diff --git a/controller/fw/embed/custom_script.ld b/controller/fw/embed/custom_script.ld
new file mode 100644
index 0000000..f7fcbbf
--- /dev/null
+++ b/controller/fw/embed/custom_script.ld
@@ -0,0 +1,178 @@
+/**
+ ******************************************************************************
+ * @file      LinkerScript.ld
+ * @author    Auto-generated by STM32CubeIDE
+ * @brief     Linker script for STM32F446RCTx Device from STM32F4 series
+ *                      256Kbytes FLASH
+ *                      128Kbytes RAM
+ *
+ *            Set heap size, stack size and stack location according
+ *            to application requirements.
+ *
+ *            Set memory bank area and size if external memory is used
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
+ * All rights reserved.</center></h2>
+ *
+ * This software component is licensed by ST under BSD 3-Clause license,
+ * the "License"; You may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at:
+ *                        opensource.org/licenses/BSD-3-Clause
+ *
+ ******************************************************************************
+ */
+
+/* Entry Point */
+ENTRY(Reset_Handler)
+
+/* Highest address of the user mode stack */
+_estack = ORIGIN(RAM) + LENGTH(RAM);	/* end of "RAM" Ram type memory */
+
+_Min_Heap_Size = 0x200;	/* required amount of heap  */
+_Min_Stack_Size = 0x400;	/* required amount of stack */
+
+
+/* Memories definition */
+MEMORY
+{
+  RAM    (xrw)    : ORIGIN = 0x20000000,   LENGTH = LD_MAX_DATA_SIZE
+  FLASH    (rx)    : ORIGIN = 0x8000000 + 0x8000, LENGTH = 512K - 0x8000
+}
+
+/* Sections */
+SECTIONS
+{
+  /* The startup code into "FLASH" Rom type memory */
+  .isr_vector :
+  {
+    . = ALIGN(4);
+    KEEP(*(.isr_vector)) /* Startup code */
+    . = ALIGN(4);
+  } >FLASH
+
+  /* The program code and other data into "FLASH" Rom type memory */
+  .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 into "FLASH" Rom type memory */
+  .rodata :
+  {
+    . = ALIGN(4);
+    *(.rodata)         /* .rodata sections (constants, strings, etc.) */
+    *(.rodata*)        /* .rodata* sections (constants, strings, etc.) */
+    . = ALIGN(4);
+  } >FLASH
+
+  .ARM.extab (READONLY) : {
+    . = ALIGN(4);
+    *(.ARM.extab* .gnu.linkonce.armextab.*)
+    . = ALIGN(4);
+  } >FLASH
+
+  .ARM (READONLY) : {
+    . = ALIGN(4);
+    __exidx_start = .;
+    *(.ARM.exidx*)
+    __exidx_end = .;
+    . = ALIGN(4);
+  } >FLASH
+
+  .preinit_array (READONLY) :
+  {
+    . = ALIGN(4);
+    PROVIDE_HIDDEN (__preinit_array_start = .);
+    KEEP (*(.preinit_array*))
+    PROVIDE_HIDDEN (__preinit_array_end = .);
+    . = ALIGN(4);
+  } >FLASH
+
+  .init_array (READONLY) :
+  {
+    . = ALIGN(4);
+    PROVIDE_HIDDEN (__init_array_start = .);
+    KEEP (*(SORT(.init_array.*)))
+    KEEP (*(.init_array*))
+    PROVIDE_HIDDEN (__init_array_end = .);
+    . = ALIGN(4);
+  } >FLASH
+
+  .fini_array (READONLY) :
+  {
+    . = ALIGN(4);
+    PROVIDE_HIDDEN (__fini_array_start = .);
+    KEEP (*(SORT(.fini_array.*)))
+    KEEP (*(.fini_array*))
+    PROVIDE_HIDDEN (__fini_array_end = .);
+    . = ALIGN(4);
+  } >FLASH
+
+  /* Used by the startup to initialize data */
+  _sidata = LOADADDR(.data);
+
+  /* Initialized data sections into "RAM" Ram type memory */
+  .data :
+  {
+    . = ALIGN(4);
+    _sdata = .;        /* create a global symbol at data start */
+    *(.data)           /* .data sections */
+    *(.data*)          /* .data* sections */
+    *(.RamFunc)        /* .RamFunc sections */
+    *(.RamFunc*)       /* .RamFunc* sections */
+
+    . = ALIGN(4);
+    _edata = .;        /* define a global symbol at data end */
+
+  } >RAM AT> FLASH
+
+  /* Uninitialized data section into "RAM" Ram type memory */
+  . = ALIGN(4);
+  .bss :
+  {
+    /* This is used by the startup in order to initialize the .bss section */
+    _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" Ram  type memory left */
+  ._user_heap_stack :
+  {
+    . = ALIGN(8);
+    PROVIDE ( end = . );
+    PROVIDE ( _end = . );
+    . = . + _Min_Heap_Size;
+    . = . + _Min_Stack_Size;
+    . = ALIGN(8);
+  } >RAM
+
+  /* Remove information from the compiler libraries */
+  /DISCARD/ :
+  {
+    libc.a ( * )
+    libm.a ( * )
+    libgcc.a ( * )
+  }
+
+  .ARM.attributes 0 : { *(.ARM.attributes) }
+}
diff --git a/controller/fw/embed/platformio.ini b/controller/fw/embed/platformio.ini
index bc4316d..b2b4e74 100644
--- a/controller/fw/embed/platformio.ini
+++ b/controller/fw/embed/platformio.ini
@@ -1,15 +1,3 @@
-; PlatformIO Project Configuration File
-;
-;   Build options: build flags, source filter
-;   Upload options: custom upload port, speed and extra flags
-;   Library options: dependencies, extra library storages
-;   Advanced options: extra scripting
-;
-; Please visit documentation for the other options and examples
-; https://docs.platformio.org/page/projectconf.html
-
-[platformio]
-
 [env:robotroller_reborn]
 platform = ststm32
 board = genericSTM32F446RE
@@ -19,14 +7,18 @@ debug_tool = stlink
 monitor_speed = 19200
 monitor_parity = N
 
+board_build.ldscript = ${PROJECT_DIR}/custom_script.ld
+
 build_flags = 
-	-DSTM32F446xx
-	-D HAL_CAN_MODULE_ENABLED
-	-D SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH
+    -D STM32F446xx
+    -D HAL_CAN_MODULE_ENABLED
+    -D SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH
+
 
 lib_deps = 
-	askuric/Simple FOC@^2.3.4
-	pazi88/STM32_CAN@^1.1.2
+    askuric/Simple FOC@^2.3.4
+    pazi88/STM32_CAN@^1.1.2
+
 extra_scripts = 
-	post:hex_compile.py
-	pre:gen_compile_commands.py
+    pre:gen_compile_commands.py
+    post:hex_compile.py
\ No newline at end of file
diff --git a/controller/fw/embed/src/main.cpp b/controller/fw/embed/src/main.cpp
index 57302eb..dd27397 100644
--- a/controller/fw/embed/src/main.cpp
+++ b/controller/fw/embed/src/main.cpp
@@ -63,13 +63,13 @@ volatile uint32_t ipsr_value = 0;
 
   void setup(){
   // Vector table initialization (commented out)
-  // SCB->VTOR = (uint32_t)0x08008004;
+  SCB->VTOR = (uint32_t)0x08008004;
   
   Serial.setRx(HARDWARE_SERIAL_RX_PIN);
   Serial.setTx(HARDWARE_SERIAL_TX_PIN);
   Serial.begin(115200);
 
-  pinMode(PC11, OUTPUT);
+  // pinMode(PC11, OUTPUT);
   pinMode(PC10,OUTPUT);
   GPIOC->ODR &= ~GPIO_ODR_OD10;
   // Can.enableMBInterrupts();