diff --git a/.vscode/settings.json b/.vscode/settings.json
index c5c2fbb..6a472e2 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -5,5 +5,15 @@
     ],
     "cmake.preferredGenerators": [
         "Ninja"
-    ]
+    ],
+    "stm32cube-ide-clangd.path": "cube",
+    "stm32cube-ide-clangd.arguments": [
+        "starm-clangd",
+        "--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-gcc*",
+        "--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/14.3.1+st.2/bin/arm-none-eabi-g++*"
+    ],
+    "[c][cpp]": {
+        "editor.defaultFormatter": "stmicroelectronics.stm32cube-ide-clangd",
+        "editor.formatOnSave": true
+    }
 }
\ No newline at end of file
diff --git a/README.md b/README.md
index 1a4aab9..996e361 100644
--- a/README.md
+++ b/README.md
@@ -11,11 +11,16 @@ cmake -B build
 cmake --build build
 ./build/motorcontroller_app
 ```
+
+## Install
+
+Any VS Code user should install the STM32 Cube IDE extension
+
 ## AI Policy
 
-A.I. is both allowed and encouraged but
-only responsibly. We do prefer handwritten 
-code for its educational value and suggest 
+A.I. is both allowed but only responsibly. 
+We do prefer handwritten code for its 
+educational value and suggest 
 LLM's be used as sanity checkers. Either way,
 quality code is non-negotiable and every line 
 of code merged must be understood.
diff --git a/firmware/core/include/fault.hpp b/firmware/core/include/fault.hpp
index 276e04d..2b339de 100644
--- a/firmware/core/include/fault.hpp
+++ b/firmware/core/include/fault.hpp
@@ -1,10 +1,10 @@
 #pragma once
 #include "types.hpp"
 
-struct FaultLimits {
+typedef struct {
     float over_current_amps;
     float over_voltage_volts;
     float under_voltage_volts;
-};
+} FaultLimits;
 
 FaultCode fault_check(const FaultLimits* limits);
diff --git a/firmware/core/include/types.hpp b/firmware/core/include/types.hpp
index 3429188..eed1ac8 100644
--- a/firmware/core/include/types.hpp
+++ b/firmware/core/include/types.hpp
@@ -1,43 +1,40 @@
 #pragma once
 #include <cstdint>
 
-typedef enum { 
-DIRECTION_FORWARD, 
-DIRECTION_REVERSE 
-} Direction;
+typedef enum { DIRECTION_FORWARD, DIRECTION_REVERSE } Direction;
 
 typedef enum {
-    COMMUTATION_STEP_0,
-    COMMUTATION_STEP_1,
-    COMMUTATION_STEP_2,
-    COMMUTATION_STEP_3,
-    COMMUTATION_STEP_4,
-    COMMUTATION_STEP_5,
-    COMMUTATION_STEP_COUNT
+  COMMUTATION_STEP_0,
+  COMMUTATION_STEP_1,
+  COMMUTATION_STEP_2,
+  COMMUTATION_STEP_3,
+  COMMUTATION_STEP_4,
+  COMMUTATION_STEP_5,
+  COMMUTATION_STEP_COUNT
 } CommutationStep;
 
 typedef enum {
-    FAULT_NONE,
-    FAULT_OVER_CURRENT,
-    FAULT_OVER_VOLTAGE,
-    FAULT_UNDER_VOLTAGE,
-    FAULT_HALL_DESYNC,
-    FAULT_STALL
+  FAULT_NONE,
+  FAULT_OVER_CURRENT,
+  FAULT_OVER_VOLTAGE,
+  FAULT_UNDER_VOLTAGE,
+  FAULT_HALL_DESYNC,
+  FAULT_STALL
 } FaultCode;
 
-typedef enum { 
-MOTOR_STATE_STOPPED, 
-MOTOR_STATE_RUNNING, 
-MOTOR_STATE_FAULTED
+typedef enum {
+  MOTOR_STOPPED,
+  MOTOR_RUNNING,
+  MOTOR_FAULTED
 } MotorState;
 
 typedef struct {
-    bool high_side;
-    bool low_side;
+  bool high_side;
+  bool low_side;
 } PhaseDrive;
 
 typedef struct {
-    PhaseDrive phase_a;
-    PhaseDrive phase_b;
-    PhaseDrive phase_c;
+  PhaseDrive phase_a;
+  PhaseDrive phase_b;
+  PhaseDrive phase_c;
 } CommutationPattern;