diff --git a/car_fmw/Makefile b/car_fmw/Makefile
index 916839c80ea..224ffaaf10b 100644
--- a/car_fmw/Makefile
+++ b/car_fmw/Makefile
@@ -40,22 +40,25 @@ dircs=$(wildcard $(1)/*.c)
 dircs_to_prefxd_objs=\
 	$(patsubst $(1)/%.c,$(BIN_DIR)/$(2)%.o,$(call dircs,$1))
 
-$(CAR_FMW_BIN): $(CAR_FMW_ELF)
+$(CAR_FMW_BIN): $(CAR_FMW_ELF) $(BIN_DIR)
 	$(OBJ_COPY) -O binary $< $@
 
 $(CAR_FMW_ELF): $(CAR_FMW_OBJ) $(LIB_STM32F4D_OBJ) \
-	$(LIB_CMSIS_OBJ) $(LIB_STDPERIPH_OBJ)
+		$(LIB_CMSIS_OBJ) $(LIB_STDPERIPH_OBJ)
 	$(CC) $(CFLAGS) $^ -T $(SRC_DIR)/stm32_flash.ld -o $@
 
-$(CAR_FMW_OBJ): $(BIN_DIR) $(call dircs_to_prefxd_objs,$(SRC_DIR))
+CAR_OBJ_PREFIX=car_
+$(CAR_FMW_OBJ): \
+		$(call dircs_to_prefxd_objs,$(SRC_DIR),$(CAR_OBJ_PREFIX))
 	$(LD_ALL_DEPS)
 
+$(BIN_DIR)/$(CAR_OBJ_PREFIX)%.o: $(SRC_DIR)/%.c \
+		$(call dirhs,$(SRC_DIR))
+	$(CC_ALL_DEPS)
+
 $(BIN_DIR):
 	mkdir -p $(BIN_DIR)
 
-$(BIN_DIR)/%.o: $(SRC_DIR)/%.c
-	$(CC_ALL_DEPS)
-
 flash: $(CAR_FMW_BIN)
 	$(ST_DIR)/st-flash write $(CAR_FMW_BIN) 0x8000000
 
diff --git a/car_fmw/src/assert.c b/car_fmw/src/assert.c
new file mode 100644
index 00000000000..43decf8acfd
--- /dev/null
+++ b/car_fmw/src/assert.c
@@ -0,0 +1,20 @@
+#include "stm32f4_discovery.h"
+#include "stm32f4xx_conf.h"
+
+/**
+  * @brief  Reports the name of the source file and the source line number
+  *         where the assert_param error has occurred.
+  * @param  file: pointer to the source file name
+  * @param  line: assert_param error line source number
+  * @retval None
+  */
+void assert_failed(uint8_t* file, uint32_t line)
+{ 
+  /* User can add his own implementation to report the file name and line number,
+     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
+
+  /* Infinite loop */
+  while (1)
+  {
+  }
+}
diff --git a/car_fmw/src/car_leds.h b/car_fmw/src/car_leds.h
new file mode 100644
index 00000000000..1d0992d6709
--- /dev/null
+++ b/car_fmw/src/car_leds.h
@@ -0,0 +1,58 @@
+#pragma once
+
+#include <stdbool.h>
+
+#include "stm32f4_discovery.h"
+#include "stm32f4xx_conf.h"
+
+#define CAR_LED_GPIO_PORT_CLOCK RCC_AHB1Periph_GPIOD
+#define CAR_LED_GPIO_PORT GPIOD
+#define CAR_LED_PIN_GREEN GPIO_Pin_12
+#define CAR_LED_PIN_ORANGE GPIO_Pin_13
+#define CAR_LED_PIN_RED GPIO_Pin_14
+#define CAR_LED_PIN_BLUE GPIO_Pin_15
+
+inline void leds_init(void)
+{
+    GPIO_InitTypeDef GPIO_InitStructure;
+    RCC_AHB1PeriphClockCmd(CAR_LED_GPIO_PORT_CLOCK, ENABLE);
+    GPIO_InitStructure.GPIO_Pin = CAR_LED_PIN_GREEN
+        | CAR_LED_PIN_ORANGE
+        | CAR_LED_PIN_RED
+        | CAR_LED_PIN_BLUE;
+    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
+    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
+    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
+    GPIO_Init(CAR_LED_GPIO_PORT, &GPIO_InitStructure);
+}
+
+typedef enum
+{
+    LED_GREEN,
+    LED_ORANGE,
+    LED_RED,
+    LED_BLUE
+} led_t;
+
+inline void led_set(led_t led, bool on)
+{
+    int led_pin = CAR_LED_PIN_GREEN;
+    switch(led) {
+        case LED_ORANGE:
+            led_pin = CAR_LED_PIN_ORANGE;
+        break;
+        case LED_RED:
+            led_pin = CAR_LED_PIN_RED;
+        break;
+        case LED_BLUE:
+            led_pin = CAR_LED_PIN_BLUE;
+        break;
+    }
+
+    if (on)
+        GPIO_SetBits(CAR_LED_GPIO_PORT, led_pin);
+    else
+        GPIO_ResetBits(CAR_LED_GPIO_PORT, led_pin);
+}
+
diff --git a/car_fmw/src/delay.h b/car_fmw/src/delay.h
new file mode 100644
index 00000000000..492981a32aa
--- /dev/null
+++ b/car_fmw/src/delay.h
@@ -0,0 +1,16 @@
+#pragma once
+
+#include "stm32f4_discovery.h"
+#include "stm32f4xx_conf.h"
+
+/**
+  * @brief  Delay Function.
+  * @param  nCount:specifies the Delay time length.
+  * @retval None
+  */
+inline void Delay(__IO uint32_t nCount)
+{
+  while(nCount--)
+  {
+  }
+}
diff --git a/car_fmw/src/lib/stdperiph/Makefile b/car_fmw/src/lib/stdperiph/Makefile
index dbefcf6426a..f9452148b9c 100644
--- a/car_fmw/src/lib/stdperiph/Makefile
+++ b/car_fmw/src/lib/stdperiph/Makefile
@@ -5,5 +5,5 @@ $(LIB_STDPERIPH_OBJ): \
 	$(LD_ALL_DEPS)
 
 $(BIN_DIR)/$(LIB_STDPRPH_OBJ_PREFIX)%.o: $(LIB_STDPERIPH_DIR)/%.c \
-	$(call dirhs, $(LIB_STDPERIPH_DIR))
+	$(call dirhs,$(LIB_STDPERIPH_DIR))
 	$(CC_ALL_DEPS)
diff --git a/car_fmw/src/main.c b/car_fmw/src/main.c
index 5da875ffb82..6e0b1a3f6dc 100644
--- a/car_fmw/src/main.c
+++ b/car_fmw/src/main.c
@@ -1,143 +1,31 @@
-/**
-  ******************************************************************************
-  * @file    IO_Toggle/main.c 
-  * @author  MCD Application Team
-  * @version V1.0.0
-  * @date    19-September-2011
-  * @brief   Main program body
-  ******************************************************************************
-  * @attention
-  *
-  * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
-  * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
-  * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
-  * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
-  * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
-  * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
-  *
-  * <h2><center>&copy; COPYRIGHT 2011 STMicroelectronics</center></h2>
-  ******************************************************************************  
-  */ 
+#include "car_leds.h"
+#include "delay.h"
 
-/* Includes ------------------------------------------------------------------*/
-#include "stm32f4_discovery.h"
-#include "stm32f4xx_conf.h"
-
-/** @addtogroup STM32F4_Discovery_Peripheral_Examples
-  * @{
-  */
-
-/** @addtogroup IO_Toggle
-  * @{
-  */ 
-
-/* Private typedef -----------------------------------------------------------*/
-GPIO_InitTypeDef  GPIO_InitStructure;
-
-/* Private define ------------------------------------------------------------*/
-/* Private macro -------------------------------------------------------------*/
-/* Private variables ---------------------------------------------------------*/
-/* Private function prototypes -----------------------------------------------*/
-void Delay(__IO uint32_t nCount);
-/* Private functions ---------------------------------------------------------*/
-
-/**
-  * @brief  Main program
-  * @param  None
-  * @retval None
-  */
 int main(void)
 {
-  /*!< At this stage the microcontroller clock setting is already configured, 
+    /*!< At this stage the microcontroller clock setting is already configured, 
        this is done through SystemInit() function which is called from startup
        file (startup_stm32f4xx.s) before to branch to application main.
        To reconfigure the default setting of SystemInit() function, refer to
-        system_stm32f4xx.c file
+       system_stm32f4xx.c file
      */
 
-  /* GPIOD Periph clock enable */
-  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
+    leds_init();
 
-  /* Configure PD12, PD13, PD14 and PD15 in output pushpull mode */
-  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13| GPIO_Pin_14| GPIO_Pin_15;
-  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
-  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
-  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
-  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
-  GPIO_Init(GPIOD, &GPIO_InitStructure);
-
-  while (1)
-  {
-    /* PD12 to be toggled */
-    GPIO_SetBits(GPIOD, GPIO_Pin_12);
-    
-    /* Insert delay */
-    Delay(0x3FFFFF);
-    
-    /* PD13 to be toggled */
-    GPIO_SetBits(GPIOD, GPIO_Pin_13);
-    
-    /* Insert delay */
-    Delay(0x3FFFFF);
-  
-    /* PD14 to be toggled */
-    GPIO_SetBits(GPIOD, GPIO_Pin_14);
-    
-    /* Insert delay */
-    Delay(0x3FFFFF);
-    
-    /* PD15 to be toggled */
-    GPIO_SetBits(GPIOD, GPIO_Pin_15);
-    
-    /* Insert delay */
-    Delay(0x7FFFFF);
-    
-    GPIO_ResetBits(GPIOD, GPIO_Pin_12|GPIO_Pin_13|GPIO_Pin_14|GPIO_Pin_15);
-    
-    /* Insert delay */
-    Delay(0xFFFFFF);
-  }
+    while (1)
+    {
+        led_set(LED_GREEN, true);
+        Delay(0x3FFFFF);
+        led_set(LED_ORANGE, true);
+        Delay(0x3FFFFF);
+        led_set(LED_RED, true);
+        Delay(0x3FFFFF);
+        led_set(LED_BLUE, true);
+        Delay(0x7FFFFF);
+        led_set(LED_GREEN, false);
+        led_set(LED_ORANGE, false);
+        led_set(LED_RED, false);
+        led_set(LED_BLUE, false);
+        Delay(0xFFFFFF);
+    }
 }
-
-/**
-  * @brief  Delay Function.
-  * @param  nCount:specifies the Delay time length.
-  * @retval None
-  */
-void Delay(__IO uint32_t nCount)
-{
-  while(nCount--)
-  {
-  }
-}
-
-#ifdef  USE_FULL_ASSERT
-
-/**
-  * @brief  Reports the name of the source file and the source line number
-  *         where the assert_param error has occurred.
-  * @param  file: pointer to the source file name
-  * @param  line: assert_param error line source number
-  * @retval None
-  */
-void assert_failed(uint8_t* file, uint32_t line)
-{ 
-  /* User can add his own implementation to report the file name and line number,
-     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
-
-  /* Infinite loop */
-  while (1)
-  {
-  }
-}
-#endif
-
-/**
-  * @}
-  */ 
-
-/**
-  * @}
-  */ 
-
-/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/