diff --git a/Core/Inc/BLCU/BLCU.hpp b/Core/Inc/BLCU/BLCU.hpp
index 3e5f2df..a608eea 100644
--- a/Core/Inc/BLCU/BLCU.hpp
+++ b/Core/Inc/BLCU/BLCU.hpp
@@ -7,37 +7,79 @@
 
 #pragma once
 
-#include "BLCU_Orders/BLCU_Orders.hpp"
-#include "BLCU_Orders/BLCU_PrivateFunctions.hpp"
-#include "BLCU_Orders/BLCU_PublicFunctions.hpp"
-#include "BLCU_Protections/BLCU_Protections.hpp"
-#include "BLCU_SetUps/BLCU_SetUps.hpp"
-#include "BLCU_Starts/BLCU_Starts.hpp"
-#include "BLCU_StateMachine/BLCU_StateMachine.hpp"
+#include "ST-LIB.hpp"
+#include "FDCBootloader/FDCBootloader.hpp"
 #include "FDCBootloader/BootloaderTFTP.hpp"
+#include "Comms.hpp"
 
-namespace BLCU{
+// Macro for BLCU id
+#define BLCU_ID ((uint8_t)1)
 
-    void set_up()
-    {
-        BLCU::__set_up_peripherals();
-        BLCU::__set_up_state_machine();
-        ProtectionManager::link_state_machine(BLCU::general_state_machine, BLCU_ID);
-        BLCU::__set_up_protections();
-    }
+enum Target {
+    NOTARGET,
+    VCU,    // 1
+    HVSCU,  // 2
+    BCU,    // 3
+    BMSL,   // 4
+    LCU,    // 5
+    PCU     // 6
+};
 
-    void start(){
-        STLIB::start("00:80:e1:00:00:00",ip, mask, gateway, UART::uart2);
-        BLCU::__tcp_start();
-        BTFTP::start();
+class BLCU {
+private:
+    BLCU() = delete;
 
-    	// BLCU::__resets_start();
-        // BLCU::__boots_start();
-        // BLCU::__leds_start();
-    }
+    static constexpr uint16_t max_tcp_connection_timeout = 30000;
+
+    static unordered_map<Target, DigitalOutput> resets;
+    static unordered_map<Target, DigitalOutput> boots;
+
+    static uint8_t fdcan;
+    static DigitalOutput LED_OPERATIONAL;
+    static DigitalOutput LED_FAULT;
+    static DigitalOutput LED_CAN;
+    static DigitalOutput LED_FLASH;
+    static DigitalOutput LED_SLEEP;
+
+    static bool tcp_timeout;
+    static bool programming_error;
+
+
+    static void finish_write_read_order(bool error_ok);
+    static void turn_off_all_boards();
+    static void turn_on_all_boards();
+    static void send_to_bootmode();
+    static void stop_booting();
+
+    static void setup_state_machine();
+    static void setup_specific_state_machine();
+
+public:
+    enum GeneralStates {
+        INITIAL,
+        OPERATIONAL,
+        FAULT,
+    };
+
+    enum SpecificStates {
+        READY,
+        BOOTING,
+    };
+
+    static void init();
+    static void update();
+    static void abort_booting();
+    static void reset_all();
+
+    static Target current_target;
+    static bool ready_flag;
+    static StateMachine general_state_machine;
+    static StateMachine specific_state_machine;
+
+    static constexpr string ip{"192.168.0.27"};
+    static constexpr string mask{"255.255.0.0"};
+    static constexpr string gateway{"192.168.1.1"};
+    static constexpr uint32_t port{50500};
+};
 
-    void update(){
-        STLIB::update();
-    }
 
-}
diff --git a/Core/Inc/BLCU/BLCU_Definition/BLCU_Definition.hpp b/Core/Inc/BLCU/BLCU_Definition/BLCU_Definition.hpp
deleted file mode 100644
index 7bd1fdb..0000000
--- a/Core/Inc/BLCU/BLCU_Definition/BLCU_Definition.hpp
+++ /dev/null
@@ -1,106 +0,0 @@
-#pragma once
-
-#include "ST-LIB.hpp"
-#include "FDCBootloader/FDCBootloader.hpp"
-#include "FDCBootloader/BootloaderTFTP.hpp"
-#include "BLCU/Utilities/orders_data.hpp"
-
-#define BLCU_IP 		"192.168.0.27"
-#define BLCU_MASK 		"255.255.0.0"
-#define BLCU_GATEWAY 	"192.168.1.1"
-#define BLCU_PORT		((uint32_t)50500)
-#define BLCU_ID         ((uint8_t)1)
-
-extern HeapOrder ack;
-extern HeapOrder nack;
-extern HeapOrder get_version_order;
-
-namespace BLCU {
-	enum GeneralStates{
-		INITIAL,
-		OPERATIONAL,
-		FAULT,
-	};
-
-
-    enum SpecificStates{
-        READY,
-        BOOTING,
-    };
-
-    static constexpr uint16_t max_tcp_connection_timeout = 30000;
-
-    StateMachine specific_state_machine;
-    StateMachine general_state_machine;
-
-    unordered_map<Target, DigitalOutput> resets; 
-    unordered_map<Target, DigitalOutput> boots;
-
-    uint8_t fdcan;
-    uint8_t uart;
-    uint8_t initial_led_timer;
-    DigitalOutput LED_OPERATIONAL;
-    DigitalOutput LED_FAULT;
-    DigitalOutput LED_CAN;
-    DigitalOutput LED_FLASH;
-    DigitalOutput LED_SLEEP;
-
-    Target current_target;
-
-    string ip, mask, gateway;
-    uint32_t port;
-    ServerSocket* tcp_socket;
-    bool tcp_timeout = false;
-
-    bool programming_error = false;
-
-    orders_data_t orders_data = {
-   			BLCU::Target::NOTARGET,
-   			0
-   	};
-
-    void set_up();
-	void start();
-	void update();
-
-	/***********************************************/
-	//              Orders methods
-	/***********************************************/
-    void reset_all();
-    void get_version();
-    void read_program();
-    void write_program();
-    void erase_program();
-
-    void finish_write_read_order(bool error_ok);
-    void __end_booting();
-    void __abort_booting();
-    void __finish_booting();
-    void __send_to_bootmode(const BLCU::Target& target);
-    void __turn_off_all_boards();
-
-    /***********************************************/
-	//                  Start methods
-	/***********************************************/
-    void __tcp_start();
-    void __resets_start();
-    void __boots_start();
-    void __leds_start();
-
-	/***********************************************/
-	//                  SetUp methods
-	/***********************************************/
-
-    void __set_up_general_state_machine();
-    void __set_up_specific_state_machine();
-    void __set_up_state_machine(); //TODO: revisar
-    void __set_up_protections();
-    void __set_up_peripherals();
-    void __set_up_fdcan();
-    void __set_up_uart();
-    void __set_up_ethernet();
-    void __set_up_resets();
-    void __set_up_boots();
-    void __set_up_leds();
-
-}
diff --git a/Core/Inc/BLCU/BLCU_Orders/BLCU_Orders.hpp b/Core/Inc/BLCU/BLCU_Orders/BLCU_Orders.hpp
deleted file mode 100644
index e69de29..0000000
diff --git a/Core/Inc/BLCU/BLCU_Orders/BLCU_PrivateFunctions.hpp b/Core/Inc/BLCU/BLCU_Orders/BLCU_PrivateFunctions.hpp
deleted file mode 100644
index ff02f90..0000000
--- a/Core/Inc/BLCU/BLCU_Orders/BLCU_PrivateFunctions.hpp
+++ /dev/null
@@ -1,49 +0,0 @@
-#pragma once
-
-#include "BLCU/BLCU_Definition/BLCU_Definition.hpp"
-
-namespace BLCU{
-	void finish_write_read_order(bool error_ok){
-		BTFTP::off();
-
-		if(not error_ok){
-			BLCU::tcp_socket->send_order(nack);
-			__abort_booting();
-			return;
-		}else{
-			BLCU::tcp_socket->send_order(ack);
-		}
-
-		BLCU::specific_state_machine.force_change_state(SpecificStates::READY);
-   }
-
-
-
-   void __abort_booting(){
-		BLCU::orders_data.clean_data();
-		BLCU::programming_error = true;
-   }
-
-   void __send_to_bootmode(const BLCU::Target& target){
-		BLCU::boots[target].turn_on();
-		BLCU::resets[target].turn_off();
-
-		BLCU::resets[target].turn_on();
-		BLCU::boots[target].turn_off();
-   }
-
-   void __turn_off_all_boards(){
-		for (auto& [target, reset_pin]: BLCU::resets)
-		{
-			reset_pin.turn_off();
-		}
-   }
-
-   void __turn_on_all_boards(){
-		for (auto& [target, reset_pin]: BLCU::resets)
-		{
-			reset_pin.turn_on();
-		}
-   }
-
-}
diff --git a/Core/Inc/BLCU/BLCU_Orders/BLCU_PublicFunctions.hpp b/Core/Inc/BLCU/BLCU_Orders/BLCU_PublicFunctions.hpp
deleted file mode 100644
index 1deb1ed..0000000
--- a/Core/Inc/BLCU/BLCU_Orders/BLCU_PublicFunctions.hpp
+++ /dev/null
@@ -1,95 +0,0 @@
-#pragma once
-
-#include "BLCU/BLCU_Definition/BLCU_Definition.hpp"
-
-namespace BLCU{
-	void reset_all(){
-		printf("Reset all order received\n");
-		for (auto& [target, reset]: resets)
-		{
-			reset.turn_off();
-		}
-
-		for (auto& [target, reset]: resets)
-		{
-			reset.turn_on();
-		}
-
-		HAL_NVIC_SystemReset();//Good bye :)
-	}
-
-	void get_version(){
-		printf("Get version order received\n");
-		if(BLCU::specific_state_machine.current_state != BLCU::SpecificStates::READY){
-			BLCU::tcp_socket->send_order(nack);
-			printf("Not able to execute get version order, since BLCU not ready\n");
-			return;
-		}
-		printf("Execute get version order\n");
-		BLCU::specific_state_machine.force_change_state(BOOTING);
-
-		uint8_t temporal_value = 0;
-		if (not FDCB::get_version(temporal_value)){
-			BLCU::tcp_socket->send_order(nack);
-			__abort_booting();
-			return;
-		}
-
-		BLCU::orders_data.version = temporal_value;
-		BLCU::tcp_socket->send_order(ack);
-
-		BLCU::specific_state_machine.force_change_state(SpecificStates::READY);
-	}
-
-	void read_program(){
-		printf("Read program order received\n");
-		if(BLCU::specific_state_machine.current_state != BLCU::SpecificStates::READY){
-			BLCU::tcp_socket->send_order(nack);
-			printf("Unable to execute read program order, since BLCU not ready\n");
-			return;
-		}
-		printf("Execute read program order\n");
-		BLCU::specific_state_machine.force_change_state(BOOTING);
-
-		BTFTP::on(BTFTP::Mode::READ);
-
-		BLCU::tcp_socket->send_order(ack);
-	}
-
-	void write_program(){
-		printf("Write program order received\n");
-		if(BLCU::specific_state_machine.current_state != BLCU::SpecificStates::READY){
-			BLCU::tcp_socket->send_order(nack);
-			printf("Unable to execute write program order, since BLCU not ready\n");
-			return;
-		}
-		printf("Execute write program order\n");
-		BLCU::specific_state_machine.force_change_state(BOOTING);
-
-		BTFTP::on(BTFTP::Mode::WRITE);
-
-		BLCU::tcp_socket->send_order(ack);
-	}
-
-	void erase_program(){
-		printf("Erase program order received\n");
-		if(BLCU::specific_state_machine.current_state != BLCU::SpecificStates::READY){
-			BLCU::tcp_socket->send_order(nack);
-			printf("Unable to execute erase program order, since BLCU not ready\n");
-			return;
-		}
-		printf("Execute write program order\n");
-		BLCU::specific_state_machine.force_change_state(BOOTING);
-
-		if(not FDCB::erase_memory()){
-			BLCU::tcp_socket->send_order(nack);
-			__abort_booting();
-			return;
-		}else{
-			BLCU::tcp_socket->send_order(ack);
-		}
-
-		BLCU::specific_state_machine.force_change_state(SpecificStates::READY);
-	}
-
-}
diff --git a/Core/Inc/BLCU/BLCU_Protections/BLCU_Protections.hpp b/Core/Inc/BLCU/BLCU_Protections/BLCU_Protections.hpp
deleted file mode 100644
index b8e5b46..0000000
--- a/Core/Inc/BLCU/BLCU_Protections/BLCU_Protections.hpp
+++ /dev/null
@@ -1,11 +0,0 @@
-#pragma once
-
-#include "BLCU/BLCU_Definition/BLCU_Definition.hpp"
-
-namespace BLCU{
-	void __set_up_protections(){
-		//ProtectionManager::_add_protection(&BLCU::programming_error, Boundary<bool, NOT_EQUALS>(0));
-	 }
-
-
-}
diff --git a/Core/Inc/BLCU/BLCU_SetUps/BLCU_SetUps.hpp b/Core/Inc/BLCU/BLCU_SetUps/BLCU_SetUps.hpp
deleted file mode 100644
index 164d96b..0000000
--- a/Core/Inc/BLCU/BLCU_SetUps/BLCU_SetUps.hpp
+++ /dev/null
@@ -1,58 +0,0 @@
-#pragma once
-
-#include "BLCU/BLCU_Definition/BLCU_Definition.hpp"
-
-namespace BLCU{
-
-	void __set_up_peripherals(){
-		BLCU::__set_up_fdcan();
-		BLCU::__set_up_ethernet();
-		//BLCU::__set_up_resets();
-		//BLCU::__set_up_boots();
-		//BLCU::__set_up_leds();
-	}
-
-	void __set_up_fdcan(){
-		BLCU::fdcan = FDCAN::inscribe<
-			CANBitRatesSpeed::CAN_1_Mbit,    
-			CANFormat::CAN_FDCAN_FORMAT,                
-			CANIdentifier::CAN_29_BIT_IDENTIFIER,      
-			CANMode::CAN_MODE_NORMAL              
-		>(FDCAN::fdcan1);
-	}
-
-
-   void __set_up_ethernet(){
-		BLCU::ip = BLCU_IP;
-		BLCU::mask = BLCU_MASK;
-		BLCU::gateway = BLCU_GATEWAY;
-		BLCU::port = BLCU_PORT;
-   }
-
-   void __set_up_resets(){
-		BLCU::resets[VCU] = DigitalOutput(PA12);
-		BLCU::resets[HVSCU] = DigitalOutput(PG3);
-		BLCU::resets[BCU] = DigitalOutput(PD11);
-		BLCU::resets[BMSL] = DigitalOutput(PD9);
-		BLCU::resets[LCU] = DigitalOutput(PB12);
-		BLCU::resets[PCU] = DigitalOutput(PG1);
-   }
-
-   void __set_up_boots(){
-		BLCU::boots[VCU] = DigitalOutput(PA11);
-		BLCU::boots[HVSCU] = DigitalOutput(PG2);
-		BLCU::boots[BCU] = DigitalOutput(PD10);
-		BLCU::boots[BMSL] = DigitalOutput(PD8);
-		BLCU::boots[LCU] = DigitalOutput(PE15);
-		BLCU::boots[PCU] = DigitalOutput(PE7);
-   }
-
-   void __set_up_leds(){
-		BLCU::LED_OPERATIONAL = DigitalOutput(PG8);
-		BLCU::LED_FAULT = DigitalOutput(PG7);
-		BLCU::LED_CAN = DigitalOutput(PG6);
-		BLCU::LED_FLASH = DigitalOutput(PG5);
-		BLCU::LED_SLEEP = DigitalOutput(PG4);
-   }
-
-}
diff --git a/Core/Inc/BLCU/BLCU_Starts/BLCU_Starts.hpp b/Core/Inc/BLCU/BLCU_Starts/BLCU_Starts.hpp
deleted file mode 100644
index 9c73115..0000000
--- a/Core/Inc/BLCU/BLCU_Starts/BLCU_Starts.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-#pragma once
-
-#include "BLCU/BLCU_Definition/BLCU_Definition.hpp"
-
-namespace BLCU{
-    void __tcp_start(){
-        BLCU::tcp_socket = new ServerSocket(BLCU::ip, BLCU::port,1000,500,10);
-    }
-
-    void __resets_start(){
-        for (auto& [target, reset_pin]: BLCU::resets)
-        {
-        	reset_pin.turn_on();
-        }
-    }
-
-    void __boots_start(){
-        for (auto& [target, boot_pin]: BLCU::boots)
-        {
-        	boot_pin.turn_off();
-        }
-    }
-
-    void __leds_start(){
-    	BLCU::LED_OPERATIONAL.turn_on();
-    	BLCU::LED_FAULT.turn_off();
-    	BLCU::LED_CAN.turn_off();
-    	BLCU::LED_FLASH.turn_off();
-    	BLCU::LED_SLEEP.turn_off();
-    }
-}
diff --git a/Core/Inc/BLCU/BLCU_StateMachine/BLCU_StateMachine.hpp b/Core/Inc/BLCU/BLCU_StateMachine/BLCU_StateMachine.hpp
deleted file mode 100644
index a8ccf98..0000000
--- a/Core/Inc/BLCU/BLCU_StateMachine/BLCU_StateMachine.hpp
+++ /dev/null
@@ -1,110 +0,0 @@
-
-#pragma once
-
-#include "BLCU/BLCU_Definition/BLCU_Definition.hpp"
-
-namespace BLCU{
-	void __set_up_state_machine(){
-		__set_up_general_state_machine();
-		__set_up_specific_state_machine();
-		BLCU::general_state_machine.add_state_machine(specific_state_machine, GeneralStates::OPERATIONAL);
-
-		Time::register_low_precision_alarm(1, [&](){
-					BLCU::general_state_machine.check_transitions();
-		});
-
-   }
-
-   void __set_up_general_state_machine(){
-	   BLCU::general_state_machine = {GeneralStates::INITIAL};
-		BLCU::general_state_machine.add_state(GeneralStates::OPERATIONAL);
-		BLCU::general_state_machine.add_state(GeneralStates::FAULT);
-
-		ProtectionManager::link_state_machine(general_state_machine, GeneralStates::FAULT);
-		ProtectionManager::set_id(Boards::ID::BLCU_VEHICLE);
-
-		//Enter actions
-		BLCU::general_state_machine.add_enter_action([&](){
-			Time::set_timeout(BLCU::max_tcp_connection_timeout, [&](){
-				if(not (BLCU::tcp_socket->state == ServerSocket::ServerState::ACCEPTED )){
-							tcp_timeout = true;
-				}
-			});
-		}, GeneralStates::INITIAL);
-
-		BLCU::general_state_machine.add_enter_action([&](){
-			LED_FAULT.turn_on();
-		}, GeneralStates::FAULT);
-
-		BLCU::general_state_machine.add_enter_action([&](){
-			LED_OPERATIONAL.turn_on();
-		}, GeneralStates::OPERATIONAL);
-
-		//Exit actions
-		BLCU::general_state_machine.add_exit_action([&](){
-			LED_OPERATIONAL.turn_off();
-		}, GeneralStates::INITIAL);
-
-		BLCU::general_state_machine.add_exit_action([&](){
-			LED_FAULT.turn_off();
-		}, GeneralStates::FAULT);
-
-		BLCU::general_state_machine.add_exit_action([&](){
-			LED_OPERATIONAL.turn_off();
-		}, GeneralStates::OPERATIONAL);
-
-		//Transitions
-		BLCU::general_state_machine.add_transition(GeneralStates::INITIAL, GeneralStates::OPERATIONAL, [&](){
-			return BLCU::tcp_socket->state == ServerSocket::ServerState::ACCEPTED;
-		});
-		BLCU::general_state_machine.add_transition(GeneralStates::INITIAL, GeneralStates::FAULT, [&](){
-			if(BLCU::tcp_timeout) ErrorHandler("TCP connections could not be established in time and timed out");
-			return BLCU::tcp_timeout;
-		});
-		BLCU::general_state_machine.add_transition(GeneralStates::OPERATIONAL, GeneralStates::FAULT, [&](){
-			if(BLCU::tcp_socket->state!= ServerSocket::ServerState::ACCEPTED){
-				ErrorHandler("TCP connections fell");
-				return true;
-			}
-			return false;
-		});
-
-		//Cyclic actions
-		BLCU::general_state_machine.add_low_precision_cyclic_action([&](){LED_OPERATIONAL.toggle();}, (chrono::milliseconds)150, INITIAL);
-
-		BLCU::general_state_machine.add_low_precision_cyclic_action(ProtectionManager::check_protections, (chrono::milliseconds)1 , OPERATIONAL);
-   }
-
-   void __set_up_specific_state_machine(){
-   	BLCU::specific_state_machine = StateMachine(SpecificStates::READY);
-		BLCU::specific_state_machine.add_state(SpecificStates::BOOTING);
-
-
-		//Enter actions
-		BLCU::specific_state_machine.add_enter_action([&](){
-			BLCU::resets[BLCU::orders_data.target].turn_off();
-			BLCU::__turn_on_all_boards();
-			BLCU::orders_data.clean_data();
-			BLCU::LED_OPERATIONAL.turn_on();
-
-		}, SpecificStates::READY);
-
-		BLCU::specific_state_machine.add_enter_action([&](){
-			BLCU::__turn_off_all_boards();
-			BLCU::__send_to_bootmode(BLCU::orders_data.target);
-		}, SpecificStates::BOOTING);
-
-		//Exit actions
-		BLCU::specific_state_machine.add_exit_action([&](){
-			BLCU::LED_OPERATIONAL.turn_off();
-		}, SpecificStates::READY);
-
-		BLCU::specific_state_machine.add_exit_action([&](){
-			BLCU::LED_CAN.turn_off();
-		}, SpecificStates::BOOTING);
-
-		//Cyclic actions
-		BLCU::general_state_machine.add_low_precision_cyclic_action([&](){LED_CAN.toggle();}, (chrono::milliseconds)75, SpecificStates::BOOTING);
-   }
-
-}
diff --git a/Core/Inc/BLCU/Comms.hpp b/Core/Inc/BLCU/Comms.hpp
new file mode 100644
index 0000000..8822e8a
--- /dev/null
+++ b/Core/Inc/BLCU/Comms.hpp
@@ -0,0 +1,30 @@
+#pragma once
+#include "ST-LIB.hpp"
+#include "BLCU/BLCU.hpp"  
+
+class Comms {
+private:
+    Comms() = delete;
+public:
+    static void init();
+    static ServerSocket* tcp_socket; 
+
+    inline static HeapOrder* write_program_order=nullptr; 
+    inline static HeapOrder* reset_all_order=nullptr;
+    inline static HeapOrder* read_program_order=nullptr;
+    
+    static void read_program();
+    static void get_version();
+    static void write_program();
+    static void erase_program();
+
+    static void send_ack();
+    static void send_nack();
+    
+    inline static HeapOrder ack = HeapOrder(3);
+    inline static HeapOrder nack = HeapOrder(4);
+};
+
+
+
+
diff --git a/Core/Inc/BLCU/Utilities/Target.hpp b/Core/Inc/BLCU/Utilities/Target.hpp
deleted file mode 100644
index a0043f0..0000000
--- a/Core/Inc/BLCU/Utilities/Target.hpp
+++ /dev/null
@@ -1,18 +0,0 @@
-#pragma once
-namespace BLCU{
-
-/* enumeration of all possible boot targets
- */
-
-	enum Target{
-		NOTARGET,
-		VCU,			//		    1
-		HVSCU,			//			2
-		BCU,			//			3
-		BMSL,			//			4
-		LCU,			//			5
-		PCU,			//          6
-		
-	};
-}
-
diff --git a/Core/Inc/BLCU/Utilities/orders_data.hpp b/Core/Inc/BLCU/Utilities/orders_data.hpp
deleted file mode 100644
index 0f56d8e..0000000
--- a/Core/Inc/BLCU/Utilities/orders_data.hpp
+++ /dev/null
@@ -1,17 +0,0 @@
-#pragma once
-#include "stdint.h"
-#include "Target.hpp"
-
-namespace BLCU{
-	typedef struct {
-		BLCU::Target target;
-		uint16_t version;
-
-		void clean_data(){
-			target = BLCU::Target::NOTARGET;
-			version = 0;
-		}
-
-	}orders_data_t;
-
-}
diff --git a/Core/Inc/FDCBootloader/FDCBootloader.hpp b/Core/Inc/FDCBootloader/FDCBootloader.hpp
index 3b7ba10..3caf7f4 100644
--- a/Core/Inc/FDCBootloader/FDCBootloader.hpp
+++ b/Core/Inc/FDCBootloader/FDCBootloader.hpp
@@ -12,7 +12,7 @@
 #include "C++Utilities/CppUtils.hpp"
 
 
-#define FDCB_CURRENT_VERSION        ((uint8_t)0x05)
+#define FDCB_CURRENT_VERSION        ((uint8_t)0x06)
 
 #define FDCB_VERBOSE_LEVEL 			1
 #define FDCB_TIMEOUT_MS 			5000
diff --git a/Core/Src/BLCU/BLCU.cpp b/Core/Src/BLCU/BLCU.cpp
new file mode 100644
index 0000000..44affd6
--- /dev/null
+++ b/Core/Src/BLCU/BLCU.cpp
@@ -0,0 +1,234 @@
+#include "BLCU/BLCU.hpp"
+
+StateMachine BLCU::general_state_machine{ BLCU::GeneralStates::INITIAL };
+StateMachine BLCU::specific_state_machine{ BLCU::SpecificStates::READY };
+DigitalOutput BLCU::LED_OPERATIONAL;
+DigitalOutput BLCU::LED_FAULT;
+DigitalOutput BLCU::LED_CAN;
+DigitalOutput BLCU::LED_FLASH;
+DigitalOutput BLCU::LED_SLEEP;
+unordered_map<Target, DigitalOutput> BLCU::resets;
+unordered_map<Target, DigitalOutput> BLCU::boots;
+uint8_t BLCU::fdcan = 0;
+Target BLCU::current_target = NOTARGET;
+bool BLCU::ready_flag = false;	
+bool BLCU::tcp_timeout = false;
+bool BLCU::programming_error = false;
+
+void BLCU::init(){
+	setup_state_machine();
+	setup_specific_state_machine();
+	general_state_machine.add_state_machine(specific_state_machine, GeneralStates::OPERATIONAL);
+
+	//FDCAN:
+	fdcan = FDCAN::inscribe<
+			CANBitRatesSpeed::CAN_1_Mbit,    
+			CANFormat::CAN_FDCAN_FORMAT,                
+			CANIdentifier::CAN_29_BIT_IDENTIFIER,      
+			CANMode::CAN_MODE_NORMAL              
+		>(FDCAN::fdcan1);
+
+	//-------RESETS------//
+	resets[VCU] = DigitalOutput(PA12);
+	resets[HVSCU] = DigitalOutput(PG3);
+	resets[BCU] = DigitalOutput(PD11);
+	resets[BMSL] = DigitalOutput(PD9);
+	resets[LCU] = DigitalOutput(PB12);
+	resets[PCU] = DigitalOutput(PG1);
+
+	//-------BOOTS------//
+	boots[VCU] = DigitalOutput(PA11);
+	boots[HVSCU] = DigitalOutput(PG2);
+	boots[BCU] = DigitalOutput(PD10);
+	boots[BMSL] = DigitalOutput(PD8);
+	boots[LCU] = DigitalOutput(PE15);
+	boots[PCU] = DigitalOutput(PE7);
+
+	//-------LEDS------//
+	LED_OPERATIONAL = DigitalOutput(PG8);
+	LED_FAULT = DigitalOutput(PG7);
+	LED_CAN = DigitalOutput(PG6);
+	LED_FLASH = DigitalOutput(PG5);
+	LED_SLEEP = DigitalOutput(PG4);
+
+	STLIB::start("00:80:e1:06:07:10",ip, mask, gateway, UART::uart2);
+
+	Comms::init();
+
+	BTFTP::start();
+
+	Time::register_low_precision_alarm(1, [&](){
+		general_state_machine.check_transitions();
+	});
+
+
+	for (auto& [target, reset_pin]: BLCU::resets){
+		reset_pin.turn_on();
+    }
+
+	for (auto& [target, boot_pin]: BLCU::boots){
+		boot_pin.turn_off();
+    }
+}
+
+void BLCU::update(){
+	STLIB::update();
+}
+
+void BLCU::setup_state_machine(){
+		general_state_machine.add_state(GeneralStates::OPERATIONAL);
+		general_state_machine.add_state(GeneralStates::FAULT);
+
+		ProtectionManager::link_state_machine(general_state_machine, GeneralStates::FAULT);
+		ProtectionManager::set_id(Boards::ID::BLCU_VEHICLE);
+
+		//Enter actions
+		general_state_machine.add_enter_action([&](){
+			Time::set_timeout(max_tcp_connection_timeout, [&](){
+				if(not (Comms::tcp_socket->state == ServerSocket::ServerState::ACCEPTED )){
+							tcp_timeout = true;
+				}
+			});
+		}, GeneralStates::INITIAL);
+
+		general_state_machine.add_enter_action([&](){
+			LED_FAULT.turn_on();
+		}, GeneralStates::FAULT);
+
+		general_state_machine.add_enter_action([&](){
+			LED_OPERATIONAL.turn_on();
+		}, GeneralStates::OPERATIONAL);
+		BLCU::
+		//Exit actions
+		general_state_machine.add_exit_action([&](){
+			LED_OPERATIONAL.turn_off();
+		}, GeneralStates::INITIAL);
+
+		general_state_machine.add_exit_action([&](){
+			LED_FAULT.turn_off();
+		}, GeneralStates::FAULT);
+
+		general_state_machine.add_exit_action([&](){
+			LED_OPERATIONAL.turn_off();
+		}, GeneralStates::OPERATIONAL);
+
+		//Transitions
+		general_state_machine.add_transition(GeneralStates::INITIAL, GeneralStates::OPERATIONAL, [&](){
+			return Comms::tcp_socket->state == ServerSocket::ServerState::ACCEPTED;
+		});
+		general_state_machine.add_transition(GeneralStates::INITIAL, GeneralStates::FAULT, [&](){
+			if(tcp_timeout) ErrorHandler("TCP connections could not be established in time and timed out");
+			return tcp_timeout;
+		});
+		general_state_machine.add_transition(GeneralStates::OPERATIONAL, GeneralStates::FAULT, [&](){
+			if(Comms::tcp_socket->state!= ServerSocket::ServerState::ACCEPTED){
+				ErrorHandler("TCP connections fell");
+				return true;
+			}
+			return false;
+		});
+
+		//Cyclic actions
+		general_state_machine.add_low_precision_cyclic_action([&](){LED_OPERATIONAL.toggle();}, (chrono::milliseconds)150, INITIAL);
+
+		general_state_machine.add_low_precision_cyclic_action(ProtectionManager::check_protections, (chrono::milliseconds)1 , OPERATIONAL);
+}
+
+void BLCU::setup_specific_state_machine(){
+    specific_state_machine.add_state(SpecificStates::BOOTING);
+
+
+    //Enter actions
+    specific_state_machine.add_enter_action([&](){
+		stop_booting();
+        turn_on_all_boards();
+        LED_OPERATIONAL.turn_on();
+
+    }, SpecificStates::READY);
+
+    specific_state_machine.add_enter_action([&](){
+        turn_off_all_boards();
+        send_to_bootmode();
+    }, SpecificStates::BOOTING);
+
+    //Exit actions
+    specific_state_machine.add_exit_action([&](){
+        LED_OPERATIONAL.turn_off();
+    }, SpecificStates::READY);
+
+    specific_state_machine.add_exit_action([&](){
+        LED_CAN.turn_off();
+    }, SpecificStates::BOOTING);
+
+	specific_state_machine.add_transition(SpecificStates::READY, SpecificStates::BOOTING,[&](){
+		return ready_flag;
+	});
+
+	specific_state_machine.add_transition(SpecificStates::BOOTING, SpecificStates::READY,[&](){
+		return !ready_flag;
+	});
+
+    //Cyclic actions
+    general_state_machine.add_low_precision_cyclic_action([&](){LED_CAN.toggle();}, (chrono::milliseconds)75, SpecificStates::BOOTING);
+
+}
+
+void BLCU::finish_write_read_order(bool error_okey){
+	BTFTP::off();
+	specific_state_machine.force_change_state(BOOTING);
+
+		if(error_okey==false){
+			Comms::send_nack();
+			abort_booting();
+			return;
+		}else{
+			Comms::send_ack();
+		}
+
+}
+
+void BLCU::abort_booting(){
+	BLCU::programming_error = true;
+}
+
+void BLCU::send_to_bootmode(){
+	boots[current_target].turn_on();
+	resets[current_target].turn_off();
+	//igual hace falta meter un delay(por probar)
+	resets[current_target].turn_on();
+	boots[current_target].turn_off();
+}
+
+void BLCU::turn_off_all_boards(){
+	for (auto& [target, reset_pin]: resets)
+		{
+			reset_pin.turn_off();
+		}
+}
+
+void BLCU::turn_on_all_boards(){
+	for (auto& [target, reset_pin]: resets)
+		{
+			reset_pin.turn_on();
+		}
+}
+
+void BLCU::stop_booting(){
+	boots[current_target].turn_off();
+    resets[current_target].turn_off();
+
+}
+
+void BLCU::reset_all(){
+	for (auto& [target, reset]: resets)
+		{
+			reset.turn_off();
+		}
+
+		for (auto& [target, reset]: resets)
+		{
+			reset.turn_on();
+		}
+
+		HAL_NVIC_SystemReset();//Good bye :)
+}
\ No newline at end of file
diff --git a/Core/Src/BLCU/Comms.cpp b/Core/Src/BLCU/Comms.cpp
new file mode 100644
index 0000000..0f7368f
--- /dev/null
+++ b/Core/Src/BLCU/Comms.cpp
@@ -0,0 +1,80 @@
+#include "BLCU/Comms.hpp"
+#include "BLCU/BLCU.hpp"
+
+ServerSocket* Comms::tcp_socket = nullptr;
+
+void Comms::init(){
+    tcp_socket = new ServerSocket(BLCU::ip, BLCU::port);
+    write_program_order = new HeapOrder(700, &Comms::write_program, &BLCU::current_target);
+    reset_all_order   = new HeapOrder(701, &BLCU::reset_all);
+}
+
+void Comms::send_ack() {
+    tcp_socket->send_order(ack);
+}
+
+void Comms::send_nack() {
+    tcp_socket->send_order(nack);
+}
+
+void Comms::read_program(){
+    if(BLCU::specific_state_machine.current_state != BLCU::SpecificStates::READY){
+        send_nack();
+        return;
+    }
+    BLCU::specific_state_machine.force_change_state(BLCU::SpecificStates::BOOTING);
+
+    BTFTP::on(BTFTP::Mode::READ);
+
+    send_ack();
+}
+
+void Comms::write_program(){
+    if(BLCU::specific_state_machine.current_state != BLCU::SpecificStates::READY){
+        send_nack();
+        return;
+    }
+    BLCU::specific_state_machine.force_change_state(BLCU::SpecificStates::BOOTING);
+
+    BTFTP::on(BTFTP::Mode::WRITE);
+
+    send_ack();
+}
+
+void Comms::erase_program(){
+    if(BLCU::specific_state_machine.current_state != BLCU::SpecificStates::READY){
+        send_nack();
+        return;
+    }
+    BLCU::specific_state_machine.force_change_state(BLCU::SpecificStates::BOOTING);
+
+    if(not FDCB::erase_memory()){
+        send_nack();
+        BLCU::abort_booting();
+        return;
+    }else{
+        send_ack();
+    }
+
+    BLCU::specific_state_machine.force_change_state(BLCU::SpecificStates::READY);
+}
+
+void Comms::get_version(){
+    if(BLCU::specific_state_machine.current_state != BLCU::SpecificStates::READY){
+        send_ack();
+        return;
+    }
+    BLCU::specific_state_machine.force_change_state(BLCU::SpecificStates::BOOTING);
+
+    uint8_t temporal_value = 0;
+    if (not FDCB::get_version(temporal_value)){
+        send_nack();
+        BLCU::abort_booting();
+        return;
+    }
+
+    send_ack();
+
+    BLCU::specific_state_machine.force_change_state(BLCU::SpecificStates::READY);
+}
+
diff --git a/Core/Src/FDCBootloader/BootloaderTFTP.cpp b/Core/Src/FDCBootloader/BootloaderTFTP.cpp
index fc98ba6..6cb8728 100644
--- a/Core/Src/FDCBootloader/BootloaderTFTP.cpp
+++ b/Core/Src/FDCBootloader/BootloaderTFTP.cpp
@@ -8,8 +8,6 @@
 
 #include "FDCBootloader/BootloaderTFTP.hpp"
 
-//#ifdef HAL_ETH_MODULE_ENABLED
-//Variables:
 namespace BLCU {
 	extern void finish_write_read_order(bool error_ok);
 }
@@ -36,9 +34,6 @@ void BTFTP::start(){
 	const tftp_context* context = new tftp_context(&BTFTP::open, &BTFTP::close, &BTFTP::read, &BTFTP::write, &BTFTP::re);
 	err_t error = tftp_init(context);
 
-	//TODO: estaria bien comprobar antes que no esta ya ready
-	//		ya sea aqui o denstro del set_up
-
 	if (error != ERR_OK) {
 		ErrorHandler("Unable to start TFTP server, error code: %lu.", error);
 		
@@ -53,7 +48,6 @@ void BTFTP::start(){
 	BTFTP::on(BTFTP::Mode::WRITE);
 
 	//TODO: Remove debug print
-	printf("Servidor tftp inciado con éxito! Error code: %u\n", error);
 }
 
 //Private:
@@ -68,21 +62,17 @@ void* BTFTP::open(const char* fname, const char* mode, u8_t write){
 		BLCU::finish_write_read_order(false);
 		return nullptr;
 	}
-	printf("File opened in %s mode.\n", accepted_mode);
 
 	uint8_t version = 0x0;
 
 	if (not FDCB::get_version(version)){
-		//TODO: WARNING: Bootloader not respondig, unable to start read/write operation!
 		ErrorHandler("Bootloader not respondig, unable to start read/write operation!");
 		BLCU::finish_write_read_order(false);
 		return nullptr;
 	}
 
 	if (version != FDCB_CURRENT_VERSION) {
-		//TODO: WARNING?
 		ErrorHandler("Mismatch in bootloader version, current version in host: 0x%X in target: 0x%X.", FDCB_CURRENT_VERSION, version);
-		// ErrorHandler("Mismatch in bootloader version, current version in host: 0x%X in target: 0x%X.", FDCB_CURRENT_VERSION, version);
 		BLCU::finish_write_read_order(false);
 		return nullptr;
 	}
@@ -103,7 +93,7 @@ void* BTFTP::open(const char* fname, const char* mode, u8_t write){
 }
 
 void BTFTP::close(void* handle){
-	free(handle);
+	delete static_cast<BTFTP::BHandle*>(handle);
 	BLCU::finish_write_read_order(error_ok);
 }
 
@@ -169,7 +159,6 @@ int BTFTP::write(void* handle, struct pbuf* p){
 			error_ok = false;
 			return -1;
 		}
-		//Deberia de cambiar de estado aqui, para quitar de boot a la otra pagina
 		return 0;
 	}else{
 		btftp_handle->file->pointer += TFTP_MAX_DATA_SIZE;
@@ -184,4 +173,3 @@ void BTFTP::re(void* handle){
 }
 
 
-//#endif
diff --git a/Core/Src/Runes/generated_metadata.cpp b/Core/Src/Runes/generated_metadata.cpp
index 2bb322e..7f3dbd3 100644
--- a/Core/Src/Runes/generated_metadata.cpp
+++ b/Core/Src/Runes/generated_metadata.cpp
@@ -5,11 +5,11 @@
 extern "C"{
     const char DESCRIPTION[255]  __attribute__((section(".metadata_pool")))= 
         "****************"  // placeholder for beggining
-        "20250624T153513"   // DateTime using ISO-8601 format
+        "20250717T172821"   // DateTime using ISO-8601 format
         " "                 // alignment
-        "f8e647d0"          // STLIB commit
+        "f73885a9"          // STLIB commit
         "--------"          // ADJ commit
-        "fa5dc1b1"          // Board commit
+        "34199cf1"          // Board commit
         // the '=' is used for unparsing
         ;
 }
\ No newline at end of file
diff --git a/Core/Src/main.cpp b/Core/Src/main.cpp
index 3e1fa9a..3126e2b 100644
--- a/Core/Src/main.cpp
+++ b/Core/Src/main.cpp
@@ -8,77 +8,14 @@
 #include "BLCU/BLCU.hpp"
 
 
-HeapOrder ack = {
-    3,
-};
-
-
-HeapOrder nack = {
-    4,
-};
-
-HeapOrder get_version_order = {
-    703,
-    BLCU::get_version,
-    &BLCU::orders_data.target,
-    &BLCU::orders_data.version,
-};
-
-
 int main(void) {
 #ifdef SIM_ON
     SharedMemory::start();
 #endif
 
-    HeapOrder write_program_order = {
-        700,
-        BLCU::write_program,
-        &BLCU::orders_data.target,
-    };
-
-    HeapOrder read_program_order = {
-        701,
-        BLCU::read_program,
-        &BLCU::orders_data.target,
-    };
-
-    HeapOrder erase_program_order = {
-        702,
-        BLCU::erase_program,
-        &BLCU::orders_data.target,
-    };
-
+    BLCU::init();
     
 
-    HeapOrder reset_all_order = {
-        704,
-        BLCU::reset_all,
-        &BLCU::orders_data.target,
-    };
-    DigitalOutput BootPCU(PE7);
-    DigitalOutput NReset(PG1);
-
-    BLCU::set_up();
-    BLCU::start();
-    // RCC_ClocksTypeDef RCC_Clocks;
-    // HAL_RCC_GetClockConfig()
-
-    // BootPCU.turn_off();
-    // HAL_Delay(100);
-    // NReset.turn_on();
-    // BLCU::orders_data.target = BLCU::Target::PCU;
-    //  BLCU::write_program();
-
-    
-    
-    // BootPCU.turn_on();
-    // NReset.turn_off();
-    // HAL_Delay(100);
-    // NReset.turn_on();
-    // HAL_Delay(100);
-    // BootPCU.turn_off();
-
-
     while (1) {
     BLCU::update();
     }
diff --git a/deps/ST-LIB b/deps/ST-LIB
index f8e647d..1af648a 160000
--- a/deps/ST-LIB
+++ b/deps/ST-LIB
@@ -1 +1 @@
-Subproject commit f8e647d0c4f7d37dde4d6138719530086165ea76
+Subproject commit 1af648a011e4fb0f87031ef1b6b24f9a62c76955