diff --git a/appconf/appconf_default.h b/applications/appconf_default.h
similarity index 100%
rename from appconf/appconf_default.h
rename to applications/appconf_default.h
diff --git a/comm/comm.mk b/comm/comm.mk
new file mode 100644
index 00000000..898ed060
--- /dev/null
+++ b/comm/comm.mk
@@ -0,0 +1,9 @@
+CSRC += \
+	comm/commands.c \
+	comm/comm_usb_serial.c \
+	comm/comm_usb.c \
+	comm/comm_can.c \
+	comm/packet.c
+
+INCDIR += comm
+
diff --git a/comm_can.c b/comm/comm_can.c
similarity index 100%
rename from comm_can.c
rename to comm/comm_can.c
diff --git a/comm_can.h b/comm/comm_can.h
similarity index 100%
rename from comm_can.h
rename to comm/comm_can.h
diff --git a/comm_usb.c b/comm/comm_usb.c
similarity index 100%
rename from comm_usb.c
rename to comm/comm_usb.c
diff --git a/comm_usb.h b/comm/comm_usb.h
similarity index 100%
rename from comm_usb.h
rename to comm/comm_usb.h
diff --git a/comm_usb_serial.c b/comm/comm_usb_serial.c
similarity index 100%
rename from comm_usb_serial.c
rename to comm/comm_usb_serial.c
diff --git a/comm_usb_serial.h b/comm/comm_usb_serial.h
similarity index 100%
rename from comm_usb_serial.h
rename to comm/comm_usb_serial.h
diff --git a/commands.c b/comm/commands.c
similarity index 100%
rename from commands.c
rename to comm/commands.c
diff --git a/commands.h b/comm/commands.h
similarity index 100%
rename from commands.h
rename to comm/commands.h
diff --git a/packet.c b/comm/packet.c
similarity index 100%
rename from packet.c
rename to comm/packet.c
diff --git a/packet.h b/comm/packet.h
similarity index 100%
rename from packet.h
rename to comm/packet.h
diff --git a/driver/driver.mk b/driver/driver.mk
new file mode 100644
index 00000000..4fa853dd
--- /dev/null
+++ b/driver/driver.mk
@@ -0,0 +1,25 @@
+CSRC += \
+	driver/eeprom.c \
+	driver/i2c_bb.c \
+	driver/ledpwm.c \
+	driver/servo_dec.c \
+	driver/servo_simple.c \
+	driver/spi_bb.c \
+	driver/timer.c
+	
+CSRC += \
+	driver/lora/SX1278.c \
+	driver/lora/lora.c \
+	driver/lora/SX1278_hw.c 
+	
+CSRC += \
+	driver/nrf/spi_sw.c \
+	driver/nrf/rf.c \
+	driver/nrf/rfhelp.c \
+	driver/nrf/nrf_driver.c
+
+INCDIR += \
+	driver \
+	driver/lora \
+	driver/nrf
+
diff --git a/eeprom.c b/driver/eeprom.c
similarity index 100%
rename from eeprom.c
rename to driver/eeprom.c
diff --git a/eeprom.h b/driver/eeprom.h
similarity index 100%
rename from eeprom.h
rename to driver/eeprom.h
diff --git a/i2c_bb.c b/driver/i2c_bb.c
similarity index 100%
rename from i2c_bb.c
rename to driver/i2c_bb.c
diff --git a/i2c_bb.h b/driver/i2c_bb.h
similarity index 100%
rename from i2c_bb.h
rename to driver/i2c_bb.h
diff --git a/ledpwm.c b/driver/ledpwm.c
similarity index 100%
rename from ledpwm.c
rename to driver/ledpwm.c
diff --git a/ledpwm.h b/driver/ledpwm.h
similarity index 100%
rename from ledpwm.h
rename to driver/ledpwm.h
diff --git a/lora/SX1278.c b/driver/lora/SX1278.c
similarity index 100%
rename from lora/SX1278.c
rename to driver/lora/SX1278.c
diff --git a/lora/SX1278.h b/driver/lora/SX1278.h
similarity index 100%
rename from lora/SX1278.h
rename to driver/lora/SX1278.h
diff --git a/lora/SX1278_hw.c b/driver/lora/SX1278_hw.c
similarity index 100%
rename from lora/SX1278_hw.c
rename to driver/lora/SX1278_hw.c
diff --git a/lora/SX1278_hw.h b/driver/lora/SX1278_hw.h
similarity index 100%
rename from lora/SX1278_hw.h
rename to driver/lora/SX1278_hw.h
diff --git a/lora/lora.c b/driver/lora/lora.c
similarity index 100%
rename from lora/lora.c
rename to driver/lora/lora.c
diff --git a/lora/lora.h b/driver/lora/lora.h
similarity index 100%
rename from lora/lora.h
rename to driver/lora/lora.h
diff --git a/nrf/nrf_driver.c b/driver/nrf/nrf_driver.c
similarity index 100%
rename from nrf/nrf_driver.c
rename to driver/nrf/nrf_driver.c
diff --git a/nrf/nrf_driver.h b/driver/nrf/nrf_driver.h
similarity index 100%
rename from nrf/nrf_driver.h
rename to driver/nrf/nrf_driver.h
diff --git a/nrf/rf.c b/driver/nrf/rf.c
similarity index 100%
rename from nrf/rf.c
rename to driver/nrf/rf.c
diff --git a/nrf/rf.h b/driver/nrf/rf.h
similarity index 100%
rename from nrf/rf.h
rename to driver/nrf/rf.h
diff --git a/nrf/rfhelp.c b/driver/nrf/rfhelp.c
similarity index 100%
rename from nrf/rfhelp.c
rename to driver/nrf/rfhelp.c
diff --git a/nrf/rfhelp.h b/driver/nrf/rfhelp.h
similarity index 100%
rename from nrf/rfhelp.h
rename to driver/nrf/rfhelp.h
diff --git a/nrf/spi_sw.c b/driver/nrf/spi_sw.c
similarity index 100%
rename from nrf/spi_sw.c
rename to driver/nrf/spi_sw.c
diff --git a/nrf/spi_sw.h b/driver/nrf/spi_sw.h
similarity index 100%
rename from nrf/spi_sw.h
rename to driver/nrf/spi_sw.h
diff --git a/servo_dec.c b/driver/servo_dec.c
similarity index 100%
rename from servo_dec.c
rename to driver/servo_dec.c
diff --git a/servo_dec.h b/driver/servo_dec.h
similarity index 100%
rename from servo_dec.h
rename to driver/servo_dec.h
diff --git a/servo_simple.c b/driver/servo_simple.c
similarity index 100%
rename from servo_simple.c
rename to driver/servo_simple.c
diff --git a/servo_simple.h b/driver/servo_simple.h
similarity index 100%
rename from servo_simple.h
rename to driver/servo_simple.h
diff --git a/spi_bb.c b/driver/spi_bb.c
similarity index 100%
rename from spi_bb.c
rename to driver/spi_bb.c
diff --git a/spi_bb.h b/driver/spi_bb.h
similarity index 100%
rename from spi_bb.h
rename to driver/spi_bb.h
diff --git a/timer.c b/driver/timer.c
similarity index 100%
rename from timer.c
rename to driver/timer.c
diff --git a/timer.h b/driver/timer.h
similarity index 100%
rename from timer.h
rename to driver/timer.h
diff --git a/board.c b/hwconf/board.c
similarity index 100%
rename from board.c
rename to hwconf/board.c
diff --git a/board.h b/hwconf/board.h
similarity index 100%
rename from board.h
rename to hwconf/board.h
diff --git a/hwconf/hwconf.mk b/hwconf/hwconf.mk
index 67624b74..24ebd980 100644
--- a/hwconf/hwconf.mk
+++ b/hwconf/hwconf.mk
@@ -1,10 +1,13 @@
-HWSRC =	hwconf/hw.c \
+HWSRC =	\
+	hwconf/board.c \
+	hwconf/hw.c \
 	hwconf/drv8301.c \
 	hwconf/drv8305.c \
 	hwconf/drv8320s.c \
 	hwconf/drv8323s.c \
 	hwconf/luna/luna_display_serial.c \
-	hwconf/si8900.c
+	hwconf/si8900.c \
+	hwconf/shutdown.c \
 
 HWINC = hwconf \
 		hwconf/luna
diff --git a/mcuconf.h b/hwconf/mcuconf.h
similarity index 100%
rename from mcuconf.h
rename to hwconf/mcuconf.h
diff --git a/hwconf/hw_Cheap_FOCer_2.c b/hwconf/other/hw_Cheap_FOCer_2.c
similarity index 100%
rename from hwconf/hw_Cheap_FOCer_2.c
rename to hwconf/other/hw_Cheap_FOCer_2.c
diff --git a/hwconf/hw_Cheap_FOCer_2.h b/hwconf/other/hw_Cheap_FOCer_2.h
similarity index 100%
rename from hwconf/hw_Cheap_FOCer_2.h
rename to hwconf/other/hw_Cheap_FOCer_2.h
diff --git a/hwconf/hw_Little_FOCer.c b/hwconf/other/hw_Little_FOCer.c
similarity index 100%
rename from hwconf/hw_Little_FOCer.c
rename to hwconf/other/hw_Little_FOCer.c
diff --git a/hwconf/hw_Little_FOCer.h b/hwconf/other/hw_Little_FOCer.h
similarity index 100%
rename from hwconf/hw_Little_FOCer.h
rename to hwconf/other/hw_Little_FOCer.h
diff --git a/hwconf/hw_Little_FOCer_no_limits.h b/hwconf/other/hw_Little_FOCer_no_limits.h
similarity index 100%
rename from hwconf/hw_Little_FOCer_no_limits.h
rename to hwconf/other/hw_Little_FOCer_no_limits.h
diff --git a/hwconf/hw_axiom.c b/hwconf/other/hw_axiom.c
similarity index 100%
rename from hwconf/hw_axiom.c
rename to hwconf/other/hw_axiom.c
diff --git a/hwconf/hw_axiom.h b/hwconf/other/hw_axiom.h
similarity index 100%
rename from hwconf/hw_axiom.h
rename to hwconf/other/hw_axiom.h
diff --git a/hwconf/hw_axiom_fpga_bitstream.c b/hwconf/other/hw_axiom_fpga_bitstream.c
similarity index 100%
rename from hwconf/hw_axiom_fpga_bitstream.c
rename to hwconf/other/hw_axiom_fpga_bitstream.c
diff --git a/hwconf/hw_das_mini.c b/hwconf/other/hw_das_mini.c
similarity index 100%
rename from hwconf/hw_das_mini.c
rename to hwconf/other/hw_das_mini.c
diff --git a/hwconf/hw_das_mini.h b/hwconf/other/hw_das_mini.h
similarity index 100%
rename from hwconf/hw_das_mini.h
rename to hwconf/other/hw_das_mini.h
diff --git a/hwconf/hw_das_rs.c b/hwconf/other/hw_das_rs.c
similarity index 100%
rename from hwconf/hw_das_rs.c
rename to hwconf/other/hw_das_rs.c
diff --git a/hwconf/hw_das_rs.h b/hwconf/other/hw_das_rs.h
similarity index 100%
rename from hwconf/hw_das_rs.h
rename to hwconf/other/hw_das_rs.h
diff --git a/hwconf/hw_es19.c b/hwconf/other/hw_es19.c
similarity index 100%
rename from hwconf/hw_es19.c
rename to hwconf/other/hw_es19.c
diff --git a/hwconf/hw_es19.h b/hwconf/other/hw_es19.h
similarity index 100%
rename from hwconf/hw_es19.h
rename to hwconf/other/hw_es19.h
diff --git a/hwconf/hw_gesc.c b/hwconf/other/hw_gesc.c
similarity index 100%
rename from hwconf/hw_gesc.c
rename to hwconf/other/hw_gesc.c
diff --git a/hwconf/hw_gesc.h b/hwconf/other/hw_gesc.h
similarity index 100%
rename from hwconf/hw_gesc.h
rename to hwconf/other/hw_gesc.h
diff --git a/hwconf/hw_mini4.c b/hwconf/other/hw_mini4.c
similarity index 100%
rename from hwconf/hw_mini4.c
rename to hwconf/other/hw_mini4.c
diff --git a/hwconf/hw_mini4.h b/hwconf/other/hw_mini4.h
similarity index 100%
rename from hwconf/hw_mini4.h
rename to hwconf/other/hw_mini4.h
diff --git a/hwconf/hw_r2.c b/hwconf/other/hw_r2.c
similarity index 100%
rename from hwconf/hw_r2.c
rename to hwconf/other/hw_r2.c
diff --git a/hwconf/hw_r2.h b/hwconf/other/hw_r2.h
similarity index 100%
rename from hwconf/hw_r2.h
rename to hwconf/other/hw_r2.h
diff --git a/hwconf/hw_raiden7.c b/hwconf/other/hw_raiden7.c
similarity index 100%
rename from hwconf/hw_raiden7.c
rename to hwconf/other/hw_raiden7.c
diff --git a/hwconf/hw_raiden7.h b/hwconf/other/hw_raiden7.h
similarity index 100%
rename from hwconf/hw_raiden7.h
rename to hwconf/other/hw_raiden7.h
diff --git a/hwconf/hw_rd2.c b/hwconf/other/hw_rd2.c
similarity index 100%
rename from hwconf/hw_rd2.c
rename to hwconf/other/hw_rd2.c
diff --git a/hwconf/hw_rd2.h b/hwconf/other/hw_rd2.h
similarity index 100%
rename from hwconf/hw_rd2.h
rename to hwconf/other/hw_rd2.h
diff --git a/hwconf/hw_resc.c b/hwconf/other/hw_resc.c
similarity index 100%
rename from hwconf/hw_resc.c
rename to hwconf/other/hw_resc.c
diff --git a/hwconf/hw_resc.h b/hwconf/other/hw_resc.h
similarity index 100%
rename from hwconf/hw_resc.h
rename to hwconf/other/hw_resc.h
diff --git a/hwconf/hw_rh.c b/hwconf/other/hw_rh.c
similarity index 100%
rename from hwconf/hw_rh.c
rename to hwconf/other/hw_rh.c
diff --git a/hwconf/hw_rh.h b/hwconf/other/hw_rh.h
similarity index 100%
rename from hwconf/hw_rh.h
rename to hwconf/other/hw_rh.h
diff --git a/hwconf/hw_uavc_omega.c b/hwconf/other/hw_uavc_omega.c
similarity index 100%
rename from hwconf/hw_uavc_omega.c
rename to hwconf/other/hw_uavc_omega.c
diff --git a/hwconf/hw_uavc_omega.h b/hwconf/other/hw_uavc_omega.h
similarity index 100%
rename from hwconf/hw_uavc_omega.h
rename to hwconf/other/hw_uavc_omega.h
diff --git a/hwconf/hw_uavc_qcube.c b/hwconf/other/hw_uavc_qcube.c
similarity index 100%
rename from hwconf/hw_uavc_qcube.c
rename to hwconf/other/hw_uavc_qcube.c
diff --git a/hwconf/hw_uavc_qcube.h b/hwconf/other/hw_uavc_qcube.h
similarity index 100%
rename from hwconf/hw_uavc_qcube.h
rename to hwconf/other/hw_uavc_qcube.h
diff --git a/hwconf/hw_ubox_single.c b/hwconf/other/hw_ubox_single.c
similarity index 100%
rename from hwconf/hw_ubox_single.c
rename to hwconf/other/hw_ubox_single.c
diff --git a/hwconf/hw_ubox_single.h b/hwconf/other/hw_ubox_single.h
similarity index 100%
rename from hwconf/hw_ubox_single.h
rename to hwconf/other/hw_ubox_single.h
diff --git a/hwconf/hw_unity.c b/hwconf/other/hw_unity.c
similarity index 100%
rename from hwconf/hw_unity.c
rename to hwconf/other/hw_unity.c
diff --git a/hwconf/hw_unity.h b/hwconf/other/hw_unity.h
similarity index 100%
rename from hwconf/hw_unity.h
rename to hwconf/other/hw_unity.h
diff --git a/hwconf/hw_unity_no_limits.h b/hwconf/other/hw_unity_no_limits.h
similarity index 100%
rename from hwconf/hw_unity_no_limits.h
rename to hwconf/other/hw_unity_no_limits.h
diff --git a/hwconf/hw_uxv_sr.c b/hwconf/other/hw_uxv_sr.c
similarity index 100%
rename from hwconf/hw_uxv_sr.c
rename to hwconf/other/hw_uxv_sr.c
diff --git a/hwconf/hw_uxv_sr.h b/hwconf/other/hw_uxv_sr.h
similarity index 100%
rename from hwconf/hw_uxv_sr.h
rename to hwconf/other/hw_uxv_sr.h
diff --git a/hwconf/hw_warrior6.c b/hwconf/other/hw_warrior6.c
similarity index 100%
rename from hwconf/hw_warrior6.c
rename to hwconf/other/hw_warrior6.c
diff --git a/hwconf/hw_warrior6.h b/hwconf/other/hw_warrior6.h
similarity index 100%
rename from hwconf/hw_warrior6.h
rename to hwconf/other/hw_warrior6.h
diff --git a/hwconf/trampa/vesc4/hw_40.c b/hwconf/other/vesc4/hw_40.c
similarity index 100%
rename from hwconf/trampa/vesc4/hw_40.c
rename to hwconf/other/vesc4/hw_40.c
diff --git a/hwconf/trampa/vesc4/hw_40.h b/hwconf/other/vesc4/hw_40.h
similarity index 100%
rename from hwconf/trampa/vesc4/hw_40.h
rename to hwconf/other/vesc4/hw_40.h
diff --git a/hwconf/trampa/vesc4/hw_410.c b/hwconf/other/vesc4/hw_410.c
similarity index 100%
rename from hwconf/trampa/vesc4/hw_410.c
rename to hwconf/other/vesc4/hw_410.c
diff --git a/hwconf/trampa/vesc4/hw_410.h b/hwconf/other/vesc4/hw_410.h
similarity index 100%
rename from hwconf/trampa/vesc4/hw_410.h
rename to hwconf/other/vesc4/hw_410.h
diff --git a/hwconf/trampa/vesc4/hw_410_0005ohm.h b/hwconf/other/vesc4/hw_410_0005ohm.h
similarity index 94%
rename from hwconf/trampa/vesc4/hw_410_0005ohm.h
rename to hwconf/other/vesc4/hw_410_0005ohm.h
index eb6ba67c..e30d66b9 100644
--- a/hwconf/trampa/vesc4/hw_410_0005ohm.h
+++ b/hwconf/other/vesc4/hw_410_0005ohm.h
@@ -18,7 +18,7 @@
 #ifndef HW_410_0005OHM_H_
 #define HW_410_0005OHM_H_
 
-#define HW_SOURCE_ALT 		"trampa/vesc4/hw_410.c"
+#define HW_SOURCE_ALT 		"other/vesc4/hw_410.c"
 #define CURRENT_SHUNT_RES	0.0005
 
 #include "hw_410.h"
diff --git a/hwconf/trampa/vesc4/hw_410_005ohm.h b/hwconf/other/vesc4/hw_410_005ohm.h
similarity index 94%
rename from hwconf/trampa/vesc4/hw_410_005ohm.h
rename to hwconf/other/vesc4/hw_410_005ohm.h
index 5de654be..54ab3d2e 100644
--- a/hwconf/trampa/vesc4/hw_410_005ohm.h
+++ b/hwconf/other/vesc4/hw_410_005ohm.h
@@ -18,7 +18,7 @@
 #ifndef HW_410_005OHM_H_
 #define HW_410_005OHM_H_
 
-#define HW_SOURCE_ALT 		"trampa/vesc4/hw_410.c"
+#define HW_SOURCE_ALT 		"other/vesc4/hw_410.c"
 #define CURRENT_SHUNT_RES	0.005
 
 #include "hw_410.h"
diff --git a/hwconf/trampa/vesc4/hw_410_no_limits.h b/hwconf/other/vesc4/hw_410_no_limits.h
similarity index 100%
rename from hwconf/trampa/vesc4/hw_410_no_limits.h
rename to hwconf/other/vesc4/hw_410_no_limits.h
diff --git a/hwconf/trampa/vesc4/hw_45.c b/hwconf/other/vesc4/hw_45.c
similarity index 100%
rename from hwconf/trampa/vesc4/hw_45.c
rename to hwconf/other/vesc4/hw_45.c
diff --git a/hwconf/trampa/vesc4/hw_45.h b/hwconf/other/vesc4/hw_45.h
similarity index 100%
rename from hwconf/trampa/vesc4/hw_45.h
rename to hwconf/other/vesc4/hw_45.h
diff --git a/hwconf/trampa/vesc4/hw_46.c b/hwconf/other/vesc4/hw_46.c
similarity index 100%
rename from hwconf/trampa/vesc4/hw_46.c
rename to hwconf/other/vesc4/hw_46.c
diff --git a/hwconf/trampa/vesc4/hw_46.h b/hwconf/other/vesc4/hw_46.h
similarity index 100%
rename from hwconf/trampa/vesc4/hw_46.h
rename to hwconf/other/vesc4/hw_46.h
diff --git a/hwconf/trampa/vesc4/hw_46_0005ohm.h b/hwconf/other/vesc4/hw_46_0005ohm.h
similarity index 94%
rename from hwconf/trampa/vesc4/hw_46_0005ohm.h
rename to hwconf/other/vesc4/hw_46_0005ohm.h
index 0ead9310..e2af6836 100644
--- a/hwconf/trampa/vesc4/hw_46_0005ohm.h
+++ b/hwconf/other/vesc4/hw_46_0005ohm.h
@@ -18,7 +18,7 @@
 #ifndef HW_46_0005OHM_H_
 #define HW_46_0005OHM_H_
 
-#define HW_SOURCE_ALT 		"trampa/vesc4/hw_46.c"
+#define HW_SOURCE_ALT 		"other/vesc4/hw_46.c"
 #define CURRENT_SHUNT_RES	0.0005
 
 #include "hw_46.h"
diff --git a/hwconf/trampa/vesc4/hw_46_33k.h b/hwconf/other/vesc4/hw_46_33k.h
similarity index 94%
rename from hwconf/trampa/vesc4/hw_46_33k.h
rename to hwconf/other/vesc4/hw_46_33k.h
index 1f3d30e9..bf915ab3 100644
--- a/hwconf/trampa/vesc4/hw_46_33k.h
+++ b/hwconf/other/vesc4/hw_46_33k.h
@@ -18,7 +18,7 @@
 #ifndef HW_46_33K_H_
 #define HW_46_33K_H_
 
-#define HW_SOURCE_ALT "trampa/vesc4/hw_46.c"
+#define HW_SOURCE_ALT "other/vesc4/hw_46.c"
 #define VIN_R1	33000.0
 
 #include "hw_46.h"
diff --git a/hwconf/trampa/vesc4/hw_48.c b/hwconf/other/vesc4/hw_48.c
similarity index 100%
rename from hwconf/trampa/vesc4/hw_48.c
rename to hwconf/other/vesc4/hw_48.c
diff --git a/hwconf/trampa/vesc4/hw_48.h b/hwconf/other/vesc4/hw_48.h
similarity index 100%
rename from hwconf/trampa/vesc4/hw_48.h
rename to hwconf/other/vesc4/hw_48.h
diff --git a/hwconf/trampa/vesc4/hw_49.c b/hwconf/other/vesc4/hw_49.c
similarity index 100%
rename from hwconf/trampa/vesc4/hw_49.c
rename to hwconf/other/vesc4/hw_49.c
diff --git a/hwconf/trampa/vesc4/hw_49.h b/hwconf/other/vesc4/hw_49.h
similarity index 100%
rename from hwconf/trampa/vesc4/hw_49.h
rename to hwconf/other/vesc4/hw_49.h
diff --git a/shutdown.c b/hwconf/shutdown.c
similarity index 99%
rename from shutdown.c
rename to hwconf/shutdown.c
index 0467e5cb..49db94b1 100644
--- a/shutdown.c
+++ b/hwconf/shutdown.c
@@ -62,7 +62,7 @@ void shutdown_set_sampling_disabled(bool disabled) {
 	chMtxUnlock(&m_sample_mutex);
 }
 
-bool do_shutdown(void) {
+static bool do_shutdown(void) {
 	conf_general_store_backup_data();
 	DISABLE_GATE();
 	HW_SHUTDOWN_HOLD_OFF();
diff --git a/shutdown.h b/hwconf/shutdown.h
similarity index 100%
rename from shutdown.h
rename to hwconf/shutdown.h
diff --git a/stm32f4xx_conf.h b/hwconf/stm32f4xx_conf.h
similarity index 100%
rename from stm32f4xx_conf.h
rename to hwconf/stm32f4xx_conf.h
diff --git a/hwconf/hw_100_250.c b/hwconf/trampa/100_250/hw_100_250.c
similarity index 100%
rename from hwconf/hw_100_250.c
rename to hwconf/trampa/100_250/hw_100_250.c
diff --git a/hwconf/hw_100_250.h b/hwconf/trampa/100_250/hw_100_250.h
similarity index 100%
rename from hwconf/hw_100_250.h
rename to hwconf/trampa/100_250/hw_100_250.h
diff --git a/hwconf/hw_100_250_no_limits.h b/hwconf/trampa/100_250/hw_100_250_no_limits.h
similarity index 100%
rename from hwconf/hw_100_250_no_limits.h
rename to hwconf/trampa/100_250/hw_100_250_no_limits.h
diff --git a/hwconf/hw_140_300.c b/hwconf/trampa/140_300/hw_140_300.c
similarity index 100%
rename from hwconf/hw_140_300.c
rename to hwconf/trampa/140_300/hw_140_300.c
diff --git a/hwconf/hw_140_300.h b/hwconf/trampa/140_300/hw_140_300.h
similarity index 100%
rename from hwconf/hw_140_300.h
rename to hwconf/trampa/140_300/hw_140_300.h
diff --git a/hwconf/hw_hd60.c b/hwconf/trampa/hd/hw_hd60.c
similarity index 100%
rename from hwconf/hw_hd60.c
rename to hwconf/trampa/hd/hw_hd60.c
diff --git a/hwconf/hw_hd60.h b/hwconf/trampa/hd/hw_hd60.h
similarity index 100%
rename from hwconf/hw_hd60.h
rename to hwconf/trampa/hd/hw_hd60.h
diff --git a/hwconf/hw_hd60_no_limits.h b/hwconf/trampa/hd/hw_hd60_no_limits.h
similarity index 100%
rename from hwconf/hw_hd60_no_limits.h
rename to hwconf/trampa/hd/hw_hd60_no_limits.h
diff --git a/hwconf/hw_hd75.c b/hwconf/trampa/hd/hw_hd75.c
similarity index 100%
rename from hwconf/hw_hd75.c
rename to hwconf/trampa/hd/hw_hd75.c
diff --git a/hwconf/hw_hd75.h b/hwconf/trampa/hd/hw_hd75.h
similarity index 100%
rename from hwconf/hw_hd75.h
rename to hwconf/trampa/hd/hw_hd75.h
diff --git a/hwconf/hw_hd75_no_limits.h b/hwconf/trampa/hd/hw_hd75_no_limits.h
similarity index 100%
rename from hwconf/hw_hd75_no_limits.h
rename to hwconf/trampa/hd/hw_hd75_no_limits.h
diff --git a/lora/lora.mk b/lora/lora.mk
deleted file mode 100644
index 3e0d9226..00000000
--- a/lora/lora.mk
+++ /dev/null
@@ -1,5 +0,0 @@
-LORASRC = 	lora/SX1278.c \
-		lora/lora.c \
-		lora/SX1278_hw.c 
-
-LORAINC = 	lora
diff --git a/lzo/lzo.mk b/lzo/lzo.mk
deleted file mode 100644
index f7b3e950..00000000
--- a/lzo/lzo.mk
+++ /dev/null
@@ -1,2 +0,0 @@
-LZOSRC = 	lzo/minilzo.c
-LZOINC = 	lzo
diff --git a/make/fw.mk b/make/fw.mk
index 5413b192..896ac891 100755
--- a/make/fw.mk
+++ b/make/fw.mk
@@ -105,11 +105,8 @@ include $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
 # Other files
 include hwconf/hwconf.mk
 include applications/applications.mk
-include nrf/nrf.mk
 include libcanard/canard.mk
 include imu/imu.mk
-include lora/lora.mk
-include lzo/lzo.mk
 include blackmagic/blackmagic.mk
 include encoder/encoder.mk
 
@@ -131,52 +128,22 @@ CSRC = $(STARTUPSRC) \
        $(PLATFORMSRC) \
        $(CHIBIOS)/os/hal/lib/streams/chprintf.c \
        $(CHIBIOS)/os/various/syscalls.c \
-       board.c \
        main.c \
-       comm_usb_serial.c \
        irq_handlers.c \
-       buffer.c \
-       comm_usb.c \
-       crc.c \
-       digital_filter.c \
-       ledpwm.c \
-       mcpwm.c \
-       servo_dec.c \
-       utils_math.c \
-       utils_sys.c \
-       servo_simple.c \
-       packet.c \
        terminal.c \
        conf_general.c \
-       eeprom.c \
-       commands.c \
        timeout.c \
-       comm_can.c \
        flash_helper.c \
-       mc_interface.c \
-       mcpwm_foc.c \
-       gpdrive.c \
        confgenerator.c \
-       timer.c \
-       i2c_bb.c \
-       spi_bb.c \
-       virtual_motor.c \
-       shutdown.c \
-       mempools.c \
-       worker.c \
        bms.c \
        events.c \
        $(HWSRC) \
        $(APPSRC) \
-       $(NRFSRC) \
        $(CANARDSRC) \
        $(IMUSRC) \
-       $(LORASRC) \
-       $(LZOSRC) \
        $(BLACKMAGICSRC) \
        qmlui/qmlui.c \
-       $(ENCSRC) \
-       foc_math.c
+       $(ENCSRC)
 
 ifeq ($(USE_LISPBM),1)
   CSRC += $(LISPBMSRC)
@@ -213,21 +180,21 @@ INCDIR = $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
          $(HALINC) $(PLATFORMINC) \
          $(CHIBIOS)/os/various \
          $(CHIBIOS)/os/hal/lib/streams \
-         mcconf \
-         appconf \
          $(HWINC) \
          $(APPINC) \
-         $(NRFINC) \
          $(CANARDINC) \
          $(IMUINC) \
-         $(LORAINC) \
-         $(LZOINC) \
          $(BLACKMAGICINC) \
          qmlui \
          qmlui/hw \
          qmlui/app \
          $(ENCINC)
 
+include comm/comm.mk
+include motor/motor.mk
+include util/util.mk
+include driver/driver.mk
+
 ifeq ($(USE_LISPBM),1)
   INCDIR += $(LISPBMINC)
 endif
diff --git a/foc_math.c b/motor/foc_math.c
similarity index 100%
rename from foc_math.c
rename to motor/foc_math.c
diff --git a/foc_math.h b/motor/foc_math.h
similarity index 100%
rename from foc_math.h
rename to motor/foc_math.h
diff --git a/gpdrive.c b/motor/gpdrive.c
similarity index 100%
rename from gpdrive.c
rename to motor/gpdrive.c
diff --git a/gpdrive.h b/motor/gpdrive.h
similarity index 100%
rename from gpdrive.h
rename to motor/gpdrive.h
diff --git a/mc_interface.c b/motor/mc_interface.c
similarity index 100%
rename from mc_interface.c
rename to motor/mc_interface.c
diff --git a/mc_interface.h b/motor/mc_interface.h
similarity index 100%
rename from mc_interface.h
rename to motor/mc_interface.h
diff --git a/mcconf/mcconf_default.h b/motor/mcconf_default.h
similarity index 100%
rename from mcconf/mcconf_default.h
rename to motor/mcconf_default.h
diff --git a/mcpwm.c b/motor/mcpwm.c
similarity index 100%
rename from mcpwm.c
rename to motor/mcpwm.c
diff --git a/mcpwm.h b/motor/mcpwm.h
similarity index 100%
rename from mcpwm.h
rename to motor/mcpwm.h
diff --git a/mcpwm_foc.c b/motor/mcpwm_foc.c
similarity index 100%
rename from mcpwm_foc.c
rename to motor/mcpwm_foc.c
diff --git a/mcpwm_foc.h b/motor/mcpwm_foc.h
similarity index 100%
rename from mcpwm_foc.h
rename to motor/mcpwm_foc.h
diff --git a/motor/motor.mk b/motor/motor.mk
new file mode 100644
index 00000000..a4a19efa
--- /dev/null
+++ b/motor/motor.mk
@@ -0,0 +1,10 @@
+CSRC += \
+	motor/foc_math.c \
+	motor/gpdrive.c \
+	motor/mc_interface.c \
+	motor/mcpwm.c \
+	motor/mcpwm_foc.c \
+	motor/virtual_motor.c
+	
+INCDIR += motor
+
diff --git a/virtual_motor.c b/motor/virtual_motor.c
similarity index 100%
rename from virtual_motor.c
rename to motor/virtual_motor.c
diff --git a/virtual_motor.h b/motor/virtual_motor.h
similarity index 100%
rename from virtual_motor.h
rename to motor/virtual_motor.h
diff --git a/nrf/nrf.mk b/nrf/nrf.mk
deleted file mode 100644
index f0d1f172..00000000
--- a/nrf/nrf.mk
+++ /dev/null
@@ -1,6 +0,0 @@
-NRFSRC =	nrf/spi_sw.c \
-			nrf/rf.c \
-			nrf/rfhelp.c \
-			nrf/nrf_driver.c
-
-NRFINC = nrf
diff --git a/tests/float_serialization/Makefile b/tests/float_serialization/Makefile
index 1bc7bac9..0447a684 100644
--- a/tests/float_serialization/Makefile
+++ b/tests/float_serialization/Makefile
@@ -1,9 +1,9 @@
 TARGET = test
 LIBS = -lm
 CC = gcc
-CFLAGS = -O2 -g -Wall -Wextra -Wundef -std=gnu99 -I../../ -DNO_STM32
-SOURCES = main.c ../../buffer.c
-HEADERS = ../../buffer.h
+CFLAGS = -O2 -g -Wall -Wextra -Wundef -std=gnu99 -I../../util -DNO_STM32
+SOURCES = main.c ../../util/buffer.c
+HEADERS = ../../util/buffer.h
 OBJECTS = $(notdir $(SOURCES:.c=.o))
 
 .PHONY: default all clean
@@ -17,6 +17,9 @@ all: default
 %.o: ../../%.c $(HEADERS)
 	$(CC) $(CFLAGS) -c $< -o $@
 
+%.o: ../../util/%.c $(HEADERS)
+	$(CC) $(CFLAGS) -c $< -o $@
+
 .PRECIOUS: $(TARGET) $(OBJECTS)
 
 $(TARGET): $(OBJECTS)
diff --git a/tests/packet_recovery/Makefile b/tests/packet_recovery/Makefile
index 053eead7..2b5ee8ef 100644
--- a/tests/packet_recovery/Makefile
+++ b/tests/packet_recovery/Makefile
@@ -1,9 +1,9 @@
 TARGET = test
 LIBS = -lm
 CC = gcc
-CFLAGS = -O2 -g -Wall -Wextra -Wundef -std=gnu99 -I../../ -DNO_STM32
-SOURCES = main.c ../../packet.c ../../crc.c
-HEADERS = ../../packet.h ../../crc.h
+CFLAGS = -O2 -g -Wall -Wextra -Wundef -std=gnu99 -I../../util -I../../comm -DNO_STM32
+SOURCES = main.c ../../comm/packet.c ../../util/crc.c
+HEADERS = ../../comm/packet.h ../../util/crc.h
 OBJECTS = $(notdir $(SOURCES:.c=.o))
 
 .PHONY: default all clean
@@ -16,6 +16,12 @@ all: default
 	
 %.o: ../../%.c $(HEADERS)
 	$(CC) $(CFLAGS) -c $< -o $@
+	
+%.o: ../../comm/%.c $(HEADERS)
+	$(CC) $(CFLAGS) -c $< -o $@
+
+%.o: ../../util/%.c $(HEADERS)
+	$(CC) $(CFLAGS) -c $< -o $@
 
 .PRECIOUS: $(TARGET) $(OBJECTS)
 
diff --git a/buffer.c b/util/buffer.c
similarity index 100%
rename from buffer.c
rename to util/buffer.c
diff --git a/buffer.h b/util/buffer.h
similarity index 100%
rename from buffer.h
rename to util/buffer.h
diff --git a/crc.c b/util/crc.c
similarity index 100%
rename from crc.c
rename to util/crc.c
diff --git a/crc.h b/util/crc.h
similarity index 100%
rename from crc.h
rename to util/crc.h
diff --git a/digital_filter.c b/util/digital_filter.c
similarity index 100%
rename from digital_filter.c
rename to util/digital_filter.c
diff --git a/digital_filter.h b/util/digital_filter.h
similarity index 100%
rename from digital_filter.h
rename to util/digital_filter.h
diff --git a/lzo/README.LZO b/util/lzo/README.LZO
similarity index 100%
rename from lzo/README.LZO
rename to util/lzo/README.LZO
diff --git a/lzo/lzoconf.h b/util/lzo/lzoconf.h
similarity index 100%
rename from lzo/lzoconf.h
rename to util/lzo/lzoconf.h
diff --git a/lzo/lzodefs.h b/util/lzo/lzodefs.h
similarity index 100%
rename from lzo/lzodefs.h
rename to util/lzo/lzodefs.h
diff --git a/lzo/minilzo.c b/util/lzo/minilzo.c
similarity index 100%
rename from lzo/minilzo.c
rename to util/lzo/minilzo.c
diff --git a/lzo/minilzo.h b/util/lzo/minilzo.h
similarity index 100%
rename from lzo/minilzo.h
rename to util/lzo/minilzo.h
diff --git a/mempools.c b/util/mempools.c
similarity index 100%
rename from mempools.c
rename to util/mempools.c
diff --git a/mempools.h b/util/mempools.h
similarity index 100%
rename from mempools.h
rename to util/mempools.h
diff --git a/util/util.mk b/util/util.mk
new file mode 100644
index 00000000..9caaa98e
--- /dev/null
+++ b/util/util.mk
@@ -0,0 +1,14 @@
+CSRC += \
+	util/buffer.c \
+	util/crc.c \
+	util/digital_filter.c \
+	util/mempools.c \
+	util/utils_math.c \
+	util/utils_sys.c \
+	util/worker.c \
+	util/lzo/minilzo.c
+	
+INCDIR += \
+	util \
+	util/lzo
+
diff --git a/utils.h b/util/utils.h
similarity index 100%
rename from utils.h
rename to util/utils.h
diff --git a/utils_math.c b/util/utils_math.c
similarity index 100%
rename from utils_math.c
rename to util/utils_math.c
diff --git a/utils_math.h b/util/utils_math.h
similarity index 100%
rename from utils_math.h
rename to util/utils_math.h
diff --git a/utils_sys.c b/util/utils_sys.c
similarity index 100%
rename from utils_sys.c
rename to util/utils_sys.c
diff --git a/utils_sys.h b/util/utils_sys.h
similarity index 100%
rename from utils_sys.h
rename to util/utils_sys.h
diff --git a/worker.c b/util/worker.c
similarity index 100%
rename from worker.c
rename to util/worker.c
diff --git a/worker.h b/util/worker.h
similarity index 100%
rename from worker.h
rename to util/worker.h