Repo re-org

76 files changed, 0 insertions, 7299 deletions

diff --git a/controller/fw/Makefile b/controller/fw/Makefile
deleted file mode 100644
index 3aae9fb..0000000
--- a/controller/fw/Makefile
+++ /dev/null
@@ -1,333 +0,0 @@
-
-########################################################################################################################
-# Dependency directories
-########################################################################################################################
-
-CUBE_DIR		?= STM32CubeF4
-CMSIS_DIR 		?= cmsis
-MSPDEBUG_DIR 	?= mspdebug
-LIBSODIUM_DIR	?= libsodium
-TINYAES_DIR		?= tinyaes
-MUSL_DIR		?= musl
-RSLIB_DIR		?= reed_solomon
-
-########################################################################################################################
-# Algorithm parameters
-########################################################################################################################
-
-FMEAS_ADC_SAMPLING_RATE ?= 1000
-FMEAS_ADC_MAX			?= 4096
-FMEAS_FFT_LEN			?= 256
-FMEAS_FFT_WINDOW 		?= gaussian
-FMEAS_FFT_WINDOW_SIGMA 	?= 16.0
-# TODO: validate
-FMEAS_SAMPLING_RATE		?= $(shell echo $(FMEAS_ADC_SAMPLING_RATE) / \($(FMEAS_FFT_LEN)/2\) | bc -l)
-
-DSSS_GOLD_CODE_NBITS 	?= 5
-DSSS_DECIMATION			?= 10
-# TODO maybe auto adjust this based on detection rate?
-DSSS_THRESHOLD_FACTOR	?= 5.0f
-DSSS_WAVELET_WIDTH		?= 7.3
-DSSS_WAVELET_LUT_SIZE	?= 69
-DSSS_FILTER_FC			?= 3e-3
-DSSS_FILTER_ORDER		?= 12
-
-# Transmission symbols: 20 for 20*6=120 bit key + 10 for reed-solomon ECC
-TRANSMISSION_SYMBOLS	?= 30
-PRESIG_STORE_SIZE		?= 3
-
-# will be generated if necessary
-PRESIG_KEYFILE			?= presig_test_key.secret
-
-########################################################################################################################
-# Sources
-########################################################################################################################
-
-C_SOURCES		:= src/main.c
-C_SOURCES		+= src/mspdebug_wrapper.c
-C_SOURCES		+= src/spi_flash.c
-C_SOURCES		+= src/freq_meas.c
-C_SOURCES		+= src/dsss_demod.c
-C_SOURCES		+= src/rslib.c
-C_SOURCES		+= src/crypto.c
-C_SOURCES		+= src/adc.c
-C_SOURCES		+= src/protocol.c
-C_SOURCES		+= src/serial.c
-C_SOURCES		+= src/con_usart.c
-C_SOURCES		+= src/dma_util.c
-C_SOURCES		+= src/gpio_helpers.c
-C_SOURCES		+= tinyprintf/tinyprintf.c
-
-C_SOURCES		+= $(MSPDEBUG_DIR)/drivers/jtaglib.c
-
-CMSIS_SOURCES		+= TransformFunctions/arm_rfft_fast_init_f32.c
-CMSIS_SOURCES		+= TransformFunctions/arm_rfft_fast_f32.c
-CMSIS_SOURCES		+= TransformFunctions/arm_cfft_init_f32.c
-CMSIS_SOURCES		+= TransformFunctions/arm_cfft_f32.c
-CMSIS_SOURCES		+= TransformFunctions/arm_cfft_radix8_f32.c
-CMSIS_SOURCES		+= CommonTables/arm_const_structs.c
-CMSIS_SOURCES		+= CommonTables/arm_common_tables.c
-CMSIS_SOURCES		+= TransformFunctions/arm_bitreversal.c
-CMSIS_SOURCES		+= TransformFunctions/arm_bitreversal2.c
-CMSIS_SOURCES		:= $(addprefix $(CMSIS_DIR)/CMSIS/DSP/Source/,$(CMSIS_SOURCES))
-
-MUSL_SOURCES		+= math/tanhf.c math/atanhf.c
-MUSL_SOURCES		+= math/expm1f.c math/log1pf.c
-MUSL_SOURCES		+= math/expf.c math/exp2f_data.c
-MUSL_SOURCES		+= math/powf.c
-MUSL_SOURCES		+= math/sqrtf.c
-MUSL_SOURCES		+= math/fabsf.c
-MUSL_SOURCES		+= stdlib/abs.c
-MUSL_SOURCES		+= string/memset.c
-MUSL_SOURCES		+= string/memcpy.c
-MUSL_SOURCES		+= string/memcmp.c
-MUSL_SOURCES		+= string/strlen.c
-MUSL_SOURCES		+= math/__math_oflowf.c
-MUSL_SOURCES		+= math/__math_uflowf.c
-MUSL_SOURCES		+= math/__math_xflowf.c
-MUSL_SOURCES		+= math/__math_invalidf.c
-MUSL_SOURCES		+= math/powf_data.c
-MUSL_SOURCES		:= $(addprefix $(MUSL_DIR)/src/,$(MUSL_SOURCES))
-
-RSLIB_SOURCES		+= $(addprefix $(RSLIB_DIR)/src/,rs.c ecc.c berlekamp.c galois.c)
-
-C_SOURCES += $(CMSIS_SOURCES) $(MUSL_SOURCES) $(RSLIB_SOURCES)
-
-CXX_SOURCES			+=
-
-BUILDDIR 	?= build
-BINARY 		:= safetyreset.elf
-LDSCRIPT 	:= stm32f407.ld
-
-########################################################################################################################
-# Build parameters
-########################################################################################################################
-
-PREFIX		?= arm-none-eabi-
-
-DEBUG		?= 1
-
-CC			:= $(PREFIX)gcc
-CXX			:= $(PREFIX)g++
-LD			:= $(PREFIX)gcc
-AR			:= $(PREFIX)ar
-AS			:= $(PREFIX)as
-SIZE		:= $(PREFIX)size
-NM			:= $(PREFIX)nm
-OBJCOPY		:= $(PREFIX)objcopy
-OBJDUMP		:= $(PREFIX)objdump
-GDB			:= $(PREFIX)gdb
-
-HOST_CC				?= $(HOST_PREFIX)gcc
-HOST_CXX			?= $(HOST_PREFIX)g++
-HOST_LD				?= $(HOST_PREFIX)gcc
-HOST_AR				?= $(HOST_PREFIX)ar
-HOST_AS				?= $(HOST_PREFIX)as
-HOST_OBJCOPY		?= $(HOST_PREFIX)objcopy
-HOST_OBJDUMP		?= $(HOST_PREFIX)objdump
-
-PYTHON3 ?= python3
-DOT		?= dot
-
-CMSIS_DIR_ABS 		:= $(abspath $(CMSIS_DIR))
-MSPDEBUG_DIR_ABS 	:= $(abspath $(MSPDEBUG_DIR))
-LIBSODIUM_DIR_ABS	:= $(abspath $(LIBSODIUM_DIR))
-TINYAES_DIR_ABS		:= $(abspath $(TINYAES_DIR))
-MUSL_DIR_ABS		:= $(abspath $(MUSL_DIR))
-
-ARCH_FLAGS		?= -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16
-SYSTEM_FLAGS	?= -nostdlib -ffreestanding -nostartfiles
-
-COMMON_CFLAGS		+= -Imspdebug/util -Imspdebug/drivers -Ilevmarq
-COMMON_CFLAGS		+= -I$(CMSIS_DIR_ABS)/CMSIS/DSP/Include -I$(CMSIS_DIR_ABS)/CMSIS/Core/Include 
-CFLAGS				+= -I$(abspath musl_include_shims)
-CFLAGS				+= -Itinyprintf
-COMMON_CFLAGS		+= -I$(BUILDDIR) -Isrc -Itinyaes
-CFLAGS				+= -I$(CUBE_DIR)/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-COMMON_CFLAGS		+= -I$(LIBSODIUM_DIR_ABS)/src/libsodium/include -I$(BUILDDIR)/libsodium/src/libsodium/include -I$(LIBSODIUM_DIR_ABS)/src/libsodium/include/sodium
-COMMON_CFLAGS 		+= -I$(RSLIB_DIR)/src
-
-COMMON_CFLAGS	+= -O0 -std=gnu11 -g -DSTM32F407xx -DSTM32F4 -DDEBUG=$(DEBUG)
-CFLAGS			+= $(ARCH_FLAGS) $(SYSTEM_FLAGS)
-#SIM_CFLAGS		+= -mthumb -mcpu=cortex-m4 -mfloat-abi=soft
-CFLAGS			+= -fno-common -ffunction-sections -fdata-sections
-COMMON_CFLAGS 	+= -DARM_DSP_CONFIG_TABLES -DARM_FFT_ALLOW_TABLES \
-				   -DARM_TABLE_TWIDDLECOEF_F32_128 -DARM_TABLE_BITREVIDX_FLT_128 \
-				   -DARM_TABLE_TWIDDLECOEF_F32_128 -DARM_TABLE_TWIDDLECOEF_RFFT_F32_256
-COMMON_CFLAGS	+= -DDSSS_GOLD_CODE_NBITS=$(DSSS_GOLD_CODE_NBITS)
-COMMON_CFLAGS	+= -DFMEAS_FFT_LEN=$(FMEAS_FFT_LEN)
-COMMON_CFLAGS	+= -DFMEAS_ADC_MAX=$(FMEAS_ADC_MAX)
-COMMON_CFLAGS	+= -DFMEAS_ADC_SAMPLING_RATE=$(FMEAS_ADC_SAMPLING_RATE)
-COMMON_CFLAGS	+= -DFMEAS_FFT_WINDOW_SIGMA=$(FMEAS_FFT_WINDOW_SIGMA)
-COMMON_CFLAGS	+= -DDSSS_DECIMATION=$(DSSS_DECIMATION)
-COMMON_CFLAGS	+= -DDSSS_THRESHOLD_FACTOR=$(DSSS_THRESHOLD_FACTOR)
-COMMON_CFLAGS	+= -DDSSS_WAVELET_WIDTH=$(DSSS_WAVELET_WIDTH)
-COMMON_CFLAGS	+= -DDSSS_WAVELET_LUT_SIZE=$(DSSS_WAVELET_LUT_SIZE)
-COMMON_CFLAGS	+= -DTRANSMISSION_SYMBOLS=$(TRANSMISSION_SYMBOLS)
-COMMON_CFLAGS	+= -DPRESIG_STORE_SIZE=$(PRESIG_STORE_SIZE)
-
-# for musl
-CFLAGS			+= -Dhidden=
-
-SIM_CFLAGS	+= -lm -DSIMULATION
-SIM_CFLAGS	+= -Wall -Wextra -Wpedantic -Wshadow -Wimplicit-function-declaration -Wundef -Wno-unused-parameter
-
-INT_CFLAGS	+= -Wall -Wextra -Wpedantic -Wshadow -Wimplicit-function-declaration -Wundef -Wno-unused-parameter
-INT_CFLAGS	+= -Wredundant-decls -Wmissing-prototypes -Wstrict-prototypes
-
-CXXFLAGS	+= -Os -g
-CXXFLAGS	+= $(ARCH_FLAGS) $(SYSTEM_FLAGS)
-CXXFLAGS	+= -fno-common -ffunction-sections -fdata-sections
-CXXFLAGS	+= -Wall -Wextra -Wshadow -Wundef -Wredundant-decls
-CXXFLAGS	+= -I.
-
-LDFLAGS			+= $(ARCH_FLAGS) $(SYSTEM_FLAGS)
-
-LIBS		+= -lgcc
-LDFLAGS		+= -Wl,--gc-sections
-
-LINKMEM_FLAGS ?= --trim-stubs=startup_stm32f407xx.o --trace-sections .isr_vector --highlight-subdirs $(BUILDDIR)
-
-OBJS := $(addprefix $(BUILDDIR)/,$(C_SOURCES:.c=.o) $(CXX_SOURCES:.cpp=.o))
-
-ALL_OBJS := $(OBJS)
-ALL_OBJS += $(BUILDDIR)/src/startup_stm32f407xx.o
-ALL_OBJS += $(BUILDDIR)/src/system_stm32f4xx.o
-ALL_OBJS += $(BUILDDIR)/libsodium/src/libsodium/.libs/libsodium.a
-ALL_OBJS += $(BUILDDIR)/levmarq/levmarq.o
-ALL_OBJS += $(BUILDDIR)/generated/gold_code_$(DSSS_GOLD_CODE_NBITS).o
-ALL_OBJS += $(BUILDDIR)/generated/fmeas_fft_window.o
-ALL_OBJS += $(BUILDDIR)/generated/dsss_cwt_wavelet.o 
-ALL_OBJS += $(BUILDDIR)/generated/crypto_presig_data.o
-
-########################################################################################################################
-# Rules
-########################################################################################################################
-
-all: binsize
-
-.PHONY: binsize
-binsize: $(BUILDDIR)/$(BINARY) $(BUILDDIR)/$(BINARY:.elf=-symbol-sizes.pdf)
-	$(LD) -T$(LDSCRIPT) $(LDFLAGS) -Wl,--print-memory-usage -o /dev/null $(ALL_OBJS) $(LIBS)
-	@echo
-	@echo "▐▬▬▬▌ SyMbOL sIzE HiGhScORe LiSt ▐▬▬▬▌"
-	$(NM) --print-size --size-sort --radix=d $< | tail -n 20
-
-# $(BUILDDIR)/generated/dsss_butter_filter.h
-src/dsss_demod.c: $(BUILDDIR)/generated/dsss_gold_code.h 
-
-$(BUILDDIR)/generated/dsss_gold_code.h: $(BUILDDIR)/generated/gold_code_$(DSSS_GOLD_CODE_NBITS).h
-	ln -srf $< $@
-
-.PRECIOUS: $(BUILDDIR)/generated/gold_code_%.c $(BUILDDIR)/generated/gold_code_%.h
-$(BUILDDIR)/generated/gold_code_%.c $(BUILDDIR)/generated/gold_code_%.h&: | $(BUILDDIR)/generated
-	$(PYTHON3) tools/gold_code_header_gen.py -v dsss_gold_code_table -c $* > $(BUILDDIR)/generated/gold_code_$*.c
-	$(PYTHON3) tools/gold_code_header_gen.py -v dsss_gold_code_table -h $* > $(BUILDDIR)/generated/gold_code_$*.h
-
-.PRECIOUS: $(BUILDDIR)/generated/fmeas_fft_window.c
-$(BUILDDIR)/generated/fmeas_fft_window.c: | $(BUILDDIR)/generated
-	$(PYTHON3) tools/fft_window_header_gen.py -v fmeas_fft_window_table $(FMEAS_FFT_WINDOW) $(FMEAS_FFT_LEN) $(FMEAS_FFT_WINDOW_SIGMA) > $@
-
-.PRECIOUS: $(BUILDDIR)/generated/dsss_cwt_wavelet.c
-$(BUILDDIR)/generated/dsss_cwt_wavelet.c: | $(BUILDDIR)/generated
-	$(PYTHON3) tools/cwt_wavelet_header_gen.py -v dsss_cwt_wavelet_table $(DSSS_WAVELET_LUT_SIZE) $(DSSS_WAVELET_WIDTH) > $@
-
-.PRECIOUS: $(BUILDDIR)/generated/dsss_butter_filter.h
-$(BUILDDIR)/generated/dsss_butter_filter.h: | $(BUILDDIR)/generated
-	$(PYTHON3) tools/butter_filter_gen.py -m dsss_filter $(DSSS_FILTER_FC) $(FMEAS_SAMPLING_RATE) $(DSSS_FILTER_ORDER) > $@
-
-.PRECIOUS: $(BUILDDIR)/generated/crypto_presig_data.c
-$(BUILDDIR)/generated/crypto_presig_data.c: $(PRESIG_KEYFILE) tools/presig_gen.py | $(BUILDDIR)/generated
-	$(PYTHON3) tools/presig_gen.py $(PRESIG_KEYFILE) prekey > $@
-
-.PRECIOUS: $(PRESIG_KEYFILE)
-$(PRESIG_KEYFILE):
-	$(PYTHON3) tools/presig_gen.py $@ keygen
-
-$(BUILDDIR)/generated: ; mkdir -p $@
-
-.PRECIOUS: $(BUILDDIR)/$(BINARY) 
-$(BUILDDIR)/$(BINARY) $(BUILDDIR)/$(BINARY:.elf=.map) &: $(ALL_OBJS)
-	$(LD) -T$(LDSCRIPT) $(LDFLAGS) -o $@ -Wl,-Map=$(BUILDDIR)/$(BINARY:.elf=.map) $^ $(LIBS)
-
-build/$(BINARY:.elf=-symbol-sizes.dot): $(ALL_OBJS)
-	$(PYTHON3) tools/linkmem.py $(LINKMEM_FLAGS) $(LD) -T$(LDSCRIPT) $(LDFLAGS) $^ $(LIBS) > $@
-
-%.pdf: %.dot
-	$(DOT) -T pdf $< -o $@
-
-%.dot: %.elf
-	r2 -a arm -qc 'aa;agRd' $< 2>/dev/null >$@
-
-tools: $(BUILDDIR)/tools/freq_meas_test
-$(BUILDDIR)/tools/freq_meas_test: tools/freq_meas_test.c src/freq_meas.c levmarq/levmarq.c $(BUILDDIR)/generated/fmeas_fft_window.c $(CMSIS_SOURCES)
-	mkdir -p $(@D)
-	$(HOST_CC) $(COMMON_CFLAGS) $(SIM_CFLAGS) -o $@ $^
-
-tools: $(BUILDDIR)/tools/dsss_demod_test
-$(BUILDDIR)/tools/dsss_demod_test: tools/dsss_demod_test.c src/dsss_demod.c $(BUILDDIR)/generated/dsss_cwt_wavelet.c $(BUILDDIR)/generated/gold_code_$(DSSS_GOLD_CODE_NBITS).c
-	mkdir -p $(@D)
-	$(HOST_CC) $(COMMON_CFLAGS) $(SIM_CFLAGS) -o $@ $^
-
-tools: $(BUILDDIR)/tools/crypto_test
-$(BUILDDIR)/tools/crypto_test: tools/crypto_test.c src/crypto.c tinyaes/aes.c $(BUILDDIR)/generated/crypto_presig_data.c
-	mkdir -p $(@D)
-	$(HOST_CC) $(COMMON_CFLAGS) $(SIM_CFLAGS) -lsodium -o $@ $^
-
-tools: $(BUILDDIR)/tools/e2e_test
-$(BUILDDIR)/tools/e2e_test: tools/e2e_test.c src/freq_meas.c levmarq/levmarq.c $(BUILDDIR)/generated/fmeas_fft_window.c $(CMSIS_SOURCES) src/dsss_demod.c $(BUILDDIR)/generated/dsss_cwt_wavelet.c $(BUILDDIR)/generated/gold_code_$(DSSS_GOLD_CODE_NBITS).c
-	mkdir -p $(@D)
-	$(HOST_CC) $(COMMON_CFLAGS) $(SIM_CFLAGS) -o $@ $^
-
-$(BUILDDIR)/src/%.o: src/%.s
-	mkdir -p $(@D)
-	$(CC) $(COMMON_CFLAGS) $(CFLAGS) $(INT_CFLAGS) -o $@ -c $<
-
-$(BUILDDIR)/src/%.o: src/%.c
-	mkdir -p $(@D)
-	$(CC) $(COMMON_CFLAGS) $(CFLAGS) $(INT_CFLAGS) -o $@ -c $<
-
-$(BUILDDIR)/src/%.o: src/%.cpp
-	mkdir -p $(@D)
-	$(CXX) $(CXXFLAGS) -o $@ -c $<
-
-$(BUILDDIR)/generated/%.o: $(BUILDDIR)/generated/%.c
-	mkdir -p $(@D)
-	$(CC) $(COMMON_CFLAGS) $(CFLAGS) $(INT_CFLAGS) -o $@ -c $<
-
-$(BUILDDIR)/%.o: %.c
-	mkdir -p $(@D)
-	$(CC) $(COMMON_CFLAGS) $(CFLAGS) $(EXT_CFLAGS) -o $@ -c $<
-
-$(BUILDDIR)/src/crypto.o: $(BUILDDIR)/libsodium/src/libsodium/include/sodium/version.h
-
-$(BUILDDIR)/libsodium/src/libsodium/.libs/libsodium.a $(BUILDDIR)/libsodium/src/libsodium/include/sodium/version.h &:
-	mkdir -p $(BUILDDIR)/libsodium
-	cd $(BUILDDIR)/libsodium && CFLAGS="$(COMMON_CFLAGS) $(CFLAGS) -DDEV_MODE=1" $(LIBSODIUM_DIR_ABS)/configure --host=arm-none-eabi && $(MAKE) -j $(shell nproc)
-
-$(BUILDDIR)/tinyaes/aes.o:
-	mkdir -p $(@D)
-	make -C $(@D) -f $(TINYAES_DIR_ABS)/Makefile VPATH=$(TINYAES_DIR_ABS) CFLAGS="$(COMMON_CFLAGS) $(CFLAGS) -c" CC=$(CC) LD=$(LD) AR=$(AR) aes.o
-
-# $(BUILDDIR)/musl/lib/libc.a:
-# 	mkdir -p $(BUILDDIR)/musl
-# 	cd $(BUILDDIR)/musl && CFLAGS="$(SIM_CFLAGS) $(COMMON_CFLAGS)" CC=$(CC) LD=$(LD) AR=$(AR) $(MUSL_DIR_ABS)/configure && $(MAKE) TARGET=arm-linux-musleabihf GCC_CONFIG="-mcpu=cortex-m4 -mfloat-abi=soft" -j $(shell nproc)
-
-build/rslib.so: $(RSLIB_SOURCES) src/rslib.c
-	gcc -fPIC -shared -Wall -Wextra -Wpedantic -std=gnu11 -O0 -g -o $@ -Isrc -I$(RSLIB_DIR)/src $^
-
-clean:
-	rm -rf $(BUILDDIR)/src
-	rm -rf $(BUILDDIR)/generated
-	rm -f $(BUILDDIR)/$(BINARY)
-	rm -f $(BUILDDIR)/$(BINARY:.elf=.map)
-	rm -f $(BUILDDIR)/$(BINARY:.elf=-symbol-sizes.dot)
-	rm -f $(BUILDDIR)/$(BINARY:.elf=-symbol-sizes.pdf)
-	rm -f $(BUILDDIR)/tools/freq_meas_test
-
-mrproper: clean
-	rm -rf build
-
-.PHONY: clean mrproper
-
--include $(OBJS:.o=.d)
diff --git a/controller/fw/cmsis b/controller/fw/cmsis
deleted file mode 160000
-Subproject 4a65d88011a1595b7c8b42fa0d70b7bdfc132ac
diff --git a/controller/fw/crypto-algorithms b/controller/fw/crypto-algorithms
deleted file mode 160000
-Subproject cfbde48414baacf51fc7c74f275190881f037d3
diff --git a/controller/fw/levmarq/LICENSE b/controller/fw/levmarq/LICENSE
deleted file mode 100644
index 2a05e3e..0000000
--- a/controller/fw/levmarq/LICENSE
+++ /dev/null
@@ -1,24 +0,0 @@
-levmarq.c, levmarq.h, and examples are provided under the MIT license.
-
-Copyright (c) 2008-2016 Ron Babich
-
-Permission is hereby granted, free of charge, to any person
-obtaining a copy of this software and associated documentation
-files (the "Software"), to deal in the Software without
-restriction, including without limitation the rights to use,
-copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the
-Software is furnished to do so, subject to the following
-conditions:
-
-The above copyright notice and this permission notice shall be
-included in all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
-EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
-OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
-NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
-HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
-WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
-FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
-OTHER DEALINGS IN THE SOFTWARE.
diff --git a/controller/fw/levmarq/levmarq.c b/controller/fw/levmarq/levmarq.c
deleted file mode 100644
index 4a764db..0000000
--- a/controller/fw/levmarq/levmarq.c
+++ /dev/null
@@ -1,215 +0,0 @@
-/*
- * levmarq.c
- *
- * This file contains an implementation of the Levenberg-Marquardt algorithm
- * for solving least-squares problems, together with some supporting routines
- * for Cholesky decomposition and inversion.  No attempt has been made at
- * optimization.  In particular, memory use in the matrix routines could be
- * cut in half with a little effort (and some loss of clarity).
- *
- * It is assumed that the compiler supports variable-length arrays as
- * specified by the C99 standard.
- *
- * Ron Babich, May 2008
- *
- */
-
-#include <stdio.h>
-#include <math.h>
-
-#include "levmarq.h"
-#include "simulation.h"
-
-
-#define TOL 1e-20f /* smallest value allowed in cholesky_decomp() */
-
-
-/* set parameters required by levmarq() to default values */
-void levmarq_init(LMstat *lmstat)
-{
-    lmstat->max_it = 100;
-    lmstat->init_lambda = 0.0001f;
-    lmstat->up_factor = 10.0f;
-    lmstat->down_factor = 10.0f;
-    lmstat->target_derr = 1e-12f;
-}
-
-/* perform least-squares minimization using the Levenberg-Marquardt
-   algorithm.  The arguments are as follows:
-
-   npar    number of parameters
-   par     array of parameters to be varied
-   ny      number of measurements to be fit
-   y       array of measurements
-   dysq    array of error in measurements, squared
-   (set dysq=NULL for unweighted least-squares)
-   func    function to be fit
-   grad    gradient of "func" with respect to the input parameters
-   fdata   pointer to any additional data required by the function
-   lmstat  pointer to the "status" structure, where minimization parameters
-   are set and the final status is returned.
-
-   Before calling levmarq, several of the parameters in lmstat must be set.
-   For default values, call levmarq_init(lmstat).
-   */
-int levmarq(int npar, float *par, int ny, float *y, float *dysq,
-        float (*func)(float *, int, void *),
-        void (*grad)(float *, float *, int, void *),
-        void *fdata, LMstat *lmstat)
-{
-    int x,i,j,it,nit,ill;
-    float lambda,up,down,mult,weight,err,newerr,derr,target_derr;
-    float h[npar][npar],ch[npar][npar];
-    float g[npar],d[npar],delta[npar],newpar[npar];
-
-    nit = lmstat->max_it;
-    lambda = lmstat->init_lambda;
-    up = lmstat->up_factor;
-    down = 1/lmstat->down_factor;
-    target_derr = lmstat->target_derr;
-    weight = 1;
-    derr = newerr = 0; /* to avoid compiler warnings */
-
-    /* calculate the initial error ("chi-squared") */
-    err = error_func(par, ny, y, dysq, func, fdata);
-
-    /* main iteration */
-    for (it=0; it<nit; it++) {
-        //DEBUG_PRINT("iteration %d", it);
-
-        /* calculate the approximation to the Hessian and the "derivative" d */
-        for (i=0; i<npar; i++) {
-            d[i] = 0;
-            for (j=0; j<=i; j++)
-                h[i][j] = 0;
-        }
-
-        for (x=0; x<ny; x++) {
-            if (dysq) weight = 1/dysq[x]; /* for weighted least-squares */
-            grad(g, par, x, fdata);
-            for (i=0; i<npar; i++) {
-                d[i] += (y[x] - func(par, x, fdata))*g[i]*weight;
-                for (j=0; j<=i; j++)
-                    h[i][j] += g[i]*g[j]*weight;
-            }
-        }
-
-        /*  make a step "delta."  If the step is rejected, increase
-            lambda and try again */
-        mult = 1 + lambda;
-        ill = 1; /* ill-conditioned? */
-        while (ill && (it<nit)) {
-            for (i=0; i<npar; i++)
-                h[i][i] = h[i][i]*mult;
-
-            ill = cholesky_decomp(npar, ch, h);
-
-            if (!ill) {
-                solve_axb_cholesky(npar, ch, delta, d);
-                for (i=0; i<npar; i++)
-                    newpar[i] = par[i] + delta[i];
-                newerr = error_func(newpar, ny, y, dysq, func, fdata);
-                derr = newerr - err;
-                ill = (derr > 0);
-            } 
-            if (ill) {
-                mult = (1 + lambda*up)/(1 + lambda);
-                lambda *= up;
-                it++;
-            }
-        }
-        for (i=0; i<npar; i++)
-            par[i] = newpar[i];
-        err = newerr;
-        lambda *= down;  
-
-        if ((!ill)&&(-derr<target_derr)) break;
-    }
-
-    lmstat->final_it = it;
-    lmstat->final_err = err;
-    lmstat->final_derr = derr;
-
-    if (it == nit) {
-        DEBUG_PRINT("did not converge");
-        return -1;
-    }
-
-    return it;
-}
-
-
-/* calculate the error function (chi-squared) */
-float error_func(float *par, int ny, float *y, float *dysq,
-        float (*func)(float *, int, void *), void *fdata)
-{
-    int x;
-    float res,e=0;
-
-    for (x=0; x<ny; x++) {
-        res = func(par, x, fdata) - y[x];
-        if (dysq)  /* weighted least-squares */
-            e += res*res/dysq[x];
-        else
-            e += res*res;
-    }
-    return e;
-}
-
-
-/* solve the equation Ax=b for a symmetric positive-definite matrix A,
-   using the Cholesky decomposition A=LL^T.  The matrix L is passed in "l".
-   Elements above the diagonal are ignored.
-   */
-void solve_axb_cholesky(int n, float l[n][n], float x[n], float b[n])
-{
-    int i,j;
-    float sum;
-
-    /* solve L*y = b for y (where x[] is used to store y) */
-
-    for (i=0; i<n; i++) {
-        sum = 0;
-        for (j=0; j<i; j++)
-            sum += l[i][j] * x[j];
-        x[i] = (b[i] - sum)/l[i][i];      
-    }
-
-    /* solve L^T*x = y for x (where x[] is used to store both y and x) */
-
-    for (i=n-1; i>=0; i--) {
-        sum = 0;
-        for (j=i+1; j<n; j++)
-            sum += l[j][i] * x[j];
-        x[i] = (x[i] - sum)/l[i][i];      
-    }
-}
-
-
-/* This function takes a symmetric, positive-definite matrix "a" and returns
-   its (lower-triangular) Cholesky factor in "l".  Elements above the
-   diagonal are neither used nor modified.  The same array may be passed
-   as both l and a, in which case the decomposition is performed in place.
-   */
-int cholesky_decomp(int n, float l[n][n], float a[n][n])
-{
-    int i,j,k;
-    float sum;
-
-    for (i=0; i<n; i++) {
-        for (j=0; j<i; j++) {
-            sum = 0;
-            for (k=0; k<j; k++)
-                sum += l[i][k] * l[j][k];
-            l[i][j] = (a[i][j] - sum)/l[j][j];
-        }
-
-        sum = 0;
-        for (k=0; k<i; k++)
-            sum += l[i][k] * l[i][k];
-        sum = a[i][i] - sum;
-        if (sum<TOL) return 1; /* not positive-definite */
-        l[i][i] = sqrtf(sum);
-    }
-    return 0;
-}
diff --git a/controller/fw/levmarq/levmarq.h b/controller/fw/levmarq/levmarq.h
deleted file mode 100644
index dff13ab..0000000
--- a/controller/fw/levmarq/levmarq.h
+++ /dev/null
@@ -1,30 +0,0 @@
-
-#ifndef __LEVMARQ_H__
-#define __LEVMARQ_H__
-
-typedef struct {
-  int max_it;
-  float init_lambda;
-  float up_factor;
-  float down_factor;
-  float target_derr;
-  int final_it;
-  float final_err;
-  float final_derr;
-} LMstat;
-
-void levmarq_init(LMstat *lmstat);
-
-int levmarq(int npar, float *par, int ny, float *y, float *dysq,
-	    float (*func)(float *, int, void *),
-	    void (*grad)(float *, float *, int, void *),
-	    void *fdata, LMstat *lmstat);
-
-float error_func(float *par, int ny, float *y, float *dysq,
-		  float (*func)(float *, int, void *), void *fdata);
-
-void solve_axb_cholesky(int n, float l[n][n], float x[n], float b[n]);
-
-int cholesky_decomp(int n, float l[n][n], float a[n][n]);
-
-#endif /* __LEVMARQ_H__ */
diff --git a/controller/fw/libopencm3 b/controller/fw/libopencm3
deleted file mode 160000
-Subproject cb0661f81de5b1cae52ca99c7b5985b678176db
diff --git a/controller/fw/libsodium b/controller/fw/libsodium
deleted file mode 160000
-Subproject a0a8706c9dc9e43bc51d16334cd6c0f6ae084ce
diff --git a/controller/fw/mspdebug b/controller/fw/mspdebug
deleted file mode 160000
-Subproject b506542094de19a0a11e638a7e34e0bc4adf8d7
diff --git a/controller/fw/musl b/controller/fw/musl
deleted file mode 160000
-Subproject 040c1d16b468c50c04fc94edff521f163770832
diff --git a/controller/fw/musl_include_shims/bits/alltypes.h b/controller/fw/musl_include_shims/bits/alltypes.h
deleted file mode 100644
index 581ca85..0000000
--- a/controller/fw/musl_include_shims/bits/alltypes.h
+++ /dev/null
@@ -1,23 +0,0 @@
-
-/* shim file for musl */
-
-#ifndef __MUSL_SHIM_BITS_ALLTYPES_H__
-#define __MUSL_SHIM_BITS_ALLTYPES_H__
-
-#define _REDIR_TIME64 1
-#define _Addr int
-#define _Int64 long long
-#define _Reg int
-
-#define __BYTE_ORDER 1234
-
-#define __LONG_MAX 0x7fffffffL
-
-#ifndef __cplusplus
-typedef unsigned wchar_t;
-#endif
-
-typedef float float_t;
-typedef double double_t;
-
-#endif /* __MUSL_SHIM_BITS_ALLTYPES_H__ */
diff --git a/controller/fw/musl_include_shims/endian.h b/controller/fw/musl_include_shims/endian.h
deleted file mode 100644
index 172c432..0000000
--- a/controller/fw/musl_include_shims/endian.h
+++ /dev/null
@@ -1,80 +0,0 @@
-#ifndef _ENDIAN_H
-#define _ENDIAN_H
-
-#include <features.h>
-
-#define __NEED_uint16_t
-#define __NEED_uint32_t
-#define __NEED_uint64_t
-
-#include <bits/alltypes.h>
-
-#define __PDP_ENDIAN 3412
-
-#define BIG_ENDIAN __BIG_ENDIAN
-#define LITTLE_ENDIAN __LITTLE_ENDIAN
-#define PDP_ENDIAN __PDP_ENDIAN
-#define BYTE_ORDER __BYTE_ORDER
-
-static __inline uint16_t __bswap16(uint16_t __x)
-{
-	return __x<<8 | __x>>8;
-}
-
-static __inline uint32_t __bswap32(uint32_t __x)
-{
-	return __x>>24 | __x>>8&0xff00 | __x<<8&0xff0000 | __x<<24;
-}
-
-static __inline uint64_t __bswap64(uint64_t __x)
-{
-	return __bswap32(__x)+0ULL<<32 | __bswap32(__x>>32);
-}
-
-#if __BYTE_ORDER == __LITTLE_ENDIAN
-#define htobe16(x) __bswap16(x)
-#define be16toh(x) __bswap16(x)
-#define htobe32(x) __bswap32(x)
-#define be32toh(x) __bswap32(x)
-#define htobe64(x) __bswap64(x)
-#define be64toh(x) __bswap64(x)
-#define htole16(x) (uint16_t)(x)
-#define le16toh(x) (uint16_t)(x)
-#define htole32(x) (uint32_t)(x)
-#define le32toh(x) (uint32_t)(x)
-#define htole64(x) (uint64_t)(x)
-#define le64toh(x) (uint64_t)(x)
-#else
-#define htobe16(x) (uint16_t)(x)
-#define be16toh(x) (uint16_t)(x)
-#define htobe32(x) (uint32_t)(x)
-#define be32toh(x) (uint32_t)(x)
-#define htobe64(x) (uint64_t)(x)
-#define be64toh(x) (uint64_t)(x)
-#define htole16(x) __bswap16(x)
-#define le16toh(x) __bswap16(x)
-#define htole32(x) __bswap32(x)
-#define le32toh(x) __bswap32(x)
-#define htole64(x) __bswap64(x)
-#define le64toh(x) __bswap64(x)
-#endif
-
-#if defined(_GNU_SOURCE) || defined(_BSD_SOURCE)
-#if __BYTE_ORDER == __LITTLE_ENDIAN
-#define betoh16(x) __bswap16(x)
-#define betoh32(x) __bswap32(x)
-#define betoh64(x) __bswap64(x)
-#define letoh16(x) (uint16_t)(x)
-#define letoh32(x) (uint32_t)(x)
-#define letoh64(x) (uint64_t)(x)
-#else
-#define betoh16(x) (uint16_t)(x)
-#define betoh32(x) (uint32_t)(x)
-#define betoh64(x) (uint64_t)(x)
-#define letoh16(x) __bswap16(x)
-#define letoh32(x) __bswap32(x)
-#define letoh64(x) __bswap64(x)
-#endif
-#endif
-
-#endif
diff --git a/controller/fw/musl_include_shims/features.h b/controller/fw/musl_include_shims/features.h
deleted file mode 100644
index 85cfb72..0000000
--- a/controller/fw/musl_include_shims/features.h
+++ /dev/null
@@ -1,40 +0,0 @@
-#ifndef _FEATURES_H
-#define _FEATURES_H
-
-#if defined(_ALL_SOURCE) && !defined(_GNU_SOURCE)
-#define _GNU_SOURCE 1
-#endif
-
-#if defined(_DEFAULT_SOURCE) && !defined(_BSD_SOURCE)
-#define _BSD_SOURCE 1
-#endif
-
-#if !defined(_POSIX_SOURCE) && !defined(_POSIX_C_SOURCE) \
- && !defined(_XOPEN_SOURCE) && !defined(_GNU_SOURCE) \
- && !defined(_BSD_SOURCE) && !defined(__STRICT_ANSI__)
-#define _BSD_SOURCE 1
-#define _XOPEN_SOURCE 700
-#endif
-
-#if __STDC_VERSION__ >= 199901L
-#define __restrict restrict
-#elif !defined(__GNUC__)
-#define __restrict
-#endif
-
-#if __STDC_VERSION__ >= 199901L || defined(__cplusplus)
-#define __inline inline
-#elif !defined(__GNUC__)
-#define __inline
-#endif
-
-#if __STDC_VERSION__ >= 201112L
-#elif defined(__GNUC__)
-#define _Noreturn __attribute__((__noreturn__))
-#else
-#define _Noreturn
-#endif
-
-#define __REDIR(x,y) __typeof__(x) x __asm__(#y)
-
-#endif
diff --git a/controller/fw/musl_include_shims/fp_arch.h b/controller/fw/musl_include_shims/fp_arch.h
deleted file mode 100644
index f5bab6d..0000000
--- a/controller/fw/musl_include_shims/fp_arch.h
+++ /dev/null
@@ -1,6 +0,0 @@
-#ifndef __MUSL_SHIM_FP_ARCH_H__
-#define __MUSL_SHIM_FP_ARCH_H__
-
-#define hidden
-
-#endif /* __MUSL_SHIM_FP_ARCH_H__ */
diff --git a/controller/fw/musl_include_shims/libm.h b/controller/fw/musl_include_shims/libm.h
deleted file mode 100644
index d48135d..0000000
--- a/controller/fw/musl_include_shims/libm.h
+++ /dev/null
@@ -1,270 +0,0 @@
-#ifndef _LIBM_H
-#define _LIBM_H
-
-#include <stdint.h>
-#include <float.h>
-#include <math.h>
-#include <endian.h>
-#include "fp_arch.h"
-
-#if LDBL_MANT_DIG == 53 && LDBL_MAX_EXP == 1024
-#elif LDBL_MANT_DIG == 64 && LDBL_MAX_EXP == 16384 && __BYTE_ORDER == __LITTLE_ENDIAN
-union ldshape {
-	long double f;
-	struct {
-		uint64_t m;
-		uint16_t se;
-	} i;
-};
-#elif LDBL_MANT_DIG == 64 && LDBL_MAX_EXP == 16384 && __BYTE_ORDER == __BIG_ENDIAN
-/* This is the m68k variant of 80-bit long double, and this definition only works
- * on archs where the alignment requirement of uint64_t is <= 4. */
-union ldshape {
-	long double f;
-	struct {
-		uint16_t se;
-		uint16_t pad;
-		uint64_t m;
-	} i;
-};
-#elif LDBL_MANT_DIG == 113 && LDBL_MAX_EXP == 16384 && __BYTE_ORDER == __LITTLE_ENDIAN
-union ldshape {
-	long double f;
-	struct {
-		uint64_t lo;
-		uint32_t mid;
-		uint16_t top;
-		uint16_t se;
-	} i;
-	struct {
-		uint64_t lo;
-		uint64_t hi;
-	} i2;
-};
-#elif LDBL_MANT_DIG == 113 && LDBL_MAX_EXP == 16384 && __BYTE_ORDER == __BIG_ENDIAN
-union ldshape {
-	long double f;
-	struct {
-		uint16_t se;
-		uint16_t top;
-		uint32_t mid;
-		uint64_t lo;
-	} i;
-	struct {
-		uint64_t hi;
-		uint64_t lo;
-	} i2;
-};
-#else
-#error Unsupported long double representation
-#endif
-
-/* Support non-nearest rounding mode.  */
-#define WANT_ROUNDING 1
-/* Support signaling NaNs.  */
-#define WANT_SNAN 0
-
-#if WANT_SNAN
-#error SNaN is unsupported
-#else
-#define issignalingf_inline(x) 0
-#define issignaling_inline(x) 0
-#endif
-
-#ifndef TOINT_INTRINSICS
-#define TOINT_INTRINSICS 0
-#endif
-
-#if TOINT_INTRINSICS
-/* Round x to nearest int in all rounding modes, ties have to be rounded
-   consistently with converttoint so the results match.  If the result
-   would be outside of [-2^31, 2^31-1] then the semantics is unspecified.  */
-static double_t roundtoint(double_t);
-
-/* Convert x to nearest int in all rounding modes, ties have to be rounded
-   consistently with roundtoint.  If the result is not representible in an
-   int32_t then the semantics is unspecified.  */
-static int32_t converttoint(double_t);
-#endif
-
-/* Helps static branch prediction so hot path can be better optimized.  */
-#ifdef __GNUC__
-#define predict_true(x) __builtin_expect(!!(x), 1)
-#define predict_false(x) __builtin_expect(x, 0)
-#else
-#define predict_true(x) (x)
-#define predict_false(x) (x)
-#endif
-
-/* Evaluate an expression as the specified type. With standard excess
-   precision handling a type cast or assignment is enough (with
-   -ffloat-store an assignment is required, in old compilers argument
-   passing and return statement may not drop excess precision).  */
-
-static inline float eval_as_float(float x)
-{
-	float y = x;
-	return y;
-}
-
-static inline double eval_as_double(double x)
-{
-	double y = x;
-	return y;
-}
-
-/* fp_barrier returns its input, but limits code transformations
-   as if it had a side-effect (e.g. observable io) and returned
-   an arbitrary value.  */
-
-#ifndef fp_barrierf
-#define fp_barrierf fp_barrierf
-static inline float fp_barrierf(float x)
-{
-	volatile float y = x;
-	return y;
-}
-#endif
-
-#ifndef fp_barrier
-#define fp_barrier fp_barrier
-static inline double fp_barrier(double x)
-{
-	volatile double y = x;
-	return y;
-}
-#endif
-
-#ifndef fp_barrierl
-#define fp_barrierl fp_barrierl
-static inline long double fp_barrierl(long double x)
-{
-	volatile long double y = x;
-	return y;
-}
-#endif
-
-/* fp_force_eval ensures that the input value is computed when that's
-   otherwise unused.  To prevent the constant folding of the input
-   expression, an additional fp_barrier may be needed or a compilation
-   mode that does so (e.g. -frounding-math in gcc). Then it can be
-   used to evaluate an expression for its fenv side-effects only.   */
-
-#ifndef fp_force_evalf
-#define fp_force_evalf fp_force_evalf
-static inline void fp_force_evalf(float x)
-{
-	volatile float y;
-	y = x;
-}
-#endif
-
-#ifndef fp_force_eval
-#define fp_force_eval fp_force_eval
-static inline void fp_force_eval(double x)
-{
-	volatile double y;
-	y = x;
-}
-#endif
-
-#ifndef fp_force_evall
-#define fp_force_evall fp_force_evall
-static inline void fp_force_evall(long double x)
-{
-	volatile long double y;
-	y = x;
-}
-#endif
-
-#define FORCE_EVAL(x) do {                        \
-	if (sizeof(x) == sizeof(float)) {         \
-		fp_force_evalf(x);                \
-	} else if (sizeof(x) == sizeof(double)) { \
-		fp_force_eval(x);                 \
-	} else {                                  \
-		fp_force_evall(x);                \
-	}                                         \
-} while(0)
-
-#define asuint(f) ((union{float _f; uint32_t _i;}){f})._i
-#define asfloat(i) ((union{uint32_t _i; float _f;}){i})._f
-#define asuint64(f) ((union{double _f; uint64_t _i;}){f})._i
-#define asdouble(i) ((union{uint64_t _i; double _f;}){i})._f
-
-#define EXTRACT_WORDS(hi,lo,d)                    \
-do {                                              \
-  uint64_t __u = asuint64(d);                     \
-  (hi) = __u >> 32;                               \
-  (lo) = (uint32_t)__u;                           \
-} while (0)
-
-#define GET_HIGH_WORD(hi,d)                       \
-do {                                              \
-  (hi) = asuint64(d) >> 32;                       \
-} while (0)
-
-#define GET_LOW_WORD(lo,d)                        \
-do {                                              \
-  (lo) = (uint32_t)asuint64(d);                   \
-} while (0)
-
-#define INSERT_WORDS(d,hi,lo)                     \
-do {                                              \
-  (d) = asdouble(((uint64_t)(hi)<<32) | (uint32_t)(lo)); \
-} while (0)
-
-#define SET_HIGH_WORD(d,hi)                       \
-  INSERT_WORDS(d, hi, (uint32_t)asuint64(d))
-
-#define SET_LOW_WORD(d,lo)                        \
-  INSERT_WORDS(d, asuint64(d)>>32, lo)
-
-#define GET_FLOAT_WORD(w,d)                       \
-do {                                              \
-  (w) = asuint(d);                                \
-} while (0)
-
-#define SET_FLOAT_WORD(d,w)                       \
-do {                                              \
-  (d) = asfloat(w);                               \
-} while (0)
-
-hidden int    __rem_pio2_large(double*,double*,int,int,int);
-
-hidden int    __rem_pio2(double,double*);
-hidden double __sin(double,double,int);
-hidden double __cos(double,double);
-hidden double __tan(double,double,int);
-hidden double __expo2(double);
-
-hidden int    __rem_pio2f(float,double*);
-hidden float  __sindf(double);
-hidden float  __cosdf(double);
-hidden float  __tandf(double,int);
-hidden float  __expo2f(float);
-
-hidden int __rem_pio2l(long double, long double *);
-hidden long double __sinl(long double, long double, int);
-hidden long double __cosl(long double, long double);
-hidden long double __tanl(long double, long double, int);
-
-hidden long double __polevll(long double, const long double *, int);
-hidden long double __p1evll(long double, const long double *, int);
-
-hidden double __lgamma_r(double, int *);
-hidden float __lgammaf_r(float, int *);
-
-/* error handling functions */
-hidden float __math_xflowf(uint32_t, float);
-hidden float __math_uflowf(uint32_t);
-hidden float __math_oflowf(uint32_t);
-hidden float __math_divzerof(uint32_t);
-hidden float __math_invalidf(float);
-hidden double __math_xflow(uint32_t, double);
-hidden double __math_uflow(uint32_t);
-hidden double __math_oflow(uint32_t);
-hidden double __math_divzero(uint32_t);
-hidden double __math_invalid(double);
-
-#endif
diff --git a/controller/fw/reed_solomon b/controller/fw/reed_solomon
deleted file mode 160000
-Subproject 9349f519af7e9a34f2e66de0c8b1ef90b5de28f
diff --git a/controller/fw/src/adc.c b/controller/fw/src/adc.c
deleted file mode 100644
index 02d729a..0000000
--- a/controller/fw/src/adc.c
+++ /dev/null
@@ -1,100 +0,0 @@
-
-#include <assert.h>
-#include <string.h>
-#include <stdint.h>
-
-#include "adc.h"
-#include "sr_global.h"
-
-static unsigned int adc_overruns = 0;
-uint16_t adc_fft_buf[2][FMEAS_FFT_LEN];
-volatile int adc_fft_buf_ready_idx = -1;
-
-static DMA_TypeDef *const adc_dma = DMA2;
-static DMA_Stream_TypeDef *const adc_stream = DMA2_Stream0;
-static const int dma_adc_channel = 0;
-static const int adc_channel = 10;
-
-/* Configure ADC1 to sample channel 0. Trigger from TIM1 CC0 every 1ms. Transfer readings into alternating buffers
- * throug DMA. Enable DMA interrupts.
- *
- * We have two full FFT buffers. We always transfer data from the ADC to the back half of the active one, while a
- * DMA memcpy'es the latter half of the inactive one to the front half of the active one. This means at the end of the
- * ADC's DMA transfer, in the now-inactive buffer that the ADC results were just written to we have last half-period's
- * data sitting in front of this half-period's data like so: [old_adc_data, new_adc_data]
- *
- * This means we can immediately start running an FFT on ADC DMA transfer complete interrupt.
- */
-void adc_init() {
-    RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN | RCC_AHB1ENR_GPIOCEN;
-    RCC->APB2ENR |= RCC_APB2ENR_ADC1EN | RCC_APB2ENR_TIM1EN;
-
-    /* PC0 -> ADC1.ch10 */
-    GPIOC->MODER &= ~GPIO_MODER_MODER0_Msk;
-    GPIOC->MODER |= (3<<GPIO_MODER_MODER0_Pos);
-
-    adc_dma->LIFCR |= 0x3f;
-    adc_stream->CR = 0; /* disable */
-    while (adc_stream->CR & DMA_SxCR_EN)
-        ; /* wait for stream to become available */
-    adc_stream->NDTR = FMEAS_FFT_LEN/2; 
-    adc_stream->PAR = (uint32_t) &(ADC1->DR);
-    adc_stream->M0AR = (uint32_t) (adc_fft_buf[0] + FMEAS_FFT_LEN/2);
-    adc_stream->M1AR = (uint32_t) (adc_fft_buf[1] + FMEAS_FFT_LEN/2);
-    adc_stream->CR = (dma_adc_channel<<DMA_SxCR_CHSEL_Pos) | DMA_SxCR_DBM | (1<<DMA_SxCR_MSIZE_Pos)
-        | (1<<DMA_SxCR_PSIZE_Pos) | DMA_SxCR_MINC | (2<<DMA_SxCR_PL_Pos)
-        | DMA_SxCR_TCIE | DMA_SxCR_TEIE | DMA_SxCR_DMEIE;
-    adc_stream->CR |= DMA_SxCR_EN;
-
-    NVIC_EnableIRQ(DMA2_Stream0_IRQn);
-    NVIC_SetPriority(DMA2_Stream0_IRQn, 128);
-
-    ADC1->CR1 = (0<<ADC_CR1_RES_Pos) | (0<<ADC_CR1_DISCNUM_Pos) | ADC_CR1_DISCEN | (0<<ADC_CR1_AWDCH_Pos);
-    ADC1->CR2 = (1<<ADC_CR2_EXTEN_Pos) | (0<<ADC_CR2_EXTSEL_Pos) | ADC_CR2_DMA | ADC_CR2_ADON | ADC_CR2_DDS;
-    ADC1->SQR3 = (adc_channel<<ADC_SQR3_SQ1_Pos);
-    ADC1->SQR1 = (0<<ADC_SQR1_L_Pos);
-    ADC1->SMPR2 = (7<<ADC_SMPR2_SMP0_Pos);
-
-    TIM1->CR2 = (2<<TIM_CR2_MMS_Pos); /* Enable update event on TRGO to provide a 1ms reference to rest of system */
-    TIM1->CCMR1 = (6<<TIM_CCMR1_OC1M_Pos) | (0<<TIM_CCMR1_CC1S_Pos);
-    TIM1->CCER = TIM_CCER_CC1E;
-    assert(apb2_timer_speed%1000000 == 0);
-    TIM1->PSC = 1000-1;
-    TIM1->ARR = (apb2_timer_speed/1000000)-1; /* 1ms period */
-    TIM1->CCR1 = 1;
-    TIM1->BDTR = TIM_BDTR_MOE;
-    
-    TIM1->CR1 = TIM_CR1_CEN;
-    TIM1->EGR = TIM_EGR_UG;
-}
-
-void DMA2_Stream0_IRQHandler(void) {
-    uint8_t isr = (DMA2->LISR >> DMA_LISR_FEIF0_Pos) & 0x3f;
-    GPIOA->BSRR = 1<<11;
-
-    if (isr & DMA_LISR_TCIF0) { /* Transfer complete */
-        /* Check we're done processing the old buffer */
-        if (adc_fft_buf_ready_idx != -1) { /* FIXME DEBUG */
-            GPIOA->BSRR = 1<<11<<16;
-            /* clear all flags */
-            adc_dma->LIFCR = isr<<DMA_LISR_FEIF0_Pos;
-            adc_overruns++;
-            return;
-            panic();
-        }
-
-        /* Kickoff FFT */
-        int ct = !!(adc_stream->CR & DMA_SxCR_CT);
-        adc_fft_buf_ready_idx = !ct;
-    }
-
-    if (isr & DMA_LISR_DMEIF0) /* Direct mode error */
-        panic();
-
-    if (isr & DMA_LISR_TEIF0) /* Transfer error */
-        panic();
-
-    GPIOA->BSRR = 1<<11<<16;
-    /* clear all flags */
-    adc_dma->LIFCR = isr<<DMA_LISR_FEIF0_Pos;
-}
diff --git a/controller/fw/src/adc.h b/controller/fw/src/adc.h
deleted file mode 100644
index e5611cb..0000000
--- a/controller/fw/src/adc.h
+++ /dev/null
@@ -1,10 +0,0 @@
-#ifndef __ADC_H__
-#define __ADC_H__
-
-void adc_init(void);
-
-extern uint16_t adc_fft_buf[2][FMEAS_FFT_LEN];
-/* set index of ready buffer in adc.c, reset to -1 in main.c after processing */
-extern volatile int adc_fft_buf_ready_idx;
-
-#endif /* __ADC_H__ */
diff --git a/controller/fw/src/con_usart.c b/controller/fw/src/con_usart.c
deleted file mode 100644
index f80fa79..0000000
--- a/controller/fw/src/con_usart.c
+++ /dev/null
@@ -1,33 +0,0 @@
-
-#include <stm32f4_isr.h>
-#include "con_usart.h"
-
-volatile struct usart_desc con_usart = {
-    .le_usart = USART1,
-    .le_usart_irqn = USART1_IRQn,
-    .tx_dmas = DMA2_Stream7,
-    .tx_dma_sn = 7,
-    .tx_dma_ch = 4,
-    .tx_dma = DMA2,
-    .tx_dma_irqn = DMA2_Stream7_IRQn,
-};
-
-void con_usart_init() {
-    RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN | RCC_AHB1ENR_DMA2EN;
-    RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
-
-    /* GPIO config: A9 (TX), A10 (RX) */
-    GPIOA->MODER &= ~GPIO_MODER_MODER9_Msk & ~GPIO_MODER_MODER10_Msk;
-    GPIOA->MODER |= (2<<GPIO_MODER_MODER9_Pos) | (2<<GPIO_MODER_MODER10_Pos);
-    GPIOA->OSPEEDR &= ~GPIO_OSPEEDR_OSPEED9_Msk & ~GPIO_OSPEEDR_OSPEED10_Msk;
-    GPIOA->OSPEEDR |= (2<<GPIO_OSPEEDR_OSPEED9_Pos) | (2<<GPIO_OSPEEDR_OSPEED10_Pos);
-    GPIOA->AFR[1] &= ~GPIO_AFRH_AFSEL9_Msk & ~GPIO_AFRH_AFSEL10_Msk;
-    GPIOA->AFR[1] |= (7<<GPIO_AFRH_AFSEL9_Pos) | (7<<GPIO_AFRH_AFSEL10_Pos);
-
-    usart_dma_init(&con_usart, CON_USART_BAUDRATE);
-}
-
-void DMA2_Stream7_IRQHandler(void) {
-    usart_dma_stream_irq(&con_usart);
-}
-
diff --git a/controller/fw/src/con_usart.h b/controller/fw/src/con_usart.h
deleted file mode 100644
index db73f0d..0000000
--- a/controller/fw/src/con_usart.h
+++ /dev/null
@@ -1,17 +0,0 @@
-#ifndef __CON_USART_H__
-#define __CON_USART_H__
-
-#include "serial.h"
-
-extern volatile struct usart_desc con_usart;
-
-#define con_printf(...) usart_printf(&con_usart, __VA_ARGS__)
-#define con_printf_blocking(...) usart_printf_blocking(&con_usart, __VA_ARGS__)
-
-#ifndef CON_USART_BAUDRATE
-#define CON_USART_BAUDRATE 500000
-#endif
-
-void con_usart_init(void);
-
-#endif /* __CON_USART_H__ */
diff --git a/controller/fw/src/crypto.c b/controller/fw/src/crypto.c
deleted file mode 100644
index f4f79a4..0000000
--- a/controller/fw/src/crypto.c
+++ /dev/null
@@ -1,80 +0,0 @@
-
-#include <assert.h>
-#include <unistd.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include <sodium.h>
-
-#include "crypto.h"
-#include "simulation.h"
-
-
-void debug_hexdump(const char *name, const uint8_t *buf, size_t len);
-int verify_trigger_dom(const uint8_t inkey[PRESIG_MSG_LEN],
-        const char *domain_string, const uint8_t refkey[PRESIG_MSG_LEN]);
-
-
-void debug_hexdump(const char *name, const uint8_t *buf, size_t len) {
-    DEBUG_PRINTN("%20s: ", name);
-    for (size_t i=0; i<len;) {
-        for (size_t j=0; j<8 && i<len; i++, j++)
-            DEBUG_PRINTN("%02x ", buf[i]);
-        DEBUG_PRINTN(" ");
-    }
-    DEBUG_PRINTN("\n");
-}
-
-/* Returns trigger sig height for correct trigger */
-int verify_trigger_dom(const uint8_t inkey[PRESIG_MSG_LEN],
-        const char *domain_string, const uint8_t refkey[PRESIG_MSG_LEN]) {
-    uint8_t key[crypto_auth_hmacsha512_KEYBYTES];
-    uint8_t key_out[crypto_auth_hmacsha512_BYTES];
-
-    static_assert(PRESIG_MSG_LEN <= crypto_auth_hmacsha512_KEYBYTES);
-    memcpy(key, inkey, PRESIG_MSG_LEN);
-    memset(key + PRESIG_MSG_LEN, 0, sizeof(key) - PRESIG_MSG_LEN);
-    DEBUG_PRINT("ds \"%s\"", domain_string);
-    debug_hexdump("ref", refkey, PRESIG_MSG_LEN);
-
-    for (int i=0; i<presig_height; i++) {
-        DEBUG_PRINT("Verifying height rel %d abs %d", i, presig_height-i);
-        debug_hexdump("key", key, sizeof(key));
-        (void)crypto_auth_hmacsha512(key_out, (uint8_t *)domain_string, strlen(domain_string), key);
-        debug_hexdump("out", key_out, sizeof(key_out));
-        memcpy(key, key_out, PRESIG_MSG_LEN);
-        memset(key + PRESIG_MSG_LEN, 0, sizeof(key) - PRESIG_MSG_LEN);
-        
-        if (!memcmp(key, refkey, PRESIG_MSG_LEN))
-            return presig_height-i;
-    }
-
-    return 0;
-}
-
-int verify_trigger(const uint8_t inkey[PRESIG_MSG_LEN], int *height_out, int *domain_out) {
-    int res;
-    for (int i=0; i<_TRIGGER_DOMAIN_COUNT; i++) {
-        DEBUG_PRINT("Verifying domain %d", i);
-        if ((res = verify_trigger_dom(inkey, presig_domain_strings[i], presig_keys[i]))) {
-            DEBUG_PRINT("Match!");
-            if (height_out)
-                *height_out = res - 1;
-            if (domain_out)
-                *domain_out = i;
-            return 1;
-        }
-    }
-    return 0;
-}
-
-int oob_message_received(uint8_t msg[static OOB_TRIGGER_LEN]) {
-    int height, domain;
-    if (verify_trigger(msg, &height, &domain)) {
-        oob_trigger_activated(domain, height);
-        return 1;
-    }
-
-    return 0;
-}
diff --git a/controller/fw/src/crypto.h b/controller/fw/src/crypto.h
deleted file mode 100644
index 18a9816..0000000
--- a/controller/fw/src/crypto.h
+++ /dev/null
@@ -1,30 +0,0 @@
-#ifndef __CRYPTO_H__
-#define __CRYPTO_H__
-
-#include <stdint.h>
-
-/* Presig message length: 15 byte = 120 bit ^= 20 * 6-bit symbols of 5-bit bipolar DSSS */
-#define PRESIG_MSG_LEN 15
-#define OOB_TRIGGER_LEN PRESIG_MSG_LEN
-
-enum trigger_domain {
-    TRIGGER_DOMAIN_ALL,
-    TRIGGER_DOMAIN_VENDOR,
-    TRIGGER_DOMAIN_SERIES,
-    TRIGGER_DOMAIN_COUNTRY,
-    TRIGGER_DOMAIN_REGION,
-    _TRIGGER_DOMAIN_COUNT
-};
-
-extern const char *presig_domain_strings[_TRIGGER_DOMAIN_COUNT];
-extern uint8_t presig_keys[_TRIGGER_DOMAIN_COUNT][PRESIG_MSG_LEN];
-extern int presig_height;
-extern uint8_t presig_bundle_id[16];
-extern uint64_t bundle_timestamp;
-
-extern void oob_trigger_activated(enum trigger_domain domain, int height);
-
-int oob_message_received(uint8_t msg[static OOB_TRIGGER_LEN]);
-int verify_trigger(const uint8_t inkey[PRESIG_MSG_LEN], int *height_out, int *domain_out);
-
-#endif /* __CRYPTO_H__ */
diff --git a/controller/fw/src/dma_util.c b/controller/fw/src/dma_util.c
deleted file mode 100644
index 48de215..0000000
--- a/controller/fw/src/dma_util.c
+++ /dev/null
@@ -1,46 +0,0 @@
-
-#include <assert.h>
-
-#include "dma_util.h"
-
-uint8_t dma_get_isr_and_clear(DMA_TypeDef *dma, int ch) {
-    uint8_t isr_val;
-    switch(ch) {
-        case 0:
-            isr_val = dma->LISR & 0x3f; 
-            dma->LIFCR = isr_val;
-            return isr_val;
-        case 1:
-            isr_val = dma->LISR>>6 & 0x3f; 
-            dma->LIFCR = isr_val<<6;
-            return isr_val;
-        case 2:
-            isr_val = dma->LISR>>16 & 0x3f; 
-            dma->LIFCR = isr_val<<16;
-            return isr_val;
-        case 3:
-            isr_val = dma->LISR>>6>>16 & 0x3f; 
-            dma->LIFCR = isr_val<<6<<16;
-            return isr_val;
-        case 4:
-            isr_val = dma->HISR & 0x3f; 
-            dma->HIFCR = isr_val;
-            return isr_val;
-        case 5:
-            isr_val = dma->HISR>>6 & 0x3f; 
-            dma->HIFCR = isr_val<<6;
-            return isr_val;
-        case 6:
-            isr_val = dma->HISR>>16 & 0x3f; 
-            dma->HIFCR = isr_val<<16;
-            return isr_val;
-        case 7:
-            isr_val = dma->HISR>>6>>16 & 0x3f; 
-            dma->HIFCR = isr_val<<6<<16;
-            return isr_val;
-        default:
-            assert(0);
-            return 0;
-    }
-}
-
diff --git a/controller/fw/src/dma_util.h b/controller/fw/src/dma_util.h
deleted file mode 100644
index 5ea2676..0000000
--- a/controller/fw/src/dma_util.h
+++ /dev/null
@@ -1,10 +0,0 @@
-#ifndef __DMA_UTIL_H__
-#define __DMA_UTIL_H__
-
-#include <stdint.h>
-
-#include "sr_global.h"
-
-uint8_t dma_get_isr_and_clear(DMA_TypeDef *dma, int ch);
-
-#endif /* __DMA_UTIL_H__ */
diff --git a/controller/fw/src/dsss_demod.c b/controller/fw/src/dsss_demod.c
deleted file mode 100644
index ad44b29..0000000
--- a/controller/fw/src/dsss_demod.c
+++ /dev/null
@@ -1,369 +0,0 @@
-
-#include <unistd.h>
-#include <stdbool.h>
-#include <math.h>
-#include <stdlib.h>
-#include <assert.h>
-
-#include <arm_math.h>
-
-#include "freq_meas.h"
-#include "sr_global.h"
-#include "dsss_demod.h"
-#include "simulation.h"
-
-#include "generated/dsss_gold_code.h"
-// #include "generated/dsss_butter_filter.h"
-
-/* Generated CWT wavelet LUT */
-extern const float * const dsss_cwt_wavelet_table;
-
-//struct iir_biquad cwt_filter_bq[DSSS_FILTER_CLEN] = {DSSS_FILTER_COEFF};
-
-void debug_print_vector(const char *name, size_t len, const float *data, size_t stride, bool index, bool debug);
-static float gold_correlate_step(const size_t ncode, const float a[DSSS_CORRELATION_LENGTH], size_t offx, bool debug);
-static float cwt_convolve_step(const float v[DSSS_WAVELET_LUT_SIZE], size_t offx);
-//static float run_iir(const float x, const int order, const struct iir_biquad q[order], struct iir_biquad_state st[order]);
-//static float run_biquad(float x, const struct iir_biquad *const q, struct iir_biquad_state *const restrict st);
-static void matcher_init(struct matcher_state states[static DSSS_MATCHER_CACHE_SIZE]);
-static void matcher_tick(struct matcher_state states[static DSSS_MATCHER_CACHE_SIZE],
-        uint64_t ts, int peak_ch, float peak_ampl);
-static void group_received(struct dsss_demod_state *st);
-static symbol_t decode_peak(int peak_ch, float peak_ampl);
-
-#ifdef SIMULATION
-void debug_print_vector(const char *name, size_t len, const float *data, size_t stride, bool index, bool debug) {
-    if (!debug)
-        return;
-
-    if (index) {
-        DEBUG_PRINTN("    %16s  [", "");
-        for (size_t i=0; i<len; i++)
-            DEBUG_PRINTN("%8zu  ", i);
-        DEBUG_PRINTN("]\n");
-    }
-
-    DEBUG_PRINTN("    %16s: [", name);
-    for (size_t i=0; i<len; i++)
-        DEBUG_PRINTN("%8.5f, ", data[i*stride]);
-    DEBUG_PRINTN("]\n");
-}
-#else 
-void debug_print_vector(unused_a const char *name, unused_a size_t len, unused_a const float *data,
-        unused_a size_t stride, unused_a bool index, unused_a bool debug) {}
-#endif
-
-void dsss_demod_init(struct dsss_demod_state *st) {
-    memset(st, 0, sizeof(*st));
-    matcher_init(st->matcher_cache);
-}
-
-void dsss_demod_step(struct dsss_demod_state *st, float new_value, uint64_t ts) {
-    //const float hole_patching_threshold = 0.01 * DSSS_CORRELATION_LENGTH;
-    bool log = false;
-    bool log_groups = false;
-
-    st->signal[st->signal_wpos] = new_value;
-    st->signal_wpos = (st->signal_wpos + 1) % ARRAY_LENGTH(st->signal);
-
-    /* use new, incremented wpos for gold_correlate_step as first element of old data in ring buffer */
-    for (size_t i=0; i<DSSS_GOLD_CODE_COUNT; i++)
-        st->correlation[i][st->correlation_wpos] = gold_correlate_step(i, st->signal, st->signal_wpos, false);
-
-    st->correlation_wpos = (st->correlation_wpos + 1) % ARRAY_LENGTH(st->correlation[0]);
-
-    float cwt[DSSS_GOLD_CODE_COUNT];
-    for (size_t i=0; i<DSSS_GOLD_CODE_COUNT; i++)
-        cwt[i] = cwt_convolve_step(st->correlation[i], st->correlation_wpos);
-
-    float avg = 0.0f;
-    for (size_t i=0; i<DSSS_GOLD_CODE_COUNT; i++)
-        avg += fabsf(cwt[i]);
-    avg /= (float)DSSS_GOLD_CODE_COUNT;
-    if (log) DEBUG_PRINTN("%6zu: %f ", ts, avg);
-    /* FIXME fix this filter */
-    //avg = run_iir(avg, ARRAY_LENGTH(cwt_filter_bq), cwt_filter_bq, st->cwt_filter.st);
-
-    float max_val = st->group.max;
-    int max_ch = st->group.max_ch;
-    int max_ts = st->group.max_ts;
-    bool found = false;
-    for (size_t i=0; i<DSSS_GOLD_CODE_COUNT; i++) {
-        float val = cwt[i] / avg;
-        if (log) DEBUG_PRINTN("%f ", cwt[i]);
-        if (log) DEBUG_PRINTN("%f ", val);
-
-        if (fabsf(val) > fabsf(max_val)) {
-            max_val = val;
-            max_ch = i;
-            max_ts = ts;
-        }
-
-        if (fabsf(val) > DSSS_THRESHOLD_FACTOR)
-            found = true;
-    }
-    if (log) DEBUG_PRINTN("%f %d ", max_val, found);
-    if (log) DEBUG_PRINTN("\n");
-
-    matcher_tick(st->matcher_cache, ts, max_ch, max_val);
-
-    if (found) {
-        /* Continue ongoing group */
-        st->group.len++;
-        st->group.max = max_val;
-        st->group.max_ch = max_ch;
-        st->group.max_ts = max_ts;
-        return;
-    }
-    
-    if (st->group.len == 0)
-        /* We're between groups */
-        return;
-
-    if (log_groups) DEBUG_PRINTN("GROUP: %zu %d %f\n", st->group.max_ts, st->group.max_ch, st->group.max);
-    /* A group ended. Process result. */
-    group_received(st);
-
-    /* reset grouping state */
-    st->group.len = 0;
-    st->group.max_ts = 0;
-    st->group.max_ch = 0;
-    st->group.max = 0.0f;
-}
-
-/* Map a sequence match to a data symbol. This maps the sequence's index number to the 2nd to n+2nd bit of the result,
- * and maps the polarity of detection to the LSb. 5-bit example:
- * 
- * [0, S, S, S, S, S, S, P] ; S ^= symbol index (0 - 2^n+1 so we need just about n+1 bit), P ^= symbol polarity
- *
- * Symbol polarity is preserved from transmitter to receiver. The symbol index is n+1 bit instead of n bit since we have
- * 2^n+1 symbols to express, one too many for an n-bit index.
- */
-symbol_t decode_peak(int peak_ch, float peak_ampl) {
-    return (peak_ch<<1) | (peak_ampl > 0);
-}
-
-void matcher_init(struct matcher_state states[static DSSS_MATCHER_CACHE_SIZE]) {
-    for (size_t i=0; i<DSSS_MATCHER_CACHE_SIZE; i++)
-        states[i].last_phase = -1; /* mark as inactive */
-}
-
-/* TODO make these constants configurable from Makefile */
-const int group_phase_tolerance = (int)(DSSS_CORRELATION_LENGTH * 0.10);
-
-void matcher_tick(struct matcher_state states[static DSSS_MATCHER_CACHE_SIZE], uint64_t ts, int peak_ch, float peak_ampl) {
-    /* TODO make these constants configurable from Makefile */
-    const float skip_sampling_depreciation = 0.2f; /* 0.0 -> no depreciation, 1.0 -> complete disregard */
-    const float score_depreciation = 0.1f; /* 0.0 -> no depreciation, 1.0 -> complete disregard */
-    const int current_phase = ts % DSSS_CORRELATION_LENGTH;
-    const int max_skips = TRANSMISSION_SYMBOLS/4*3;
-    bool debug = false;
-
-    bool header_printed = false;
-    for (size_t i=0; i<DSSS_MATCHER_CACHE_SIZE; i++) {
-        if (states[i].last_phase == -1)
-            continue; /* Inactive entry */
-
-        if (current_phase == states[i].last_phase) {
-            /* Skip sampling */
-            float score = fabsf(peak_ampl) * (1.0f - skip_sampling_depreciation);
-            if (score > states[i].candidate_score) {
-                if (debug && !header_printed) {
-                    header_printed = true;
-                    DEBUG_PRINTN("windows %zu\n", ts);
-                }
-                if (debug) DEBUG_PRINTN("    skip %zd old=%f new=%f\n", i, states[i].candidate_score, score);
-                /* We win, update candidate */
-                assert(i < DSSS_MATCHER_CACHE_SIZE);
-                states[i].candidate_score = score;
-                states[i].candidate_phase = current_phase;
-                states[i].candidate_data = decode_peak(peak_ch, peak_ampl);
-                states[i].candidate_skips = 1;
-            }
-        }
-
-        /* Note of caution on group_phase_tolerance: Group detection has some latency since a group is only considered
-         * "detected" after signal levels have fallen back below the detection threshold. This means we only get to
-         * process a group a couple ticks after its peak. We have to make sure the window is still open at this point.
-         * This means we have to match against group_phase_tolerance should a little bit loosely.
-         */
-        int phase_delta = current_phase - states[i].last_phase;
-        if (phase_delta < 0)
-            phase_delta += DSSS_CORRELATION_LENGTH;
-        if (phase_delta == group_phase_tolerance + DSSS_DECIMATION) {
-            if (debug && !header_printed) {
-                header_printed = true;
-                DEBUG_PRINTN("windows %zu\n", ts);
-            }
-            if (debug) DEBUG_PRINTN("    %zd ", i);
-            /* Process window results */
-            assert(i < DSSS_MATCHER_CACHE_SIZE);
-            assert(0 <= states[i].data_pos && states[i].data_pos < TRANSMISSION_SYMBOLS);
-            states[i].data[ states[i].data_pos ] = states[i].candidate_data;
-            states[i].data_pos = states[i].data_pos + 1;
-            states[i].last_score = score_depreciation * states[i].last_score +
-                (1.0f - score_depreciation) * states[i].candidate_score;
-            if (debug) DEBUG_PRINTN("commit pos=%d val=%d score=%f ", states[i].data_pos, states[i].candidate_data, states[i].last_score);
-            states[i].candidate_score = 0.0f;
-            states[i].last_skips += states[i].candidate_skips;
-
-            if (states[i].last_skips > max_skips) {
-                if (debug) DEBUG_PRINTN("expire ");
-                states[i].last_phase = -1; /* invalidate entry */
-
-            } else if (states[i].data_pos == TRANSMISSION_SYMBOLS) {
-                if (debug) DEBUG_PRINTN("match ");
-                /* Frame received completely */
-                handle_dsss_received(states[i].data);
-                states[i].last_phase = -1; /* invalidate entry */
-            }
-            if (debug) DEBUG_PRINTN("\n");
-        }
-    }
-}
-
-static float gaussian(float a, float b, float c, float x) {
-    float n = x-b;
-    return a*expf(-n*n / (2.0f* c*c));
-}
-
-
-static float score_group(const struct group *g, int phase_delta) {
-    /* TODO make these constants configurable from Makefile */
-    const float distance_func_phase_tolerance = 10.0f;
-    return fabsf(g->max) * gaussian(1.0f, 0.0f, distance_func_phase_tolerance, phase_delta);
-}
-
-void group_received(struct dsss_demod_state *st) {
-    bool debug = false;
-    const int group_phase = st->group.max_ts % DSSS_CORRELATION_LENGTH;
-    /* This is the score of a decoding starting at this group (with no context) */
-    float base_score = score_group(&st->group, 0);
-
-    float min_score = INFINITY;
-    ssize_t min_idx = -1;
-    ssize_t empty_idx = -1;
-    for (size_t i=0; i<DSSS_MATCHER_CACHE_SIZE; i++) {
-
-        /* Search for empty entries */
-        if (st->matcher_cache[i].last_phase == -1) {
-            empty_idx = i;
-            continue;
-        }
-
-        /* Search for entries with matching phase */
-        /* This is the score of this group given the cached decoding at [i] */
-        int phase_delta = st->matcher_cache[i].last_phase - group_phase;
-        if (abs(phase_delta) <= group_phase_tolerance) {
-
-            float group_score = score_group(&st->group, phase_delta);
-            if (st->matcher_cache[i].candidate_score < group_score) {
-                assert(i < DSSS_MATCHER_CACHE_SIZE);
-                if (debug) DEBUG_PRINTN("    appending %zu %d score=%f pd=%d\n", i, decode_peak(st->group.max_ch, st->group.max), group_score, phase_delta);
-                /* Append to entry */
-                st->matcher_cache[i].candidate_score = group_score;
-                st->matcher_cache[i].candidate_phase = group_phase;
-                st->matcher_cache[i].candidate_data = decode_peak(st->group.max_ch, st->group.max);
-                st->matcher_cache[i].candidate_skips = 0;
-            }
-        }
-
-        /* Search for weakest entry */
-        /* TODO figure out this fitness function */
-        float score = st->matcher_cache[i].last_score * (1.5f + 0.1 * st->matcher_cache[i].data_pos);
-        if (debug) DEBUG_PRINTN("    score %zd %f %f %d", i, score, st->matcher_cache[i].last_score, st->matcher_cache[i].data_pos);
-        if (score < min_score) {
-            min_idx = i;
-            min_score = score;
-        }
-    }
-
-    /* If we found empty entries, replace one by a new decoding starting at this group */
-    if (empty_idx >= 0) {
-        if (debug) DEBUG_PRINTN("    empty %zd %d\n", empty_idx, decode_peak(st->group.max_ch, st->group.max));
-        assert(0 <= empty_idx && empty_idx < DSSS_MATCHER_CACHE_SIZE);
-        st->matcher_cache[empty_idx].last_phase = group_phase;
-        st->matcher_cache[empty_idx].candidate_score = base_score;
-        st->matcher_cache[empty_idx].last_score = base_score;
-        st->matcher_cache[empty_idx].candidate_phase = group_phase;
-        st->matcher_cache[empty_idx].candidate_data = decode_peak(st->group.max_ch, st->group.max);
-        st->matcher_cache[empty_idx].data_pos = 0;
-        st->matcher_cache[empty_idx].candidate_skips = 0;
-        st->matcher_cache[empty_idx].last_skips = 0;
-
-    /* If the weakest decoding in cache is weaker than a new decoding starting here, replace it */
-    } else if (min_score < base_score && min_idx >= 0) {
-        if (debug) DEBUG_PRINTN("    min %zd %d\n", min_idx, decode_peak(st->group.max_ch, st->group.max));
-        assert(0 <= min_idx && min_idx < DSSS_MATCHER_CACHE_SIZE);
-        st->matcher_cache[min_idx].last_phase = group_phase;
-        st->matcher_cache[min_idx].candidate_score = base_score;
-        st->matcher_cache[min_idx].last_score = base_score;
-        st->matcher_cache[min_idx].candidate_phase = group_phase;
-        st->matcher_cache[min_idx].candidate_data = decode_peak(st->group.max_ch, st->group.max);
-        st->matcher_cache[min_idx].data_pos = 0;
-        st->matcher_cache[min_idx].candidate_skips = 0;
-        st->matcher_cache[min_idx].last_skips = 0;
-    }
-}
-
-#if 0
-float run_iir(const float x, const int order, const struct iir_biquad q[order], struct iir_biquad_state st[order]) {
-    float intermediate = x;
-    for (int i=0; i<(order+1)/2; i++)
-        intermediate = run_biquad(intermediate, &q[i], &st[i]);
-    return intermediate;
-}
-
-float run_biquad(float x, const struct iir_biquad *const q, struct iir_biquad_state *const restrict st) {
-    /* direct form 2, see https://en.wikipedia.org/wiki/Digital_biquad_filter */
-    float intermediate = x + st->reg[0] * -q->a[0] + st->reg[1] * -q->a[1];
-    float out = intermediate * q->b[0] + st->reg[0] * q->b[1] + st->reg[1] * q->b[2];
-    st->reg[1] = st->reg[0];
-    st->reg[0] = intermediate;
-    return out;
-}
-#endif
-
-float cwt_convolve_step(const float v[DSSS_WAVELET_LUT_SIZE], size_t offx) {
-    float sum = 0.0f;
-    for (ssize_t j=0; j<DSSS_WAVELET_LUT_SIZE; j++) {
-        /* Our wavelet is symmetric so convolution and correlation are identical. Use correlation here for ease of
-         * implementation */
-        sum += v[(offx + j) % DSSS_WAVELET_LUT_SIZE] * dsss_cwt_wavelet_table[j];
-        //DEBUG_PRINT("        j=%d v=%f w=%f", j, v[(offx + j) % DSSS_WAVELET_LUT_SIZE], dsss_cwt_wavelet_table[j]);
-    }
-    return sum;
-}
-
-/* Compute last element of correlation for input [a] and hard-coded gold sequences.
- *
- * This is intened to be used once for each new incoming sample in [a]. It expects [a] to be of length
- * [dsss_correlation_length] and produces the one sample where both the reference sequence and the input fully overlap.
- * This is equivalent to "valid" mode in numpy's terminology[0].
- *
- * [0] https://docs.scipy.org/doc/numpy/reference/generated/numpy.correlate.html
- */
-float gold_correlate_step(const size_t ncode, const float a[DSSS_CORRELATION_LENGTH], size_t offx, bool debug) {
-
-    float acc_outer = 0.0f;
-    uint8_t table_byte = 0;
-    if (debug) DEBUG_PRINTN("Correlate n=%zd: ", ncode);
-    for (size_t i=0; i<DSSS_GOLD_CODE_LENGTH; i++) {
-
-        if ((i&7) == 0) {
-            table_byte = dsss_gold_code_table[ncode][i>>3]; /* Fetch sequence table item */
-            if (debug) DEBUG_PRINTN("|");
-        }
-        int bv = table_byte & (0x80>>(i&7)); /* Extract bit */
-        bv = !!bv*2 - 1; /* Map 0, 1 -> -1, 1 */
-        if (debug) DEBUG_PRINTN("%s%d\033[0m", bv == 1 ? "\033[92m" : "\033[91m", (bv+1)/2);
-
-        float acc_inner = 0.0f;
-        for (size_t j=0; j<DSSS_DECIMATION; j++)
-            acc_inner += a[(offx + i*DSSS_DECIMATION + j) % DSSS_CORRELATION_LENGTH]; /* Multiply item */
-        //if (debug) DEBUG_PRINTN("%.2f ", acc_inner);
-        acc_outer += acc_inner * bv;
-    }
-    if (debug) DEBUG_PRINTN("\n");
-    return acc_outer / DSSS_CORRELATION_LENGTH;
-}
diff --git a/controller/fw/src/dsss_demod.h b/controller/fw/src/dsss_demod.h
deleted file mode 100644
index b865d83..0000000
--- a/controller/fw/src/dsss_demod.h
+++ /dev/null
@@ -1,75 +0,0 @@
-#ifndef __DSSS_DEMOD_H__
-#define __DSSS_DEMOD_H__
-
-#include <stdint.h>
-#include <unistd.h>
-
-#define DSSS_GOLD_CODE_LENGTH   ((1<<DSSS_GOLD_CODE_NBITS) - 1)
-#define DSSS_GOLD_CODE_COUNT    ((1<<DSSS_GOLD_CODE_NBITS) + 1)
-#define DSSS_CORRELATION_LENGTH (DSSS_GOLD_CODE_LENGTH * DSSS_DECIMATION)
-
-/* FIXME: move to makefile */
-#define DSSS_MATCHER_CACHE_SIZE 8
-
-#if DSSS_GOLD_CODE_NBITS < 8
-typedef uint8_t symbol_t;
-#else
-typedef uint16_t symbol_t;
-#endif
-
-struct iir_biquad {
-    float a[2];
-    float b[3];
-};
-
-struct iir_biquad_state {
-    float reg[2];
-};
-
-struct cwt_iir_filter_state {
-    struct iir_biquad_state st[3];
-};
-
-struct group {
-    int len; /* length of group in samples */
-    float max; /* signed value of largest peak in group on any channel */
-    uint64_t max_ts; /* absolute position of above peak */
-    int max_ch; /* channel (gold sequence index) of above peak */
-};
-
-struct matcher_state {
-    int last_phase; /* 0 .. DSSS_CORRELATION_LENGTH */
-    int candidate_phase;
-
-    float last_score;
-    float candidate_score;
-
-    int last_skips;
-    int candidate_skips;
-
-    symbol_t data[TRANSMISSION_SYMBOLS]; 
-    int data_pos;
-    symbol_t candidate_data;
-};
-
-struct dsss_demod_state {
-    float signal[DSSS_CORRELATION_LENGTH];
-    size_t signal_wpos;
-
-    float correlation[DSSS_GOLD_CODE_COUNT][DSSS_WAVELET_LUT_SIZE];
-    size_t correlation_wpos;
-
-    struct cwt_iir_filter_state cwt_filter;
-
-    struct group group;
-
-    struct matcher_state matcher_cache[DSSS_MATCHER_CACHE_SIZE];
-};
-
-
-extern void handle_dsss_received(symbol_t data[static TRANSMISSION_SYMBOLS]);
-
-void dsss_demod_init(struct dsss_demod_state *st);
-void dsss_demod_step(struct dsss_demod_state *st, float new_value, uint64_t ts);
-
-#endif /* __DSSS_DEMOD_H__ */
diff --git a/controller/fw/src/freq_meas.c b/controller/fw/src/freq_meas.c
deleted file mode 100644
index 035ffd4..0000000
--- a/controller/fw/src/freq_meas.c
+++ /dev/null
@@ -1,168 +0,0 @@
-
-#ifndef SIMULATION
-#include <stm32f407xx.h>
-#endif
-
-#include <unistd.h>
-#include <math.h>
-
-#include <arm_math.h>
-#include <levmarq.h>
-
-#include "freq_meas.h"
-#include "sr_global.h"
-#include "simulation.h"
-
-
-/* FTT window lookup table defined in generated/fmeas_fft_window.c */
-extern const float * const fmeas_fft_window_table;
-
-/* jury-rig some definitions for these functions since the ARM headers only export an over-generalized variable bin size
- * variant. */
-extern arm_status arm_rfft_32_fast_init_f32(arm_rfft_fast_instance_f32 * S);
-extern arm_status arm_rfft_64_fast_init_f32(arm_rfft_fast_instance_f32 * S);
-extern arm_status arm_rfft_128_fast_init_f32(arm_rfft_fast_instance_f32 * S);
-extern arm_status arm_rfft_256_fast_init_f32(arm_rfft_fast_instance_f32 * S);
-extern arm_status arm_rfft_512_fast_init_f32(arm_rfft_fast_instance_f32 * S);
-extern arm_status arm_rfft_1024_fast_init_f32(arm_rfft_fast_instance_f32 * S);
-extern arm_status arm_rfft_2048_fast_init_f32(arm_rfft_fast_instance_f32 * S);
-extern arm_status arm_rfft_4096_fast_init_f32(arm_rfft_fast_instance_f32 * S);
-
-#define CONCAT(A, B, C) A ## B ## C
-#define arm_rfft_init_name(nbits) CONCAT(arm_rfft_, nbits, _fast_init_f32)
-
-void func_gauss_grad(float *out, float *params, int x, void *userdata);
-float func_gauss(float *params, int x, void *userdata);
-
-int adc_buf_measure_freq(uint16_t adc_buf[FMEAS_FFT_LEN], float *out) {
-    int rc;
-    float in_buf[FMEAS_FFT_LEN];
-    float out_buf[FMEAS_FFT_LEN];
-    /*
-    DEBUG_PRINTN("    [emulated adc buf] ");
-    for (size_t i=0; i<FMEAS_FFT_LEN; i++)
-        DEBUG_PRINTN("%5d, ", adc_buf[i]);
-    DEBUG_PRINTN("\n");
-    */
-    //DEBUG_PRINT("Applying window function");
-    for (size_t i=0; i<FMEAS_FFT_LEN; i++)
-        in_buf[i] = ((float)adc_buf[i] / (float)FMEAS_ADC_MAX - 0.5) * fmeas_fft_window_table[i];
-
-    //DEBUG_PRINT("Running FFT");
-    arm_rfft_fast_instance_f32 fft_inst;
-    if ((rc = arm_rfft_init_name(FMEAS_FFT_LEN)(&fft_inst)) != ARM_MATH_SUCCESS) {
-        *out = NAN;
-        return rc;
-    }
-
-    /*
-    DEBUG_PRINTN("    [input] ");
-    for (size_t i=0; i<FMEAS_FFT_LEN; i++)
-        DEBUG_PRINTN("%010f, ", in_buf[i]);
-    DEBUG_PRINTN("\n");
-    */
-#ifndef SIMULATION
-    GPIOA->BSRR = 1<<12;
-#endif
-    arm_rfft_fast_f32(&fft_inst, in_buf, out_buf, 0);
-#ifndef SIMULATION
-    GPIOA->BSRR = 1<<12<<16;
-#endif
-
-#define FMEAS_FFT_WINDOW_MIN_F_HZ 30.0f
-#define FMEAS_FFT_WINDOW_MAX_F_HZ 70.0f
-    const float binsize_hz = (float)FMEAS_ADC_SAMPLING_RATE / FMEAS_FFT_LEN;
-    const size_t first_bin = (int)(FMEAS_FFT_WINDOW_MIN_F_HZ / binsize_hz);
-    const size_t last_bin = (int)(FMEAS_FFT_WINDOW_MAX_F_HZ / binsize_hz + 0.5f);
-    const size_t nbins = last_bin - first_bin + 1;
-
-    /*
-    DEBUG_PRINT("binsize_hz=%f first_bin=%zd last_bin=%zd nbins=%zd", binsize_hz, first_bin, last_bin, nbins);
-    DEBUG_PRINTN("    [bins real] ");
-    for (size_t i=0; i<FMEAS_FFT_LEN/2; i+=2)
-        DEBUG_PRINTN("%010f, ", out_buf[i]);
-    DEBUG_PRINTN("\n    [bins imag] ");
-    for (size_t i=1; i<FMEAS_FFT_LEN/2; i+=2)
-        DEBUG_PRINTN("%010f, ", out_buf[i]);
-    DEBUG_PRINT("\n");
-
-    DEBUG_PRINT("Repacking FFT results");
-    */
-    /* Copy real values of target data to front of output buffer */
-    for (size_t i=0; i<nbins; i++) {
-        float real = out_buf[2 * (first_bin + i)];
-        float imag = out_buf[2 * (first_bin + i) + 1];
-        out_buf[i] = sqrtf(real*real + imag*imag);
-    }
-
-    /*
-    DEBUG_PRINT("Running Levenberg-Marquardt");
-    */
-    LMstat lmstat;
-    levmarq_init(&lmstat);
-
-    float a_max = 0.0f;
-    int i_max = 0;
-    for (size_t i=0; i<nbins; i++) {
-        if (out_buf[i] > a_max) {
-            a_max = out_buf[i];
-            i_max = i;
-        }
-    }
-
-    float par[3] = {
-        a_max, i_max, 1.0f
-    };
-    /*
-    DEBUG_PRINT("    par_pre={%010f, %010f, %010f}", par[0], par[1], par[2]);
-    */
-
-#ifndef SIMULATION
-    GPIOA->BSRR = 1<<12;
-#endif
-    if (levmarq(3, par, nbins, out_buf, NULL, func_gauss, func_gauss_grad, NULL, &lmstat) < 0) {
-#ifndef SIMULATION
-        GPIOA->BSRR = 1<<12<<16;
-#endif
-        *out = NAN;
-        return -1;
-    }
-#ifndef SIMULATION
-    GPIOA->BSRR = 1<<12<<16;
-#endif
-
-    /*
-    DEBUG_PRINT("    par_post={%010f, %010f, %010f}", par[0], par[1], par[2]);
-
-    DEBUG_PRINT("done.");
-    */
-    float res = (par[1] + first_bin) * binsize_hz;
-    if (par[1] < 2 || res < 5 || res > 150 || par[0] < 1) {
-        *out = NAN;
-        return -1;
-    }
-    
-    *out = res;
-    return 0;
-}
-
-float func_gauss(float *params, int x, void *userdata) {
-    UNUSED(userdata);
-    float a = params[0], b = params[1], c = params[2];
-    float n = x-b;
-    return a*expf(-n*n / (2.0f* c*c));
-}
-
-void func_gauss_grad(float *out, float *params, int x, void *userdata) {
-    UNUSED(userdata);
-    float a = params[0], b = params[1], c = params[2];
-    float n = x-b;
-    float e = expf(-n*n / (2.0f * c*c));
-    
-    /* d/da */
-    out[0] = e;
-    /* d/db */
-    out[1] = a*n/(c*c) * e;
-    /* d/dc */
-    out[2] = a*n*n/(c*c*c) * e;
-}
diff --git a/controller/fw/src/freq_meas.h b/controller/fw/src/freq_meas.h
deleted file mode 100644
index 1c083f8..0000000
--- a/controller/fw/src/freq_meas.h
+++ /dev/null
@@ -1,7 +0,0 @@
-
-#ifndef __FREQ_MEAS_H__
-#define __FREQ_MEAS_H__
-
-int adc_buf_measure_freq(uint16_t adc_buf[FMEAS_FFT_LEN], float *out);
-
-#endif /* __FREQ_MEAS_H__ */
diff --git a/controller/fw/src/gold_code.h b/controller/fw/src/gold_code.h
deleted file mode 100644
index 739b477..0000000
--- a/controller/fw/src/gold_code.h
+++ /dev/null
@@ -1,4 +0,0 @@
-
-/* header file for generated gold code tables */
-
-extern const uint8_t * const gold_code_table;
diff --git a/controller/fw/src/gpio_helpers.c b/controller/fw/src/gpio_helpers.c
deleted file mode 100644
index 07b9a33..0000000
--- a/controller/fw/src/gpio_helpers.c
+++ /dev/null
@@ -1,46 +0,0 @@
-
-#include "gpio_helpers.h"
-
-void gpio_pin_mode(GPIO_TypeDef *gpio, int pin, int mode) {
-    gpio->MODER &= ~(3 << (2*pin));
-    gpio->MODER |= mode << (2*pin);
-}
-
-void gpio_pin_setup(GPIO_TypeDef *gpio, int pin, int mode, int speed, int pullups, int afsel) {
-    int gpio_idx = ((uint32_t)gpio>>10) & 0xf;
-    RCC->AHB1ENR |= 1<<gpio_idx;
-    
-    gpio->MODER &= ~(3 << (2*pin));
-    gpio->MODER |= mode << (2*pin);
-    gpio->OSPEEDR &= ~(3 << (2*pin));
-    gpio->OSPEEDR |= speed << (2*pin);
-    gpio->PUPDR &= ~(3 << (2*pin));
-    gpio->PUPDR |= pullups << (2*pin);
-    gpio->AFR[pin>>3] &= ~(0xf << (4*(pin&7)));
-    gpio->AFR[pin>>3] |= afsel << (4*(pin&7));
-    gpio->BSRR = 1<<pin<<16;
-}
-
-void gpio_pin_output(GPIO_TypeDef *gpio, int pin, int speed) {
-    gpio_pin_setup(gpio, pin, 1, speed, 0, 0);
-}
-
-void gpio_pin_tristate(GPIO_TypeDef *gpio, int pin, int tristate) {
-    if (tristate)
-        gpio->MODER &= ~(3 << (2*pin));
-    else
-        gpio->MODER |= 1 << (2*pin);
-}
-
-void gpio_pin_input(GPIO_TypeDef *gpio, int pin, int pullups) {
-    gpio_pin_setup(gpio, pin, 0, 0, pullups, 0);
-}
-
-void gpio_pin_af(GPIO_TypeDef *gpio, int pin, int speed, int pullups, int afsel) {
-    gpio_pin_setup(gpio, pin, 2, speed, pullups, afsel);
-}
-
-void gpio_pin_analog(GPIO_TypeDef *gpio, int pin) {
-    gpio_pin_setup(gpio, pin, 3, 0, 0, 0);
-}
-
diff --git a/controller/fw/src/gpio_helpers.h b/controller/fw/src/gpio_helpers.h
deleted file mode 100644
index abe2e85..0000000
--- a/controller/fw/src/gpio_helpers.h
+++ /dev/null
@@ -1,14 +0,0 @@
-#ifndef __GPIO_HELPERS_H__
-#define __GPIO_HELPERS_H__
-
-#include <stm32f407xx.h>
-
-void gpio_pin_mode(GPIO_TypeDef *gpio, int pin, int mode);
-void gpio_pin_setup(GPIO_TypeDef *gpio, int pin, int mode, int speed, int pullups, int afsel);
-void gpio_pin_output(GPIO_TypeDef *gpio, int pin, int speed);
-void gpio_pin_input(GPIO_TypeDef *gpio, int pin, int pullups);
-void gpio_pin_af(GPIO_TypeDef *gpio, int pin, int speed, int pullups, int afsel);
-void gpio_pin_analog(GPIO_TypeDef *gpio, int pin);
-void gpio_pin_tristate(GPIO_TypeDef *gpio, int pin, int tristate);
-
-#endif /* __GPIO_HELPERS_H__ */
diff --git a/controller/fw/src/main.c b/controller/fw/src/main.c
deleted file mode 100644
index 748ccaa..0000000
--- a/controller/fw/src/main.c
+++ /dev/null
@@ -1,394 +0,0 @@
-
-#include <stdbool.h>
-#include <stdint.h>
-#include <assert.h>
-#include <string.h>
-#include <math.h>
-
-#include <stm32f407xx.h>
-
-#include "sr_global.h"
-#include "adc.h"
-#include "spi_flash.h"
-#include "freq_meas.h"
-#include "dsss_demod.h"
-#include "con_usart.h"
-#include "mspdebug_wrapper.h"
-#include "crypto.h"
-
-static struct spi_flash_if spif;
-
-unsigned int sysclk_speed = 0;
-unsigned int apb1_speed = 0;
-unsigned int apb2_speed = 0;
-unsigned int auxclk_speed = 0;
-unsigned int apb1_timer_speed = 0;
-unsigned int apb2_timer_speed = 0;
-
-struct leds leds;
-
-ssize_t jt_spi_flash_read_block(void *usr, int addr, size_t len, uint8_t *out);
-static void update_image_flash_counter(void);
-
-void __libc_init_array(void) { /* we don't need this. */ }
-void __assert_func (unused_a const char *file, unused_a int line, unused_a const char *function, unused_a const char *expr) {
-    asm volatile ("bkpt");
-    while(1) {}
-}
-
-static void clock_setup(void)
-{
-    /* 8MHz HSE clock as PLL source. */
-#define HSE_SPEED 8000000
-    /* Divide by 8 -> 1 MHz */
-#define PLL_M 8
-    /* Multiply by 336 -> 336 MHz VCO frequency */
-#define PLL_N 336
-    /* Divide by 4 -> 84 MHz (max freq for our chip) */
-#define PLL_P 2
-    /* Aux clock for USB OTG, SDIO, RNG: divide VCO frequency (336 MHz) by 7 -> 48 MHz (required by USB OTG) */
-#define PLL_Q 7
-
-    if (((RCC->CFGR & RCC_CFGR_SWS_Msk) >> RCC_CFGR_SW_Pos) != 0)
-        asm volatile ("bkpt");
-    if (RCC->CR & RCC_CR_HSEON)
-        asm volatile ("bkpt");
-
-    RCC->CR |= RCC_CR_HSEON;
-    while(!(RCC->CR & RCC_CR_HSERDY))
-        ;
-
-    RCC->APB1ENR |= RCC_APB1ENR_PWREN;
-
-    /* set voltage scale to 1 for max frequency
-     * (0b0) scale 2 for fCLK <= 144 Mhz
-     * (0b1) scale 1 for 144 Mhz < fCLK <= 168 Mhz
-     */
-    PWR->CR |= PWR_CR_VOS;
-
-    /* set AHB prescaler to /1 (CFGR:bits 7:4) */
-    RCC->CFGR |= (0 << RCC_CFGR_HPRE_Pos);
-    /* set ABP1 prescaler to 4 -> 42MHz */
-    RCC->CFGR |= (5 << RCC_CFGR_PPRE1_Pos);
-    /* set ABP2 prescaler to 2 -> 84MHz */
-    RCC->CFGR |= (4 << RCC_CFGR_PPRE2_Pos);
-
-    if (RCC->CR & RCC_CR_PLLON)
-        asm volatile ("bkpt");
-    /* Configure PLL */
-    static_assert(PLL_P % 2 == 0);
-    static_assert(PLL_P >= 2 && PLL_P <= 8);
-    static_assert(PLL_N >= 50 && PLL_N <= 432);
-    static_assert(PLL_M >= 2 && PLL_M <= 63);
-    static_assert(PLL_Q >= 2 && PLL_Q <= 15);
-    uint32_t old = RCC->PLLCFGR & ~(RCC_PLLCFGR_PLLM_Msk
-        | RCC_PLLCFGR_PLLN_Msk
-        | RCC_PLLCFGR_PLLP_Msk
-        | RCC_PLLCFGR_PLLQ_Msk
-        | RCC_PLLCFGR_PLLSRC);
-    RCC->PLLCFGR = old | (PLL_M<<RCC_PLLCFGR_PLLM_Pos)
-        | (PLL_N << RCC_PLLCFGR_PLLN_Pos)
-        | ((PLL_P/2 - 1) << RCC_PLLCFGR_PLLP_Pos)
-        | (PLL_Q << RCC_PLLCFGR_PLLQ_Pos)
-        | RCC_PLLCFGR_PLLSRC; /* select HSE as PLL source */
-    RCC->CR |= RCC_CR_PLLON;
-
-    sysclk_speed = HSE_SPEED / PLL_M * PLL_N / PLL_P;
-    auxclk_speed = HSE_SPEED / PLL_M * PLL_N / PLL_Q;
-    apb1_speed = sysclk_speed / 4;
-    apb1_timer_speed = apb1_speed * 2;
-    apb2_speed = sysclk_speed / 2;
-    apb2_timer_speed = apb2_speed * 2;
-
-    /* Wait for main PLL */
-    while(!(RCC->CR & RCC_CR_PLLRDY))
-        ;
-
-    /* Configure Flash: enable prefetch, insn cache, data cache; set latency = 5 wait states
-     * See reference manual (RM0090), Section 3.5.1, Table 10 (p. 80)
-     */
-    FLASH->ACR = FLASH_ACR_PRFTEN | FLASH_ACR_ICEN | FLASH_ACR_DCEN | (5<<FLASH_ACR_LATENCY_Pos);
-
-    /* Select PLL as system clock source */
-    RCC->CFGR &= ~RCC_CFGR_SW_Msk;
-    RCC->CFGR |= 2 << RCC_CFGR_SW_Pos;
-
-    /* Wait for clock to switch over */
-    while ((RCC->CFGR & RCC_CFGR_SWS_Msk)>>RCC_CFGR_SWS_Pos != 2)
-        ;
-}
-
-static void led_setup(void)
-{
-    RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN | RCC_AHB1ENR_GPIOBEN;
-    /* onboard leds */
-    GPIOA->MODER |= (1<<GPIO_MODER_MODER6_Pos) | (1<<GPIO_MODER_MODER7_Pos);
-    GPIOB->MODER |= (1<<GPIO_MODER_MODER11_Pos) | (1<<GPIO_MODER_MODER12_Pos) | (1<<GPIO_MODER_MODER13_Pos)| (1<<GPIO_MODER_MODER14_Pos);
-    GPIOB->BSRR = 0xf << 11;
-}
-
-static void spi_flash_if_set_cs(bool val) {
-    if (val)
-        GPIOB->BSRR = 1<<0;
-    else
-        GPIOB->BSRR = 1<<16;
-}
-
-static void spi_flash_setup(void)
-{
-    RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
-
-    GPIOB->MODER &= ~GPIO_MODER_MODER3_Msk & ~GPIO_MODER_MODER4_Msk & ~GPIO_MODER_MODER5_Msk & ~GPIO_MODER_MODER0_Msk;
-    GPIOB->MODER |= (2<<GPIO_MODER_MODER3_Pos) /* SCK */
-        | (2<<GPIO_MODER_MODER4_Pos) /* MISO */
-        | (2<<GPIO_MODER_MODER5_Pos) /* MOSI */
-        | (1<<GPIO_MODER_MODER0_Pos); /* CS */
-
-    GPIOB->OSPEEDR &= ~GPIO_OSPEEDR_OSPEED3_Msk & ~GPIO_OSPEEDR_OSPEED4_Msk
-        & ~GPIO_OSPEEDR_OSPEED5_Msk & ~GPIO_OSPEEDR_OSPEED0_Msk;
-    GPIOB->OSPEEDR |= (2<<GPIO_OSPEEDR_OSPEED3_Pos) /* SCK */
-        | (2<<GPIO_OSPEEDR_OSPEED4_Pos) /* MISO */
-        | (2<<GPIO_OSPEEDR_OSPEED5_Pos) /* MOSI */
-        | (2<<GPIO_OSPEEDR_OSPEED0_Pos); /* CS */
-
-    GPIOB->AFR[0] &= ~GPIO_AFRL_AFSEL3_Msk & ~GPIO_AFRL_AFSEL4_Msk & ~GPIO_AFRL_AFSEL5_Msk;
-    GPIOB->AFR[0] |= (5<<GPIO_AFRL_AFSEL3_Pos) | (5<<GPIO_AFRL_AFSEL4_Pos) | (5<<GPIO_AFRL_AFSEL5_Pos);
-
-    RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
-    RCC->APB2RSTR |= RCC_APB2RSTR_SPI1RST;
-    RCC->APB2RSTR &= ~RCC_APB2RSTR_SPI1RST;
-
-    spif_init(&spif, 256, SPI1, &spi_flash_if_set_cs);
-}
-
-/* SPI flash test routine to be called from gdb */
-#ifdef SPI_FLASH_TEST
-void spi_flash_test(void) {
-    spif_clear_mem(&spif);
-
-    uint32_t buf[1024];
-    for (size_t addr=0; addr<0x10000; addr += sizeof(buf)) {
-        for (size_t i=0; i<sizeof(buf); i+= sizeof(buf[0]))
-            buf[i/sizeof(buf[0])] = addr + i;
-
-        spif_write(&spif, addr, sizeof(buf), (char *)buf);
-    }
-
-    for (size_t i=0; i<sizeof(buf)/sizeof(buf[0]); i++)
-        buf[i] = 0;
-    spif_read(&spif, 0x1030, sizeof(buf), (char *)buf);
-    asm volatile ("bkpt");
-}
-#endif
-
-static struct jtag_img_descriptor {
-    size_t devmem_img_start;
-    size_t spiflash_img_start;
-    size_t img_len;
-} jtag_img = {
-    .devmem_img_start = 0x00c000,
-    .spiflash_img_start = 0x000000,
-    .img_len = 0x004000,
-};
-
-char fw_dump[0x4000] = {
-#include "EasyMeter_Q3DA1002_V3.03_fw_dump_0xc000.h"
-};
-const int fw_dump_offx = 0xc000;
-const int row2_offx = 0xf438 - fw_dump_offx; 
-
-ssize_t jt_spi_flash_read_block(void *usr, int addr, size_t len, uint8_t *out) {
-    /*
-    struct jtag_img_descriptor *desc = (struct jtag_img_descriptor *)usr;
-    return spif_read(&spif, desc->spiflash_img_start + addr, len, (char *)out);
-    */
-
-    for (size_t i=0; i<len; i++)
-        out[i] = fw_dump[addr - fw_dump_offx + i];
-
-    return len;
-}
-
-void update_image_flash_counter() {
-    static int flash_counter = 0;
-    flash_counter ++;
-    fw_dump[row2_offx + 0] = flash_counter/10000 + '0';
-    flash_counter %= 10000;
-    fw_dump[row2_offx + 1] = flash_counter/1000 + '0';
-    flash_counter %= 1000;
-    fw_dump[row2_offx + 2] = flash_counter/100 + '0';
-    flash_counter %= 100;
-    fw_dump[row2_offx + 3] = flash_counter/10 + '0';
-    flash_counter %= 10;
-    fw_dump[row2_offx + 4] = flash_counter + '0';
-}
-
-/* Callback from crypto.c:oob_message_received */
-void oob_trigger_activated(enum trigger_domain domain, int serial) {
-    con_printf("oob_trigger_activated(%d, %d)\r\n", domain, serial);
-    con_printf("Attempting to flash meter...\r\n");
-    update_image_flash_counter();
-
-    int flash_tries = 0;
-    while (flash_tries++ < 25) {
-        mspd_jtag_init();
-        if (!mspd_jtag_flash_and_reset(jtag_img.devmem_img_start, jtag_img.img_len, jt_spi_flash_read_block, &jtag_img))
-            break;
-        for (int j=0; j<168*1000*5; j++)
-            asm volatile ("nop");
-    }
-    if (flash_tries == 25)
-        con_printf("Giving up.\r\n");
-}
-
-static unsigned int measurement_errors = 0;
-static struct dsss_demod_state demod_state;
-static uint32_t freq_sample_ts = 0;
-static float debug_last_freq = 0;
-
-int main(void)
-{
-#if DEBUG
-    /* PLL clock on MCO2 (pin C9) */
-    RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
-    GPIOC->MODER &= ~GPIO_MODER_MODER9_Msk;
-    GPIOC->MODER |= (2<<GPIO_MODER_MODER9_Pos);
-    GPIOC->AFR[1] &= ~GPIO_AFRH_AFSEL9_Msk;
-    GPIOC->OSPEEDR |= (3<<GPIO_OSPEEDR_OSPEED9_Pos);
-    RCC->CFGR |= (6<<RCC_CFGR_MCO2PRE_Pos) | (3<<RCC_CFGR_MCO2_Pos);
-#endif
-
-    if (((SCB->CPACR>>20) & 0xf) != 0xf) {
-        asm volatile ("bkpt");
-    }
-
-    clock_setup();
-    con_usart_init();
-    con_printf("\033[0m\033[2J\033[HBooting...\r\n");
-
-    led_setup();
-    spi_flash_setup();
-    adc_init();
-
-#if DEBUG
-    /* TIM1 CC1 (ADC trigger) on pin A8 */
-    GPIOA->MODER &= ~GPIO_MODER_MODER8_Msk;
-    GPIOA->MODER |= (2<<GPIO_MODER_MODER8_Pos);
-    GPIOA->AFR[1] &= ~GPIO_AFRH_AFSEL8_Msk;
-    GPIOA->AFR[1] |= 1<<GPIO_AFRH_AFSEL8_Pos;
-
-    GPIOA->MODER |= (1<<GPIO_MODER_MODER11_Pos) | (1<<GPIO_MODER_MODER12_Pos) | (1<<GPIO_MODER_MODER15_Pos);
-#endif
-
-    dsss_demod_init(&demod_state);
-
-    con_printf("Booted.\r\n");
-
-
-    /* FIXME DEBUG */
-#if 0
-    uint8_t test_data[TRANSMISSION_SYMBOLS] = {
-        0
-    };
-    con_printf("Test 0\r\n");
-    handle_dsss_received(test_data);
-    
-    uint8_t test_data2[TRANSMISSION_SYMBOLS] = {
-        0x24, 0x0f, 0x3b, 0x10, 0x27, 0x0e, 0x22, 0x30, 0x01, 0x2c, 0x1c, 0x0b, 0x35, 0x0a, 0x12, 0x27, 0x11, 0x20,
-        0x0c, 0x10, 0xc0, 0x08, 0xa4, 0x72, 0xa9, 0x9b, 0x7b, 0x27, 0xee, 0xcd
-    };
-    con_printf("Test 1\r\n");
-    handle_dsss_received(test_data2);
-#endif
-    /* END DEBUG */
-
-    while (23) {
-        if (adc_fft_buf_ready_idx != -1) {
-            for (int j=0; j<168*1000*2; j++)
-                asm volatile ("nop");
-            GPIOA->BSRR = 1<<11;
-            memcpy(adc_fft_buf[!adc_fft_buf_ready_idx], adc_fft_buf[adc_fft_buf_ready_idx] + FMEAS_FFT_LEN/2, sizeof(adc_fft_buf[0][0]) * FMEAS_FFT_LEN/2);
-            GPIOA->BSRR = 1<<11<<16;
-            GPIOB->ODR ^= 1<<14;
-
-            bool clip_low=false, clip_high=false;
-            const int clip_thresh = 100;
-            for (size_t j=FMEAS_FFT_LEN/2; j<FMEAS_FFT_LEN; j++) {
-                int val = adc_fft_buf[adc_fft_buf_ready_idx][j];
-                if (val < clip_thresh)
-                    clip_low = true;
-                if (val > FMEAS_ADC_MAX-clip_thresh)
-                    clip_high = true;
-            }
-            GPIOB->ODR = (GPIOB->ODR & ~(3<<11)) | (!clip_low<<11) | (!clip_high<<12);
-
-            for (int j=0; j<168*1000*2; j++)
-                asm volatile ("nop");
-
-            GPIOA->BSRR = 1<<11;
-            float out;
-            if (adc_buf_measure_freq(adc_fft_buf[adc_fft_buf_ready_idx], &out)) {
-                con_printf("%012d: measurement error\r\n", freq_sample_ts);
-                measurement_errors++;
-                GPIOB->BSRR = 1<<13;
-                debug_last_freq = NAN;
-
-            } else {
-                debug_last_freq = out;
-                con_printf("%012d: %2d.%03d Hz\r\n", freq_sample_ts, (int)out, (int)(out * 1000) % 1000);
-                /* frequency ok led */
-                if (48 < out && out < 52)
-                    GPIOB->BSRR = 1<<13<<16;
-                else
-                    GPIOB->BSRR = 1<<13;
-
-                GPIOA->BSRR = 1<<12;
-                dsss_demod_step(&demod_state, out, freq_sample_ts);
-                GPIOA->BSRR = 1<<12<<16;
-            }
-            GPIOA->BSRR = 1<<11<<16;
-
-            freq_sample_ts++; /* TODO: also increase in case of freq measurement error? */
-            adc_fft_buf_ready_idx = -1;
-        }
-    }
-
-    return 0;
-}
-
-void NMI_Handler(void) {
-    asm volatile ("bkpt #1");
-}
-
-void HardFault_Handler(void) {
-    asm volatile ("bkpt #2");
-}
-
-void MemManage_Handler(void) {
-    asm volatile ("bkpt #3");
-}
-
-void BusFault_Handler(void) {
-    asm volatile ("bkpt #4");
-}
-
-void UsageFault_Handler(void) {
-    asm volatile ("bkpt #5");
-}
-
-void SVC_Handler(void) {
-    asm volatile ("bkpt #6");
-}
-
-void DebugMon_Handler(void) {
-    asm volatile ("bkpt #7");
-}
-
-void PendSV_Handler(void) {
-    asm volatile ("bkpt #8");
-}
-
-void SysTick_Handler(void) {
-    asm volatile ("bkpt #9");
-}
-
diff --git a/controller/fw/src/mspdebug_wrapper.c b/controller/fw/src/mspdebug_wrapper.c
deleted file mode 100644
index c30864c..0000000
--- a/controller/fw/src/mspdebug_wrapper.c
+++ /dev/null
@@ -1,261 +0,0 @@
-
-#include <unistd.h>
-#include <errno.h>
-#include <string.h>
-
-#include "output.h"
-#include "jtaglib.h"
-
-#include "sr_global.h"
-#include "gpio_helpers.h"
-#include "mspdebug_wrapper.h"
-#include "con_usart.h"
-
-#include <stm32f407xx.h>
-
-#define BLOCK_SIZE 512 /* bytes */
-
-
-static void sr_delay_inst(void);
-
-static struct jtdev sr_jtdev;
-static struct jtdev sr_jtdev_default;
-
-enum sr_gpio_types {
-	SR_GPIO_TCK,
-	SR_GPIO_TMS,
-	SR_GPIO_TDI,
-	SR_GPIO_RST,
-	SR_GPIO_TST,
-	SR_GPIO_TDO,
-	SR_NUM_GPIOS
-};
-
-struct {
-    GPIO_TypeDef *gpio;
-	int pin;
-    int mode; 
-} gpios[SR_NUM_GPIOS] = {
-	[SR_GPIO_TCK] = {GPIOE, 10, 1},
-	[SR_GPIO_TMS] = {GPIOE, 11, 1},
-	[SR_GPIO_TDI] = {GPIOE, 12, 1},
-	[SR_GPIO_RST] = {GPIOE, 9, 1},
-	[SR_GPIO_TST] = {GPIOE, 14, 1},
-	[SR_GPIO_TDO] = {GPIOE, 13, 0},
-};
-
-void sr_delay_inst() {
-    for (int i=0; i<10; i++)
-        asm volatile("nop");
-}
-
-void mspd_jtag_init() {
-    for (int i=0; i<SR_NUM_GPIOS; i++)
-        gpio_pin_setup(gpios[i].gpio, gpios[i].pin, gpios[i].mode, 3, 0, 0);
-}
-
-static void sr_gpio_write(int num, int out) {
-	if (out)
-        gpios[num].gpio->BSRR = 1<<gpios[num].pin;
-	else
-        gpios[num].gpio->BSRR = 1<<gpios[num].pin<<16;
-}
-
-static void sr_jtdev_rst(struct jtdev *p, int out) {
-	UNUSED(p);
-	sr_gpio_write(SR_GPIO_RST, out);
-}
-
-int mspd_jtag_flash_and_reset(size_t img_start, size_t img_len, ssize_t (*read_block)(void *usr, int addr, size_t len, uint8_t *out), void *usr)
-{
-	union {
-		uint8_t bytes[BLOCK_SIZE];
-		uint16_t words[BLOCK_SIZE/2];
-	} block;
-
-    memcpy(&sr_jtdev, &sr_jtdev_default, sizeof(sr_jtdev));
-	/* Initialize JTAG connection */
-	unsigned int jtag_id = jtag_init(&sr_jtdev);
-
-	if (sr_jtdev.failed) {
-        con_printf("Couldn't initialize device\r\n");
-		return -EPIPE;
-    }
-
-    con_printf("JTAG device ID: 0x%02x\r\n", jtag_id);
-	if (jtag_id != 0x89 && jtag_id != 0x91)
-		return -EINVAL;
-
-#if 0
-    con_printf("Memory dump:\r\n");
-    for (size_t i=0x1000; i<=0x10ff;) {
-        con_printf("%04x: ", i);
-        for (size_t j=0; j<16; i+=1, j+=1) {
-            con_printf("%02x ", jtag_read_mem(&sr_jtdev, 8, i));
-        }
-        con_printf("\r\n");
-    }
-    return 0;
-#endif
-
-	/* Clear flash */
-	jtag_erase_flash(&sr_jtdev, JTAG_ERASE_MAIN, 0);
-	if (sr_jtdev.failed)
-		return -EPIPE;
-
-	/* Write flash */
-	for (size_t p = img_start; p < img_start + img_len; p += BLOCK_SIZE) {
-        con_printf("Writing block %04zx\r\n", p);
-		ssize_t nin = read_block(usr, p, BLOCK_SIZE, block.bytes);
-
-		if (nin < 0)
-			return nin;
-
-		if (nin & 1) { /* pad unaligned */
-			block.bytes[nin] = 0;
-			nin ++;
-		}
-		
-		/* Convert to little-endian */
-		for (ssize_t i=0; i<nin/2; i++)
-			block.words[i] = htole(block.words[i]);
-
-		jtag_write_flash(&sr_jtdev, p, nin/2, block.words);
-		if (sr_jtdev.failed)
-			return -EPIPE;
-	}
-
-    /* TODO: Verify flash here. */
-
-	/* Execute power on reset */
-	jtag_execute_puc(&sr_jtdev);
-	if (sr_jtdev.failed)
-		return -EPIPE;
-
-    jtag_release_device(&sr_jtdev, 0xfffe);
-
-	return 0;
-}
-
-/* mspdebug HAL shim */
-
-int printc_err(const char *fmt, ...) {
-    va_list va;
-    va_start(va, fmt);
-    int rc = usart_printf_blocking_va(&con_usart, fmt, va);
-    if (rc)
-        return rc;
-
-    size_t i;
-    for (i=0; fmt[i]; i++)
-        ;
-    if (i > 0 && fmt[i-1] == '\n')
-        usart_putc_nonblocking(&con_usart, '\r');
-    return rc;
-}
-
-
-static void sr_jtdev_power_on(struct jtdev *p) {
-    UNUSED(p);
-	/* ignore */
-}
-
-static void sr_jtdev_connect(struct jtdev *p) {
-    UNUSED(p);
-	/* ignore */
-}
-
-static void sr_jtdev_tck(struct jtdev *p, int out) {
-	UNUSED(p);
-	sr_gpio_write(SR_GPIO_TCK, out);
-}
-
-static void sr_jtdev_tms(struct jtdev *p, int out) {
-	UNUSED(p);
-	sr_gpio_write(SR_GPIO_TMS, out);
-}
-
-static void sr_jtdev_tdi(struct jtdev *p, int out) {
-	UNUSED(p);
-	sr_gpio_write(SR_GPIO_TDI, out);
-}
-
-static void sr_jtdev_tst(struct jtdev *p, int out) {
-	UNUSED(p);
-	sr_gpio_write(SR_GPIO_TST, out);
-}
-
-static int sr_jtdev_tdo_get(struct jtdev *p) {
-    UNUSED(p);
-	return !!(gpios[SR_GPIO_TDO].gpio->IDR & (1<<gpios[SR_GPIO_TDO].pin));
-}
-
-static void sr_jtdev_tclk(struct jtdev *p, int out) {
-	UNUSED(p);
-	sr_gpio_write(SR_GPIO_TDI, out);
-}
-
-static int sr_jtdev_tclk_get(struct jtdev *p) {
-    UNUSED(p);
-	return !!(gpios[SR_GPIO_TDI].gpio->ODR & (1<<gpios[SR_GPIO_TDI].pin));
-}
-
-static void sr_jtdev_tclk_strobe(struct jtdev *p, unsigned int count) {
-    UNUSED(p);
-	while (count--) {
-        gpios[SR_GPIO_TDI].gpio->BSRR = 1<<gpios[SR_GPIO_TDI].pin;
-        sr_delay_inst();
-        gpios[SR_GPIO_TDI].gpio->BSRR = 1<<gpios[SR_GPIO_TDI].pin<<16;
-	}
-}
-
-static void sr_jtdev_led_green(struct jtdev *p, int out) {
-	UNUSED(p);
-	UNUSED(out);
-	/* ignore */
-}
-
-static void sr_jtdev_led_red(struct jtdev *p, int out) {
-	UNUSED(p);
-	UNUSED(out);
-	/* ignore */
-}
-
-
-static struct jtdev_func sr_jtdev_vtable = {
-	.jtdev_open = NULL,
-	.jtdev_close = NULL,
-
-	.jtdev_power_off = NULL,
-	.jtdev_release = NULL,
-
-	.jtdev_power_on = sr_jtdev_power_on,
-	.jtdev_connect = sr_jtdev_connect,
-
-	.jtdev_tck = sr_jtdev_tck,
-	.jtdev_tms = sr_jtdev_tms,
-	.jtdev_tdi = sr_jtdev_tdi,
-	.jtdev_rst = sr_jtdev_rst,
-	.jtdev_tst = sr_jtdev_tst,
-	.jtdev_tdo_get = sr_jtdev_tdo_get,
-
-	.jtdev_tclk = sr_jtdev_tclk,
-	.jtdev_tclk_get = sr_jtdev_tclk_get,
-	.jtdev_tclk_strobe = sr_jtdev_tclk_strobe,
-
-	.jtdev_led_green = sr_jtdev_led_green,
-	.jtdev_led_red = sr_jtdev_led_red,
-
-};
-
-static struct jtdev sr_jtdev = {
-	0,
-	.f = &sr_jtdev_vtable
-};
-
-static struct jtdev sr_jtdev_default = {
-	0,
-	.f = &sr_jtdev_vtable
-};
-
-
diff --git a/controller/fw/src/mspdebug_wrapper.h b/controller/fw/src/mspdebug_wrapper.h
deleted file mode 100644
index c3f5ac7..0000000
--- a/controller/fw/src/mspdebug_wrapper.h
+++ /dev/null
@@ -1,7 +0,0 @@
-#ifndef __MSPDEBUG_WRAPPER_H__
-#define __MSPDEBUG_WRAPPER_H__
-
-void mspd_jtag_init(void);
-int mspd_jtag_flash_and_reset(size_t img_start, size_t img_len, ssize_t (*read_block)(void *usr, int addr, size_t len, uint8_t *out), void *usr);
-
-#endif /* __MSPDEBUG_WRAPPER_H__ */
diff --git a/controller/fw/src/protocol.c b/controller/fw/src/protocol.c
deleted file mode 100644
index 6b7d8b7..0000000
--- a/controller/fw/src/protocol.c
+++ /dev/null
@@ -1,44 +0,0 @@
-
-#include <assert.h>
-
-#include "sr_global.h"
-#include "dsss_demod.h"
-#include "con_usart.h"
-#include "rslib.h"
-#include "crypto.h"
-
-void handle_dsss_received(uint8_t data[static TRANSMISSION_SYMBOLS]) {
-    /* Console status output */
-    con_printf("DSSS data received: ");
-    for (int i=0; i<TRANSMISSION_SYMBOLS; i++) {
-        int x = (data[i]>>1) * (data[i]&1 ? 1 : -1);
-        con_printf("%3d ", x);
-    }
-    con_printf("\r\n");
-
-    /* Run reed-solomon error correction */
-    const int sym_bits = DSSS_GOLD_CODE_NBITS + 1; /* +1 for amplitude sign bit */
-    /* TODO identify erasures in DSSS demod layer */
-    (void) rslib_decode(sym_bits, TRANSMISSION_SYMBOLS, (char *)data);
-    /* TODO error detection & handling */
-
-    /* Re-bit-pack data buffer to be bit-continuous:
-     *      [ . . a b  c d e f ] [ . . g h  i j k l ] [ . . m n  o p q r ] ...
-     *  ==> [ a b c d  e f g h ] [ i j k l  m n o p ] [ q r ...          ] ...
-     */
-    static_assert((TRANSMISSION_SYMBOLS - NPAR) * (DSSS_GOLD_CODE_NBITS + 1) == OOB_TRIGGER_LEN * 8);
-    for (uint8_t i=0, j=0; i < TRANSMISSION_SYMBOLS - NPAR; i++, j += sym_bits) {
-        uint32_t sym = data[i]; /* [ ... | . . X X  X X X X ] for 5-bit dsss */
-        data[i] = 0; /* clear for output */
-
-        sym <<= 8-sym_bits; /* left-align: [ ... | X X X X  X X . . ] */
-        sym <<= 8; /* shift to second byte: [ ... | X X X X  X X . . | . . . .  . . . . ]*/
-        sym >>= (j%8); /* shift to bit write offset: [ ... | . . . .  X X X X | X X . .  . . . . ] for offset 4 */
-        data[j/8] |= sym >> 8; /* write upper byte */
-        data[j/8 + 1] |= sym & 0xff; /* write lower byte */
-    }
-
-    /* hand off to crypto.c */ 
-    oob_message_received(data);
-}
-
diff --git a/controller/fw/src/rscode-config.h b/controller/fw/src/rscode-config.h
deleted file mode 100644
index ea5183b..0000000
--- a/controller/fw/src/rscode-config.h
+++ /dev/null
@@ -1,8 +0,0 @@
-/* Config header for reed-solomon library */
-
-#ifndef __RSCODE_CONFIG_H__
-#define __RSCODE_CONFIG_H__
-
-#define NPAR 10
-
-#endif /* __RSCODE_CONFIG_H__ */
diff --git a/controller/fw/src/rslib.c b/controller/fw/src/rslib.c
deleted file mode 100644
index aa0db2c..0000000
--- a/controller/fw/src/rslib.c
+++ /dev/null
@@ -1,28 +0,0 @@
-#include <stdint.h>
-#include <string.h>
-
-#include "rscode-config.h"
-#include <ecc.h>
-
-#include "rslib.h"
-
-static struct rscode_driver driver;
-
-void rslib_encode(int nbits, size_t msglen, char msg[static msglen], char out[msglen + NPAR]) {
-    rscode_init(&driver, nbits);
-    rscode_encode(&driver, (unsigned char *)msg, msglen, (unsigned char *)out);
-}
-
-int rslib_decode(int nbits, size_t msglen, char msg_inout[static msglen]) {
-    rscode_init(&driver, nbits);
-    return rscode_decode(&driver, (unsigned char *)msg_inout, msglen);
-}
-
-int rslib_gexp(int z, int nbits) {
-    rscode_init(&driver, nbits);
-    return gexp(&driver, z);
-}
-
-size_t rslib_npar() {
-    return NPAR;
-}
diff --git a/controller/fw/src/rslib.h b/controller/fw/src/rslib.h
deleted file mode 100644
index bba8bb0..0000000
--- a/controller/fw/src/rslib.h
+++ /dev/null
@@ -1,12 +0,0 @@
-#ifndef __RSLIB_H__
-#define __RSLIB_H__
-
-/* parity length configuration */
-#include "rscode-config.h"
-
-void rslib_encode(int nbits, size_t msglen, char msg[static msglen], char out[msglen + NPAR]);
-int rslib_decode(int nbits, size_t msglen, char msg_inout[static msglen]);
-int rslib_gexp(int z, int nbits);
-size_t rslib_npar(void);
-
-#endif /* __RSLIB_H__ */
diff --git a/controller/fw/src/serial.c b/controller/fw/src/serial.c
deleted file mode 100644
index 12df28a..0000000
--- a/controller/fw/src/serial.c
+++ /dev/null
@@ -1,186 +0,0 @@
-#include <string.h>
-#include <stdarg.h>
-#include <stdlib.h>
-
-#include "dma_util.h"
-#include "sr_global.h"
-#include "serial.h"
-
-#include <tinyprintf.h>
-
-static void usart_schedule_dma(volatile struct usart_desc *us);
-static void usart_dma_reset(volatile struct usart_desc *us);
-static void usart_putc_nonblocking_tpf(void *us, char c);
-static void usart_wait_chunk_free(volatile struct usart_desc *us);
-static void usart_putc_blocking_tpf(void *us, char c);
-
-void usart_dma_reset(volatile struct usart_desc *us) {
-    us->tx_buf.xfr_start = -1;
-    us->tx_buf.xfr_end = 0;
-    us->tx_buf.wr_pos = 0;
-    us->tx_buf.wr_idx = 0;
-    us->tx_buf.xfr_next = 0;
-    us->tx_buf.wraparound = false;
-
-    for (size_t i=0; i<ARRAY_LENGTH(us->tx_buf.chunk_end); i++)
-        us->tx_buf.chunk_end[i] = -1;
-}
-
-void usart_dma_init(volatile struct usart_desc *us, unsigned int baudrate) {
-    usart_dma_reset(us);
-
-    /* Configure DMA 1 Channel 2 to handle uart transmission */
-    us->tx_dmas->PAR = (uint32_t)&(us->le_usart->DR);
-    us->tx_dmas->CR =
-          (us->tx_dma_ch<<DMA_SxCR_CHSEL_Pos)
-        | (0<<DMA_SxCR_PL_Pos)
-        | (1<<DMA_SxCR_DIR_Pos)
-        | (0<<DMA_SxCR_MSIZE_Pos) /* 8 bit */
-        | (0<<DMA_SxCR_PSIZE_Pos) /* 8 bit */
-        | DMA_SxCR_MINC
-        | DMA_SxCR_TCIE; /* Enable transfer complete interrupt. */
-
-    /* triggered on transfer completion. We use this to process the ADC data */
-    NVIC_EnableIRQ(us->tx_dma_irqn);
-    NVIC_SetPriority(us->tx_dma_irqn, 30);
-
-    us->le_usart->CR1 = USART_CR1_TE;
-    /* Set divider for 115.2kBd @48MHz system clock. */
-    us->le_usart->BRR = apb2_speed * 16 / baudrate / 16; /* 250kBd */
-    us->le_usart->CR3 |= USART_CR3_DMAT; /* TX DMA enable */
-
-    /* And... go! */
-    us->le_usart->CR1 |= USART_CR1_UE;
-}
-
-void usart_schedule_dma(volatile struct usart_desc *us) {
-    volatile struct dma_tx_buf *buf = &us->tx_buf;
-
-    ssize_t xfr_start, xfr_end, xfr_len;
-    if (buf->wraparound) {
-        buf->wraparound = false;
-        xfr_start = 0;
-        xfr_len = buf->xfr_end;
-        xfr_end = buf->xfr_end;
-
-    } else {
-        if (buf->chunk_end[buf->xfr_next] == -1)
-            return; /* Nothing to trasnmit */
-
-        xfr_start = buf->xfr_end;
-        xfr_end = buf->chunk_end[buf->xfr_next];
-        buf->chunk_end[buf->xfr_next] = -1;
-        buf->xfr_next = (buf->xfr_next + 1) % ARRAY_LENGTH(buf->chunk_end);
-
-        if (xfr_end > xfr_start) { /* no wraparound */
-            xfr_len = xfr_end - xfr_start;
-
-        } else { /* wraparound */
-            if (xfr_end != 0)
-                buf->wraparound = true;
-            xfr_len = sizeof(us->data) - xfr_start;
-        }
-    }
-
-    buf->xfr_start = xfr_start;
-    buf->xfr_end = xfr_end;
-
-    us->comm_led = 100;
-
-    /* initiate transmission of new buffer */
-    us->tx_dmas->M0AR = (uint32_t)(us->data + xfr_start);
-    us->tx_dmas->NDTR = xfr_len;
-    us->tx_dmas->CR |= DMA_SxCR_EN;
-}
-
-void usart_dma_stream_irq(volatile struct usart_desc *us) {
-    uint8_t iflags = dma_get_isr_and_clear(us->tx_dma, us->tx_dma_sn);
-
-    if (iflags & DMA_LISR_TCIF0) { /* Transfer complete */
-        us->tx_dmas->CR &= ~DMA_SxCR_EN;
-        //if (us->tx_buf.wraparound)
-        usart_schedule_dma(us);
-    }
-
-    if (iflags & DMA_LISR_FEIF0)
-        us->tx_errors++;
-}
-
-int usart_putc_nonblocking(volatile struct usart_desc *us, char c) {
-    volatile struct dma_tx_buf *buf = &us->tx_buf;
-
-    if (buf->wr_pos == buf->xfr_start) {
-        us->tx_byte_overruns++;
-        return -EBUSY;
-    }
-
-    buf->data[buf->wr_pos] = c;
-    buf->wr_pos = (buf->wr_pos + 1) % sizeof(us->data);
-    return 0;
-}
-
-int usart_putc_blocking(volatile struct usart_desc *us, char c) {
-    volatile struct dma_tx_buf *buf = &us->tx_buf;
-
-    while (buf->wr_pos == buf->xfr_start)
-        ;
-
-    buf->data[buf->wr_pos] = c;
-    buf->wr_pos = (buf->wr_pos + 1) % sizeof(us->data);
-    return 0;
-}
-
-void usart_putc_nonblocking_tpf(void *us, char c) {
-    usart_putc_nonblocking((struct usart_desc *)us, c);
-}
-
-void usart_putc_blocking_tpf(void *us, char c) {
-    usart_putc_blocking((struct usart_desc *)us, c);
-}
-
-int usart_send_chunk_nonblocking(volatile struct usart_desc *us, const char *chunk, size_t chunk_len) {
-    for (size_t i=0; i<chunk_len; i++)
-        usart_putc_nonblocking(us, chunk[i]);
-
-    return usart_flush(us);
-}
-
-void usart_wait_chunk_free(volatile struct usart_desc *us) {
-    while (us->tx_buf.chunk_end[us->tx_buf.wr_idx] != -1)
-        ;
-}
-
-int usart_flush(volatile struct usart_desc *us) {
-    /* Find a free slot for this chunk */
-    if (us->tx_buf.chunk_end[us->tx_buf.wr_idx] != -1) {
-        us->tx_chunk_overruns++;
-        return -EBUSY;
-    }
-
-    us->tx_buf.chunk_end[us->tx_buf.wr_idx] = us->tx_buf.wr_pos;
-    us->tx_buf.wr_idx = (us->tx_buf.wr_idx + 1) % ARRAY_LENGTH(us->tx_buf.chunk_end);
-
-    if (!(us->tx_dmas->CR & DMA_SxCR_EN))
-        usart_schedule_dma(us);
-    return 0;
-}
-
-int usart_printf(volatile struct usart_desc *us, const char *fmt, ...) {
-    va_list va;
-    va_start(va, fmt);
-    tfp_format((void *)us, usart_putc_nonblocking_tpf, fmt, va);
-    return usart_flush(us);
-}
-
-int usart_printf_blocking_va(volatile struct usart_desc *us, const char *fmt, va_list va) {
-    tfp_format((void *)us, usart_putc_blocking_tpf, fmt, va);
-    usart_wait_chunk_free(us);
-    return usart_flush(us);
-}
-
-int usart_printf_blocking(volatile struct usart_desc *us, const char *fmt, ...) {
-    va_list va;
-    va_start(va, fmt);
-    return usart_printf_blocking_va(us, fmt, va);
-}
-
diff --git a/controller/fw/src/serial.h b/controller/fw/src/serial.h
deleted file mode 100644
index 73d2323..0000000
--- a/controller/fw/src/serial.h
+++ /dev/null
@@ -1,85 +0,0 @@
-/*

- * This file is part of the libusbhost library

- * hosted at http://github.com/libusbhost/libusbhost

- *

- * Copyright (C) 2015 Amir Hammad <amir.hammad@hotmail.com>

- *

- *

- * libusbhost is free software: you can redistribute it and/or modify

- * it under the terms of the GNU Lesser General Public License as published by

- * the Free Software Foundation, either version 3 of the License, or

- * (at your option) any later version.

- *

- * This library is distributed in the hope that it will be useful,

- * but WITHOUT ANY WARRANTY; without even the implied warranty of

- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

- * GNU Lesser General Public License for more details.

- *

- * You should have received a copy of the GNU Lesser General Public License

- * along with this library.  If not, see <http://www.gnu.org/licenses/>.

- *

- */

-

-#ifndef __SERIAL_H__

-#define __SERIAL_H__

-

-#include <stdint.h>

-#include <stddef.h>

-#include <stdarg.h>

-#include <errno.h>

-#include <stdbool.h>

-

-#include "sr_global.h"

-

-struct dma_tx_buf {

-    /* The following fields are accessed only from DMA ISR */

-    ssize_t xfr_start; /* Start index of running DMA transfer */

-    ssize_t xfr_end; /* End index of running DMA transfer plus one */

-    bool wraparound;

-    ssize_t xfr_next;

-

-    /* The following fields are written only from non-interrupt code */

-    ssize_t wr_pos; /* Next index to be written */

-    ssize_t wr_idx;

-    ssize_t chunk_end[8];

-

-/* Make GCC shut up about the zero-size array member. */

-#pragma GCC diagnostic push

-#pragma GCC diagnostic ignored "-Wpedantic"

-    /* Written outside ISR by usart_send_chunk_nonblocking, read via DMA */

-    uint8_t data[0];

-#pragma GCC diagnostic pop

-};

-

-struct usart_desc {

-    struct dma_tx_buf tx_buf;

-    uint8_t data[512];

-

-    uint32_t tx_chunk_overruns, tx_byte_overruns;

-    uint32_t tx_errors;

-

-    volatile uint8_t rx_buf[32];

-

-    int comm_led;

-

-    USART_TypeDef *le_usart;

-    int le_usart_irqn;

-    DMA_Stream_TypeDef *tx_dmas;

-    int tx_dma_sn;

-    int tx_dma_ch;

-    DMA_TypeDef *tx_dma;

-    int tx_dma_irqn;

-};

-

-void usart_dma_init(volatile struct usart_desc *us, unsigned int baudrate);

-int usart_send_chunk_nonblocking(volatile struct usart_desc *us, const char *chunk, size_t chunk_len);

-int usart_putc_nonblocking(volatile struct usart_desc *us, char c);

-int usart_putc_blocking(volatile struct usart_desc *us, char c);

-

-void usart_dma_stream_irq(volatile struct usart_desc *us);

-int usart_flush(volatile struct usart_desc *us);

-int usart_printf(volatile struct usart_desc *us, const char *fmt, ...);

-int usart_printf_blocking(volatile struct usart_desc *us, const char *fmt, ...);

-int usart_printf_blocking_va(volatile struct usart_desc *us, const char *fmt, va_list va);

-

-#endif // __SERIAL_H__

diff --git a/controller/fw/src/signal_processing.c b/controller/fw/src/signal_processing.c
deleted file mode 100644
index e69de29..0000000
--- a/controller/fw/src/signal_processing.c
+++ /dev/null
diff --git a/controller/fw/src/simulation.h b/controller/fw/src/simulation.h
deleted file mode 100644
index 2734e5b..0000000
--- a/controller/fw/src/simulation.h
+++ /dev/null
@@ -1,14 +0,0 @@
-#ifndef __SIMULATION_H__
-#define __SIMULATION_H__
-
-#ifdef SIMULATION
-#include <stdio.h>
-#define DEBUG_PRINTN(...) printf(__VA_ARGS__)
-#define DEBUG_PRINTNF(fmt, ...) DEBUG_PRINTN("%s:%d: " fmt, __FILE__, __LINE__, ##__VA_ARGS__)
-#define DEBUG_PRINT(fmt, ...) DEBUG_PRINTNF(fmt "\n", ##__VA_ARGS__)
-#else
-#define DEBUG_PRINT(...) ((void)0)
-#define DEBUG_PRINTN(...) ((void)0)
-#endif
-
-#endif /* __SIMULATION_H__ */
diff --git a/controller/fw/src/spi_flash.c b/controller/fw/src/spi_flash.c
deleted file mode 100644
index 639c2b6..0000000
--- a/controller/fw/src/spi_flash.c
+++ /dev/null
@@ -1,200 +0,0 @@
-/* Library for SPI flash 25* devices.
- * Copyright (c) 2014 Multi-Tech Systems
- * Copyright (c) 2020 Jan Goette <ma@jaseg.de>
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- * SOFTWARE.
- */
-
-#include "spi_flash.h"
-
-enum {
-    WRITE_ENABLE                = 0x06,
-    WRITE_DISABLE               = 0x04,
-    READ_IDENTIFICATION         = 0x9F,
-    READ_STATUS                 = 0x05,
-    WRITE_STATUS                = 0x01,
-    READ_DATA                   = 0x03,
-    READ_DATA_FAST              = 0x0B,
-    PAGE_PROGRAM                = 0x02,
-    SECTOR_ERASE                = 0xD8,
-    BULK_ERASE                  = 0xC7,
-    DEEP_POWER_DOWN             = 0xB9,
-    DEEP_POWER_DOWN_RELEASE     = 0xAB,
-};
-
-enum {
-    STATUS_SRWD                 = 0x80,     // 0b 1000 0000
-    STATUS_BP2                  = 0x10,     // 0b 0001 0000
-    STATUS_BP1                  = 0x08,     // 0b 0000 1000
-    STATUS_BP0                  = 0x04,     // 0b 0000 0100
-    STATUS_WEL                  = 0x02,     // 0b 0000 0010
-    STATUS_WIP                  = 0x01,     // 0b 0000 0001
-};
-
-
-static uint8_t spi_xfer(volatile SPI_TypeDef *spi, uint8_t b);
-static uint8_t spi_read(struct spi_flash_if *spif);
-static void spi_write(struct spi_flash_if *spif, uint8_t b);
-
-static void spif_write_page(struct spi_flash_if *spif, size_t addr, size_t len, const char* data);
-static uint8_t spif_read_status(struct spi_flash_if *spif);
-static void spif_enable_write(struct spi_flash_if *spif);
-static void spif_wait_for_write(struct spi_flash_if *spif);
-
-#define low_byte(x) (x&0xff)
-#define mid_byte(x) ((x>>8)&0xff)
-#define high_byte(x) ((x>>16)&0xff)
-
-uint8_t spi_xfer(volatile SPI_TypeDef *spi, uint8_t b) {
-    while (!(spi->SR & SPI_SR_TXE))
-        ;
-    (void) spi->DR; /* perform dummy read to clear RXNE flag */
-    spi->DR = b;
-    while (!(spi->SR & SPI_SR_RXNE))
-        ;
-    return spi->DR;
-}
-
-uint8_t spi_read(struct spi_flash_if *spif) {
-    return spi_xfer(spif->spi, 0);
-}
-
-void spi_write(struct spi_flash_if *spif, uint8_t b) {
-    (void)spi_xfer(spif->spi, b);
-}
-
-void spif_init(struct spi_flash_if *spif, size_t page_size, SPI_TypeDef *spi, void (*cs)(bool val)) {
-
-    spif->spi = spi;
-    spif->page_size = page_size;
-    spif->cs = cs;
-    spif->cs(1);
-
-    spi->CR1 = (0<<SPI_CR1_BR_Pos) | SPI_CR1_CPOL | SPI_CR1_CPHA | SPI_CR1_SSM | SPI_CR1_SSI | SPI_CR1_SPE | SPI_CR1_MSTR;
-
-    spif->cs(0);
-    spi_write(spif, READ_IDENTIFICATION);
-    spif->id.mfg_id = spi_read(spif);
-    spif->id.type = spi_read(spif);
-    spif->id.size = 1<<spi_read(spif);
-    spif->cs(1);
-}
-
-ssize_t spif_read(struct spi_flash_if *spif, size_t addr, size_t len, char* data) {
-    spif_enable_write(spif);
-
-    spif->cs(0);
-    spi_write(spif, READ_DATA);
-    spi_write(spif, high_byte(addr));
-    spi_write(spif, mid_byte(addr));
-    spi_write(spif, low_byte(addr));
-
-    for (size_t i = 0; i < len; i++)
-        data[i] = spi_read(spif);
-
-    spif->cs(1);
-    return len;
-}
-
-void spif_write(struct spi_flash_if *spif, size_t addr, size_t len, const char* data) {
-    size_t written = 0, write_size = 0;
-
-    while (written < len) {
-        write_size = spif->page_size - ((addr + written) % spif->page_size);
-        if (written + write_size > len)
-            write_size = len - written;
-
-        spif_write_page(spif, addr + written, write_size, data + written);
-        written += write_size;
-    }
-}
-
-static uint8_t spif_read_status(struct spi_flash_if *spif) {
-    spif->cs(0);
-    spi_write(spif, READ_STATUS);
-    uint8_t status = spi_read(spif);
-    spif->cs(1);
-
-    return status;
-}
-
-void spif_clear_sector(struct spi_flash_if *spif, size_t addr) {
-    spif_enable_write(spif);
-
-    spif->cs(0);
-    spi_write(spif, SECTOR_ERASE);
-    spi_write(spif, high_byte(addr));
-    spi_write(spif, mid_byte(addr));
-    spi_write(spif, low_byte(addr));
-    spif->cs(1);
-
-    spif_wait_for_write(spif);
-}
-
-void spif_clear_mem(struct spi_flash_if *spif) {
-    spif_enable_write(spif);
-
-    spif->cs(0);
-    spi_write(spif, BULK_ERASE);
-    spif->cs(1);
-
-    spif_wait_for_write(spif);
-}
-
-static void spif_write_page(struct spi_flash_if *spif, size_t addr, size_t len, const char* data) {
-    spif_enable_write(spif);
-
-    spif->cs(0);
-    spi_write(spif, PAGE_PROGRAM);
-    spi_write(spif, high_byte(addr));
-    spi_write(spif, mid_byte(addr));
-    spi_write(spif, low_byte(addr));
-
-    for (size_t i = 0; i < len; i++) {
-        spi_write(spif, data[i]);
-    }
-
-    spif->cs(1);
-    spif_wait_for_write(spif);
-}
-
-static void spif_enable_write(struct spi_flash_if *spif) {
-    spif->cs(0);
-    spi_write(spif, WRITE_ENABLE);
-    spif->cs(1);
-}
-
-static void spif_wait_for_write(struct spi_flash_if *spif) {
-    while (spif_read_status(spif) & STATUS_WIP)
-        for (int i = 0; i < 800; i++)
-            ;
-}
-
-void spif_deep_power_down(struct spi_flash_if *spif) {
-    spif->cs(0);
-    spi_write(spif, DEEP_POWER_DOWN);
-    spif->cs(1);
-}
-
-void spif_wakeup(struct spi_flash_if *spif) {
-    spif->cs(0);
-    spi_write(spif, DEEP_POWER_DOWN_RELEASE);
-    spif->cs(1);
-}
-
diff --git a/controller/fw/src/spi_flash.h b/controller/fw/src/spi_flash.h
deleted file mode 100644
index 6443f11..0000000
--- a/controller/fw/src/spi_flash.h
+++ /dev/null
@@ -1,33 +0,0 @@
-#ifndef __SPI_FLASH_H__
-#define __SPI_FLASH_H__
-
-#include <stdbool.h>
-#include <unistd.h>
-
-#include <stm32f407xx.h>
-
-struct spi_mem_id {
-    size_t size;
-    uint8_t mfg_id;
-    uint8_t type;
-};
-
-struct spi_flash_if {
-    struct spi_mem_id id;
-    volatile SPI_TypeDef *spi;
-    size_t page_size;
-    void (*cs)(bool val);
-};
-
-void spif_init(struct spi_flash_if *spif, size_t page_size, SPI_TypeDef *spi, void (*cs)(bool val));
-
-void spif_write(struct spi_flash_if *spif, size_t addr, size_t len, const char* data);
-ssize_t spif_read(struct spi_flash_if *spif, size_t addr, size_t len, char* data);
-
-void spif_clear_mem(struct spi_flash_if *spif);
-void spif_clear_sector(struct spi_flash_if *spif, size_t addr);
-
-void spif_deep_power_down(struct spi_flash_if *spif);
-void spif_wakeup(struct spi_flash_if *spif);
-
-#endif /* __SPI_FLASH_H__ */
diff --git a/controller/fw/src/sr_global.h b/controller/fw/src/sr_global.h
deleted file mode 100644
index 97db4e4..0000000
--- a/controller/fw/src/sr_global.h
+++ /dev/null
@@ -1,35 +0,0 @@
-#ifndef __SR_GLOBAL_H__
-#define __SR_GLOBAL_H__
-
-#include <stdint.h>
-#include <sys/types.h>
-
-#ifndef SIMULATION
-#include <stm32f407xx.h>
-#include <stm32f4_isr.h>
-#endif
-
-#define UNUSED(x) ((void) x)
-#define ARRAY_LENGTH(x) (sizeof(x) / sizeof(x[0]))
-
-#define unused_a __attribute__((unused))
-
-extern unsigned int sysclk_speed;
-extern unsigned int apb1_speed;
-extern unsigned int apb2_speed;
-extern unsigned int auxclk_speed;
-extern unsigned int apb1_timer_speed;
-extern unsigned int apb2_timer_speed;
-
-extern struct leds {
-    unsigned int comm_tx;
-} leds;
-static inline uint16_t htole(uint16_t val) { return val; }
-
-void __libc_init_array(void);
-
-static inline void panic(void) {
-    asm volatile ("bkpt");
-}
-
-#endif /* __SR_GLOBAL_H__ */
diff --git a/controller/fw/src/startup_stm32f407xx.s b/controller/fw/src/startup_stm32f407xx.s
deleted file mode 100644
index aeeeb22..0000000
--- a/controller/fw/src/startup_stm32f407xx.s
+++ /dev/null
@@ -1,521 +0,0 @@
-/**
-  ******************************************************************************
-  * @file      startup_stm32f407xx.s
-  * @author    MCD Application Team
-  * @brief     STM32F407xx Devices vector table for GCC based toolchains. 
-  *            This module performs:
-  *                - Set the initial SP
-  *                - Set the initial PC == Reset_Handler,
-  *                - Set the vector table entries with the exceptions ISR address
-  *                - Branches to main in the C library (which eventually
-  *                  calls main()).
-  *            After Reset the Cortex-M4 processor is in Thread mode,
-  *            priority is Privileged, and the Stack is set to Main.
-  ******************************************************************************
-  * @attention
-  *
-  * <h2><center>&copy; COPYRIGHT 2017 STMicroelectronics</center></h2>
-  *
-  * Redistribution and use in source and binary forms, with or without modification,
-  * are permitted provided that the following conditions are met:
-  *   1. Redistributions of source code must retain the above copyright notice,
-  *      this list of conditions and the following disclaimer.
-  *   2. Redistributions in binary form must reproduce the above copyright notice,
-  *      this list of conditions and the following disclaimer in the documentation
-  *      and/or other materials provided with the distribution.
-  *   3. Neither the name of STMicroelectronics nor the names of its contributors
-  *      may be used to endorse or promote products derived from this software
-  *      without specific prior written permission.
-  *
-  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-  *
-  ******************************************************************************
-  */
-    
-  .syntax unified
-  .cpu cortex-m4
-  .fpu softvfp
-  .thumb
-
-.global  g_pfnVectors
-.global  Default_Handler
-
-/* start address for the initialization values of the .data section. 
-defined in linker script */
-.word  _sidata
-/* start address for the .data section. defined in linker script */  
-.word  _sdata
-/* end address for the .data section. defined in linker script */
-.word  _edata
-/* start address for the .bss section. defined in linker script */
-.word  _sbss
-/* end address for the .bss section. defined in linker script */
-.word  _ebss
-/* stack used for SystemInit_ExtMemCtl; always internal RAM used */
-
-/**
- * @brief  This is the code that gets called when the processor first
- *          starts execution following a reset event. Only the absolutely
- *          necessary set is performed, after which the application
- *          supplied main() routine is called. 
- * @param  None
- * @retval : None
-*/
-
-    .section  .text.Reset_Handler
-  .weak  Reset_Handler
-  .type  Reset_Handler, %function
-Reset_Handler:  
-  ldr   sp, =_estack     /* set stack pointer */
-
-/* Copy the data segment initializers from flash to SRAM */  
-  movs  r1, #0
-  b  LoopCopyDataInit
-
-CopyDataInit:
-  ldr  r3, =_sidata
-  ldr  r3, [r3, r1]
-  str  r3, [r0, r1]
-  adds  r1, r1, #4
-    
-LoopCopyDataInit:
-  ldr  r0, =_sdata
-  ldr  r3, =_edata
-  adds  r2, r0, r1
-  cmp  r2, r3
-  bcc  CopyDataInit
-  ldr  r2, =_sbss
-  b  LoopFillZerobss
-/* Zero fill the bss segment. */  
-FillZerobss:
-  movs  r3, #0
-  str  r3, [r2], #4
-    
-LoopFillZerobss:
-  ldr  r3, = _ebss
-  cmp  r2, r3
-  bcc  FillZerobss
-
-/* Call the clock system intitialization function.*/
-  bl  SystemInit   
-/* Call static constructors */
-    bl __libc_init_array
-/* Call the application's entry point.*/
-  bl  main
-  bx  lr    
-.size  Reset_Handler, .-Reset_Handler
-
-/**
- * @brief  This is the code that gets called when the processor receives an 
- *         unexpected interrupt.  This simply enters an infinite loop, preserving
- *         the system state for examination by a debugger.
- * @param  None     
- * @retval None       
-*/
-    .section  .text.Default_Handler,"ax",%progbits
-Default_Handler:
-Infinite_Loop:
-  b  Infinite_Loop
-  .size  Default_Handler, .-Default_Handler
-/******************************************************************************
-*
-* The minimal vector table for a Cortex M3. Note that the proper constructs
-* must be placed on this to ensure that it ends up at physical address
-* 0x0000.0000.
-* 
-*******************************************************************************/
-   .section  .isr_vector,"a",%progbits
-  .type  g_pfnVectors, %object
-  .size  g_pfnVectors, .-g_pfnVectors
-    
-    
-g_pfnVectors:
-  .word  _estack
-  .word  Reset_Handler
-  .word  NMI_Handler
-  .word  HardFault_Handler
-  .word  MemManage_Handler
-  .word  BusFault_Handler
-  .word  UsageFault_Handler
-  .word  0
-  .word  0
-  .word  0
-  .word  0
-  .word  SVC_Handler
-  .word  DebugMon_Handler
-  .word  0
-  .word  PendSV_Handler
-  .word  SysTick_Handler
-  
-  /* External Interrupts */
-  .word     WWDG_IRQHandler                   /* Window WatchDog              */                                        
-  .word     PVD_IRQHandler                    /* PVD through EXTI Line detection */                        
-  .word     TAMP_STAMP_IRQHandler             /* Tamper and TimeStamps through the EXTI line */            
-  .word     RTC_WKUP_IRQHandler               /* RTC Wakeup through the EXTI line */                      
-  .word     FLASH_IRQHandler                  /* FLASH                        */                                          
-  .word     RCC_IRQHandler                    /* RCC                          */                                            
-  .word     EXTI0_IRQHandler                  /* EXTI Line0                   */                        
-  .word     EXTI1_IRQHandler                  /* EXTI Line1                   */                          
-  .word     EXTI2_IRQHandler                  /* EXTI Line2                   */                          
-  .word     EXTI3_IRQHandler                  /* EXTI Line3                   */                          
-  .word     EXTI4_IRQHandler                  /* EXTI Line4                   */                          
-  .word     DMA1_Stream0_IRQHandler           /* DMA1 Stream 0                */                  
-  .word     DMA1_Stream1_IRQHandler           /* DMA1 Stream 1                */                   
-  .word     DMA1_Stream2_IRQHandler           /* DMA1 Stream 2                */                   
-  .word     DMA1_Stream3_IRQHandler           /* DMA1 Stream 3                */                   
-  .word     DMA1_Stream4_IRQHandler           /* DMA1 Stream 4                */                   
-  .word     DMA1_Stream5_IRQHandler           /* DMA1 Stream 5                */                   
-  .word     DMA1_Stream6_IRQHandler           /* DMA1 Stream 6                */                   
-  .word     ADC_IRQHandler                    /* ADC1, ADC2 and ADC3s         */                   
-  .word     CAN1_TX_IRQHandler                /* CAN1 TX                      */                         
-  .word     CAN1_RX0_IRQHandler               /* CAN1 RX0                     */                          
-  .word     CAN1_RX1_IRQHandler               /* CAN1 RX1                     */                          
-  .word     CAN1_SCE_IRQHandler               /* CAN1 SCE                     */                          
-  .word     EXTI9_5_IRQHandler                /* External Line[9:5]s          */                          
-  .word     TIM1_BRK_TIM9_IRQHandler          /* TIM1 Break and TIM9          */         
-  .word     TIM1_UP_TIM10_IRQHandler          /* TIM1 Update and TIM10        */         
-  .word     TIM1_TRG_COM_TIM11_IRQHandler     /* TIM1 Trigger and Commutation and TIM11 */
-  .word     TIM1_CC_IRQHandler                /* TIM1 Capture Compare         */                          
-  .word     TIM2_IRQHandler                   /* TIM2                         */                   
-  .word     TIM3_IRQHandler                   /* TIM3                         */                   
-  .word     TIM4_IRQHandler                   /* TIM4                         */                   
-  .word     I2C1_EV_IRQHandler                /* I2C1 Event                   */                          
-  .word     I2C1_ER_IRQHandler                /* I2C1 Error                   */                          
-  .word     I2C2_EV_IRQHandler                /* I2C2 Event                   */                          
-  .word     I2C2_ER_IRQHandler                /* I2C2 Error                   */                            
-  .word     SPI1_IRQHandler                   /* SPI1                         */                   
-  .word     SPI2_IRQHandler                   /* SPI2                         */                   
-  .word     USART1_IRQHandler                 /* USART1                       */                   
-  .word     USART2_IRQHandler                 /* USART2                       */                   
-  .word     USART3_IRQHandler                 /* USART3                       */                   
-  .word     EXTI15_10_IRQHandler              /* External Line[15:10]s        */                          
-  .word     RTC_Alarm_IRQHandler              /* RTC Alarm (A and B) through EXTI Line */                 
-  .word     OTG_FS_WKUP_IRQHandler            /* USB OTG FS Wakeup through EXTI line */                       
-  .word     TIM8_BRK_TIM12_IRQHandler         /* TIM8 Break and TIM12         */         
-  .word     TIM8_UP_TIM13_IRQHandler          /* TIM8 Update and TIM13        */         
-  .word     TIM8_TRG_COM_TIM14_IRQHandler     /* TIM8 Trigger and Commutation and TIM14 */
-  .word     TIM8_CC_IRQHandler                /* TIM8 Capture Compare         */                          
-  .word     DMA1_Stream7_IRQHandler           /* DMA1 Stream7                 */                          
-  .word     FSMC_IRQHandler                   /* FSMC                         */                   
-  .word     SDIO_IRQHandler                   /* SDIO                         */                   
-  .word     TIM5_IRQHandler                   /* TIM5                         */                   
-  .word     SPI3_IRQHandler                   /* SPI3                         */                   
-  .word     UART4_IRQHandler                  /* UART4                        */                   
-  .word     UART5_IRQHandler                  /* UART5                        */                   
-  .word     TIM6_DAC_IRQHandler               /* TIM6 and DAC1&2 underrun errors */                   
-  .word     TIM7_IRQHandler                   /* TIM7                         */
-  .word     DMA2_Stream0_IRQHandler           /* DMA2 Stream 0                */                   
-  .word     DMA2_Stream1_IRQHandler           /* DMA2 Stream 1                */                   
-  .word     DMA2_Stream2_IRQHandler           /* DMA2 Stream 2                */                   
-  .word     DMA2_Stream3_IRQHandler           /* DMA2 Stream 3                */                   
-  .word     DMA2_Stream4_IRQHandler           /* DMA2 Stream 4                */                   
-  .word     ETH_IRQHandler                    /* Ethernet                     */                   
-  .word     ETH_WKUP_IRQHandler               /* Ethernet Wakeup through EXTI line */                     
-  .word     CAN2_TX_IRQHandler                /* CAN2 TX                      */                          
-  .word     CAN2_RX0_IRQHandler               /* CAN2 RX0                     */                          
-  .word     CAN2_RX1_IRQHandler               /* CAN2 RX1                     */                          
-  .word     CAN2_SCE_IRQHandler               /* CAN2 SCE                     */                          
-  .word     OTG_FS_IRQHandler                 /* USB OTG FS                   */                   
-  .word     DMA2_Stream5_IRQHandler           /* DMA2 Stream 5                */                   
-  .word     DMA2_Stream6_IRQHandler           /* DMA2 Stream 6                */                   
-  .word     DMA2_Stream7_IRQHandler           /* DMA2 Stream 7                */                   
-  .word     USART6_IRQHandler                 /* USART6                       */                    
-  .word     I2C3_EV_IRQHandler                /* I2C3 event                   */                          
-  .word     I2C3_ER_IRQHandler                /* I2C3 error                   */                          
-  .word     OTG_HS_EP1_OUT_IRQHandler         /* USB OTG HS End Point 1 Out   */                   
-  .word     OTG_HS_EP1_IN_IRQHandler          /* USB OTG HS End Point 1 In    */                   
-  .word     OTG_HS_WKUP_IRQHandler            /* USB OTG HS Wakeup through EXTI */                         
-  .word     OTG_HS_IRQHandler                 /* USB OTG HS                   */                   
-  .word     DCMI_IRQHandler                   /* DCMI                         */                   
-  .word     0                                 /* CRYP crypto                  */                   
-  .word     HASH_RNG_IRQHandler               /* Hash and Rng                 */
-  .word     FPU_IRQHandler                    /* FPU                          */
-                         
-                         
-/*******************************************************************************
-*
-* Provide weak aliases for each Exception handler to the Default_Handler. 
-* As they are weak aliases, any function with the same name will override 
-* this definition.
-* 
-*******************************************************************************/
-   .weak      NMI_Handler
-   .thumb_set NMI_Handler,Default_Handler
-  
-   .weak      HardFault_Handler
-   .thumb_set HardFault_Handler,Default_Handler
-  
-   .weak      MemManage_Handler
-   .thumb_set MemManage_Handler,Default_Handler
-  
-   .weak      BusFault_Handler
-   .thumb_set BusFault_Handler,Default_Handler
-
-   .weak      UsageFault_Handler
-   .thumb_set UsageFault_Handler,Default_Handler
-
-   .weak      SVC_Handler
-   .thumb_set SVC_Handler,Default_Handler
-
-   .weak      DebugMon_Handler
-   .thumb_set DebugMon_Handler,Default_Handler
-
-   .weak      PendSV_Handler
-   .thumb_set PendSV_Handler,Default_Handler
-
-   .weak      SysTick_Handler
-   .thumb_set SysTick_Handler,Default_Handler              
-  
-   .weak      WWDG_IRQHandler                   
-   .thumb_set WWDG_IRQHandler,Default_Handler      
-                  
-   .weak      PVD_IRQHandler      
-   .thumb_set PVD_IRQHandler,Default_Handler
-               
-   .weak      TAMP_STAMP_IRQHandler            
-   .thumb_set TAMP_STAMP_IRQHandler,Default_Handler
-            
-   .weak      RTC_WKUP_IRQHandler                  
-   .thumb_set RTC_WKUP_IRQHandler,Default_Handler
-            
-   .weak      FLASH_IRQHandler         
-   .thumb_set FLASH_IRQHandler,Default_Handler
-                  
-   .weak      RCC_IRQHandler      
-   .thumb_set RCC_IRQHandler,Default_Handler
-                  
-   .weak      EXTI0_IRQHandler         
-   .thumb_set EXTI0_IRQHandler,Default_Handler
-                  
-   .weak      EXTI1_IRQHandler         
-   .thumb_set EXTI1_IRQHandler,Default_Handler
-                     
-   .weak      EXTI2_IRQHandler         
-   .thumb_set EXTI2_IRQHandler,Default_Handler 
-                 
-   .weak      EXTI3_IRQHandler         
-   .thumb_set EXTI3_IRQHandler,Default_Handler
-                        
-   .weak      EXTI4_IRQHandler         
-   .thumb_set EXTI4_IRQHandler,Default_Handler
-                  
-   .weak      DMA1_Stream0_IRQHandler               
-   .thumb_set DMA1_Stream0_IRQHandler,Default_Handler
-         
-   .weak      DMA1_Stream1_IRQHandler               
-   .thumb_set DMA1_Stream1_IRQHandler,Default_Handler
-                  
-   .weak      DMA1_Stream2_IRQHandler               
-   .thumb_set DMA1_Stream2_IRQHandler,Default_Handler
-                  
-   .weak      DMA1_Stream3_IRQHandler               
-   .thumb_set DMA1_Stream3_IRQHandler,Default_Handler 
-                 
-   .weak      DMA1_Stream4_IRQHandler              
-   .thumb_set DMA1_Stream4_IRQHandler,Default_Handler
-                  
-   .weak      DMA1_Stream5_IRQHandler               
-   .thumb_set DMA1_Stream5_IRQHandler,Default_Handler
-                  
-   .weak      DMA1_Stream6_IRQHandler               
-   .thumb_set DMA1_Stream6_IRQHandler,Default_Handler
-                  
-   .weak      ADC_IRQHandler      
-   .thumb_set ADC_IRQHandler,Default_Handler
-               
-   .weak      CAN1_TX_IRQHandler   
-   .thumb_set CAN1_TX_IRQHandler,Default_Handler
-            
-   .weak      CAN1_RX0_IRQHandler                  
-   .thumb_set CAN1_RX0_IRQHandler,Default_Handler
-                           
-   .weak      CAN1_RX1_IRQHandler                  
-   .thumb_set CAN1_RX1_IRQHandler,Default_Handler
-            
-   .weak      CAN1_SCE_IRQHandler                  
-   .thumb_set CAN1_SCE_IRQHandler,Default_Handler
-            
-   .weak      EXTI9_5_IRQHandler   
-   .thumb_set EXTI9_5_IRQHandler,Default_Handler
-            
-   .weak      TIM1_BRK_TIM9_IRQHandler            
-   .thumb_set TIM1_BRK_TIM9_IRQHandler,Default_Handler
-            
-   .weak      TIM1_UP_TIM10_IRQHandler            
-   .thumb_set TIM1_UP_TIM10_IRQHandler,Default_Handler
-      
-   .weak      TIM1_TRG_COM_TIM11_IRQHandler      
-   .thumb_set TIM1_TRG_COM_TIM11_IRQHandler,Default_Handler
-      
-   .weak      TIM1_CC_IRQHandler   
-   .thumb_set TIM1_CC_IRQHandler,Default_Handler
-                  
-   .weak      TIM2_IRQHandler            
-   .thumb_set TIM2_IRQHandler,Default_Handler
-                  
-   .weak      TIM3_IRQHandler            
-   .thumb_set TIM3_IRQHandler,Default_Handler
-                  
-   .weak      TIM4_IRQHandler            
-   .thumb_set TIM4_IRQHandler,Default_Handler
-                  
-   .weak      I2C1_EV_IRQHandler   
-   .thumb_set I2C1_EV_IRQHandler,Default_Handler
-                     
-   .weak      I2C1_ER_IRQHandler   
-   .thumb_set I2C1_ER_IRQHandler,Default_Handler
-                     
-   .weak      I2C2_EV_IRQHandler   
-   .thumb_set I2C2_EV_IRQHandler,Default_Handler
-                  
-   .weak      I2C2_ER_IRQHandler   
-   .thumb_set I2C2_ER_IRQHandler,Default_Handler
-                           
-   .weak      SPI1_IRQHandler            
-   .thumb_set SPI1_IRQHandler,Default_Handler
-                        
-   .weak      SPI2_IRQHandler            
-   .thumb_set SPI2_IRQHandler,Default_Handler
-                  
-   .weak      USART1_IRQHandler      
-   .thumb_set USART1_IRQHandler,Default_Handler
-                     
-   .weak      USART2_IRQHandler      
-   .thumb_set USART2_IRQHandler,Default_Handler
-                     
-   .weak      USART3_IRQHandler      
-   .thumb_set USART3_IRQHandler,Default_Handler
-                  
-   .weak      EXTI15_10_IRQHandler               
-   .thumb_set EXTI15_10_IRQHandler,Default_Handler
-               
-   .weak      RTC_Alarm_IRQHandler               
-   .thumb_set RTC_Alarm_IRQHandler,Default_Handler
-            
-   .weak      OTG_FS_WKUP_IRQHandler         
-   .thumb_set OTG_FS_WKUP_IRQHandler,Default_Handler
-            
-   .weak      TIM8_BRK_TIM12_IRQHandler         
-   .thumb_set TIM8_BRK_TIM12_IRQHandler,Default_Handler
-         
-   .weak      TIM8_UP_TIM13_IRQHandler            
-   .thumb_set TIM8_UP_TIM13_IRQHandler,Default_Handler
-         
-   .weak      TIM8_TRG_COM_TIM14_IRQHandler      
-   .thumb_set TIM8_TRG_COM_TIM14_IRQHandler,Default_Handler
-      
-   .weak      TIM8_CC_IRQHandler   
-   .thumb_set TIM8_CC_IRQHandler,Default_Handler
-                  
-   .weak      DMA1_Stream7_IRQHandler               
-   .thumb_set DMA1_Stream7_IRQHandler,Default_Handler
-                     
-   .weak      FSMC_IRQHandler            
-   .thumb_set FSMC_IRQHandler,Default_Handler
-                     
-   .weak      SDIO_IRQHandler            
-   .thumb_set SDIO_IRQHandler,Default_Handler
-                     
-   .weak      TIM5_IRQHandler            
-   .thumb_set TIM5_IRQHandler,Default_Handler
-                     
-   .weak      SPI3_IRQHandler            
-   .thumb_set SPI3_IRQHandler,Default_Handler
-                     
-   .weak      UART4_IRQHandler         
-   .thumb_set UART4_IRQHandler,Default_Handler
-                  
-   .weak      UART5_IRQHandler         
-   .thumb_set UART5_IRQHandler,Default_Handler
-                  
-   .weak      TIM6_DAC_IRQHandler                  
-   .thumb_set TIM6_DAC_IRQHandler,Default_Handler
-               
-   .weak      TIM7_IRQHandler            
-   .thumb_set TIM7_IRQHandler,Default_Handler
-         
-   .weak      DMA2_Stream0_IRQHandler               
-   .thumb_set DMA2_Stream0_IRQHandler,Default_Handler
-               
-   .weak      DMA2_Stream1_IRQHandler               
-   .thumb_set DMA2_Stream1_IRQHandler,Default_Handler
-                  
-   .weak      DMA2_Stream2_IRQHandler               
-   .thumb_set DMA2_Stream2_IRQHandler,Default_Handler
-            
-   .weak      DMA2_Stream3_IRQHandler               
-   .thumb_set DMA2_Stream3_IRQHandler,Default_Handler
-            
-   .weak      DMA2_Stream4_IRQHandler               
-   .thumb_set DMA2_Stream4_IRQHandler,Default_Handler
-            
-   .weak      ETH_IRQHandler      
-   .thumb_set ETH_IRQHandler,Default_Handler
-                  
-   .weak      ETH_WKUP_IRQHandler                  
-   .thumb_set ETH_WKUP_IRQHandler,Default_Handler
-            
-   .weak      CAN2_TX_IRQHandler   
-   .thumb_set CAN2_TX_IRQHandler,Default_Handler
-                           
-   .weak      CAN2_RX0_IRQHandler                  
-   .thumb_set CAN2_RX0_IRQHandler,Default_Handler
-                           
-   .weak      CAN2_RX1_IRQHandler                  
-   .thumb_set CAN2_RX1_IRQHandler,Default_Handler
-                           
-   .weak      CAN2_SCE_IRQHandler                  
-   .thumb_set CAN2_SCE_IRQHandler,Default_Handler
-                           
-   .weak      OTG_FS_IRQHandler      
-   .thumb_set OTG_FS_IRQHandler,Default_Handler
-                     
-   .weak      DMA2_Stream5_IRQHandler               
-   .thumb_set DMA2_Stream5_IRQHandler,Default_Handler
-                  
-   .weak      DMA2_Stream6_IRQHandler               
-   .thumb_set DMA2_Stream6_IRQHandler,Default_Handler
-                  
-   .weak      DMA2_Stream7_IRQHandler               
-   .thumb_set DMA2_Stream7_IRQHandler,Default_Handler
-                  
-   .weak      USART6_IRQHandler      
-   .thumb_set USART6_IRQHandler,Default_Handler
-                        
-   .weak      I2C3_EV_IRQHandler   
-   .thumb_set I2C3_EV_IRQHandler,Default_Handler
-                        
-   .weak      I2C3_ER_IRQHandler   
-   .thumb_set I2C3_ER_IRQHandler,Default_Handler
-                        
-   .weak      OTG_HS_EP1_OUT_IRQHandler         
-   .thumb_set OTG_HS_EP1_OUT_IRQHandler,Default_Handler
-               
-   .weak      OTG_HS_EP1_IN_IRQHandler            
-   .thumb_set OTG_HS_EP1_IN_IRQHandler,Default_Handler
-               
-   .weak      OTG_HS_WKUP_IRQHandler         
-   .thumb_set OTG_HS_WKUP_IRQHandler,Default_Handler
-            
-   .weak      OTG_HS_IRQHandler      
-   .thumb_set OTG_HS_IRQHandler,Default_Handler
-                  
-   .weak      DCMI_IRQHandler            
-   .thumb_set DCMI_IRQHandler,Default_Handler
-                                   
-   .weak      HASH_RNG_IRQHandler                  
-   .thumb_set HASH_RNG_IRQHandler,Default_Handler   
-
-   .weak      FPU_IRQHandler                  
-   .thumb_set FPU_IRQHandler,Default_Handler  
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/controller/fw/src/stm32f4_isr.h b/controller/fw/src/stm32f4_isr.h
deleted file mode 100644
index bc16421..0000000
--- a/controller/fw/src/stm32f4_isr.h
+++ /dev/null
@@ -1,98 +0,0 @@
-
-#ifndef __STM32F4_ISR_H__
-#define __STM32F4_ISR_H__
-
-void Reset_Handler(void);
-void NMI_Handler(void);
-void HardFault_Handler(void);
-void MemManage_Handler(void);
-void BusFault_Handler(void);
-void UsageFault_Handler(void);
-void SVC_Handler(void);
-void DebugMon_Handler(void);
-void PendSV_Handler(void);
-void SysTick_Handler(void);
-
-void WWDG_IRQHandler(void);
-void PVD_IRQHandler(void);
-void TAMP_STAMP_IRQHandler(void);
-void RTC_WKUP_IRQHandler(void);
-void FLASH_IRQHandler(void);
-void RCC_IRQHandler(void);
-void EXTI0_IRQHandler(void);
-void EXTI1_IRQHandler(void);
-void EXTI2_IRQHandler(void);
-void EXTI3_IRQHandler(void);
-void EXTI4_IRQHandler(void);
-void DMA1_Stream0_IRQHandler(void);
-void DMA1_Stream1_IRQHandler(void);
-void DMA1_Stream2_IRQHandler(void);
-void DMA1_Stream3_IRQHandler(void);
-void DMA1_Stream4_IRQHandler(void);
-void DMA1_Stream5_IRQHandler(void);
-void DMA1_Stream6_IRQHandler(void);
-void ADC_IRQHandler(void);
-void CAN1_TX_IRQHandler(void);
-void CAN1_RX0_IRQHandler(void);
-void CAN1_RX1_IRQHandler(void);
-void CAN1_SCE_IRQHandler(void);
-void EXTI9_5_IRQHandler(void);
-void TIM1_BRK_TIM9_IRQHandler(void);
-void TIM1_UP_TIM10_IRQHandler(void);
-void TIM1_TRG_COM_TIM11_IRQHandler(void);
-void TIM1_CC_IRQHandler(void);
-void TIM2_IRQHandler(void);
-void TIM3_IRQHandler(void);
-void TIM4_IRQHandler(void);
-void I2C1_EV_IRQHandler(void);
-void I2C1_ER_IRQHandler(void);
-void I2C2_EV_IRQHandler(void);
-void I2C2_ER_IRQHandler(void);
-void SPI1_IRQHandler(void);
-void SPI2_IRQHandler(void);
-void USART1_IRQHandler(void);
-void USART2_IRQHandler(void);
-void USART3_IRQHandler(void);
-void EXTI15_10_IRQHandler(void);
-void RTC_Alarm_IRQHandler(void);
-void OTG_FS_WKUP_IRQHandler(void);
-void TIM8_BRK_TIM12_IRQHandler(void);
-void TIM8_UP_TIM13_IRQHandler(void);
-void TIM8_TRG_COM_TIM14_IRQHandler(void);
-void TIM8_CC_IRQHandler(void);
-void DMA1_Stream7_IRQHandler(void);
-void FSMC_IRQHandler(void);
-void SDIO_IRQHandler(void);
-void TIM5_IRQHandler(void);
-void SPI3_IRQHandler(void);
-void UART4_IRQHandler(void);
-void UART5_IRQHandler(void);
-void TIM6_DAC_IRQHandler(void);
-void TIM7_IRQHandler(void);
-void DMA2_Stream0_IRQHandler(void);
-void DMA2_Stream1_IRQHandler(void);
-void DMA2_Stream2_IRQHandler(void);
-void DMA2_Stream3_IRQHandler(void);
-void DMA2_Stream4_IRQHandler(void);
-void ETH_IRQHandler(void);
-void ETH_WKUP_IRQHandler(void);
-void CAN2_TX_IRQHandler(void);
-void CAN2_RX0_IRQHandler(void);
-void CAN2_RX1_IRQHandler(void);
-void CAN2_SCE_IRQHandler(void);
-void OTG_FS_IRQHandler(void);
-void DMA2_Stream5_IRQHandler(void);
-void DMA2_Stream6_IRQHandler(void);
-void DMA2_Stream7_IRQHandler(void);
-void USART6_IRQHandler(void);
-void I2C3_EV_IRQHandler(void);
-void I2C3_ER_IRQHandler(void);
-void OTG_HS_EP1_OUT_IRQHandler(void);
-void OTG_HS_EP1_IN_IRQHandler(void);
-void OTG_HS_WKUP_IRQHandler(void);
-void OTG_HS_IRQHandler(void);
-void DCMI_IRQHandler(void);
-void HASH_RNG_IRQHandler(void);
-void FPU_IRQHandler(void);
-
-#endif /* __STM32F4_ISR_H__ */
diff --git a/controller/fw/src/system_stm32f4xx.c b/controller/fw/src/system_stm32f4xx.c
deleted file mode 100644
index 5d005ed..0000000
--- a/controller/fw/src/system_stm32f4xx.c
+++ /dev/null
@@ -1,742 +0,0 @@
-/**
-  ******************************************************************************
-  * @file    system_stm32f4xx.c
-  * @author  MCD Application Team
-  * @brief   CMSIS Cortex-M4 Device Peripheral Access Layer System Source File.
-  *
-  *   This file provides two functions and one global variable to be called from 
-  *   user application:
-  *      - SystemInit(): This function is called at startup just after reset and 
-  *                      before branch to main program. This call is made inside
-  *                      the "startup_stm32f4xx.s" file.
-  *
-  *      - SystemCoreClock variable: Contains the core clock (HCLK), it can be used
-  *                                  by the user application to setup the SysTick 
-  *                                  timer or configure other parameters.
-  *                                     
-  *      - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must
-  *                                 be called whenever the core clock is changed
-  *                                 during program execution.
-  *
-  *
-  ******************************************************************************
-  * @attention
-  *
-  * <h2><center>&copy; COPYRIGHT 2017 STMicroelectronics</center></h2>
-  *
-  * Redistribution and use in source and binary forms, with or without modification,
-  * are permitted provided that the following conditions are met:
-  *   1. Redistributions of source code must retain the above copyright notice,
-  *      this list of conditions and the following disclaimer.
-  *   2. Redistributions in binary form must reproduce the above copyright notice,
-  *      this list of conditions and the following disclaimer in the documentation
-  *      and/or other materials provided with the distribution.
-  *   3. Neither the name of STMicroelectronics nor the names of its contributors
-  *      may be used to endorse or promote products derived from this software
-  *      without specific prior written permission.
-  *
-  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-  *
-  ******************************************************************************
-  */
-
-/** @addtogroup CMSIS
-  * @{
-  */
-
-/** @addtogroup stm32f4xx_system
-  * @{
-  */  
-  
-/** @addtogroup STM32F4xx_System_Private_Includes
-  * @{
-  */
-
-
-#include "stm32f4xx.h"
-
-#if !defined  (HSE_VALUE) 
-  #define HSE_VALUE    ((uint32_t)25000000) /*!< Default value of the External oscillator in Hz */
-#endif /* HSE_VALUE */
-
-#if !defined  (HSI_VALUE)
-  #define HSI_VALUE    ((uint32_t)16000000) /*!< Value of the Internal oscillator in Hz*/
-#endif /* HSI_VALUE */
-
-/**
-  * @}
-  */
-
-/** @addtogroup STM32F4xx_System_Private_TypesDefinitions
-  * @{
-  */
-
-/**
-  * @}
-  */
-
-/** @addtogroup STM32F4xx_System_Private_Defines
-  * @{
-  */
-
-/************************* Miscellaneous Configuration ************************/
-/*!< Uncomment the following line if you need to use external SRAM or SDRAM as data memory  */
-#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx)\
- || defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\
- || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx)
-/* #define DATA_IN_ExtSRAM */
-#endif /* STM32F40xxx || STM32F41xxx || STM32F42xxx || STM32F43xxx || STM32F469xx || STM32F479xx ||\
-          STM32F412Zx || STM32F412Vx */
- 
-#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\
- || defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx)
-/* #define DATA_IN_ExtSDRAM */
-#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx ||\
-          STM32F479xx */
-
-/*!< Uncomment the following line if you need to relocate your vector Table in
-     Internal SRAM. */
-/* #define VECT_TAB_SRAM */
-#define VECT_TAB_OFFSET  0x00 /*!< Vector Table base offset field. 
-                                   This value must be a multiple of 0x200. */
-/******************************************************************************/
-
-/**
-  * @}
-  */
-
-/** @addtogroup STM32F4xx_System_Private_Macros
-  * @{
-  */
-
-/**
-  * @}
-  */
-
-/** @addtogroup STM32F4xx_System_Private_Variables
-  * @{
-  */
-  /* This variable is updated in three ways:
-      1) by calling CMSIS function SystemCoreClockUpdate()
-      2) by calling HAL API function HAL_RCC_GetHCLKFreq()
-      3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency 
-         Note: If you use this function to configure the system clock; then there
-               is no need to call the 2 first functions listed above, since SystemCoreClock
-               variable is updated automatically.
-  */
-uint32_t SystemCoreClock = 16000000;
-const uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9};
-const uint8_t APBPrescTable[8]  = {0, 0, 0, 0, 1, 2, 3, 4};
-/**
-  * @}
-  */
-
-/** @addtogroup STM32F4xx_System_Private_FunctionPrototypes
-  * @{
-  */
-
-#if defined (DATA_IN_ExtSRAM) || defined (DATA_IN_ExtSDRAM)
-  static void SystemInit_ExtMemCtl(void); 
-#endif /* DATA_IN_ExtSRAM || DATA_IN_ExtSDRAM */
-
-/**
-  * @}
-  */
-
-/** @addtogroup STM32F4xx_System_Private_Functions
-  * @{
-  */
-
-/**
-  * @brief  Setup the microcontroller system
-  *         Initialize the FPU setting, vector table location and External memory 
-  *         configuration.
-  * @param  None
-  * @retval None
-  */
-void SystemInit(void)
-{
-    SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2));  /* set CP10 and CP11 Full Access */
-    __DSB();
-    __ISB();
-
-#if defined (DATA_IN_ExtSRAM) || defined (DATA_IN_ExtSDRAM)
-  SystemInit_ExtMemCtl(); 
-#endif /* DATA_IN_ExtSRAM || DATA_IN_ExtSDRAM */
-
-  /* Configure the Vector Table location add offset address ------------------*/
-#ifdef VECT_TAB_SRAM
-  SCB->VTOR = SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM */
-#else
-  SCB->VTOR = FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH */
-#endif
-}
-
-/**
-   * @brief  Update SystemCoreClock variable according to Clock Register Values.
-  *         The SystemCoreClock variable contains the core clock (HCLK), it can
-  *         be used by the user application to setup the SysTick timer or configure
-  *         other parameters.
-  *           
-  * @note   Each time the core clock (HCLK) changes, this function must be called
-  *         to update SystemCoreClock variable value. Otherwise, any configuration
-  *         based on this variable will be incorrect.         
-  *     
-  * @note   - The system frequency computed by this function is not the real 
-  *           frequency in the chip. It is calculated based on the predefined 
-  *           constant and the selected clock source:
-  *             
-  *           - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*)
-  *                                              
-  *           - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**)
-  *                          
-  *           - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**) 
-  *             or HSI_VALUE(*) multiplied/divided by the PLL factors.
-  *         
-  *         (*) HSI_VALUE is a constant defined in stm32f4xx_hal_conf.h file (default value
-  *             16 MHz) but the real value may vary depending on the variations
-  *             in voltage and temperature.   
-  *    
-  *         (**) HSE_VALUE is a constant defined in stm32f4xx_hal_conf.h file (its value
-  *              depends on the application requirements), user has to ensure that HSE_VALUE
-  *              is same as the real frequency of the crystal used. Otherwise, this function
-  *              may have wrong result.
-  *                
-  *         - The result of this function could be not correct when using fractional
-  *           value for HSE crystal.
-  *     
-  * @param  None
-  * @retval None
-  */
-void SystemCoreClockUpdate(void)
-{
-  uint32_t tmp = 0, pllvco = 0, pllp = 2, pllsource = 0, pllm = 2;
-  
-  /* Get SYSCLK source -------------------------------------------------------*/
-  tmp = RCC->CFGR & RCC_CFGR_SWS;
-
-  switch (tmp)
-  {
-    case 0x00:  /* HSI used as system clock source */
-      SystemCoreClock = HSI_VALUE;
-      break;
-    case 0x04:  /* HSE used as system clock source */
-      SystemCoreClock = HSE_VALUE;
-      break;
-    case 0x08:  /* PLL used as system clock source */
-
-      /* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N
-         SYSCLK = PLL_VCO / PLL_P
-         */    
-      pllsource = (RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) >> 22;
-      pllm = RCC->PLLCFGR & RCC_PLLCFGR_PLLM;
-      
-      if (pllsource != 0)
-      {
-        /* HSE used as PLL clock source */
-        pllvco = (HSE_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
-      }
-      else
-      {
-        /* HSI used as PLL clock source */
-        pllvco = (HSI_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
-      }
-
-      pllp = (((RCC->PLLCFGR & RCC_PLLCFGR_PLLP) >>16) + 1 ) *2;
-      SystemCoreClock = pllvco/pllp;
-      break;
-    default:
-      SystemCoreClock = HSI_VALUE;
-      break;
-  }
-  /* Compute HCLK frequency --------------------------------------------------*/
-  /* Get HCLK prescaler */
-  tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)];
-  /* HCLK frequency */
-  SystemCoreClock >>= tmp;
-}
-
-#if defined (DATA_IN_ExtSRAM) && defined (DATA_IN_ExtSDRAM)
-#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\
- || defined(STM32F469xx) || defined(STM32F479xx)
-/**
-  * @brief  Setup the external memory controller.
-  *         Called in startup_stm32f4xx.s before jump to main.
-  *         This function configures the external memories (SRAM/SDRAM)
-  *         This SRAM/SDRAM will be used as program data memory (including heap and stack).
-  * @param  None
-  * @retval None
-  */
-void SystemInit_ExtMemCtl(void)
-{
-  __IO uint32_t tmp = 0x00;
-
-  register uint32_t tmpreg = 0, timeout = 0xFFFF;
-  register __IO uint32_t index;
-
-  /* Enable GPIOC, GPIOD, GPIOE, GPIOF, GPIOG, GPIOH and GPIOI interface clock */
-  RCC->AHB1ENR |= 0x000001F8;
-
-  /* Delay after an RCC peripheral clock enabling */
-  tmp = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOCEN);
-  
-  /* Connect PDx pins to FMC Alternate function */
-  GPIOD->AFR[0]  = 0x00CCC0CC;
-  GPIOD->AFR[1]  = 0xCCCCCCCC;
-  /* Configure PDx pins in Alternate function mode */  
-  GPIOD->MODER   = 0xAAAA0A8A;
-  /* Configure PDx pins speed to 100 MHz */  
-  GPIOD->OSPEEDR = 0xFFFF0FCF;
-  /* Configure PDx pins Output type to push-pull */  
-  GPIOD->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PDx pins */ 
-  GPIOD->PUPDR   = 0x00000000;
-
-  /* Connect PEx pins to FMC Alternate function */
-  GPIOE->AFR[0]  = 0xC00CC0CC;
-  GPIOE->AFR[1]  = 0xCCCCCCCC;
-  /* Configure PEx pins in Alternate function mode */ 
-  GPIOE->MODER   = 0xAAAA828A;
-  /* Configure PEx pins speed to 100 MHz */ 
-  GPIOE->OSPEEDR = 0xFFFFC3CF;
-  /* Configure PEx pins Output type to push-pull */  
-  GPIOE->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PEx pins */ 
-  GPIOE->PUPDR   = 0x00000000;
-  
-  /* Connect PFx pins to FMC Alternate function */
-  GPIOF->AFR[0]  = 0xCCCCCCCC;
-  GPIOF->AFR[1]  = 0xCCCCCCCC;
-  /* Configure PFx pins in Alternate function mode */   
-  GPIOF->MODER   = 0xAA800AAA;
-  /* Configure PFx pins speed to 50 MHz */ 
-  GPIOF->OSPEEDR = 0xAA800AAA;
-  /* Configure PFx pins Output type to push-pull */  
-  GPIOF->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PFx pins */ 
-  GPIOF->PUPDR   = 0x00000000;
-
-  /* Connect PGx pins to FMC Alternate function */
-  GPIOG->AFR[0]  = 0xCCCCCCCC;
-  GPIOG->AFR[1]  = 0xCCCCCCCC;
-  /* Configure PGx pins in Alternate function mode */ 
-  GPIOG->MODER   = 0xAAAAAAAA;
-  /* Configure PGx pins speed to 50 MHz */ 
-  GPIOG->OSPEEDR = 0xAAAAAAAA;
-  /* Configure PGx pins Output type to push-pull */  
-  GPIOG->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PGx pins */ 
-  GPIOG->PUPDR   = 0x00000000;
-  
-  /* Connect PHx pins to FMC Alternate function */
-  GPIOH->AFR[0]  = 0x00C0CC00;
-  GPIOH->AFR[1]  = 0xCCCCCCCC;
-  /* Configure PHx pins in Alternate function mode */ 
-  GPIOH->MODER   = 0xAAAA08A0;
-  /* Configure PHx pins speed to 50 MHz */ 
-  GPIOH->OSPEEDR = 0xAAAA08A0;
-  /* Configure PHx pins Output type to push-pull */  
-  GPIOH->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PHx pins */ 
-  GPIOH->PUPDR   = 0x00000000;
-  
-  /* Connect PIx pins to FMC Alternate function */
-  GPIOI->AFR[0]  = 0xCCCCCCCC;
-  GPIOI->AFR[1]  = 0x00000CC0;
-  /* Configure PIx pins in Alternate function mode */ 
-  GPIOI->MODER   = 0x0028AAAA;
-  /* Configure PIx pins speed to 50 MHz */ 
-  GPIOI->OSPEEDR = 0x0028AAAA;
-  /* Configure PIx pins Output type to push-pull */  
-  GPIOI->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PIx pins */ 
-  GPIOI->PUPDR   = 0x00000000;
-  
-/*-- FMC Configuration -------------------------------------------------------*/
-  /* Enable the FMC interface clock */
-  RCC->AHB3ENR |= 0x00000001;
-  /* Delay after an RCC peripheral clock enabling */
-  tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN);
-
-  FMC_Bank5_6->SDCR[0] = 0x000019E4;
-  FMC_Bank5_6->SDTR[0] = 0x01115351;      
-  
-  /* SDRAM initialization sequence */
-  /* Clock enable command */
-  FMC_Bank5_6->SDCMR = 0x00000011; 
-  tmpreg = FMC_Bank5_6->SDSR & 0x00000020; 
-  while((tmpreg != 0) && (timeout-- > 0))
-  {
-    tmpreg = FMC_Bank5_6->SDSR & 0x00000020; 
-  }
-
-  /* Delay */
-  for (index = 0; index<1000; index++);
-  
-  /* PALL command */
-  FMC_Bank5_6->SDCMR = 0x00000012;           
-  timeout = 0xFFFF;
-  while((tmpreg != 0) && (timeout-- > 0))
-  {
-    tmpreg = FMC_Bank5_6->SDSR & 0x00000020; 
-  }
-  
-  /* Auto refresh command */
-  FMC_Bank5_6->SDCMR = 0x00000073;
-  timeout = 0xFFFF;
-  while((tmpreg != 0) && (timeout-- > 0))
-  {
-    tmpreg = FMC_Bank5_6->SDSR & 0x00000020; 
-  }
- 
-  /* MRD register program */
-  FMC_Bank5_6->SDCMR = 0x00046014;
-  timeout = 0xFFFF;
-  while((tmpreg != 0) && (timeout-- > 0))
-  {
-    tmpreg = FMC_Bank5_6->SDSR & 0x00000020; 
-  } 
-  
-  /* Set refresh count */
-  tmpreg = FMC_Bank5_6->SDRTR;
-  FMC_Bank5_6->SDRTR = (tmpreg | (0x0000027C<<1));
-  
-  /* Disable write protection */
-  tmpreg = FMC_Bank5_6->SDCR[0]; 
-  FMC_Bank5_6->SDCR[0] = (tmpreg & 0xFFFFFDFF);
-
-#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)
-  /* Configure and enable Bank1_SRAM2 */
-  FMC_Bank1->BTCR[2]  = 0x00001011;
-  FMC_Bank1->BTCR[3]  = 0x00000201;
-  FMC_Bank1E->BWTR[2] = 0x0fffffff;
-#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx */ 
-#if defined(STM32F469xx) || defined(STM32F479xx)
-  /* Configure and enable Bank1_SRAM2 */
-  FMC_Bank1->BTCR[2]  = 0x00001091;
-  FMC_Bank1->BTCR[3]  = 0x00110212;
-  FMC_Bank1E->BWTR[2] = 0x0fffffff;
-#endif /* STM32F469xx || STM32F479xx */
-
-  (void)(tmp); 
-}
-#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */
-#elif defined (DATA_IN_ExtSRAM) || defined (DATA_IN_ExtSDRAM)
-/**
-  * @brief  Setup the external memory controller.
-  *         Called in startup_stm32f4xx.s before jump to main.
-  *         This function configures the external memories (SRAM/SDRAM)
-  *         This SRAM/SDRAM will be used as program data memory (including heap and stack).
-  * @param  None
-  * @retval None
-  */
-void SystemInit_ExtMemCtl(void)
-{
-  __IO uint32_t tmp = 0x00;
-#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\
- || defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx)
-#if defined (DATA_IN_ExtSDRAM)
-  register uint32_t tmpreg = 0, timeout = 0xFFFF;
-  register __IO uint32_t index;
-
-#if defined(STM32F446xx)
-  /* Enable GPIOA, GPIOC, GPIOD, GPIOE, GPIOF, GPIOG interface
-      clock */
-  RCC->AHB1ENR |= 0x0000007D;
-#else
-  /* Enable GPIOC, GPIOD, GPIOE, GPIOF, GPIOG, GPIOH and GPIOI interface 
-      clock */
-  RCC->AHB1ENR |= 0x000001F8;
-#endif /* STM32F446xx */  
-  /* Delay after an RCC peripheral clock enabling */
-  tmp = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOCEN);
-  
-#if defined(STM32F446xx)
-  /* Connect PAx pins to FMC Alternate function */
-  GPIOA->AFR[0]  |= 0xC0000000;
-  GPIOA->AFR[1]  |= 0x00000000;
-  /* Configure PDx pins in Alternate function mode */
-  GPIOA->MODER   |= 0x00008000;
-  /* Configure PDx pins speed to 50 MHz */
-  GPIOA->OSPEEDR |= 0x00008000;
-  /* Configure PDx pins Output type to push-pull */
-  GPIOA->OTYPER  |= 0x00000000;
-  /* No pull-up, pull-down for PDx pins */
-  GPIOA->PUPDR   |= 0x00000000;
-
-  /* Connect PCx pins to FMC Alternate function */
-  GPIOC->AFR[0]  |= 0x00CC0000;
-  GPIOC->AFR[1]  |= 0x00000000;
-  /* Configure PDx pins in Alternate function mode */
-  GPIOC->MODER   |= 0x00000A00;
-  /* Configure PDx pins speed to 50 MHz */
-  GPIOC->OSPEEDR |= 0x00000A00;
-  /* Configure PDx pins Output type to push-pull */
-  GPIOC->OTYPER  |= 0x00000000;
-  /* No pull-up, pull-down for PDx pins */
-  GPIOC->PUPDR   |= 0x00000000;
-#endif /* STM32F446xx */
-
-  /* Connect PDx pins to FMC Alternate function */
-  GPIOD->AFR[0]  = 0x000000CC;
-  GPIOD->AFR[1]  = 0xCC000CCC;
-  /* Configure PDx pins in Alternate function mode */  
-  GPIOD->MODER   = 0xA02A000A;
-  /* Configure PDx pins speed to 50 MHz */  
-  GPIOD->OSPEEDR = 0xA02A000A;
-  /* Configure PDx pins Output type to push-pull */  
-  GPIOD->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PDx pins */ 
-  GPIOD->PUPDR   = 0x00000000;
-
-  /* Connect PEx pins to FMC Alternate function */
-  GPIOE->AFR[0]  = 0xC00000CC;
-  GPIOE->AFR[1]  = 0xCCCCCCCC;
-  /* Configure PEx pins in Alternate function mode */ 
-  GPIOE->MODER   = 0xAAAA800A;
-  /* Configure PEx pins speed to 50 MHz */ 
-  GPIOE->OSPEEDR = 0xAAAA800A;
-  /* Configure PEx pins Output type to push-pull */  
-  GPIOE->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PEx pins */ 
-  GPIOE->PUPDR   = 0x00000000;
-
-  /* Connect PFx pins to FMC Alternate function */
-  GPIOF->AFR[0]  = 0xCCCCCCCC;
-  GPIOF->AFR[1]  = 0xCCCCCCCC;
-  /* Configure PFx pins in Alternate function mode */   
-  GPIOF->MODER   = 0xAA800AAA;
-  /* Configure PFx pins speed to 50 MHz */ 
-  GPIOF->OSPEEDR = 0xAA800AAA;
-  /* Configure PFx pins Output type to push-pull */  
-  GPIOF->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PFx pins */ 
-  GPIOF->PUPDR   = 0x00000000;
-
-  /* Connect PGx pins to FMC Alternate function */
-  GPIOG->AFR[0]  = 0xCCCCCCCC;
-  GPIOG->AFR[1]  = 0xCCCCCCCC;
-  /* Configure PGx pins in Alternate function mode */ 
-  GPIOG->MODER   = 0xAAAAAAAA;
-  /* Configure PGx pins speed to 50 MHz */ 
-  GPIOG->OSPEEDR = 0xAAAAAAAA;
-  /* Configure PGx pins Output type to push-pull */  
-  GPIOG->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PGx pins */ 
-  GPIOG->PUPDR   = 0x00000000;
-
-#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\
- || defined(STM32F469xx) || defined(STM32F479xx)  
-  /* Connect PHx pins to FMC Alternate function */
-  GPIOH->AFR[0]  = 0x00C0CC00;
-  GPIOH->AFR[1]  = 0xCCCCCCCC;
-  /* Configure PHx pins in Alternate function mode */ 
-  GPIOH->MODER   = 0xAAAA08A0;
-  /* Configure PHx pins speed to 50 MHz */ 
-  GPIOH->OSPEEDR = 0xAAAA08A0;
-  /* Configure PHx pins Output type to push-pull */  
-  GPIOH->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PHx pins */ 
-  GPIOH->PUPDR   = 0x00000000;
-  
-  /* Connect PIx pins to FMC Alternate function */
-  GPIOI->AFR[0]  = 0xCCCCCCCC;
-  GPIOI->AFR[1]  = 0x00000CC0;
-  /* Configure PIx pins in Alternate function mode */ 
-  GPIOI->MODER   = 0x0028AAAA;
-  /* Configure PIx pins speed to 50 MHz */ 
-  GPIOI->OSPEEDR = 0x0028AAAA;
-  /* Configure PIx pins Output type to push-pull */  
-  GPIOI->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PIx pins */ 
-  GPIOI->PUPDR   = 0x00000000;
-#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */
-  
-/*-- FMC Configuration -------------------------------------------------------*/
-  /* Enable the FMC interface clock */
-  RCC->AHB3ENR |= 0x00000001;
-  /* Delay after an RCC peripheral clock enabling */
-  tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN);
-
-  /* Configure and enable SDRAM bank1 */
-#if defined(STM32F446xx)
-  FMC_Bank5_6->SDCR[0] = 0x00001954;
-#else  
-  FMC_Bank5_6->SDCR[0] = 0x000019E4;
-#endif /* STM32F446xx */
-  FMC_Bank5_6->SDTR[0] = 0x01115351;      
-  
-  /* SDRAM initialization sequence */
-  /* Clock enable command */
-  FMC_Bank5_6->SDCMR = 0x00000011; 
-  tmpreg = FMC_Bank5_6->SDSR & 0x00000020; 
-  while((tmpreg != 0) && (timeout-- > 0))
-  {
-    tmpreg = FMC_Bank5_6->SDSR & 0x00000020; 
-  }
-
-  /* Delay */
-  for (index = 0; index<1000; index++);
-  
-  /* PALL command */
-  FMC_Bank5_6->SDCMR = 0x00000012;           
-  timeout = 0xFFFF;
-  while((tmpreg != 0) && (timeout-- > 0))
-  {
-    tmpreg = FMC_Bank5_6->SDSR & 0x00000020; 
-  }
-  
-  /* Auto refresh command */
-#if defined(STM32F446xx)
-  FMC_Bank5_6->SDCMR = 0x000000F3;
-#else  
-  FMC_Bank5_6->SDCMR = 0x00000073;
-#endif /* STM32F446xx */
-  timeout = 0xFFFF;
-  while((tmpreg != 0) && (timeout-- > 0))
-  {
-    tmpreg = FMC_Bank5_6->SDSR & 0x00000020; 
-  }
- 
-  /* MRD register program */
-#if defined(STM32F446xx)
-  FMC_Bank5_6->SDCMR = 0x00044014;
-#else  
-  FMC_Bank5_6->SDCMR = 0x00046014;
-#endif /* STM32F446xx */
-  timeout = 0xFFFF;
-  while((tmpreg != 0) && (timeout-- > 0))
-  {
-    tmpreg = FMC_Bank5_6->SDSR & 0x00000020; 
-  } 
-  
-  /* Set refresh count */
-  tmpreg = FMC_Bank5_6->SDRTR;
-#if defined(STM32F446xx)
-  FMC_Bank5_6->SDRTR = (tmpreg | (0x0000050C<<1));
-#else    
-  FMC_Bank5_6->SDRTR = (tmpreg | (0x0000027C<<1));
-#endif /* STM32F446xx */
-  
-  /* Disable write protection */
-  tmpreg = FMC_Bank5_6->SDCR[0]; 
-  FMC_Bank5_6->SDCR[0] = (tmpreg & 0xFFFFFDFF);
-#endif /* DATA_IN_ExtSDRAM */
-#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */
-
-#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx)\
- || defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)\
- || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx)
-
-#if defined(DATA_IN_ExtSRAM)
-/*-- GPIOs Configuration -----------------------------------------------------*/
-   /* Enable GPIOD, GPIOE, GPIOF and GPIOG interface clock */
-  RCC->AHB1ENR   |= 0x00000078;
-  /* Delay after an RCC peripheral clock enabling */
-  tmp = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIODEN);
-  
-  /* Connect PDx pins to FMC Alternate function */
-  GPIOD->AFR[0]  = 0x00CCC0CC;
-  GPIOD->AFR[1]  = 0xCCCCCCCC;
-  /* Configure PDx pins in Alternate function mode */  
-  GPIOD->MODER   = 0xAAAA0A8A;
-  /* Configure PDx pins speed to 100 MHz */  
-  GPIOD->OSPEEDR = 0xFFFF0FCF;
-  /* Configure PDx pins Output type to push-pull */  
-  GPIOD->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PDx pins */ 
-  GPIOD->PUPDR   = 0x00000000;
-
-  /* Connect PEx pins to FMC Alternate function */
-  GPIOE->AFR[0]  = 0xC00CC0CC;
-  GPIOE->AFR[1]  = 0xCCCCCCCC;
-  /* Configure PEx pins in Alternate function mode */ 
-  GPIOE->MODER   = 0xAAAA828A;
-  /* Configure PEx pins speed to 100 MHz */ 
-  GPIOE->OSPEEDR = 0xFFFFC3CF;
-  /* Configure PEx pins Output type to push-pull */  
-  GPIOE->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PEx pins */ 
-  GPIOE->PUPDR   = 0x00000000;
-
-  /* Connect PFx pins to FMC Alternate function */
-  GPIOF->AFR[0]  = 0x00CCCCCC;
-  GPIOF->AFR[1]  = 0xCCCC0000;
-  /* Configure PFx pins in Alternate function mode */   
-  GPIOF->MODER   = 0xAA000AAA;
-  /* Configure PFx pins speed to 100 MHz */ 
-  GPIOF->OSPEEDR = 0xFF000FFF;
-  /* Configure PFx pins Output type to push-pull */  
-  GPIOF->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PFx pins */ 
-  GPIOF->PUPDR   = 0x00000000;
-
-  /* Connect PGx pins to FMC Alternate function */
-  GPIOG->AFR[0]  = 0x00CCCCCC;
-  GPIOG->AFR[1]  = 0x000000C0;
-  /* Configure PGx pins in Alternate function mode */ 
-  GPIOG->MODER   = 0x00085AAA;
-  /* Configure PGx pins speed to 100 MHz */ 
-  GPIOG->OSPEEDR = 0x000CAFFF;
-  /* Configure PGx pins Output type to push-pull */  
-  GPIOG->OTYPER  = 0x00000000;
-  /* No pull-up, pull-down for PGx pins */ 
-  GPIOG->PUPDR   = 0x00000000;
-  
-/*-- FMC/FSMC Configuration --------------------------------------------------*/
-  /* Enable the FMC/FSMC interface clock */
-  RCC->AHB3ENR         |= 0x00000001;
-
-#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx)
-  /* Delay after an RCC peripheral clock enabling */
-  tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN);
-  /* Configure and enable Bank1_SRAM2 */
-  FMC_Bank1->BTCR[2]  = 0x00001011;
-  FMC_Bank1->BTCR[3]  = 0x00000201;
-  FMC_Bank1E->BWTR[2] = 0x0fffffff;
-#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx */ 
-#if defined(STM32F469xx) || defined(STM32F479xx)
-  /* Delay after an RCC peripheral clock enabling */
-  tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN);
-  /* Configure and enable Bank1_SRAM2 */
-  FMC_Bank1->BTCR[2]  = 0x00001091;
-  FMC_Bank1->BTCR[3]  = 0x00110212;
-  FMC_Bank1E->BWTR[2] = 0x0fffffff;
-#endif /* STM32F469xx || STM32F479xx */
-#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx)|| defined(STM32F417xx)\
-   || defined(STM32F412Zx) || defined(STM32F412Vx)
-  /* Delay after an RCC peripheral clock enabling */
-  tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FSMCEN);
-  /* Configure and enable Bank1_SRAM2 */
-  FSMC_Bank1->BTCR[2]  = 0x00001011;
-  FSMC_Bank1->BTCR[3]  = 0x00000201;
-  FSMC_Bank1E->BWTR[2] = 0x0FFFFFFF;
-#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F412Zx || STM32F412Vx */
-
-#endif /* DATA_IN_ExtSRAM */
-#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F427xx || STM32F437xx ||\
-          STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx || STM32F412Zx || STM32F412Vx  */ 
-  (void)(tmp); 
-}
-#endif /* DATA_IN_ExtSRAM && DATA_IN_ExtSDRAM */
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/controller/fw/src/test_decoder.py b/controller/fw/src/test_decoder.py
deleted file mode 100644
index 8be5b02..0000000
--- a/controller/fw/src/test_decoder.py
+++ /dev/null
@@ -1,168 +0,0 @@
-"""Decoding module."""
-import numpy as np
-import warnings
-import test_pyldpc_utils as utils
-
-from numba import njit, int64, types, float64
-
-np.set_printoptions(linewidth=180, threshold=1000, edgeitems=20)
-
-def decode(H, y, snr, maxiter=100):
-    """Decode a Gaussian noise corrupted n bits message using BP algorithm.
-
-    Decoding is performed in parallel if multiple codewords are passed in y.
-
-    Parameters
-    ----------
-    H: array (n_equations, n_code). Decoding matrix H.
-    y: array (n_code, n_messages) or (n_code,). Received message(s) in the
-        codeword space.
-    maxiter: int. Maximum number of iterations of the BP algorithm.
-
-    Returns
-    -------
-    x: array (n_code,) or (n_code, n_messages) the solutions in the
-        codeword space.
-
-    """
-    m, n = H.shape
-
-    bits_hist, bits_values, nodes_hist, nodes_values = utils.bitsandnodes(H)
-
-    var = 10 ** (-snr / 10)
-
-    if y.ndim == 1:
-        y = y[:, None]
-    # step 0: initialization
-
-    Lc = 2 * y / var
-    _, n_messages = y.shape
-
-    Lq = np.zeros(shape=(m, n, n_messages))
-
-    Lr = np.zeros(shape=(m, n, n_messages))
-
-    for n_iter in range(maxiter):
-        #print(f'============================ iteration {n_iter} ============================')
-        Lq, Lr, L_posteriori = _logbp_numba(bits_hist, bits_values, nodes_hist,
-                                            nodes_values, Lc, Lq, Lr, n_iter)
-        #print("Lq=", Lq.flatten())
-        #print("Lr=", Lr.flatten())
-        #print("L_posteriori=", L_posteriori.flatten())
-        #print('L_posteriori=[')
-        #for row in L_posteriori.reshape([-1, 16]):
-        #    for val in row:
-        #        cc = '\033[91m' if val < 0 else ('\033[92m' if val > 0 else '\033[94m')
-        #        print(f"{cc}{val: 012.6g}\033[38;5;240m", end=', ')
-        #    print()
-        x = np.array(L_posteriori <= 0).astype(int)
-
-        product = utils.incode(H, x)
-
-        if product:
-            print(f'found, n_iter={n_iter}')
-            break
-
-    if n_iter == maxiter - 1:
-        warnings.warn("""Decoding stopped before convergence. You may want
-                       to increase maxiter""")
-    return x.squeeze()
-
-
-output_type_log2 = types.Tuple((float64[:, :, :], float64[:, :, :],
-                               float64[:, :]))
-
-
-#@njit(output_type_log2(int64[:], int64[:], int64[:], int64[:], float64[:, :],
-#                       float64[:, :, :],  float64[:, :, :], int64), cache=True)
-def _logbp_numba(bits_hist, bits_values, nodes_hist, nodes_values, Lc, Lq, Lr,
-                 n_iter):
-    """Perform inner ext LogBP solver."""
-    m, n, n_messages = Lr.shape
-    # step 1 : Horizontal
-
-    bits_counter = 0
-    nodes_counter = 0
-    for i in range(m):
-        #print(f'=== i={i}')
-        ff = bits_hist[i]
-        ni = bits_values[bits_counter: bits_counter + ff]
-        bits_counter += ff
-        for j_iter, j in enumerate(ni):
-            nij = ni[:]
-            #print(f'\033[38;5;240mj={j:04d}', end=' ')
-
-            X = np.ones(n_messages)
-            if n_iter == 0:
-                for kk in range(len(nij)):
-                    if nij[kk] != j:
-                        lcv = Lc[nij[kk],0]
-                        lcc = '\033[91m' if lcv < 0 else ('\033[92m' if lcv > 0 else '\033[94m')
-                        #print(f'nij={nij[kk]:04d} Lc={lcc}{lcv:> 8f}\033[38;5;240m', end=' ')
-                        X *= np.tanh(0.5 * Lc[nij[kk]])
-            else:
-                for kk in range(len(nij)):
-                    if nij[kk] != j:
-                        X *= np.tanh(0.5 * Lq[i, nij[kk]])
-            #print(f'\n==== {i:03d} {j_iter:01d} {X[0]:> 8f}')
-            num = 1 + X
-            denom = 1 - X
-            for ll in range(n_messages):
-                if num[ll] == 0:
-                    Lr[i, j, ll] = -1
-                elif denom[ll] == 0:
-                    Lr[i, j, ll] = 1
-                else:
-                    Lr[i, j, ll] = np.log(num[ll] / denom[ll])
-    # step 2 : Vertical
-
-    for j in range(n):
-        ff = nodes_hist[j]
-        mj = nodes_values[bits_counter: nodes_counter + ff]
-        nodes_counter += ff
-        for i in mj:
-            mji = mj[:]
-            Lq[i, j] = Lc[j]
-
-            for kk in range(len(mji)):
-                if mji[kk] != i:
-                    Lq[i, j] += Lr[mji[kk], j]
-
-    # LLR a posteriori:
-    L_posteriori = np.zeros((n, n_messages))
-    nodes_counter = 0
-    for j in range(n):
-        ff = nodes_hist[j]
-        mj = nodes_values[bits_counter: nodes_counter + ff]
-        nodes_counter += ff
-        L_posteriori[j] = Lc[j] + Lr[mj, j].sum(axis=0)
-
-    return Lq, Lr, L_posteriori
-
-
-def get_message(tG, x):
-    """Compute the original `n_bits` message from a `n_code` codeword `x`.
-
-    Parameters
-    ----------
-    tG: array (n_code, n_bits) coding matrix tG.
-    x: array (n_code,) decoded codeword of length `n_code`.
-
-    Returns
-    -------
-    message: array (n_bits,). Original binary message.
-
-    """
-    n, k = tG.shape
-
-    rtG, rx = utils.gausselimination(tG, x)
-
-    message = np.zeros(k).astype(int)
-
-    message[k - 1] = rx[k - 1]
-    for i in reversed(range(k - 1)):
-        message[i] = rx[i]
-        message[i] -= utils.binaryproduct(rtG[i, list(range(i+1, k))],
-                                          message[list(range(i+1, k))])
-
-    return abs(message)
diff --git a/controller/fw/src/test_pyldpc_utils.py b/controller/fw/src/test_pyldpc_utils.py
deleted file mode 100644
index 6b14532..0000000
--- a/controller/fw/src/test_pyldpc_utils.py
+++ /dev/null
@@ -1,182 +0,0 @@
-"""Conversion tools."""
-import math
-import numbers
-import numpy as np
-import scipy
-from scipy.stats import norm
-pi = math.pi
-
-
-def int2bitarray(n, k):
-    """Change an array's base from int (base 10) to binary (base 2)."""
-    binary_string = bin(n)
-    length = len(binary_string)
-    bitarray = np.zeros(k, 'int')
-    for i in range(length - 2):
-        bitarray[k - i - 1] = int(binary_string[length - i - 1])
-
-    return bitarray
-
-
-def bitarray2int(bitarray):
-    """Change array's base from binary (base 2) to int (base 10)."""
-    bitstring = "".join([str(i) for i in bitarray])
-
-    return int(bitstring, 2)
-
-
-def binaryproduct(X, Y):
-    """Compute a matrix-matrix / vector product in Z/2Z."""
-    A = X.dot(Y)
-    try:
-        A = A.toarray()
-    except AttributeError:
-        pass
-    return A % 2
-
-
-def gaussjordan(X, change=0):
-    """Compute the binary row reduced echelon form of X.
-
-    Parameters
-    ----------
-    X: array (m, n)
-    change : boolean (default, False). If True returns the inverse transform
-
-    Returns
-    -------
-    if `change` == 'True':
-        A: array (m, n). row reduced form of X.
-        P: tranformations applied to the identity
-    else:
-        A: array (m, n). row reduced form of X.
-
-    """
-    A = np.copy(X)
-    m, n = A.shape
-
-    if change:
-        P = np.identity(m).astype(int)
-
-    pivot_old = -1
-    for j in range(n):
-        filtre_down = A[pivot_old+1:m, j]
-        pivot = np.argmax(filtre_down)+pivot_old+1
-
-        if A[pivot, j]:
-            pivot_old += 1
-            if pivot_old != pivot:
-                aux = np.copy(A[pivot, :])
-                A[pivot, :] = A[pivot_old, :]
-                A[pivot_old, :] = aux
-                if change:
-                    aux = np.copy(P[pivot, :])
-                    P[pivot, :] = P[pivot_old, :]
-                    P[pivot_old, :] = aux
-
-            for i in range(m):
-                if i != pivot_old and A[i, j]:
-                    if change:
-                        P[i, :] = abs(P[i, :]-P[pivot_old, :])
-                    A[i, :] = abs(A[i, :]-A[pivot_old, :])
-
-        if pivot_old == m-1:
-            break
-
-    if change:
-        return A, P
-    return A
-
-
-def binaryrank(X):
-    """Compute rank of a binary Matrix using Gauss-Jordan algorithm."""
-    A = np.copy(X)
-    m, n = A.shape
-
-    A = gaussjordan(A)
-
-    return sum([a.any() for a in A])
-
-
-def f1(y, sigma):
-    """Compute normal density N(1,sigma)."""
-    f = norm.pdf(y, loc=1, scale=sigma)
-    return f
-
-
-def fm1(y, sigma):
-    """Compute normal density N(-1,sigma)."""
-
-    f = norm.pdf(y, loc=-1, scale=sigma)
-    return f
-
-
-def bitsandnodes(H):
-    """Return bits and nodes of a parity-check matrix H."""
-    if type(H) != scipy.sparse.csr_matrix:
-        bits_indices, bits = np.where(H)
-        nodes_indices, nodes = np.where(H.T)
-    else:
-        bits_indices, bits = scipy.sparse.find(H)[:2]
-        nodes_indices, nodes = scipy.sparse.find(H.T)[:2]
-    bits_histogram = np.bincount(bits_indices)
-    nodes_histogram = np.bincount(nodes_indices)
-
-    return bits_histogram, bits, nodes_histogram, nodes
-
-
-def incode(H, x):
-    """Compute Binary Product of H and x."""
-    return (binaryproduct(H, x) == 0).all()
-
-
-def gausselimination(A, b):
-    """Solve linear system in Z/2Z via Gauss Gauss elimination."""
-    if type(A) == scipy.sparse.csr_matrix:
-        A = A.toarray().copy()
-    else:
-        A = A.copy()
-    b = b.copy()
-    n, k = A.shape
-
-    for j in range(min(k, n)):
-        listedepivots = [i for i in range(j, n) if A[i, j]]
-        if len(listedepivots):
-            pivot = np.min(listedepivots)
-        else:
-            continue
-        if pivot != j:
-            aux = (A[j, :]).copy()
-            A[j, :] = A[pivot, :]
-            A[pivot, :] = aux
-
-            aux = b[j].copy()
-            b[j] = b[pivot]
-            b[pivot] = aux
-
-        for i in range(j+1, n):
-            if A[i, j]:
-                A[i, :] = abs(A[i, :]-A[j, :])
-                b[i] = abs(b[i]-b[j])
-
-    return A, b
-
-
-def check_random_state(seed):
-    """Turn seed into a np.random.RandomState instance
-    Parameters
-    ----------
-    seed : None | int | instance of RandomState
-        If seed is None, return the RandomState singleton used by np.random.
-        If seed is an int, return a new RandomState instance seeded with seed.
-        If seed is already a RandomState instance, return it.
-        Otherwise raise ValueError.
-    """
-    if seed is None or seed is np.random:
-        return np.random.mtrand._rand
-    if isinstance(seed, numbers.Integral):
-        return np.random.RandomState(seed)
-    if isinstance(seed, np.random.RandomState):
-        return seed
-    raise ValueError('%r cannot be used to seed a numpy.random.RandomState'
-                     ' instance' % seed)
diff --git a/controller/fw/src/tinyaes_adaptor.c b/controller/fw/src/tinyaes_adaptor.c
deleted file mode 100644
index 2489e68..0000000
--- a/controller/fw/src/tinyaes_adaptor.c
+++ /dev/null
@@ -1,13 +0,0 @@
-
-#include <stddef.h>
-#include <string.h>
-
-void *memcpy(void *restrict dest, const void *restrict src, size_t n) {
-	unsigned char *d = dest;
-	const unsigned char *s = src;
-
-	while (n--)
-		*d++ = *s++;
-
-	return dest;
-}
diff --git a/controller/fw/stm32f407.ld b/controller/fw/stm32f407.ld
deleted file mode 100644
index f998b4a..0000000
--- a/controller/fw/stm32f407.ld
+++ /dev/null
@@ -1,148 +0,0 @@
-MEMORY
-{
-	FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 512K
-	RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
-	CCMRAM (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
-	BACKUP (rwx) : ORIGIN = 0x40024000, LENGTH = 4K
-}
-
-/* Entry Point */
-ENTRY(Reset_Handler)
-
-/* Highest address of the user mode stack */
-_estack = 0x20020000;    /* end of RAM */
-/* Generate a link error if heap and stack don't fit into RAM */
-_Min_Heap_Size = 0x200;;      /* required amount of heap  */
-_Min_Stack_Size = 0x400;; /* required amount of stack */
-
-/* Define output sections */
-SECTIONS
-{
-  /* The startup code goes first into FLASH */
-  .isr_vector :
-  {
-    . = ALIGN(4);
-    KEEP(*(.isr_vector)) /* Startup code */
-    . = ALIGN(4);
-  } >FLASH
-
-  /* The program code and other data goes into FLASH */
-  .text :
-  {
-    . = ALIGN(4);
-    *(.text)           /* .text sections (code) */
-    *(.text*)          /* .text* sections (code) */
-    *(.glue_7)         /* glue arm to thumb code */
-    *(.glue_7t)        /* glue thumb to arm code */
-    *(.eh_frame)
-
-    KEEP (*(.init))
-    KEEP (*(.fini))
-
-    . = ALIGN(4);
-    _etext = .;        /* define a global symbols at end of code */
-  } >FLASH
-
-  /* Constant data goes into FLASH */
-  .rodata :
-  {
-    . = ALIGN(4);
-    *(.rodata)         /* .rodata sections (constants, strings, etc.) */
-    *(.rodata*)        /* .rodata* sections (constants, strings, etc.) */
-    . = ALIGN(4);
-  } >FLASH
-
-  .ARM.extab   : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
-  .ARM : {
-    __exidx_start = .;
-    *(.ARM.exidx*)
-    __exidx_end = .;
-  } >FLASH
-
-  .preinit_array     :
-  {
-    PROVIDE_HIDDEN (__preinit_array_start = .);
-    KEEP (*(.preinit_array*))
-    PROVIDE_HIDDEN (__preinit_array_end = .);
-  } >FLASH
-  .init_array :
-  {
-    PROVIDE_HIDDEN (__init_array_start = .);
-    KEEP (*(SORT(.init_array.*)))
-    KEEP (*(.init_array*))
-    PROVIDE_HIDDEN (__init_array_end = .);
-  } >FLASH
-  .fini_array :
-  {
-    PROVIDE_HIDDEN (__fini_array_start = .);
-    KEEP (*(SORT(.fini_array.*)))
-    KEEP (*(.fini_array*))
-    PROVIDE_HIDDEN (__fini_array_end = .);
-  } >FLASH
-
-  /* used by the startup to initialize data */
-  _sidata = LOADADDR(.data);
-
-  /* Initialized data sections goes into RAM, load LMA copy after code */
-  .data : 
-  {
-    . = ALIGN(4);
-    _sdata = .;        /* create a global symbol at data start */
-    *(.data)           /* .data sections */
-    *(.data*)          /* .data* sections */
-
-    . = ALIGN(4);
-    _edata = .;        /* define a global symbol at data end */
-  } >RAM AT> FLASH
-
-  _siccmram = LOADADDR(.ccmram);
-
-  /* CCM-RAM section 
-  * 
-  * IMPORTANT NOTE! 
-  * If initialized variables will be placed in this section,
-  * the startup code needs to be modified to copy the init-values.  
-  */
-  .ccmram :
-  {
-    . = ALIGN(4);
-    _sccmram = .;       /* create a global symbol at ccmram start */
-    *(.ccmram)
-    *(.ccmram*)
-    
-    . = ALIGN(4);
-    _eccmram = .;       /* create a global symbol at ccmram end */
-  } >CCMRAM AT> FLASH
-
-  
-  /* Uninitialized data section */
-  . = ALIGN(4);
-  .bss :
-  {
-    /* This is used by the startup in order to initialize the .bss secion */
-    _sbss = .;         /* define a global symbol at bss start */
-    __bss_start__ = _sbss;
-    *(.bss)
-    *(.bss*)
-    *(COMMON)
-
-    . = ALIGN(4);
-    _ebss = .;         /* define a global symbol at bss end */
-    __bss_end__ = _ebss;
-  } >RAM
-
-  /* User_heap_stack section, used to check that there is enough RAM left */
-  ._user_heap_stack :
-  {
-    . = ALIGN(4);
-    PROVIDE ( end = . );
-    PROVIDE ( _end = . );
-    . = . + _Min_Heap_Size;
-    . = . + _Min_Stack_Size;
-    . = ALIGN(4);
-  } >RAM
-
-  .ARM.attributes 0 : { *(.ARM.attributes) }
-}
-
-
diff --git a/controller/fw/tinyaes b/controller/fw/tinyaes
deleted file mode 160000
-Subproject 3fe133ffa32606b0d0d81e0ba1d8bacb392eb7e
diff --git a/controller/fw/tinyprintf b/controller/fw/tinyprintf
deleted file mode 160000
-Subproject 2ee30120ec15e321566b43f83c731d060bb437f
diff --git a/controller/fw/tools/butter_filter_gen.py b/controller/fw/tools/butter_filter_gen.py
deleted file mode 100644
index 0bb81bc..0000000
--- a/controller/fw/tools/butter_filter_gen.py
+++ /dev/null
@@ -1,93 +0,0 @@
-#!/usr/bin/env python3
-
-import math
-import sys
-import contextlib
-
-import scipy.signal as sig
-import numpy as np
-
-
-@contextlib.contextmanager
-def wrap(left='{', right='}', file=None, end=''):
-    print(left, file=file, end=end)
-    yield
-    print(right, file=file, end=end)
-
-@contextlib.contextmanager
-def print_include_guards(macro_name):
-    print(f'#ifndef {macro_name}')
-    print(f'#define {macro_name}')
-    print()
-    yield
-    print()
-    print(f'#endif /* {macro_name} */')
-
-macro_float = lambda f: f'{f}'.replace('.', 'F').replace('-', 'N').replace('+', 'P')
-
-ordinal = lambda n: "%d%s" % (n,"tsnrhtdd"[(n//10%10!=1)*(n%10<4)*n%10::4])
-
-SI_TABLE = {-18: 'a', -15: 'f', -12: 'p', -9: 'n', -6: 'µ', -3: 'm', 0: '', 3: 'k', 6: 'M', 9: 'G', 12: 'T', 15: 'P', 18: 'E'}
-def siprefix(x, space=' ', unit=''):
-    l = math.log10(x)//3*3
-    if l in SI_TABLE:
-        return f'{x/10**l}{space}{SI_TABLE[l]}{unit}'
-    return f'{x}{space}{unit}'
-
-if __name__ == '__main__':
-    import argparse
-    parser = argparse.ArgumentParser()
-    parser.add_argument('-m', '--macro-name', default='butter_filter', help='Prefix for output macro names')
-    parser.add_argument('fc', type=float, help='Corner frequency [Hz]')
-    parser.add_argument('fs', type=float, help='Sampling rate [Hz]')
-    parser.add_argument('n', type=int, nargs='?', default=6, help='Filter order')
-    args = parser.parse_args()
-    
-    sos = sig.butter(args.n, args.fc, fs=args.fs, output='sos')
-
-    print('/* THIS IS A GENERATED FILE. DO NOT EDIT! */')
-    print()
-    with print_include_guards(f'__BUTTER_FILTER_GENERATED_{args.n}_{macro_float(args.fc)}_{macro_float(args.fs)}__'):
-
-        print(f'/* {ordinal(args.n)} order Butterworth IIR filter coefficients')
-        print(f' *')
-        print(f' * corner frequency f_c = {siprefix(args.fc)}Hz')
-        print(f' * sampling rate f_s = {siprefix(args.fs)}Hz')
-        print(f' */')
-        print()
-        print(f'#define {args.macro_name.upper()}_ORDER {args.n}')
-        print(f'#define {args.macro_name.upper()}_CLEN {(args.n+1)//2}')
-
-        # scipy.signal.butter by default returns extremely small bs for the first biquad and large ones for subsequent
-        # sections. Balance magnitudes to reduce possible rounding errors.
-        first_biquad_bs = sos[0][:3]
-        approx_mag = round(math.log10(np.mean(first_biquad_bs)))
-        mags = [approx_mag // len(sos)] * len(sos)
-        mags[0] += approx_mag - sum(mags)
-        sos[0][:3] /= 10**approx_mag
-        sos = np.array([ sec * np.array([10**mag, 10**mag, 10**mag, 1, 1, 1]) for mag, sec in zip(mags, sos) ])
-
-        ones = np.ones([100000])
-        _, steady_state = sig.sosfilt(sos, ones, zi=np.zeros([(args.n+1)//2, 2]))
-
-        print(f'#define {args.macro_name.upper()}_COEFF ', end='')
-        for sec in sos:
-            bs, ases = sec[:3], sec[4:6]
-
-            with wrap():
-                print('.b=', end='')
-                with wrap():
-                    print(', '.join(f'{v}' for v in bs), end='')
-                print(', .a=', end='')
-                with wrap():
-                    print(', '.join(f'{v}' for v in ases), end='')
-            print(', ', end='')
-        print()
-
-        print(f'#define {args.macro_name.upper()}_STEADY_STATE ', end='')
-        for sec in steady_state:
-            with wrap():
-                print(', '.join(f'{v}' for v in sec), end='')
-            print(', ', end='')
-        print()
-
diff --git a/controller/fw/tools/crypto_test.c b/controller/fw/tools/crypto_test.c
deleted file mode 100644
index 410fac2..0000000
--- a/controller/fw/tools/crypto_test.c
+++ /dev/null
@@ -1,46 +0,0 @@
-
-#include <stdint.h>
-#include <math.h>
-#include <unistd.h>
-#include <stdio.h>
-#include <string.h>
-#include <errno.h>
-#include <stdlib.h>
-#include <sys/stat.h>
-#include <sys/types.h>
-#include <sys/fcntl.h>
-
-#include "crypto.h"
-
-void oob_trigger_activated(enum trigger_domain domain, int serial) {
-    printf("oob_trigger_activated(%d, %d)\n", domain, serial);
-    fflush(stdout);
-}
-
-void print_usage() {
-    fprintf(stderr, "Usage: crypto_test [auth_key_hex]\n");
-}
-
-int main(int argc, char **argv) {
-    if (argc != 2) {
-        fprintf(stderr, "Error: Invalid arguments.\n");
-        print_usage();
-        return 1;
-    }
-
-    uint8_t auth_key[16];
-
-    for (size_t i=0; argv[1][i+0] != '\0' && argv[1][i+1] != '\0' && i/2<sizeof(auth_key); i+= 2) {
-        char buf[3] = { argv[1][i+0], argv[1][i+1], 0};
-        char *endptr;
-        auth_key[i/2] = strtoul(buf, &endptr, 16);
-        if (!endptr || *endptr != '\0') {
-            fprintf(stderr, "Invalid authkey\n");
-            return 1;
-        }
-    }
-
-    printf("rc=%d\n", oob_message_received(auth_key));
-
-    return 0;
-}
diff --git a/controller/fw/tools/crypto_test_runner.py b/controller/fw/tools/crypto_test_runner.py
deleted file mode 100644
index 34c8b59..0000000
--- a/controller/fw/tools/crypto_test_runner.py
+++ /dev/null
@@ -1,46 +0,0 @@
-#!/usr/bin/env python3
-import subprocess
-from os import path
-import binascii
-import re
-
-import presig_gen
-
-def do_test(domain, value, height, root_key, binary, expect_fail=False):
-    auth = presig_gen.gen_at_height(domain, value, height, root_key)
-    auth = binascii.hexlify(auth).decode()
-
-    output = subprocess.check_output([binary, auth])
-    *lines, rc_line = output.decode().splitlines()
-    rc = int(re.match('^rc=(\d+)$', rc_line).group(1))
-    assert expect_fail == (rc == 0)
-
-def run_tests(root_key, max_height, binary):
-    for domain, value in {
-            'all': 'all',
-            'vendor': presig_gen.TEST_VENDOR,
-            'series': presig_gen.TEST_SERIES,
-            'country': presig_gen.TEST_COUNTRY,
-            'region': presig_gen.TEST_REGION,
-            }.items():
-        for height in range(max_height):
-            do_test(domain, value, height, root_key, binary)
-            do_test(domain, 'fail', height, root_key, binary, expect_fail=True)
-            do_test('fail', 'fail', height, root_key, binary, expect_fail=True)
-            do_test('', '', height, root_key, binary, expect_fail=True)
-        do_test(domain, value, max_height, root_key, binary, expect_fail=True)
-        do_test(domain, value, max_height+1, root_key, binary, expect_fail=True)
-
-if __name__ == '__main__':
-    import argparse
-    parser = argparse.ArgumentParser()
-    parser.add_argument('keyfile', help='Root key file')
-    parser.add_argument('max_height', type=int, default=8, nargs='?', help='Height of generated prekeys')
-    default_binary = path.abspath(path.join(path.dirname(__file__), '../build/tools/crypto_test'))
-    parser.add_argument('binary', default=default_binary, nargs='?', help='crypto_test binary to use')
-    args = parser.parse_args()
-
-    with open(args.keyfile, 'r') as f:
-        root_key = binascii.unhexlify(f.read().strip())
-
-    run_tests(root_key, args.max_height, args.binary)
diff --git a/controller/fw/tools/cwt_wavelet_header_gen.py b/controller/fw/tools/cwt_wavelet_header_gen.py
deleted file mode 100644
index 8be785b..0000000
--- a/controller/fw/tools/cwt_wavelet_header_gen.py
+++ /dev/null
@@ -1,29 +0,0 @@
-#!/usr/bin/env python3
-
-import textwrap
-
-import scipy.signal as sig
-import numpy as np
-
-if __name__ == '__main__':
-    import argparse
-    parser = argparse.ArgumentParser()
-    parser.add_argument('n', type=int, help='Window size')
-    parser.add_argument('w', type=float, help='Wavelet width')
-    parser.add_argument('-v', '--variable', default='cwt_ricker_table', help='Name for alias variable pointing to generated wavelet LUT')
-    args = parser.parse_args()
-    
-    print(f'/* CWT Ricker wavelet LUT for {args.n} sample window of width {args.w}. */')
-    varname = f'cwt_ricker_{args.n}_window_{str(args.w).replace(".", "F")}'
-    print(f'const float {varname}[{args.n}] = {{')
-
-    win = sig.ricker(args.n, args.w)
-    par = ' '.join(f'{f:>015.12e}f,' for f in win)
-    print(textwrap.fill(par,
-        initial_indent=' '*4, subsequent_indent=' '*4,
-        width=120,
-        replace_whitespace=False, drop_whitespace=False))
-    print('};')
-    print()
-    print(f'const float * const {args.variable} __attribute__((weak)) = {varname};')
-
diff --git a/controller/fw/tools/dsss_demod_test.c b/controller/fw/tools/dsss_demod_test.c
deleted file mode 100644
index f7df111..0000000
--- a/controller/fw/tools/dsss_demod_test.c
+++ /dev/null
@@ -1,109 +0,0 @@
-
-#include <stdint.h>
-#include <math.h>
-#include <unistd.h>
-#include <stdio.h>
-#include <string.h>
-#include <errno.h>
-#include <stdlib.h>
-#include <sys/stat.h>
-#include <sys/types.h>
-#include <sys/fcntl.h>
-
-#include "dsss_demod.h"
-
-void handle_dsss_received(symbol_t data[static TRANSMISSION_SYMBOLS]) {
-    printf("data sequence received: [ ");
-    for (size_t i=0; i<TRANSMISSION_SYMBOLS; i++) {
-        //printf("%+3d", ((data[i]&1) ? 1 : -1) * (data[i]>>1));
-        printf("%2d", data[i]);
-        if (i+1 < TRANSMISSION_SYMBOLS)
-            printf(", ");
-    }
-    printf(" ]\n");
-}
-
-void print_usage() {
-    fprintf(stderr, "Usage: dsss_demod_test [test_data.bin] [optional recording channel number]\n");
-}
-
-int main(int argc, char **argv) {
-    if (argc != 2 && argc != 3) {
-        fprintf(stderr, "Error: Invalid arguments.\n");
-        print_usage();
-        return 1;
-    }
-
-    int fd = open(argv[1], O_RDONLY);
-    struct stat st;
-    if (fstat(fd, &st)) {
-        fprintf(stderr, "Error querying test data file size: %s\n", strerror(errno));
-        return 2;
-    }
-
-    if (st.st_size < 0 || st.st_size > 10000000) {
-        fprintf(stderr, "Error reading test data: too much test data (size=%zd)\n", st.st_size);
-        return 2;
-    }
-
-    if (st.st_size % sizeof(float) != 0) {
-        fprintf(stderr, "Error reading test data: file size is not divisible by %zd (size=%zd)\n", sizeof(float), st.st_size);
-        return 2;
-    }
-
-    char *buf = malloc(st.st_size);
-    if (!buf) {
-        fprintf(stderr, "Error allocating memory");
-        return 2;
-    }
-
-    int record_channel = -1;
-    if (argc == 3) {
-        char *endptr;
-        record_channel = strtoul(argv[2], &endptr, 10);
-        if (!endptr || *endptr != '\0') {
-            fprintf(stderr, "Invalid channel number \"%s\"\n", argv[2]);
-            return 1;
-        }
-    }
-
-    if (record_channel != -1)
-        fprintf(stderr, "Reading %zd samples test data...", st.st_size/sizeof(float));
-    ssize_t nread = 0;
-    while (nread < st.st_size) {
-        ssize_t rc = read(fd, buf + nread, st.st_size - nread);
-
-        if (rc == -EINTR || rc == -EAGAIN)
-            continue;
-
-        if (rc < 0) {
-            fprintf(stderr, "\nError reading test data: %s\n", strerror(errno));
-            return 2;
-        }
-        
-        if (rc == 0) {
-            fprintf(stderr, "\nError reading test data: Unexpected end of file\n");
-            return 2;
-        }
-
-        nread += rc;
-    }
-    if (record_channel != -1)
-        fprintf(stderr, " done.\n");
-
-    const size_t n_samples = st.st_size / sizeof(float);
-    float *buf_f = (float *)buf;
-
-    if (record_channel != -1)
-        fprintf(stderr, "Starting simulation.\n");
-
-    struct dsss_demod_state demod;
-    dsss_demod_init(&demod);
-    for (size_t i=0; i<n_samples; i++) {
-        //fprintf(stderr, "Iteration %zd/%zd\n", i, n_samples);
-        dsss_demod_step(&demod, buf_f[i], i);
-    }
-
-    free(buf);
-    return 0;
-}
diff --git a/controller/fw/tools/dsss_demod_test_runner.py b/controller/fw/tools/dsss_demod_test_runner.py
deleted file mode 100644
index d3c3cfc..0000000
--- a/controller/fw/tools/dsss_demod_test_runner.py
+++ /dev/null
@@ -1,241 +0,0 @@
-#!/usr/bin/env python3
-
-import os
-import sys
-from os import path
-import subprocess
-import json
-from collections import namedtuple, defaultdict
-from tqdm import tqdm
-import uuid
-import multiprocessing
-import sqlite3 
-import time
-from urllib.parse import urlparse
-import tempfile
-import itertools
-
-import numpy as np
-np.set_printoptions(linewidth=240)
-
-from dsss_demod_test_waveform_gen import load_noise_gen, modulate as dsss_modulate
-
-
-def build_test_binary(nbits, thf, decimation, symbols, cachedir):
-    build_id = str(uuid.uuid4())
-    builddir = path.join(cachedir, build_id)
-    os.mkdir(builddir)
-
-    cwd = path.join(path.dirname(__file__), '..')
-
-    env = os.environ.copy()
-    env['BUILDDIR'] = path.abspath(builddir)
-    env['DSSS_GOLD_CODE_NBITS'] = str(nbits)
-    env['DSSS_DECIMATION'] = str(decimation)
-    env['DSSS_THRESHOLD_FACTOR'] = str(thf)
-    env['DSSS_WAVELET_WIDTH'] = str(0.73 * decimation)
-    env['DSSS_WAVELET_LUT_SIZE'] = str(10 * decimation)
-    env['TRANSMISSION_SYMBOLS'] = str(symbols)
-
-    with open(path.join(builddir, 'make_stdout.txt'), 'w') as stdout,\
-         open(path.join(builddir, 'make_stderr.txt'), 'w') as stderr:
-        subprocess.run(['make', 'clean', os.path.abspath(path.join(builddir, 'tools/dsss_demod_test'))],
-                env=env, cwd=cwd, check=True, stdout=stdout, stderr=stderr)
-
-    return build_id
-
-def sequence_matcher(test_data, decoded, max_shift=3):
-    match_result = []
-    for shift in range(-max_shift, max_shift):
-        failures = -shift if shift < 0 else 0 # we're skipping the first $shift symbols
-        a = test_data if shift > 0 else test_data[-shift:]
-        b = decoded if shift < 0 else decoded[shift:]
-        for i, (ref, found) in enumerate(itertools.zip_longest(a, b)):
-            if ref is None: # end of signal
-                break
-            if ref != found:
-                failures += 1
-        match_result.append(failures)
-    failures = min(match_result)
-    return failures/len(test_data)
-
-ResultParams = namedtuple('ResultParams', ['nbits', 'thf', 'decimation', 'symbols', 'seed', 'amplitude', 'background'])
-
-def run_test(seed, amplitude_spec, background, nbits, decimation, symbols, thfs, lookup_binary, cachedir):
-    noise_gen, noise_params = load_noise_gen(background)
-
-    test_data = np.random.RandomState(seed=seed).randint(0, 2 * (2**nbits), symbols)
-    
-    signal = np.repeat(dsss_modulate(test_data, nbits) * 2.0 - 1, decimation)
-    # We're re-using the seed here. This is not a problem.
-    noise = noise_gen(seed, len(signal), *noise_params)
-    amplitudes = amplitude_spec[0] * 10 ** np.linspace(0, amplitude_spec[1], amplitude_spec[2])
-    # DEBUG
-    my_pid = multiprocessing.current_process().pid
-    wql = len(amplitudes) * len(thfs)
-    print(f'[{my_pid}] starting, got workqueue of length {wql}')
-    i = 0
-    # Map lsb to sign to match test program
-    # test_data = (test_data>>1) * (2*(test_data&1) - 1)
-    # END DEBUG
-
-    output = []
-    for amp in amplitudes:
-        with tempfile.NamedTemporaryFile(dir=cachedir) as f:
-            waveform = signal*amp + noise
-            f.write(waveform.astype('float32').tobytes())
-            f.flush()
-            # DEBUG
-            fcopy = f'/tmp/test-{path.basename(f.name)}'
-            import shutil
-            shutil.copy(f.name, fcopy)
-            # END DEBUG
-
-            for thf in thfs:
-                rpars = ResultParams(nbits, thf, decimation, symbols, seed, amp, background)
-                cmdline = [lookup_binary(nbits, thf, decimation, symbols), f.name]
-                # DEBUG
-                starttime = time.time()
-                # END DEBUG
-                try:
-                    proc = subprocess.run(cmdline, stdout=subprocess.PIPE, encoding='utf-8', check=True, timeout=300)
-
-                    lines = proc.stdout.splitlines()
-                    matched = [ l.partition('[')[2].partition(']')[0]
-                            for l in lines if l.strip().startswith('data sequence received:') ]
-                    matched = [ [ int(elem) for elem in l.split(',') ] for l in matched ]
-
-                    ser = min(sequence_matcher(test_data, match) for match in matched) if matched else None
-                    output.append((rpars, ser))
-                    # DEBUG
-                    #print(f'[{my_pid}] ran {i}/{wql}: time={time.time() - starttime}\n    {ser=}\n    {rpars}\n    {" ".join(cmdline)}\n    {fcopy}', flush=True)
-                    i += 1
-                    # END DEBUG
-
-                except subprocess.TimeoutExpired:
-                    output.append((rpars, None))
-                    # DEBUG
-                    print(f'[{my_pid}] ran {i}/{wql}: Timeout!\n    {rpars}\n    {" ".join(cmdline)}\n    {fcopy}', flush=True)
-                    i += 1
-                    # END DEBUG
-    print(f'[{my_pid}] finished.')
-    return output
-
-def parallel_generator(db, table, columns, builder, param_list, desc, context={}, params_mapper=lambda *args: args,
-        disable_cache=False):
-    with multiprocessing.Pool(multiprocessing.cpu_count()) as pool:
-        with db as conn:
-            jobs = []
-            for params in param_list:
-                found_res = conn.execute(
-                            f'SELECT result FROM {table} WHERE ({",".join(columns)}) = ({",".join("?"*len(columns))})',
-                        params_mapper(*params)).fetchone()
-
-                if found_res and not disable_cache:
-                    yield params, json.loads(*found_res)
-
-                else:
-                    jobs.append((params, pool.apply_async(builder, params, context)))
-
-        pool.close()
-        print('Using', len(param_list) - len(jobs), 'cached jobs', flush=True)
-        with tqdm(total=len(jobs), desc=desc) as tq:
-            for i, (params, res) in enumerate(jobs):
-                # DEBUG
-                print('Got result', i, params, res)
-                # END DEBUG
-                tq.update(1)
-                result = res.get()
-                with db as conn:
-                    conn.execute(f'INSERT INTO {table} VALUES ({"?,"*len(params)}?,?)',
-                            (*params_mapper(*params), json.dumps(result), timestamp()))
-                yield params, result
-        pool.join()
-
-if __name__ == '__main__':
-    import argparse
-    parser = argparse.ArgumentParser()
-    parser.add_argument('-d', '--dump', help='Write results to JSON file')
-    parser.add_argument('-c', '--cachedir', default='dsss_test_cache', help='Directory to store build output and data in')
-    parser.add_argument('-n', '--no-cache', action='store_true', help='Disable result cache')
-    parser.add_argument('-b', '--batches', type=int, default=1, help='Number of batches to split the computation into')
-    parser.add_argument('-i', '--index', type=int, default=0, help='Batch index to compute')
-    parser.add_argument('-p', '--prepare', action='store_true', help='Prepare mode: compile runners, then exit.')
-    args = parser.parse_args()
-
-    DecoderParams = namedtuple('DecoderParams', ['nbits', 'thf', 'decimation', 'symbols'])
-#    dec_paramses = [ DecoderParams(nbits=nbits, thf=thf, decimation=decimation, symbols=20)
-#            for nbits in [5, 6]
-#            for thf in [4.5, 4.0, 5.0]
-#            for decimation in [10, 5, 22] ]
-    dec_paramses = [ DecoderParams(nbits=nbits, thf=thf, decimation=decimation, symbols=100)
-            for nbits in [5, 6]
-            for thf in [3.0, 3.5, 4.0, 4.5, 5.0, 5.5, 6.0, 6.5, 7.0, 7.5, 8.0, 8.5, 9.0, 9.5, 10.0]
-            for decimation in [1, 2, 3, 4, 5, 6, 9, 10, 11, 12, 16, 22, 30, 40, 50] ]
-#    dec_paramses = [ DecoderParams(nbits=nbits, thf=thf, decimation=decimation, symbols=100)
-#            for nbits in [5, 6, 7, 8]
-#            for thf in [1.5, 2.0, 2.5, 3.0, 3.5, 4.0, 4.5, 5.0, 5.5, 6.0, 6.5, 7.0, 7.5, 8.0, 8.5, 9.0, 9.5, 10.0]
-#            for decimation in [1, 2, 3, 4, 5, 6, 9, 10, 11, 12, 16, 22, 30, 40, 50] ]
-
-    build_cache_dir = path.join(args.cachedir, 'builds')
-    data_cache_dir = path.join(args.cachedir, 'data')
-    os.makedirs(build_cache_dir, exist_ok=True)
-    os.makedirs(data_cache_dir, exist_ok=True)
-
-    build_db = sqlite3.connect(path.join(args.cachedir, 'build_db.sqlite3'))
-    build_db.execute('CREATE TABLE IF NOT EXISTS builds (nbits, thf, decimation, symbols, result, timestamp)')
-    timestamp = lambda: int(time.time()*1000)
-
-    builds = dict(parallel_generator(build_db, table='builds', columns=['nbits', 'thf', 'decimation', 'symbols'],
-            builder=build_test_binary, param_list=dec_paramses, desc='Building decoders',
-            context=dict(cachedir=build_cache_dir)))
-    print('Done building decoders.')
-    if args.prepare:
-        sys.exit(0)
-
-    GeneratorParams = namedtuple('GeneratorParams', ['seed', 'amplitude_spec', 'background'])
-    gen_params = [ GeneratorParams(rep, (5e-3, 1, 5), background)
-            #GeneratorParams(rep, (0.05e-3, 3.5, 50), background)
-            for rep in range(50)
-            for background in ['meas://fmeas_export_ocxo_2day.bin', 'synth://grid_freq_psd_spl_108pt.json'] ]
-#    gen_params = [ GeneratorParams(rep, (5e-3, 1, 5), background)
-#            for rep in range(1)
-#            for background in ['meas://fmeas_export_ocxo_2day.bin'] ]
-
-    data_db = sqlite3.connect(path.join(args.cachedir, 'data_db.sqlite3'))
-    data_db.execute('CREATE TABLE IF NOT EXISTS waveforms'
-                    '(seed, amplitude_spec, background, nbits, decimation, symbols, thresholds, result, timestamp)')
-
-    'SELECT FROM waveforms GROUP BY (amplitude_spec, background, nbits, decimation, symbols, thresholds, result)'
-
-    dec_param_groups = defaultdict(lambda: [])
-    for nbits, thf, decimation, symbols in dec_paramses:
-        dec_param_groups[(nbits, decimation, symbols)].append(thf)
-    waveform_params = [ (*gp, *dp, thfs) for gp in gen_params for dp, thfs in dec_param_groups.items() ]
-    print(f'Generated {len(waveform_params)} parameter sets')
-
-    # Separate out our batch
-    waveform_params = waveform_params[args.index::args.batches]
-
-    def lookup_binary(*params):
-        return path.join(build_cache_dir, builds[tuple(params)], 'tools/dsss_demod_test')
-
-    def params_mapper(seed, amplitude_spec, background, nbits, decimation, symbols, thresholds):
-        amplitude_spec = ','.join(str(x) for x in amplitude_spec)
-        thresholds = ','.join(str(x) for x in thresholds)
-        return seed, amplitude_spec, background, nbits, decimation, symbols, thresholds
-
-    results = []
-    for _params, chunk in parallel_generator(data_db, 'waveforms',
-            ['seed', 'amplitude_spec', 'background', 'nbits', 'decimation', 'symbols', 'thresholds'],
-            params_mapper=params_mapper,
-            builder=run_test,
-            param_list=waveform_params, desc='Simulating demodulation',
-            context=dict(cachedir=data_cache_dir, lookup_binary=lookup_binary),
-            disable_cache=args.no_cache):
-        results += chunk
-
-    if args.dump:
-        with open(args.dump, 'w') as f:
-            json.dump(results, f)
-
diff --git a/controller/fw/tools/dsss_demod_test_waveform_gen.py b/controller/fw/tools/dsss_demod_test_waveform_gen.py
deleted file mode 100644
index 414c553..0000000
--- a/controller/fw/tools/dsss_demod_test_waveform_gen.py
+++ /dev/null
@@ -1,86 +0,0 @@
-
-from os import path
-import json
-import functools
-
-import numpy as np
-import numbers
-import math
-from scipy import signal as sig
-import scipy.fftpack
-
-sampling_rate = 10 # sp/s
-
-# From https://github.com/mubeta06/python/blob/master/signal_processing/sp/gold.py
-preferred_pairs = {5:[[2],[1,2,3]], 6:[[5],[1,4,5]], 7:[[4],[4,5,6]],
-                        8:[[1,2,3,6,7],[1,2,7]], 9:[[5],[3,5,6]], 
-                        10:[[2,5,9],[3,4,6,8,9]], 11:[[9],[3,6,9]]}
-
-def gen_gold(seq1, seq2):
-    gold = [seq1, seq2]
-    for shift in range(len(seq1)):
-        gold.append(seq1 ^ np.roll(seq2, -shift))
-    return gold
-
-def gold(n):
-    n = int(n)
-    if not n in preferred_pairs:
-        raise KeyError('preferred pairs for %s bits unknown' % str(n))
-    t0, t1 = preferred_pairs[n]
-    (seq0, _st0), (seq1, _st1) = sig.max_len_seq(n, taps=t0), sig.max_len_seq(n, taps=t1)
-    return gen_gold(seq0, seq1)
-
-def modulate(data, nbits=5):
-    # 0, 1 -> -1, 1
-    mask = np.array(gold(nbits))*2 - 1
-    
-    sel = mask[data>>1]
-    data_lsb_centered = ((data&1)*2 - 1)
-
-    signal = (np.multiply(sel, np.tile(data_lsb_centered, (2**nbits-1, 1)).T).flatten() + 1) // 2
-    return np.hstack([ np.zeros(len(mask)), signal, np.zeros(len(mask)) ])
-
-def load_noise_meas_params(capture_file):
-    with open(capture_file, 'rb') as f:
-        meas_data = np.copy(np.frombuffer(f.read(), dtype='float32'))
-        meas_data -= np.mean(meas_data)
-        return (meas_data,)
-
-def mains_noise_measured(seed, n, meas_data):
-    last_valid = len(meas_data) - n
-    st = np.random.RandomState(seed)
-    start = st.randint(last_valid)
-    return meas_data[start:start+n] + 50.00
-
-def load_noise_synth_params(specfile):
-    with open(specfile) as f:
-        d = json.load(f)
-        return {'spl_x': np.linspace(*d['x_spec']),
-                'spl_N': d['x_spec'][2],
-                'psd_spl': (d['t'], d['c'], d['k']) }
-
-def mains_noise_synthetic(seed, n, psd_spl, spl_N, spl_x):
-    st = np.random.RandomState(seed)
-    noise = st.normal(size=spl_N) * 2
-    spec = scipy.fftpack.fft(noise) **2
-
-    spec *= np.exp(scipy.interpolate.splev(spl_x, psd_spl))
-
-    spec **= 1/2
-    
-    renoise = scipy.fftpack.ifft(spec)
-    return renoise[10000:][:n] + 50.00
-
-@functools.lru_cache()
-def load_noise_gen(url):
-    schema, refpath = url.split('://')
-    if not path.isabs(refpath):
-        refpath = path.abspath(path.join(path.dirname(__file__), refpath))
-
-    if schema == 'meas':
-        return mains_noise_measured, load_noise_meas_params(refpath)
-    elif schema == 'synth':
-        return mains_noise_synthetic, load_noise_synth_params(refpath)
-    else:
-        raise ValueError('Invalid schema', schema)
-
diff --git a/controller/fw/tools/e2e_test.c b/controller/fw/tools/e2e_test.c
deleted file mode 100644
index 935f70d..0000000
--- a/controller/fw/tools/e2e_test.c
+++ /dev/null
@@ -1,111 +0,0 @@
-
-#include <stdint.h>
-#include <math.h>
-#include <unistd.h>
-#include <stdio.h>
-#include <string.h>
-#include <errno.h>
-#include <stdlib.h>
-#include <sys/stat.h>
-#include <sys/types.h>
-#include <sys/fcntl.h>
-
-#include "freq_meas.h"
-#include "dsss_demod.h"
-
-typedef uint16_t adc_data_t;
-
-void handle_dsss_received(uint8_t data[static TRANSMISSION_SYMBOLS]) {
-    printf("data sequence received: [ ");
-    for (size_t i=0; i<TRANSMISSION_SYMBOLS; i++) {
-        printf("%+3d", ((data[i]&1) ? 1 : -1) * (data[i]>>1));
-        if (i+1 < TRANSMISSION_SYMBOLS)
-            printf(", ");
-    }
-    printf(" ]\n");
-}
-
-void print_usage(void);
-void print_usage() {
-    fprintf(stderr, "Usage: e2e_test [emulated_adc_data.bin]\n");
-}
-
-int main(int argc, char **argv) {
-    if (argc != 2) {
-        fprintf(stderr, "Error: Invalid arguments.\n");
-        print_usage();
-        return 1;
-    }
-
-    int fd = open(argv[1], O_RDONLY);
-    struct stat st;
-    if (fstat(fd, &st)) {
-        fprintf(stderr, "Error querying test data file size: %s\n", strerror(errno));
-        return 2;
-    }
-
-    if (st.st_size < 0 || st.st_size > 100000000) {
-        fprintf(stderr, "Error reading test data: too much test data (size=%zd)\n", st.st_size);
-        return 2;
-    }
-
-    if (st.st_size % sizeof(adc_data_t) != 0) {
-        fprintf(stderr, "Error reading test data: file size is not divisible by %zd (size=%zd)\n", sizeof(adc_data_t), st.st_size);
-        return 2;
-    }
-
-    char *buf = malloc(st.st_size);
-    if (!buf) {
-        fprintf(stderr, "Error allocating memory");
-        return 2;
-    }
-
-    const size_t n_samples = st.st_size / sizeof(adc_data_t);
-    fprintf(stderr, "Reading %zd samples test data...", n_samples);
-    ssize_t nread = 0;
-    while (nread < st.st_size) {
-        ssize_t rc = read(fd, buf + nread, st.st_size - nread);
-
-        if (rc == -EINTR || rc == -EAGAIN)
-            continue;
-
-        if (rc < 0) {
-            fprintf(stderr, "\nError reading test data: %s\n", strerror(errno));
-            return 2;
-        }
-        
-        if (rc == 0) {
-            fprintf(stderr, "\nError reading test data: Unexpected end of file\n");
-            return 2;
-        }
-
-        nread += rc;
-    }
-    fprintf(stderr, " done. Read %zd bytes.\n", nread);
-
-    adc_data_t *buf_d = (adc_data_t *)buf;
-
-    struct dsss_demod_state demod;
-    dsss_demod_init(&demod);
-
-    fprintf(stderr, "Starting simulation.\n");
-    size_t iterations = (n_samples-FMEAS_FFT_LEN)/(FMEAS_FFT_LEN/2);
-    for (size_t i=0; i<iterations; i++) {
-
-        /*
-        fprintf(stderr, "Iteration %zd/%zd\n", i, iterations);
-        */
-        float res = NAN;
-        int rc = adc_buf_measure_freq(buf_d + i*(FMEAS_FFT_LEN/2), &res);
-        if (rc)
-            printf("ERROR: Simulation error in iteration %zd at position %zd: %d\n", i, i*(FMEAS_FFT_LEN/2), rc);
-
-        dsss_demod_step(&demod, res, i);
-        /*
-        printf("%09zd %12f\n", i, res);
-        */
-    }
-    
-    free(buf);
-    return 0;
-}
diff --git a/controller/fw/tools/fft_window_header_gen.py b/controller/fw/tools/fft_window_header_gen.py
deleted file mode 100644
index 7df2ee3..0000000
--- a/controller/fw/tools/fft_window_header_gen.py
+++ /dev/null
@@ -1,59 +0,0 @@
-#!/usr/bin/env python3
-
-import textwrap
-
-import scipy.signal as sig
-import numpy as np
-
-WINDOW_TYPES = [
-        'boxcar',
-        'triang',
-        'blackman',
-        'hamming',
-        'hann',
-        'bartlett',
-        'flattop',
-        'parzen',
-        'bohman',
-        'blackmanharris',
-        'nuttall',
-        'barthann',
-        'kaiser',
-        'gaussian',
-        'general_gaussian',
-        'slepian',
-        'dpss',
-        'chebwin',
-        'exponential',
-        'tukey',
-        ]
-
-if __name__ == '__main__':
-    import argparse
-    parser = argparse.ArgumentParser()
-    parser.add_argument('window', choices=WINDOW_TYPES, help='Type of window function to use')
-    parser.add_argument('n', type=int, help='Width of window in samples')
-    parser.add_argument('window_args', nargs='*', type=float,
-            help='''Window argument(s) if required. See https://docs.scipy.org/doc/scipy/reference/generated/scipy.signal.get_window.html#scipy.signal.get_window for details.''')
-    parser.add_argument('-v', '--variable', default='fft_window_table', help='Name for alias variable pointing to generated window')
-    args = parser.parse_args()
-    
-    print(f'/* FTT window table for {args.n} sample {args.window} window.')
-    if args.window_args:
-        print(f' * Window arguments were: ({" ,".join(str(arg) for arg in args.window_args)})')
-    print(f' */')
-    winargs = ''.join(f'_{arg:.4g}'.replace('.', 'F') for arg in args.window_args)
-    varname = f'fft_{args.n}_window_{args.window}{winargs}'
-    print(f'const float {varname}[{args.n}] = {{')
-
-    win = sig.get_window(args.window if not args.window_args else (args.window, *args.window_args),
-            Nx=args.n, fftbins=True)
-    par = ' '.join(f'{f:>013.8g},' for f in win)
-    print(textwrap.fill(par,
-        initial_indent=' '*4, subsequent_indent=' '*4,
-        width=120,
-        replace_whitespace=False, drop_whitespace=False))
-    print('};')
-    print()
-    print(f'const float * const {args.variable} __attribute__((weak)) = {varname};')
-
diff --git a/controller/fw/tools/fmeas_export_ocxo_2day.bin b/controller/fw/tools/fmeas_export_ocxo_2day.bin
deleted file mode 100644
index c0cd8a8..0000000
--- a/controller/fw/tools/fmeas_export_ocxo_2day.bin
+++ /dev/null
diff --git a/controller/fw/tools/freq_meas_test.c b/controller/fw/tools/freq_meas_test.c
deleted file mode 100644
index e2900ad..0000000
--- a/controller/fw/tools/freq_meas_test.c
+++ /dev/null
@@ -1,106 +0,0 @@
-
-#include <stdint.h>
-#include <math.h>
-#include <unistd.h>
-#include <stdio.h>
-#include <string.h>
-#include <errno.h>
-#include <stdlib.h>
-#include <sys/stat.h>
-#include <sys/types.h>
-#include <sys/fcntl.h>
-
-#include "freq_meas.h"
-
-void print_usage(void);
-
-void print_usage() {
-    fprintf(stderr, "Usage: freq_meas_test [test_data.bin]\n");
-}
-
-int main(int argc, char **argv) {
-    if (argc != 2) {
-        fprintf(stderr, "Error: Invalid arguments.\n");
-        print_usage();
-        return 1;
-    }
-
-    int fd = open(argv[1], O_RDONLY);
-    struct stat st;
-    if (fstat(fd, &st)) {
-        fprintf(stderr, "Error querying test data file size: %s\n", strerror(errno));
-        return 2;
-    }
-
-    if (st.st_size < 0 || st.st_size > 1000000) {
-        fprintf(stderr, "Error reading test data: too much test data (size=%zd)\n", st.st_size);
-        return 2;
-    }
-
-    if (st.st_size % sizeof(float) != 0) {
-        fprintf(stderr, "Error reading test data: file size is not divisible by %zd (size=%zd)\n", sizeof(float), st.st_size);
-        return 2;
-    }
-
-    char *buf = malloc(st.st_size);
-    if (!buf) {
-        fprintf(stderr, "Error allocating memory");
-        return 2;
-    }
-
-    fprintf(stderr, "Reading %zd samples test data...", st.st_size/sizeof(float));
-    ssize_t nread = 0;
-    while (nread < st.st_size) {
-        ssize_t rc = read(fd, buf + nread, st.st_size - nread);
-
-        if (rc == -EINTR || rc == -EAGAIN)
-            continue;
-
-        if (rc < 0) {
-            fprintf(stderr, "\nError reading test data: %s\n", strerror(errno));
-            return 2;
-        }
-        
-        if (rc == 0) {
-            fprintf(stderr, "\nError reading test data: Unexpected end of file\n");
-            return 2;
-        }
-
-        nread += rc;
-    }
-    fprintf(stderr, " done.\n");
-
-    const size_t n_samples = st.st_size / sizeof(float);
-    float *buf_f = (float *)buf;
-
-    int16_t *sim_adc_buf = calloc(sizeof(int16_t), n_samples);
-    if (!sim_adc_buf) {
-        fprintf(stderr, "Error allocating memory\n");
-        return 2;
-    }
-
-    fprintf(stderr, "Converting and truncating test data...");
-    for (size_t i=0; i<n_samples; i++)
-        /* Note on scaling: We can't simply scale by 0x8000 (1/2 full range) here. Our test data is nominally 1Vp-p but
-         * certain tests such as the interharmonics one can have some samples exceeding that range. */
-        sim_adc_buf[i] = buf_f[i] * (0x4000-1);
-    fprintf(stderr, " done.\n");
-
-    fprintf(stderr, "Starting simulation.\n");
-
-    size_t iterations = (n_samples-FMEAS_FFT_LEN)/(FMEAS_FFT_LEN/2);
-    for (size_t i=0; i<iterations; i++) {
-
-        fprintf(stderr, "Iteration %zd/%zd\n", i, iterations);
-        float res = NAN;
-        int rc = adc_buf_measure_freq(sim_adc_buf + i*(FMEAS_FFT_LEN/2), &res);
-        if (rc)
-            printf("ERROR: Simulation error in iteration %zd at position %zd: %d\n", i, i*(FMEAS_FFT_LEN/2), rc);
-
-        printf("%09zd %12f\n", i, res);
-    }
-    
-    free(buf);
-    free(sim_adc_buf);
-    return 0;
-}
diff --git a/controller/fw/tools/freq_meas_test_runner.py b/controller/fw/tools/freq_meas_test_runner.py
deleted file mode 100644
index 779922a..0000000
--- a/controller/fw/tools/freq_meas_test_runner.py
+++ /dev/null
@@ -1,39 +0,0 @@
-#!/usr/bin/env python3
-
-import os
-from os import path
-import subprocess
-import json
-
-import numpy as np
-np.set_printoptions(linewidth=240)
-
-
-if __name__ == '__main__':
-    import argparse
-    parser = argparse.ArgumentParser()
-    parser.add_argument(metavar='test_data_directory', dest='dir', help='Directory with test data .bin files')
-    default_binary = path.abspath(path.join(path.dirname(__file__), '../build/tools/freq_meas_test'))
-    parser.add_argument(metavar='test_binary', dest='binary', nargs='?', default=default_binary)
-    parser.add_argument('-d', '--dump', help='Write raw measurements to JSON file')
-    args = parser.parse_args()
-
-    bin_files = [ path.join(args.dir, d) for d in os.listdir(args.dir) if d.lower().endswith('.bin') ]
-
-    savedata = {}
-    for p in bin_files:
-        output = subprocess.check_output([args.binary, p], stderr=subprocess.DEVNULL)
-        measurements = np.array([ float(value) for _offset, value in [ line.split() for line in output.splitlines() ] ])
-        savedata[p] = list(measurements)
-
-        # Cut off first and last sample for mean and RMS calculations as these show boundary effects.
-        measurements = measurements[1:-1]
-        mean = np.mean(measurements)
-        rms = np.sqrt(np.mean(np.square(measurements - mean)))
-
-        print(f'{path.basename(p):<60}:    mean={mean:<8.4f}Hz rms={rms*1000:.3f}mHz')
-
-    if args.dump:
-        with open(args.dump, 'w') as f:
-            json.dump(savedata, f)
-
diff --git a/controller/fw/tools/gold_code_header_gen.py b/controller/fw/tools/gold_code_header_gen.py
deleted file mode 100644
index fa98fce..0000000
--- a/controller/fw/tools/gold_code_header_gen.py
+++ /dev/null
@@ -1,70 +0,0 @@
-#!/usr/bin/env python3
-
-import sys
-import math
-import textwrap
-import contextlib
-
-import numpy as np
-import scipy.signal as sig
-
-# From https://github.com/mubeta06/python/blob/master/signal_processing/sp/gold.py
-preferred_pairs = {5:[[2],[1,2,3]], 6:[[5],[1,4,5]], 7:[[4],[4,5,6]],
-                        8:[[1,2,3,6,7],[1,2,7]], 9:[[5],[3,5,6]], 
-                        10:[[2,5,9],[3,4,6,8,9]], 11:[[9],[3,6,9]]}
-
-def gen_gold(seq1, seq2):
-    gold = [seq1, seq2]
-    for shift in range(len(seq1)):
-        gold.append(seq1 ^ np.roll(seq2, -shift))
-    return gold
-
-def gold(n):
-    n = int(n)
-    if not n in preferred_pairs:
-        raise KeyError('preferred pairs for %s bits unknown' % str(n))
-    t0, t1 = preferred_pairs[n]
-    (seq0, _st0), (seq1, _st1) = sig.max_len_seq(n, taps=t0), sig.max_len_seq(n, taps=t1)
-    return gen_gold(seq0, seq1)
-
-@contextlib.contextmanager
-def print_include_guards(macro_name):
-    print(f'#ifndef {macro_name}')
-    print(f'#define {macro_name}')
-    yield
-    print(f'#endif /* {macro_name} */')
-
-if __name__ == '__main__':
-    import argparse
-    parser = argparse.ArgumentParser(add_help=False)
-    parser.add_argument('n', type=int, choices=preferred_pairs, help='bit width of shift register. Generate 2**n + 1 sequences of length 2**n - 1.')
-    parser.add_argument('-v', '--variable', default='gold_code_table', help='Name for weak alias of generated table')
-    parser.add_argument('-h', '--header', action='store_true', help='Generate header file')
-    parser.add_argument('-c', '--source', action='store_true', help='Generate table source file')
-    args = parser.parse_args()
-
-    if not args.header != args.source:
-        print('Exactly one of --header and --source must be given.', file=sys.stderr)
-        sys.exit(1)
-
-    nbytes = math.ceil((2**args.n-1)/8)
-
-    if args.source:
-        print('/* THIS IS A GENERATED FILE. DO NOT EDIT! */')
-        print('#include <unistd.h>')
-        print('#include <stdint.h>')
-        print()
-        print(f'/* {args.n} bit gold sequences: {2**args.n+1} sequences of length {2**args.n-1} bit.')
-        print(f' *')
-        print(f' * Each code is packed left-aligned into {nbytes} bytes in big-endian byte order.')
-        print(f' */')
-        print(f'const uint8_t {args.variable}[{2**args.n+1}][{nbytes}] = {{')
-        for i, code in enumerate(gold(args.n)):
-            par = '{' + ' '.join(f'0x{d:02x},' for d in np.packbits(code)) + f'}}, /* {i: 3d} "{"".join(str(x) for x in code)}" */'
-            print(textwrap.fill(par, initial_indent=' '*4, subsequent_indent=' '*4, width=120))
-        print('};')
-        print()
-    else:
-        print('/* THIS IS A GENERATED FILE. DO NOT EDIT! */')
-        with print_include_guards(f'__GOLD_CODE_GENERATED_HEADER_{args.n}__'):
-            print(f'extern const uint8_t {args.variable}[{2**args.n+1}][{nbytes}];')
diff --git a/controller/fw/tools/grid_freq_psd_spl_108pt.json b/controller/fw/tools/grid_freq_psd_spl_108pt.json
deleted file mode 100644
index 5a0ff41..0000000
--- a/controller/fw/tools/grid_freq_psd_spl_108pt.json
+++ /dev/null
@@ -1 +0,0 @@
-{"x_spec": [3.2595692805152726e-05, 5.0, 613575], "t": [3.2595692805152726e-05, 3.2595692805152726e-05, 3.2595692805152726e-05, 3.2595692805152726e-05, 0.0001423024947075771, 0.00015800362803968106, 0.00017543716661470822, 0.00019479425764873777, 0.0002162871388378975, 0.00024015146540428407, 0.00026664889389955537, 0.00029606995109590574, 0.00032873721941990017, 0.0003650088738553592, 0.0004052826090950758, 0.00045000000000000004, 0.000499651343175437, 0.0005547810327489297, 0.0006159935292916862, 0.0006839599873288199, 0.0007594256141046668, 0.0008432178402871724, 0.0009362553921977272, 0.0010395583650374223, 0.0011542594075560205, 0.001281616140796111, 0.0014230249470757708, 0.001580036280396809, 0.0017543716661470824, 0.0019479425764873776, 0.002162871388378975, 0.0024015146540428403, 0.002666488938995554, 0.002960699510959057, 0.0032873721941990056, 0.0036500887385535925, 0.004052826090950754, 0.0045000000000000005, 0.00499651343175437, 0.005547810327489296, 0.006159935292916869, 0.0068395998732882, 0.007594256141046669, 0.008432178402871724, 0.009362553921977271, 0.010395583650374221, 0.011542594075560205, 0.012816161407961109, 0.014230249470757707, 0.01580036280396809, 0.017543716661470823, 0.01947942576487376, 0.02162871388378975, 0.024015146540428405, 0.026664889389955565, 0.02960699510959057, 0.03287372194199005, 0.036500887385535925, 0.04052826090950754, 0.045, 0.0499651343175437, 0.05547810327489296, 0.06159935292916863, 0.06839599873288206, 0.07594256141046668, 0.08432178402871732, 0.09362553921977272, 0.10395583650374222, 0.11542594075560206, 0.12816161407961107, 0.14230249470757705, 0.15800362803968088, 0.1754371666147082, 0.1947942576487376, 0.21628713883789774, 0.24015146540428406, 0.26664889389955565, 0.2960699510959057, 0.32873721941990053, 0.36500887385535924, 0.40528260909507535, 0.45, 0.499651343175437, 0.5547810327489296, 0.6159935292916868, 0.6839599873288206, 0.7594256141046669, 0.8432178402871732, 0.9362553921977271, 1.0395583650374223, 1.1542594075560206, 1.2816161407961109, 1.4230249470757708, 1.5800362803968104, 1.7543716661470823, 1.9479425764873777, 2.162871388378975, 2.4015146540428405, 2.6664889389955535, 2.960699510959057, 3.287372194199002, 3.6500887385535927, 4.052826090950758, 4.5, 5.0, 5.0, 5.0, 5.0], "c": [0.7720161468716866, -0.5547528253056444, 0.30706059086000753, 0.19422577014134906, -1.1954636661840032, 0.9215976941641111, -0.6668136393976918, -1.341269161156733, -0.16311330594842666, -1.7639636752234251, -1.238385544822954, -0.32649555618555554, -0.03086589610280171, -2.358195657381619, -0.5759152419849985, 0.1892225800004134, -1.8122889670546236, -0.8109120798216202, -0.5500991736738969, -4.680192969256771, -2.8007700704649876, 0.16866469558571784, -1.1040811840849307, -3.0243574268705546, -4.018139927365795, -4.100581028618109, -0.556354762846191, -7.414377514669229, 1.36396325920194, -6.002559557058508, -2.2113451390305365, -4.578944771104116, -4.372644849632638, -3.945339124673235, -4.778747958903158, -2.370174137632325, -5.7372466088109295, -4.707506574819875, -4.834404729330929, -5.005244244061701, -5.82644896783577, -4.717966026411524, -6.146374820241562, -4.972788381244952, -5.854957092953355, -5.702174935205885, -6.222035857079607, -6.2128389666872, -6.212821706753751, -6.253599689326325, -6.681685577659057, -6.372364384360678, -6.771223202540934, -6.856809137231159, -6.986412256164045, -7.190466178818742, -7.577896455149433, -7.515731696006047, -7.598155006351761, -7.824526916149126, -8.141496591776512, -8.36794927682997, -8.80307396767114, -8.828816533544659, -9.357524260470413, -9.658130054343863, -10.005768472049466, -10.499801262514108, -11.028689820560558, -11.413688641742898, -11.906162042727946, -12.232342460719975, -12.438432746733596, -13.088338100203112, -12.308710772618745, -11.685074853925329, -11.397838681243094, -12.265219694936695, -13.600359694898529, -14.031425961884718, -12.236885080485473, -13.527508426900974, -13.698402018452601, -13.397911198962568, -14.144410560196603, -13.905769594095293, -14.410874830544122, -14.531727635304264, -14.59275291853806, -14.35404826562502, -14.58670053318149, -14.432515268864977, -14.363428024828353, -14.429222027493264, -14.73947634127499, -14.717315405960353, -14.678539669792505, -14.825278423641382, -14.80936417940876, -14.943375264882789, -14.680885181815674, -14.54841244844906, -14.634365225950589, -14.609444790868906, 0.0, 0.0, 0.0, 0.0], "k": 3}
\ No newline at end of file
diff --git a/controller/fw/tools/hum_generator.py b/controller/fw/tools/hum_generator.py
deleted file mode 100755
index fbcabac..0000000
--- a/controller/fw/tools/hum_generator.py
+++ /dev/null
@@ -1,111 +0,0 @@
-#!/usr/bin/env python
-# coding: utf-8
-
-import binascii
-import struct
-
-import numpy as np
-import pydub
-
-from dsss_demod_test_waveform_gen import load_noise_gen, modulate as dsss_modulate
-
-np.set_printoptions(linewidth=240)
-
-def generate_noisy_signal(
-        test_data=32,
-        test_nbits=5,
-        test_decimation=10,
-        test_signal_amplitude=20e-3,
-        noise_level=10e-3,
-        noise_spec='synth://grid_freq_psd_spl_108pt.json',
-        seed=0):
-
-    #test_data = np.random.RandomState(seed=0).randint(0, 2 * (2**test_nbits), test_duration)
-    #test_data = np.array([0, 1, 2, 3] * 50)
-    if isinstance(test_data, int):
-        test_data = np.array(range(test_data))
-
-
-    signal = np.repeat(dsss_modulate(test_data, test_nbits) * 2.0 - 1, test_decimation)
-
-    noise_gen, noise_params = load_noise_gen(noise_spec)
-    noise = noise_gen(seed, len(signal), **noise_params)
-    return np.absolute(noise + signal*test_signal_amplitude)
-
-def write_raw_frequencies_bin(outfile, **kwargs):
-    with open(outfile, 'wb') as f:
-        for x in generate_noisy_signal(**kwargs):
-            f.write(struct.pack('f', x))
-
-def synthesize_sine(freqs, freqs_sampling_rate=10.0, output_sampling_rate=44100):
-    duration = len(freqs) / freqs_sampling_rate # seconds
-    afreq_out = np.interp(np.linspace(0, duration, int(duration*output_sampling_rate)), np.linspace(0, duration, len(freqs)), freqs)
-    return np.sin(np.cumsum(2*np.pi * afreq_out / output_sampling_rate))
-
-def write_flac(filename, signal, sampling_rate=44100):
-    signal -= np.min(signal)
-    signal /= np.max(signal)
-    signal -= 0.5
-    signal *= 2**16 - 1
-    le_bytes = signal.astype(np.int16).tobytes()
-    seg = pydub.AudioSegment(data=le_bytes, sample_width=2, frame_rate=sampling_rate, channels=1)
-    seg.export(filename, format='flac')
-
-def write_synthetic_hum_flac(filename, output_sampling_rate=44100, freqs_sampling_rate=10.0, **kwargs):
-    signal = generate_noisy_signal(**kwargs)
-    print(signal)
-    write_flac(filename, synthesize_sine(signal, freqs_sampling_rate, output_sampling_rate),
-            sampling_rate=output_sampling_rate)
-
-def emulate_adc_signal(adc_bits=12, adc_offset=0.4, adc_amplitude=0.25, freq_sampling_rate=10.0, output_sampling_rate=1000, **kwargs):
-    signal = synthesize_sine(generate_noisy_signal(), freq_sampling_rate, output_sampling_rate)
-    signal = signal*adc_amplitude + adc_offset
-    smin, smax = np.min(signal), np.max(signal)
-    if smin < 0.0 or smax > 1.0:
-        raise UserWarning('Amplitude or offset too large: Signal out of bounds with min/max [{smin}, {smax}] of ADC range')
-    signal *= 2**adc_bits -1
-    return signal
-
-def save_adc_signal(fn, signal, dtype=np.uint16):
-    with open(fn, 'wb') as f:
-        f.write(signal.astype(dtype).tobytes())
-
-def write_emulated_adc_signal_bin(filename, **kwargs):
-    save_adc_signal(filename, emulate_adc_signal(**kwargs))
-
-def hum_cmd(args):
-    write_synthetic_hum_flac(args.out_flac,
-            output_sampling_rate=args.audio_sampling_rate,
-            freqs_sampling_rate=args.frequency_sampling_rate,
-            test_data = np.array(list(binascii.unhexlify(args.data))),
-            test_nbits = args.symbol_bits,
-            test_decimation = args.decimation,
-            test_signal_amplitude = args.signal_level/1e3,
-            noise_level = args.noise_level/1e3,
-            noise_spec=args.noise_spec,
-            seed = args.random_seed)
-
-
-if __name__ == '__main__':
-    import argparse
-    parser = argparse.ArgumentParser()
-    cmd_parser = parser.add_subparsers(required=True)
-    hum_parser = cmd_parser.add_parser('hum', help='Generated artificial modulated mains hum')
-    # output parameters
-    hum_parser.add_argument('-a', '--audio-sampling-rate', type=int, default=44100)
-
-    # modulation parameters
-    hum_parser.add_argument('-f', '--frequency-sampling-rate', type=float, default=10.0*100/128)
-    hum_parser.add_argument('-b', '--symbol-bits', type=int, default=5, help='bits per symbol (excluding sign bit)')
-    hum_parser.add_argument('-n', '--noise-level', type=float, default=1.0, help='Scale synthetic noise level')
-    hum_parser.add_argument('-s', '--signal-level', type=float, default=20.0, help='Synthetic noise level in mHz')
-    hum_parser.add_argument('-d', '--decimation', type=int, default=10, help='DSSS modulation decimation in frequency measurement cycles')
-    hum_parser.add_argument('-r', '--random-seed', type=int, default=0)
-    hum_parser.add_argument('--noise-spec', type=str, default='synth://grid_freq_psd_spl_108pt.json')
-    hum_parser.add_argument('out_flac', metavar='out.flac', help='FLAC output file')
-    hum_parser.add_argument('data', help='modulation data hex string')
-    hum_parser.set_defaults(func=hum_cmd)
-
-    args = parser.parse_args()
-    args.func(args)
-    
diff --git a/controller/fw/tools/ldparser.py b/controller/fw/tools/ldparser.py
deleted file mode 100644
index c620fe2..0000000
--- a/controller/fw/tools/ldparser.py
+++ /dev/null
@@ -1,126 +0,0 @@
-
-import sys
-
-import pyparsing as pp
-from pyparsing import pyparsing_common as ppc
-
-LPAREN, RPAREN, LBRACE, RBRACE, LBROK, RBROK, COLON, SEMICOLON, EQUALS, COMMA = map(pp.Suppress, '(){}<>:;=,')
-
-parse_suffix_int = lambda lit: int(lit[:-1]) * (10**(3*(1 + 'kmgtpe'.find(lit[-1].lower()))))
-si_suffix = pp.oneOf('k m g t p e', caseless=True)
-
-numeric_literal = pp.Regex('0x[0-9a-fA-F]+').setName('hex int').setParseAction(pp.tokenMap(int, 16)) \
-        | (pp.Regex('[0-9]+[kKmMgGtTpPeE]')).setName('size int').setParseAction(pp.tokenMap(parse_suffix_int)) \
-        | pp.Word(pp.nums).setName('int').setParseAction(pp.tokenMap(int))
-access_def = pp.Regex('[rR]?[wW]?[xX]?').setName('access literal').setParseAction(pp.tokenMap(str.lower))
-
-origin_expr = pp.Suppress(pp.CaselessKeyword('ORIGIN')) + EQUALS + numeric_literal
-length_expr = pp.Suppress(pp.CaselessKeyword('LENGTH')) + EQUALS + numeric_literal
-mem_expr = pp.Group(ppc.identifier + LPAREN + access_def + RPAREN + COLON + origin_expr + COMMA + length_expr)
-mem_contents = pp.ZeroOrMore(mem_expr)
-
-mem_toplevel = pp.CaselessKeyword("MEMORY") + pp.Group(LBRACE + pp.Optional(mem_contents, []) + RBRACE)
-
-glob = pp.Word(pp.alphanums + '._*')
-match_expr = pp.Forward()
-assignment = pp.Forward()
-funccall = pp.Group(pp.Word(pp.alphas + '_') + LPAREN + (assignment | numeric_literal | match_expr | glob | ppc.identifier) + RPAREN + pp.Optional(SEMICOLON))
-value = numeric_literal | funccall | ppc.identifier | '.'
-formula = (value + pp.oneOf('+ = * / %') + value) | value
-# suppress stray semicolons
-assignment << (SEMICOLON | pp.Group((ppc.identifier | '.') + EQUALS + (formula | value) + pp.Optional(SEMICOLON)))
-match_expr << (glob + LPAREN + pp.OneOrMore(funccall | glob) + RPAREN)
-
-section_contents = pp.ZeroOrMore(assignment | funccall | match_expr);
-
-section_name = pp.Regex('\.[a-zA-Z0-9_.]+')
-section_def = pp.Group(section_name + pp.Optional(numeric_literal) + COLON + LBRACE + pp.Group(section_contents) +
-        RBRACE + pp.Optional(RBROK + ppc.identifier + pp.Optional('AT' + RBROK + ppc.identifier)))
-sec_contents = pp.ZeroOrMore(section_def | assignment)
-
-sections_toplevel = pp.Group(pp.CaselessKeyword("SECTIONS").suppress() + LBRACE + sec_contents + RBRACE)
-
-toplevel_elements = mem_toplevel | funccall | sections_toplevel | assignment
-ldscript = pp.Group(pp.ZeroOrMore(toplevel_elements))
-ldscript.ignore(pp.cppStyleComment)
-
-if __name__ == '__main__':
-    import argparse
-    parser = argparse.ArgumentParser()
-    parser.add_argument('linker_script', type=argparse.FileType('r'))
-    args = parser.parse_args()
-
-    #print(mem_expr.parseString('FLASH (rx) : ORIGIN = 0x0800000, LENGTH = 512K', parseAll=True))
-    # print(ldscript.parseString('''
-    #     /* Entry Point */
-    #     ENTRY(Reset_Handler)
-    #
-    #     /* Highest address of the user mode stack */
-    #     _estack = 0x20020000;    /* end of RAM */
-    #     /* Generate a link error if heap and stack don't fit into RAM */
-    #     _Min_Heap_Size = 0x200;;      /* required amount of heap  */
-    #     _Min_Stack_Size = 0x400;; /* required amount of stack */
-    #     ''', parseAll=True))
-
-    print(ldscript.parseFile(args.linker_script, parseAll=True))
-    #print(funccall.parseString('KEEP(*(.isr_vector))'))
-    #print(section_contents.parseString('''
-    #        . = ALIGN(4);
-    #        KEEP(*(.isr_vector)) /* Startup code */
-    #        . = ALIGN(4);
-    #        ''', parseAll=True))
-
-    #print(section_def.parseString('''
-    #      .text :
-    #      {
-    #        . = ALIGN(4);
-    #        *(.text)           /* .text sections (code) */
-    #        *(.text*)          /* .text* sections (code) */
-    #        *(.glue_7)         /* glue arm to thumb code */
-    #        *(.glue_7t)        /* glue thumb to arm code */
-    #        *(.eh_frame)
-    #
-    #        KEEP (*(.init))
-    #        KEEP (*(.fini))
-    #
-    #        . = ALIGN(4);
-    #        _etext = .;        /* define a global symbols at end of code */
-    #      } >FLASH
-    #      ''', parseAll=True))
-
-    #print(section_def.parseString('.ARM.extab   : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH', parseAll=True))
-
-    #print(assignment.parseString('__preinit_array_start = .', parseAll=True))
-    #print(assignment.parseString('a = 23', parseAll=True))
-    #print(funccall.parseString('foo (a=23)', parseAll=True))
-    #print(funccall.parseString('PROVIDE_HIDDEN (__preinit_array_start = .);', parseAll=True))
-    #print(section_def.parseString('''
-    #      .preinit_array     :
-    #      {
-    #        PROVIDE_HIDDEN (__preinit_array_start = .);
-    #        KEEP (*(.preinit_array*))
-    #        PROVIDE_HIDDEN (__preinit_array_end = .);
-    #        } >FLASH''', parseAll=True))
-    #print(match_expr.parseString('*(SORT(.init_array.*))', parseAll=True))
-    #print(funccall.parseString('KEEP (*(SORT(.init_array.*)))', parseAll=True))
-    #print(section_def.parseString('''
-    #      .init_array :
-    #      {
-    #        PROVIDE_HIDDEN (__init_array_start = .);
-    #        KEEP (*(SORT(.init_array.*)))
-    #        KEEP (*(.init_array*))
-    #        PROVIDE_HIDDEN (__init_array_end = .);
-    #      } >FLASH
-    #      ''', parseAll=True))
-
-    #print(match_expr.parseString('*(.ARM.extab* .gnu.linkonce.armextab.*)', parseAll=True))
-    #print(formula.parseString('. + _Min_Heap_Size', parseAll=True))
-    #print(assignment.parseString('. = . + _Min_Heap_Size;', parseAll=True))
-    #print(sections_toplevel.parseString('''
-    #    SECTIONS
-    #    {
-    #      .ARMattributes : {  }
-    #    }
-    #      ''', parseAll=True))
-    #sys.exit(0)
-
diff --git a/controller/fw/tools/linkmem.py b/controller/fw/tools/linkmem.py
deleted file mode 100644
index 934a571..0000000
--- a/controller/fw/tools/linkmem.py
+++ /dev/null
@@ -1,276 +0,0 @@
-
-import tempfile
-import os
-from os import path
-import sys
-import re
-import subprocess
-from contextlib import contextmanager
-from collections import defaultdict
-import colorsys
-
-import cxxfilt
-from elftools.elf.elffile import ELFFile
-from elftools.elf.enums import ENUM_ST_SHNDX
-from elftools.elf.descriptions import describe_symbol_type, describe_sh_type
-import libarchive
-import matplotlib.cm
-
-@contextmanager
-def chdir(newdir):
-    old_cwd = os.getcwd()
-    try:
-        os.chdir(newdir)
-        yield
-    finally:
-        os.chdir(old_cwd)
-
-def keep_last(it, first=None):
-    last = first
-    for elem in it:
-        yield last, elem
-        last = elem
-
-def delim(start, end, it, first_only=True):
-    found = False
-    for elem in it:
-        if end(elem):
-            if first_only:
-                return
-            found = False
-        elif start(elem):
-            found = True
-        elif found:
-            yield elem
-
-def delim_prefix(start, end, it):
-    yield from delim(lambda l: l.startswith(start), lambda l: end is not None and l.startswith(end), it)
-
-def trace_source_files(linker, cmdline, trace_sections=[], total_sections=['.text', '.data', '.rodata']):
-    with tempfile.TemporaryDirectory() as tempdir:
-        out_path = path.join(tempdir, 'output.elf')
-        output = subprocess.check_output([linker, '-o', out_path, f'-Wl,--print-map', *cmdline])
-        lines = [ line.strip() for line in output.decode().splitlines() ]
-        # FIXME also find isr vector table references
-
-        defs = {}
-        objs = defaultdict(lambda: 0)
-        aliases = {}
-        sec_name = None
-        last_loc = None
-        last_sym = None
-        line_cont = None
-        for last_line, line in keep_last(delim_prefix('Linker script and memory map', 'OUTPUT', lines), first=''):
-            if not line or line.startswith('LOAD '):
-                sec_name = None
-                continue
-
-            # first part of continuation line
-            if m := re.match('^(\.[0-9a-zA-Z-_.]+)$', line):
-                line_cont = line
-                sec_name = None
-                continue
-
-            if line_cont:
-                line = line_cont + ' ' + line
-                line_cont = None
-
-            # -ffunction-sections/-fdata-sections section
-            if m := re.match('^(\.[0-9a-zA-Z-_.]+)\.([0-9a-zA-Z-_.]+)\s+(0x[0-9a-f]+)\s+(0x[0-9a-f]+)\s+(\S+)$', line):
-                sec, sym, loc, size, obj = m.groups()
-                *_, sym = sym.rpartition('.')
-                sym = cxxfilt.demangle(sym)
-                size = int(size, 16)
-                obj = path.abspath(obj)
-
-                if sec not in total_sections:
-                    size = 0
-
-                objs[obj] += size
-                defs[sym] = (sec, size, obj)
-
-                sec_name, last_loc, last_sym = sec, loc, sym
-                continue
-            
-            # regular (no -ffunction-sections/-fdata-sections) section
-            if m := re.match('^(\.[0-9a-zA-Z-_]+)\s+(0x[0-9a-f]+)\s+(0x[0-9a-f]+)\s+(\S+)$', line):
-                sec, _loc, size, obj = m.groups()
-                size = int(size, 16)
-                obj = path.abspath(obj)
-
-                if sec in total_sections:
-                    objs[obj] += size
-
-                sec_name = sec
-                last_loc, last_sym = None, None
-                continue
-            
-            # symbol def
-            if m := re.match('^(0x[0-9a-f]+)\s+(\S+)$', line):
-                loc, sym = m.groups()
-                sym = cxxfilt.demangle(sym)
-                loc = int(loc, 16)
-                if sym in defs:
-                    continue
-
-                if loc == last_loc:
-                    assert last_sym is not None
-                    aliases[sym] = last_sym
-                else:
-                    assert sec_name
-                    defs[sym] = (sec_name, None, obj)
-                    last_loc, last_sym = loc, sym
-
-                continue
-
-        refs = defaultdict(lambda: set())
-        for sym, (sec, size, obj) in defs.items():
-            fn, _, member = re.match('^([^()]+)(\((.+)\))?$', obj).groups()
-            fn = path.abspath(fn)
-
-            if member:
-                subprocess.check_call(['ar', 'x', '--output', tempdir, fn, member])
-                fn = path.join(tempdir, member)
-
-            with open(fn, 'rb') as f:
-                elf = ELFFile(f)
-
-                symtab = elf.get_section_by_name('.symtab')
-                
-                symtab_demangled = { cxxfilt.demangle(nsym.name).replace(' ', ''): i
-                        for i, nsym in enumerate(symtab.iter_symbols()) }
-
-                s = set()
-                sec_map = { sec.name: i for i, sec in enumerate(elf.iter_sections()) }
-                matches = [ i for name, i in sec_map.items() if re.match(f'\.rel\..*\.{sym}', name) ]
-                if matches:
-                    sec = elf.get_section(matches[0])
-                    for reloc in sec.iter_relocations():
-                        refsym = symtab.get_symbol(reloc['r_info_sym'])
-                        name = refsym.name if refsym.name else elf.get_section(refsym['st_shndx']).name.split('.')[-1]
-                        s.add(name)
-                refs[sym] = s
-
-                for tsec in trace_sections:
-                    matches = [ i for name, i in sec_map.items() if name == f'.rel{tsec}' ]
-                    s = set()
-                    if matches:
-                        sec = elf.get_section(matches[0])
-                        for reloc in sec.iter_relocations():
-                            refsym = symtab.get_symbol(reloc['r_info_sym'])
-                            s.add(refsym.name)
-                    refs[tsec.replace('.', '_')] |= s
-
-        return objs, aliases, defs, refs
-
-@contextmanager
-def wrap(leader='', print=print, left='{', right='}'):
-    print(leader, left)
-    yield lambda *args, **kwargs: print('   ', *args, **kwargs)
-    print(right)
-
-def mangle(name):
-    return re.sub('[^a-zA-Z0-9_]', '_', name)
-
-hexcolor = lambda r, g, b, *_a: f'#{int(r*255):02x}{int(g*255):02x}{int(b*255):02x}'
-def vhex(val):
-    r,g,b,_a = matplotlib.cm.viridis(1.0-val)
-    fc = hexcolor(r, g, b)  
-    h,s,v = colorsys.rgb_to_hsv(r,g,b)
-    cc = '#000000' if v > 0.8 else '#ffffff'
-    return fc, cc
-
-if __name__ == '__main__':
-    import argparse
-    parser = argparse.ArgumentParser()
-    parser.add_argument('--trace-sections', type=str, action='append', default=[])
-    parser.add_argument('--trim-stubs', type=str, action='append', default=[])
-    parser.add_argument('--highlight-subdirs', type=str, default=None)
-    parser.add_argument('linker_binary')
-    parser.add_argument('linker_args', nargs=argparse.REMAINDER)
-    args = parser.parse_args()
-
-    trace_sections = args.trace_sections
-    trace_sections_mangled = { sec.replace('.', '_') for sec in trace_sections }
-    objs, aliases, syms, refs = trace_source_files(args.linker_binary, args.linker_args, trace_sections)
-
-    clusters = defaultdict(lambda: [])
-    for sym, (sec, size, obj) in syms.items():
-        clusters[obj].append((sym, sec, size))
-
-    max_ssize = max(size or 0 for _sec, size, _obj in syms.values())
-    max_osize = max(objs.values())
-
-    subdir_prefix = path.abspath(args.highlight_subdirs) + '/' if args.highlight_subdirs else '### NO HIGHLIGHT ###'
-    first_comp = lambda le_path: path.dirname(le_path).partition(os.sep)[0]
-    subdir_colors = sorted({ first_comp(obj[len(subdir_prefix):]) for obj in objs if obj.startswith(subdir_prefix) })
-    subdir_colors = { path: hexcolor(*matplotlib.cm.Pastel1(i/len(subdir_colors))) for i, path in enumerate(subdir_colors) }
-
-    subdir_sizes = defaultdict(lambda: 0)
-    for obj, size in objs.items():
-        if not isinstance(size, int):
-            continue
-        if obj.startswith(subdir_prefix):
-            subdir_sizes[first_comp(obj[len(subdir_prefix):])] += size
-        else:
-            subdir_sizes['<others>'] += size
-
-    print('Subdir sizes:', file=sys.stderr)
-    for subdir, size in sorted(subdir_sizes.items(), key=lambda x: x[1]):
-        print(f'{subdir:>20}: {size:>6,d} B', file=sys.stderr)
-
-    def lookup_highlight(path):
-        if args.highlight_subdirs:
-            if obj.startswith(subdir_prefix):
-                highlight_head = first_comp(path[len(subdir_prefix):])
-                return subdir_colors[highlight_head], highlight_head
-            else:
-                return '#e0e0e0', None
-        else:
-            return '#ddf7f4', None
-
-    with wrap('digraph G', print) as lvl1print:
-        print('size="23.4,16.5!";')
-        print('graph [fontsize=40];')
-        print('node [fontsize=40];')
-        #print('ratio="fill";')
-
-        print('rankdir=LR;')
-        print('ranksep=5;')
-        print('nodesep=0.2;')
-        print()
-
-        for i, (obj, obj_syms) in enumerate(clusters.items()):
-            with wrap(f'subgraph cluster_{i}', lvl1print) as lvl2print:
-                print('style = "filled";')
-                highlight_color, highlight_head = lookup_highlight(obj)
-                print(f'bgcolor = "{highlight_color}";')
-                print('pencolor = none;')
-                fc, cc = vhex(objs[obj]/max_osize)
-                highlight_subdir_part = f'<font face="carlito" color="{cc}" point-size="40">{highlight_head} / </font>' if highlight_head else ''
-                lvl2print(f'label = <<table border="0"><tr><td border="0" cellpadding="5" bgcolor="{fc}">'
-                          f'{highlight_subdir_part}'
-                          f'<font face="carlito" color="{cc}"><b>{path.basename(obj)} ({objs[obj]}B)</b></font>'
-                          f'</td></tr></table>>;')
-                lvl2print()
-                for sym, sec, size in obj_syms:
-                    has_size = isinstance(size, int) and size > 0
-                    size_s = f' ({size}B)' if has_size else ''
-                    fc, cc = vhex(size/max_ssize) if has_size else ('#ffffff', '#000000')
-                    shape = 'box' if sec == '.text' else 'oval'
-                    lvl2print(f'{mangle(sym)}[label = "{sym}{size_s}", style="rounded,filled", shape="{shape}", fillcolor="{fc}", fontname="carlito", fontcolor="{cc}" color=none];')
-            lvl1print()
-
-        edges = set()
-        for start, ends in refs.items():
-            for end in ends:
-                end = aliases.get(end, end)
-                if (start in syms or start in trace_sections_mangled) and end in syms:
-                    edges.add((start, end))
-
-        for start, end in edges:
-            lvl1print(f'{mangle(start)} -> {mangle(end)} [style="bold", color="#333333"];')
-
-        for sec in trace_sections:
-            lvl1print(f'{sec.replace(".", "_")} [label = "section {sec}", shape="box", style="filled,bold"];')
-
diff --git a/controller/fw/tools/linksize.py b/controller/fw/tools/linksize.py
deleted file mode 100644
index c41a951..0000000
--- a/controller/fw/tools/linksize.py
+++ /dev/null
@@ -1,62 +0,0 @@
-#!/usr/bin/env python3
-
-def parse_linker_script(data):
-    pass
-
-def link(groups):
-    defined_symbols = {}
-    undefined_symbols = set()
-    for group, files in groups:
-        while True:
-            found_something = False
-
-            for fn in files:
-                symbols = load_symbols(fn)
-                for symbol in symbols:
-                    if symbol in defined_symbols:
-
-            if not group or not found_something:
-                break
-
-
-if __name__ == '__main__':
-
-    import argparse
-    parser = argparse.ArgumentParser()
-    parser.add_argument('-T', '--script', type=str, help='Linker script to use')
-    parser.add_argument('-o', '--output', type=str, help='Output file to produce')
-    args, rest = parser.parse_known_intermixed_args()
-    print(rest)
-
-    addprefix = lambda *xs: [ prefix + opt for opt in xs for prefix in ('', '-Wl,') ]
-    START_GROUP = addprefix('-(', '--start-group')
-    END_GROUP = addprefix('-)', '--end-group')
-    GROUP_OPTS = [*START_GROUP, *END_GROUP]
-    input_files = [ arg for arg in rest if not arg.startswith('-') or arg in GROUP_OPTS ]
-
-    def input_file_iter(input_files):
-        group = False
-        files = []
-        for arg in input_files:
-            if arg in START_GROUP:
-                assert not group
-
-                if files:
-                    yield False, files # nested -Wl,--start-group
-                group, files = True, []
-
-            elif arg in END_GROUP:
-                assert group # missing -Wl,--start-group
-                if files:
-                    yield True, files
-                group, files = False, []
-
-            else:
-                files.append(arg)
-
-        assert not group # missing -Wl,--end-group
-        if files:
-            yield False, files
-
-
-
diff --git a/controller/fw/tools/linktracer.py b/controller/fw/tools/linktracer.py
deleted file mode 100644
index 0c53a60..0000000
--- a/controller/fw/tools/linktracer.py
+++ /dev/null
@@ -1,118 +0,0 @@
-#!/usr/bin/env python3
-
-import re
-import subprocess
-import tempfile
-import pprint
-
-ARCHIVE_RE = r'([^(]*)(\([^)]*\))?'
-
-def trace_source_files(linker, cmdline):
-    with tempfile.NamedTemporaryFile() as mapfile:
-        output = subprocess.check_output([linker, f'-Wl,--Map={mapfile.name}', *cmdline])
-
-        # intentionally use generator here
-        idx = 0 
-        lines = [ line.rstrip() for line in mapfile.read().decode().splitlines() if line.strip() ]
-        
-        for idx, line in enumerate(lines[idx:], start=idx):
-            #print('Dropping', line)
-            if line == 'Linker script and memory map':
-                break
-
-        idx += 1
-        objects = []
-        symbols = {}
-        sections = {}
-        current_object = None
-        last_offset = None
-        last_symbol = None
-        cont_sec = None
-        cont_ind = None
-        current_section = None
-        for idx, line in enumerate(lines[idx:], start=idx):
-            print(f'Processing >{line}')
-            if line.startswith('LOAD'):
-                _load, obj = line.split()
-                objects.append(obj)
-                continue
-
-            if line.startswith('OUTPUT'):
-                break
-
-            m = re.match(r'^( ?)([^ ]+)? +(0x[0-9a-z]+) +(0x[0-9a-z]+)?(.*)?$', line)
-            if m is None:
-                m = re.match(r'^( ?)([^ ]+)?$', line)
-                if m:
-                    cont_ind, cont_sec = m.groups()
-                else:
-                    cont_ind, cont_sec = None, None
-                last_offset, last_symbol = None, None
-                continue
-            indent, sec, offx, size, sym_or_src = m.groups()
-            if sec is None:
-                sec = cont_sec
-                ind = cont_ind
-            cont_sec = None
-            cont_ind = None
-            print(f'vals: indent={indent} sec={sec} offx={offx} size={size} sym_or_src={sym_or_src}')
-            if not re.match('^[a-zA-Z_0-9<>():*]+$', sym_or_src):
-                continue
-
-            if indent == '':
-                print(f'Section: {sec} 0x{size:x}')
-                current_section = sec
-                sections[sec] = size
-                last_offset = None
-                last_symbol = None
-                continue
-
-            if offx is not None:
-                offx = int(offx, 16)
-            if size is not None:
-                size = int(size, 16)
-
-            if size is not None and sym_or_src is not None:
-                # archive/object line
-                archive, _member = re.match(ARCHIVE_RE, sym_or_src).groups()
-                current_object = archive
-                last_offset = offx
-            else:
-                if sym_or_src is not None:
-                    assert size is None
-                    if last_offset is not None:
-                        last_size = offx - last_offset
-                        symbols[last_symbol] = (last_size, current_section)
-                        print(f'Symbol: {last_symbol} 0x{last_size:x} @{current_section}')
-                    last_offset = offx
-                    last_symbol = sym_or_src
-
-        idx += 1
-
-        for idx, line in enumerate(lines[idx:], start=idx):
-            if line == 'Cross Reference Table':
-                break
-
-        idx += 1
-
-        # map which symbol was pulled from which object in the end
-        used_defs = {}
-        for line in lines:
-            *left, right = line.split()
-
-            archive, _member = re.match(ARCHIVE_RE, right).groups()
-            if left:
-                used_defs[''.join(left)] = archive
-
-        #pprint.pprint(symbols)
-
-
-if __name__ == '__main__':
-    import argparse
-    parser = argparse.ArgumentParser()
-    parser.add_argument('linker_binary')
-    parser.add_argument('linker_args', nargs=argparse.REMAINDER)
-    args = parser.parse_args()
-
-    source_files = trace_source_files(args.linker_binary, args.linker_args)
-
diff --git a/controller/fw/tools/mapparse.py b/controller/fw/tools/mapparse.py
deleted file mode 100644
index c1f460a..0000000
--- a/controller/fw/tools/mapparse.py
+++ /dev/null
@@ -1,129 +0,0 @@
-
-import re
-from collections import defaultdict, namedtuple
-
-Section = namedtuple('Section', ['name', 'offset', 'objects'])
-ObjectEntry = namedtuple('ObjectEntry', ['filename', 'object', 'offset', 'size'])
-FileEntry = namedtuple('FileEntry', ['section', 'object', 'offset', 'length'])
-
-class Memory:
-    def __init__(self, name, origin, length, attrs=''):
-        self.name, self.origin, self.length, self.attrs = name, origin, length, attrs
-        self.sections = {}
-        self.files = defaultdict(lambda: [])
-        self.totals = defaultdict(lambda: 0)
-
-    def add_toplevel(self, name, offx, length):
-        self.sections[name] = Section(offx, length, [])
-
-    def add_obj(self, name, offx, length, fn, obj):
-        base_section, sep, subsec = name[1:].partition('.')
-        base_section = '.'+base_section
-        if base_section in self.sections:
-            sec = secname, secoffx, secobjs = self.sections[base_section]
-            secobjs.append(ObjectEntry(fn, obj, offx, length))
-        else:
-            sec = None
-        self.files[fn].append(FileEntry(sec, obj, offx, length))
-        self.totals[fn] += length
-
-class MapFile:
-    def __init__(self, s):
-        self._lines = s.splitlines()
-        self.memcfg = {}
-        self.defaultmem = Memory('default', 0, 0xffffffffffffffff)
-        self._parse()
-
-    def __getitem__(self, offx_or_name):
-        ''' Lookup a memory area by name or address '''
-        if offx_or_name in self.memcfg:
-            return self.memcfg[offx_or_name]
-
-        elif isinstance(offx_or_name, int):
-            for mem in self.memcfg.values():
-                if mem.origin <= offx_or_name < mem.origin+mem.length:
-                    return mem
-            else:
-                return self.defaultmem
-
-        raise ValueError('Invalid argument type for indexing')
-
-    def _skip(self, regex):
-        matcher = re.compile(regex)
-        for l in self:
-            if matcher.match(l):
-                break
-
-    def __iter__(self):
-        while self._lines:
-            yield self._lines.pop(0)
-
-    def _parse(self):
-        self._skip('^Memory Configuration')
-
-        # Parse memory segmentation info
-        self._skip('^Name')
-        for l in self:
-            if not l:
-                break
-            name, origin, length, *attrs = l.split()
-            if not name.startswith('*'):
-                self.memcfg[name] = Memory(name, int(origin, 16), int(length, 16), attrs[0] if attrs else '')
-
-        # Parse section information
-        toplevel_m = re.compile('^(\.[a-zA-Z0-9_.]+)\s+(0x[0-9a-fA-F]+)\s+(0x[0-9a-fA-F]+)')
-        secondlevel_m = re.compile('^ (\.[a-zA-Z0-9_.]+)\s+(0x[0-9a-fA-F]+)\s+(0x[0-9a-fA-F]+)\s+(.*)$')
-        secondlevel_linebreak_m = re.compile('^ (\.[a-zA-Z0-9_.]+)\n')
-        filelike = re.compile('^(/?[^()]*\.[a-zA-Z0-9-_]+)(\(.*\))?')
-        linebreak_section = None
-        for l in self:
-            # Toplevel section
-            match = toplevel_m.match(l)
-            if match:
-                name, offx, length = match.groups()
-                offx, length = int(offx, 16), int(length, 16)
-                self[offx].add_toplevel(name, offx, length)
-
-            match = secondlevel_linebreak_m.match(l)
-            if match:
-                linebreak_section, = match.groups()
-                continue
-
-            if linebreak_section:
-                l = ' {} {}'.format(linebreak_section, l)
-                linebreak_section = None
-
-            # Second-level section
-            match = secondlevel_m.match(l)
-            if match:
-                name, offx, length, misc = match.groups()
-                match = filelike.match(misc)
-                if match:
-                    fn, obj = match.groups()
-                    obj = obj.strip('()') if obj else None
-                    offx, length = int(offx, 16), int(length, 16)
-                    self[offx].add_obj(name, offx, length, fn, obj)
-
-
-if __name__ == '__main__':
-    import argparse
-    parser = argparse.ArgumentParser(description='Parser GCC map file')
-    parser.add_argument('mapfile', type=argparse.FileType('r'), help='The GCC .map file to parse')
-    parser.add_argument('-m', '--memory', type=str, help='The memory segments to print, comma-separated')
-    args = parser.parse_args()
-    mf = MapFile(args.mapfile.read())
-    args.mapfile.close()
-
-    mems = args.memory.split(',') if args.memory else mf.memcfg.keys()
-
-    for name in mems:
-        mem = mf.memcfg[name]
-        print('Symbols by file for memory', name)
-        for tot, fn in reversed(sorted( (tot, fn) for fn, tot in mem.totals.items() )):
-            print('    {:>8} {}'.format(tot, fn))
-            for length, offx, sec, obj in reversed(sorted(( (length, offx, sec, obj) for sec, obj, offx, length in
-                mem.files[fn] ), key=lambda e: e[0] )):
-                name = sec.name if sec else None
-                print('       {:>8} {:>#08x} {}'.format(length, offx, obj))
-        #print('{:>16} 0x{:016x} 0x{:016x} ({:>24}) {}'.format(name, origin, length, length, attrs))
-
diff --git a/controller/fw/tools/presig_gen.py b/controller/fw/tools/presig_gen.py
deleted file mode 100644
index c5dafe7..0000000
--- a/controller/fw/tools/presig_gen.py
+++ /dev/null
@@ -1,141 +0,0 @@
-#!/usr/bin/env python3
-
-import os
-import sys
-import textwrap
-import uuid
-import hmac
-import binascii
-import time
-from datetime import datetime
-
-LINKING_KEY_SIZE = 15
-PRESIG_VERSION = '000.001'
-DOMAINS = ['all', 'country', 'region', 'vendor', 'series']
-
-def format_hex(data, indent=4, wrap=True):
-    indent = ' '*indent
-    par = ', '.join(f'0x{b:02x}' for b in data)
-    par = textwrap.fill(par, width=120,
-        initial_indent=indent, subsequent_indent=indent,
-        replace_whitespace=False, drop_whitespace=False)
-    if wrap:
-        return f'{{\n{par}\n}}'
-    return par
-
-def domain_string(domain, value):
-    return f'smart reset domain string v{PRESIG_VERSION}: domain:{domain}={value}'
-
-def keygen_cmd(args):
-    if os.path.exists(args.keyfile) and not args.force:
-        print("Error: keyfile already exists. We won't overwrite it. Instead please remove it manually.",
-                file=sys.stderr)
-        return 1
-
-    root_key = os.urandom(LINKING_KEY_SIZE)
-
-    with open(args.keyfile, 'wb') as f:
-        f.write(binascii.hexlify(root_key))
-        f.write(b'\n')
-    return 0
-
-def gen_at_height(domain, value, height, key):
-    # nanananananana BLOCKCHAIN!
-
-    ds = domain_string(domain, value).encode('utf-8')
-
-    for height in range(height+1):
-        key = hmac.digest(key, ds, 'sha512')[:LINKING_KEY_SIZE]
-
-    return key
-
-def auth_cmd(args):
-    with open(args.keyfile, 'r') as f:
-        root_key = binascii.unhexlify(f.read().strip())
-
-    vals = [ (domain, getattr(args, domain)) for domain in DOMAINS if getattr(args, domain) is not None ]
-    if not vals:
-        vals = [('all', 'all')]
-    for domain, value in vals:
-        auth = gen_at_height(domain, value, args.height, root_key)
-        print(f'{domain}="{value}" @{args.height}: {binascii.hexlify(auth).decode()}')
-
-
-def prekey_cmd(args):
-    with open(args.keyfile, 'r') as f:
-        root_key = binascii.unhexlify(f.read().strip())
-
-    print('#include <stdint.h>')
-    print('#include <assert.h>')
-    print()
-    print('#include "crypto.h"')
-    print()
-
-    bundle_id = uuid.uuid4().bytes
-    print(f'/* bundle id {binascii.hexlify(bundle_id).decode()} */')
-    print(f'uint8_t presig_bundle_id[16] = {format_hex(bundle_id)};')
-    print()
-    print(f'/* generated on {datetime.now()} */')
-    print(f'uint64_t bundle_timestamp = {int(time.time())};')
-    print()
-    print(f'int presig_height = {args.max_height};')
-    print()
-
-    print('const char *presig_domain_strings[_TRIGGER_DOMAIN_COUNT] = {')
-    for domain in DOMAINS:
-        ds = domain_string(domain, getattr(args, domain))
-        assert '"' not in ds
-        print(f'    [TRIGGER_DOMAIN_{domain.upper()}] = "{ds}",')
-    print('};')
-    print()
-
-    print('uint8_t presig_keys[_TRIGGER_DOMAIN_COUNT][PRESIG_MSG_LEN] = {')
-    for domain in DOMAINS:
-        key = gen_at_height(domain, getattr(args, domain), args.max_height, root_key)
-        print(f'    [TRIGGER_DOMAIN_{domain.upper()}] = {{{format_hex(key, indent=0, wrap=False)}}},')
-    print('};')
-
-    print()
-    print('static inline void __hack_asserts_only(void) {')
-    print(f'    static_assert(_TRIGGER_DOMAIN_COUNT == {len(DOMAINS)});')
-    print(f'    static_assert(PRESIG_MSG_LEN == {LINKING_KEY_SIZE});')
-    print('}')
-    print()
-
-
-
-TEST_VENDOR = 'Darthenschmidt Cyberei und Verschleierungstechnik GmbH'
-TEST_SERIES = 'Frobnicator v0.23.7'
-TEST_REGION = 'Neuland'
-TEST_COUNTRY = 'Germany'
-
-if __name__ == '__main__':
-    import argparse
-    parser = argparse.ArgumentParser()
-    parser.add_argument('keyfile', help='Key file to use')
-
-    subparsers = parser.add_subparsers(title='subcommands')
-    keygen_parser = subparsers.add_parser('keygen', help='Generate a new key')
-    keygen_parser.add_argument('-f', '--force', action='store_true', help='Force overwriting existing keyfile')
-    keygen_parser.set_defaults(func=keygen_cmd)
-
-    auth_parser = subparsers.add_parser('auth', help='Generate one-time authentication string')
-    auth_parser.add_argument('height', type=int, help='Authentication string height, counting from 0 (root key)')
-    auth_parser.set_defaults(func=auth_cmd)
-    auth_parser.add_argument('-a', '--all', action='store_const', const='all', help='Vendor name for vendor domain')
-    auth_parser.add_argument('-v', '--vendor', type=str, nargs='?', const=TEST_VENDOR, help='Vendor name for vendor domain')
-    auth_parser.add_argument('-s', '--series', type=str, nargs='?', const=TEST_SERIES, help='Series identifier for series domain')
-    auth_parser.add_argument('-r', '--region', type=str, nargs='?', const=TEST_REGION, help='Region name for region domain')
-    auth_parser.add_argument('-c', '--country', type=str, nargs='?', const=TEST_COUNTRY, help='Country name for country domain')
-
-    prekey_parser = subparsers.add_parser('prekey', help='Generate prekey data .C source code file')
-    prekey_parser.add_argument('-m', '--max-height', type=int, default=8, help='Height of generated prekey')
-    prekey_parser.add_argument('-v', '--vendor', type=str, default=TEST_VENDOR, help='Vendor name for vendor domain')
-    prekey_parser.add_argument('-s', '--series', type=str, default=TEST_SERIES, help='Series identifier for series domain')
-    prekey_parser.add_argument('-r', '--region', type=str, default=TEST_REGION, help='Region name for region domain')
-    prekey_parser.add_argument('-c', '--country', type=str, default=TEST_COUNTRY, help='Country name for country domain')
-    prekey_parser.set_defaults(func=prekey_cmd, all='all')
-
-    args = parser.parse_args()
-    sys.exit(args.func(args))
-
diff --git a/controller/fw/tools/reed_solomon.py b/controller/fw/tools/reed_solomon.py
deleted file mode 100644
index c4ca6e4..0000000
--- a/controller/fw/tools/reed_solomon.py
+++ /dev/null
@@ -1,91 +0,0 @@
-import os, sys
-import ctypes as C
-import argparse
-import binascii
-import numpy as np
-import timeit
-import statistics
-
-lib = C.CDLL('rslib.so')
-
-lib.rslib_encode.argtypes = [C.c_int, C.c_size_t, C.POINTER(C.c_char), C.POINTER(C.c_char)]
-lib.rslib_decode.argtypes = [C.c_int, C.c_size_t, C.POINTER(C.c_char)]
-lib.rslib_gexp.argtypes = [C.c_int, C.c_int]
-lib.rslib_gexp.restype = C.c_int
-lib.rslib_decode.restype = C.c_int
-lib.rslib_npar.restype = C.c_size_t
-
-def npar():
-    return lib.rslib_npar()
-
-def encode(data: bytes, nbits=8):
-    out = C.create_string_buffer(len(data) + lib.rslib_npar())
-    lib.rslib_encode(nbits, len(data), data, out)
-    return out.raw
-
-def decode(data: bytes, nbits=8):
-    inout = C.create_string_buffer(data)
-    lib.rslib_decode(nbits, len(data), inout)
-    return inout.raw[:-lib.rslib_npar() - 1]
-
-def cmdline_func_test(args, print=lambda *args, **kwargs: None, benchmark=False):
-    st = np.random.RandomState(seed=args.seed)
-
-    lfsr = [lib.rslib_gexp(i, args.bits) for i in range(2**args.bits - 1)]
-    print('LFSR', len(set(lfsr)), lfsr)
-    assert all(0 < x < 2**args.bits for x in lfsr)
-    assert len(set(lfsr)) == 2**args.bits - 1
-
-    print('Seed', args.seed)
-    for i in range(args.repeat):
-        print(f'Run {i}')
-        test_data = bytes(st.randint(2**args.bits, size=args.message_length, dtype=np.uint8))
-        print('        Raw:', binascii.hexlify(test_data).decode())
-        encoded = encode(test_data, nbits=args.bits)
-        print('     Encoded:', binascii.hexlify(encoded).decode())
-
-        indices = st.permutation(len(encoded))
-        encoded = list(encoded)
-        for pos in indices[:args.errors]:
-            encoded[pos] = st.randint(2**args.bits)
-        encoded = bytes(encoded)
-        print('    Modified:', ''.join(f'\033[91m{b:02x}\033[0m' if pos in indices[:args.errors] else f'{b:02x}' for pos, b in enumerate(encoded)))
-
-        if benchmark:
-            rpt = 10000
-            delta = timeit.timeit('decode(encoded, nbits=args.bits)',
-                    globals={'args': args, 'decode': decode, 'encoded': encoded},
-                    number=rpt)/rpt
-            print(f'Decoding runtime: {delta*1e6:.3f}μs')
-        decoded = decode(encoded, nbits=args.bits)
-        print('     Decoded:', binascii.hexlify(decoded).decode())
-        print('       Delta:', binascii.hexlify(
-                bytes(x^y for x, y in zip(test_data, decoded))
-            ).decode().replace('0', '.'))
-        assert test_data == decoded
-
-def cmdline_func_encode(args, **kwargs):
-    data = np.frombuffer(binascii.unhexlify(args.hex_str), dtype=np.uint8)
-    # Map 8 bit input to 6 bit symbol string
-    data = np.packbits(np.pad(np.unpackbits(data).reshape((-1, 6)), ((0,0),(2, 0))).flatten())
-    encoded = encode(data.tobytes(), nbits=args.bits)
-    print('symbol array:', ', '.join(f'0x{x:02x}' for x in encoded))
-    print('hex string:', binascii.hexlify(encoded).decode())
-
-if __name__ == '__main__':
-    parser = argparse.ArgumentParser()
-    cmd_parser = parser.add_subparsers(required=True)
-    test_parser = cmd_parser.add_parser('test', help='Test reed-solomon implementation')
-    test_parser.add_argument('-m', '--message-length', type=int, default=6, help='Test message (plaintext) length in bytes')
-    test_parser.add_argument('-e', '--errors', type=int, default=2, help='Number of byte errors to insert into simulation')
-    test_parser.add_argument('-r', '--repeat', type=int, default=1000, help='Repeat experiment -r times')
-    test_parser.add_argument('-b', '--bits', type=int, default=8, help='Symbol bit size')
-    test_parser.add_argument('-s', '--seed', type=int, default=0, help='Random seed')
-    test_parser.set_defaults(func=cmdline_func_test)
-    enc_parser = cmd_parser.add_parser('encode', help='RS-Encode given hex string')
-    enc_parser.set_defaults(func=cmdline_func_encode)
-    enc_parser.add_argument('-b', '--bits', type=int, default=8, help='Symbol bit size')
-    enc_parser.add_argument('hex_str', type=str, help='Input data as hex string')
-    args = parser.parse_args()
-    args.func(args)
-