean project
 #
@@ -209,7 +235,8 @@ clean:
 	@echo Cleaning project:
 	rm -rf $(OBJDIR)
 	rm -rf stm32f303/inc/commandslist.h
-	rm -rf stm32f303/inc/hal_tbl.h
+	rm -rf stm32f303/inc/comps/*
+	rm -rf stm32f303/inc/shared_comps/*
 	rm -rf stm32f303/src/hal_tbl.c
 	rm -rf hv_firmware.o
 
@@ -223,7 +250,5 @@ include base.mak
 
 # Listing of phony targets
 #
-.PHONY: all build flash clean \
-        boot boot_clean boot_flash btburn boot_btflash boot_flash\
-        elf lss sym \
-        showsize gccversion tbl
+.PHONY: all build clean \
+        elf hex bin lss sym tbl
diff --git a/stm32f303/src/comps/enc.c b/stm32f303/src/comps/enc.c
index 1dbd2b7d..5b9cf534 100644
--- a/stm32f303/src/comps/enc.c
+++ b/stm32f303/src/comps/enc.c
@@ -1,3 +1,4 @@
+#include "comps/enc_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/stm32f303/src/comps/hv.c b/stm32f303/src/comps/hv.c
index ca1319c0..b8780c04 100644
--- a/stm32f303/src/comps/hv.c
+++ b/stm32f303/src/comps/hv.c
@@ -1,3 +1,4 @@
+#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 430d0fb4..3a18e4d7 100644
--- a/stm32f303/src/comps/io.c
+++ b/stm32f303/src/comps/io.c
@@ -1,3 +1,4 @@
+#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 2690a501..2720df46 100644
--- a/stm32f303/src/comps/ls.c
+++ b/stm32f303/src/comps/ls.c
@@ -1,3 +1,4 @@
+#include "ls_comp.h"
 #include "commands.h"
 #include "hal.h"
 #include "math.h"
diff --git a/toolchain.mak b/toolchain.mak
index a09d6f5c..9a3b1ee3 100644
--- a/toolchain.mak
+++ b/toolchain.mak
@@ -1,6 +1,6 @@
 # Define programs and commands for the toolchain
 # Do not modiy this file. Instead create a file toolchain-user.mak which can overwrite anything in here.
-PYTHON     = python
+PYTHON     = python3
 DFU-UTIL   = dfu-util
 DFU-SUFFIX = dfu-suffix
 ST-FLASH   = st-flash
diff --git a/tools/create_cmd.py b/tools/create_cmd.py
index 561b77f0..b1aa4c1d 100755
--- a/tools/create_cmd.py
+++ b/tools/create_cmd.py
@@ -4,21 +4,25 @@ import sys
 
 cmd = []
 
-for infile in sys.argv[1:]:
+for infile in sys.argv[2:]:
     with open(infile) as f:
         for line_number, line in enumerate(f):
             match = re.search('COMMAND\("(\w*)", *(\w*), *"([^"]*)"\);', line)
             if match:
                 cmd.append((match.groups(), infile, line_number))
 
-print ("//generated by " + sys.argv[0] + " DO NOT EDIT")
+header = open(sys.argv[1], 'w')
+
+header.write("//generated by " + sys.argv[0] + " DO NOT EDIT\n")
 
 for (name, ptr, doc), file_name, line_number in cmd:
-    print ("extern void " + ptr + "(char *); // found in " + file_name + " line: " + str(line_number + 1))
+    header.write("extern void " + ptr + "(char *); // found in " + file_name + " line: " + str(line_number + 1) + "\n")
 
-print ("\n")
+header.write("\n\n")
 
-print ("cmd_t cmd[] = {")
+header.write("cmd_t cmd[] = {\n")
 for (name, ptr, doc), file_name, line_number in cmd:
-    print ("   {\"" + name + "\", \"" + doc + "\", " + ptr + "}, // found in " + file_name + " line: " + str(line_number + 1))
-print ("};")
+    header.write("   {\"" + name + "\", \"" + doc + "\", " + ptr + "}, // found in " + file_name + " line: " + str(line_number + 1) + "\n")
+header.write("};\n")
+
+header.close()
diff --git a/tools/create_comp_h.py b/tools/create_comp_h.py
new file mode 100644
index 00000000..920263d5
--- /dev/null
+++ b/tools/create_comp_h.py
@@ -0,0 +1,41 @@
+#!/usr/bin/env python
+import re
+import sys
+
+infile = sys.argv[2]
+with open(sys.argv[2]) as f: # TODO raise error if file cannot be opened instead of silently succeeding
+    pins = []
+    comp_name = ''
+    comp_file = infile.split("/")[-1].split(".")[0]
+    for line in f:
+        comp = re.search('COMP\((\w*)\);', line)
+        if comp:
+            comp_name = comp.groups()[0]
+        pin = re.search('HAL_PIN\((\w*)\)', line)
+        if pin:
+            pins.append((pin.groups()[0], int(1)))
+        pin = re.search('HAL_PINA\((\w*),\s*(\d*)\)', line)
+        if pin:
+            pins.append((pin.groups()[0], int(pin.groups()[1])))
+
+    header = open(sys.argv[1], 'w')
+    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 " + infile + "\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()
diff --git a/tools/create_config.py b/tools/create_config.py
index 03506fef..108e5349 100755
--- a/tools/create_config.py
+++ b/tools/create_config.py
@@ -5,21 +5,25 @@ import os
 
 config = []
 
-for infile in sys.argv[1:]:
+for infile in sys.argv[2:]:
     with open(infile) as f:
         config.append((os.path.splitext(os.path.basename(infile))[0], f.read()))
 
-print ("//generated by " + sys.argv[0] + " DO NOT EDIT\n")
-print ("#include \"config.h\"\n")
-print ("const uint32_t num_of_config_templates = " + str(len(config)) + ";\n")
+code = open(sys.argv[1], 'w')
 
-print ("config_template_t config_templates[] = {")
+code.write("//generated by " + sys.argv[0] + " DO NOT EDIT\n\n")
+code.write("#include \"config.h\"\n\n")
+code.write("const uint32_t num_of_config_templates = " + str(len(config)) + ";\n\n")
+
+code.write("config_template_t config_templates[] = {\n")
 
 for index, (file_name, content) in enumerate(config):
-    print ("{")
-    print (".name = \"" + file_name + "\",")
-    print (".config = \"\\")
+    code.write("{\n")
+    code.write(".name = \"" + file_name + "\",\n")
+    code.write(".config = \"\\\n")
     for line in content.splitlines():
-        print (line + "\\n\\")
-    print ("\"\n},\n")
-print ("};")
+        code.write(line + "\\n\\\n")
+    code.write("\"\n},\n\n")
+code.write("};\n")
+
+code.close()
diff --git a/tools/create_hal_tbl.py b/tools/create_hal_tbl.py
index 2e79aab6..3ee4d53e 100755
--- a/tools/create_hal_tbl.py
+++ b/tools/create_hal_tbl.py
@@ -4,13 +4,13 @@ import sys
 
 comps = []
 
-header = open(sys.argv[1] + '/inc/hal_tbl.h', 'w')
-code = open(sys.argv[1] + '/src/hal_tbl.c', 'w')
+code = open(sys.argv[1], 'w')
 
 for infile in sys.argv[2:]:
     with open(infile) as f:
         pins = []
         compname = ''
+        comp_file = infile.split("/")[-1].split(".")[0]
         for line in f:
             comp = re.search('COMP\((\w*)\);', line)
             if comp:
@@ -21,60 +21,21 @@ for infile in sys.argv[2:]:
             pin = re.search('HAL_PINA\((\w*),\s*(\d*)\)', line)
             if pin:
                 pins.append((pin.groups()[0], int(pin.groups()[1])))
-        comps.append((compname, pins, infile))
+        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 in comps:
-    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\n")
-    
-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")
-
-for comp_name, pins, file_name in comps:
-    header.write("extern const hal_comp_t " + comp_name + "_comp_struct; // found in " + file_name + "\n")
-
-
-code.write("#include \"hal.h\"\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:
+    code.write("extern const hal_comp_t " + comp_name + "_comp_struct; // found in " + file_name + "\n")
+code.write("\n\n")
 code.write("const hal_comp_t * comps[] = {\n")
-for comp_name, pins, file_name in comps:
+for comp_name, pins, file_name, comp_file in comps:
    code.write("   &" + comp_name + "_comp_struct, // found in " + file_name + "\n")
 code.write("};\n\n")
 code.write("const uint32_t comp_count = sizeof(comps) / sizeof(comps[0]);\n\n")
 
 code.write("const pin_t pins[] = {\n")
-for comp_name, pins, file_name in comps:
+for comp_name, pins, file_name, comp_file in comps:
     code.write("   // pins for comp " + comp_name + " found in " + file_name + "\n")
     code.write("   \"rt_prio\",\n")
     code.write("   \"frt_prio\",\n")
@@ -95,5 +56,5 @@ for comp_name, pins, file_name in comps:
 code.write("};\n\n")
 code.write("const uint32_t pin_count = sizeof(pins) / sizeof(pins[0]);\n\n")
 
-header.close()
+# header.close()
 code.close()