diff --git a/Cargo.lock b/Cargo.lock
index 50421cf..b5fb327 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -119,12 +119,6 @@ version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "877a4ace8713b0bcf2a4e7eec82529c029f1d0619886d18145fea96c3ffe5c0f"
 
-[[package]]
-name = "glob"
-version = "0.3.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0cc23270f6e1808e30a928bdc84dea0b9b4136a8bc82338574f23baf47bbd280"
-
 [[package]]
 name = "hashbrown"
 version = "0.17.1"
@@ -142,10 +136,17 @@ dependencies = [
 ]
 
 [[package]]
-name = "itoa"
-version = "1.0.18"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8f42a60cbdf9a97f5d2305f08a87dc4e09308d1276d28c869c684d7777685682"
+name = "kaptan-dma"
+version = "0.1.0"
+
+[[package]]
+name = "kaptan-drivers"
+version = "0.1.0"
+dependencies = [
+ "kaptan-sensor",
+ "kaptan-spi",
+ "kaptan-time",
+]
 
 [[package]]
 name = "kaptan-kakute-f7-mini-v3"
@@ -153,8 +154,11 @@ version = "0.1.0"
 dependencies = [
  "cortex-m",
  "cortex-m-rt",
- "kaptan-mavlink",
- "kaptan-spec",
+ "kaptan-dma",
+ "kaptan-drivers",
+ "kaptan-runtime",
+ "kaptan-spi",
+ "kaptan-stm32f7",
  "panic-halt",
  "rtic",
  "stm32f7",
@@ -164,20 +168,56 @@ dependencies = [
 name = "kaptan-mavlink"
 version = "0.1.0"
 dependencies = [
- "kaptan-spec",
+ "kaptan-sensor",
+ "kaptan-time",
  "mavlink",
  "mavlink-bindgen",
  "mavlink-core",
 ]
 
 [[package]]
-name = "kaptan-spec"
+name = "kaptan-runtime"
 version = "0.1.0"
 dependencies = [
- "syn 2.0.119",
- "trybuild",
+ "kaptan-dma",
+ "kaptan-drivers",
+ "kaptan-mavlink",
+ "kaptan-sensor",
+ "kaptan-spi",
+ "kaptan-time",
+ "kaptan-tx",
 ]
 
+[[package]]
+name = "kaptan-sensor"
+version = "0.1.0"
+dependencies = [
+ "kaptan-time",
+]
+
+[[package]]
+name = "kaptan-spi"
+version = "0.1.0"
+
+[[package]]
+name = "kaptan-stm32f7"
+version = "0.1.0"
+dependencies = [
+ "cortex-m",
+ "kaptan-dma",
+ "kaptan-spi",
+ "kaptan-time",
+ "stm32f7",
+]
+
+[[package]]
+name = "kaptan-time"
+version = "0.1.0"
+
+[[package]]
+name = "kaptan-tx"
+version = "0.1.0"
+
 [[package]]
 name = "mavlink"
 version = "0.18.0"
@@ -381,57 +421,6 @@ version = "0.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
 
-[[package]]
-name = "serde"
-version = "1.0.228"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9a8e94ea7f378bd32cbbd37198a4a91436180c5bb472411e48b5ec2e2124ae9e"
-dependencies = [
- "serde_core",
-]
-
-[[package]]
-name = "serde_core"
-version = "1.0.228"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "41d385c7d4ca58e59fc732af25c3983b67ac852c1a25000afe1175de458b67ad"
-dependencies = [
- "serde_derive",
-]
-
-[[package]]
-name = "serde_derive"
-version = "1.0.228"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d540f220d3187173da220f885ab66608367b6574e925011a9353e4badda91d79"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn 2.0.119",
-]
-
-[[package]]
-name = "serde_json"
-version = "1.0.150"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e8014e44b4736ed0538adeecded0fce2a272f22dc9578a7eb6b2d9993c74cfb9"
-dependencies = [
- "itoa",
- "memchr",
- "serde",
- "serde_core",
- "zmij",
-]
-
-[[package]]
-name = "serde_spanned"
-version = "1.1.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6662b5879511e06e8999a8a235d848113e942c9124f211511b16466ee2995f26"
-dependencies = [
- "serde_core",
-]
-
 [[package]]
 name = "stm32f7"
 version = "0.16.0"
@@ -465,21 +454,6 @@ dependencies = [
  "unicode-ident",
 ]
 
-[[package]]
-name = "target-triple"
-version = "1.0.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "591ef38edfb78ca4771ee32cf494cb8771944bee237a9b91fc9c1424ac4b777b"
-
-[[package]]
-name = "termcolor"
-version = "1.4.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "06794f8f6c5c898b3275aebefa6b8a1cb24cd2c6c79397ab15774837a0bc5755"
-dependencies = [
- "winapi-util",
-]
-
 [[package]]
 name = "thiserror"
 version = "2.0.19"
@@ -500,60 +474,6 @@ dependencies = [
  "syn 3.0.0",
 ]
 
-[[package]]
-name = "toml"
-version = "1.1.3+spec-1.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "53c96ecdfa941c8fc4fcaed14f99ada8ebed502eef533015095a07e3301d4c3c"
-dependencies = [
- "indexmap",
- "serde_core",
- "serde_spanned",
- "toml_datetime",
- "toml_parser",
- "toml_writer",
- "winnow",
-]
-
-[[package]]
-name = "toml_datetime"
-version = "1.1.1+spec-1.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3165f65f62e28e0115a00b2ebdd37eb6f3b641855f9d636d3cd4103767159ad7"
-dependencies = [
- "serde_core",
-]
-
-[[package]]
-name = "toml_parser"
-version = "1.1.2+spec-1.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a2abe9b86193656635d2411dc43050282ca48aa31c2451210f4202550afb7526"
-dependencies = [
- "winnow",
-]
-
-[[package]]
-name = "toml_writer"
-version = "1.1.2+spec-1.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7d56353a2a665ad0f41a421187180aab746c8c325620617ad883a99a1cbe66d2"
-
-[[package]]
-name = "trybuild"
-version = "1.0.118"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "06649c6f63d86604ba0c8950d5a1829fc9a17afd70fc6629f481d75b6a624c78"
-dependencies = [
- "glob",
- "serde",
- "serde_derive",
- "serde_json",
- "target-triple",
- "termcolor",
- "toml",
-]
-
 [[package]]
 name = "unicode-ident"
 version = "1.0.24"
@@ -580,39 +500,3 @@ checksum = "de437e2a6208b014ab52972a27e59b33fa2920d3e00fe05026167a1c509d19cc"
 dependencies = [
  "vcell",
 ]
-
-[[package]]
-name = "winapi-util"
-version = "0.1.11"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c2a7b1c03c876122aa43f3020e6c3c3ee5c05081c9a00739faf7503aeba10d22"
-dependencies = [
- "windows-sys",
-]
-
-[[package]]
-name = "windows-link"
-version = "0.2.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f0805222e57f7521d6a62e36fa9163bc891acd422f971defe97d64e70d0a4fe5"
-
-[[package]]
-name = "windows-sys"
-version = "0.61.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ae137229bcbd6cdf0f7b80a31df61766145077ddf49416a728b02cb3921ff3fc"
-dependencies = [
- "windows-link",
-]
-
-[[package]]
-name = "winnow"
-version = "1.0.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "23b97319f7b8343df12cc98938e5c3eb436064524c8d2b4e30a1d3a36eecdf81"
-
-[[package]]
-name = "zmij"
-version = "1.0.23"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "29666d0abbfad1e3dc4dcf6144730dd3a3ab225bbbdac83319345b1b44ccfc1b"