diff --git a/.gitignore b/.gitignore
index 6b849ec..95c2dc8 100644
--- a/.gitignore
+++ b/.gitignore
@@ -14,4 +14,5 @@ core.*
 *PVs.list
 *-loc/*.Makefile
 ecmc_plugin_fft/*.Makefile
-*__*
\ No newline at end of file
+*__*
+O.*
\ No newline at end of file
diff --git a/GNUmakefile b/GNUmakefile
new file mode 100644
index 0000000..cf4c1e7
--- /dev/null
+++ b/GNUmakefile
@@ -0,0 +1,47 @@
+include /ioc/tools/driver.makefile
+
+MODULE = ecmc_plugin_socketcan
+
+# "Transfer" module name to plugin
+USR_CFLAGS +=-DECMC_PLUGIN_MODULE_NAME=${MODULE}
+
+BUILDCLASSES = Linux
+ARCH_FILTER = deb10%
+
+# Run 7.0.6 for now
+EXCLUDE_VERSIONS+=3 7.0.5 7.0.7
+
+IGNORE_MODULES += asynMotor
+IGNORE_MODULES += motorBase
+
+USR_CXXFLAGS += -std=c++17
+OPT_CXXFLAGS_YES = -O3
+
+# dependencies
+# ECmasterECMC_VERSION = v1.1.0
+# motorECMC_VERSION = 7.0.7-ESS
+ecmc_VERSION = sandst_a
+
+APPDB:=db
+APPSRC:=src
+
+USR_CFLAGS   += -shared -fPIC -Wall -Wextra
+USR_CPPFLAGS += -std=c++11
+USR_LDFLAGS  += -lstdc++
+USR_INCLUDES += -I$(where_am_I)$(APPSRC)
+
+TEMPLATES += $(wildcard $(APPDB)/*.db)
+TEMPLATES += $(wildcard $(APPDB)/*.template)
+TEMPLATES += $(wildcard $(APPDB)/*.substitutions)
+SOURCES += $(APPSRC)/ecmcPluginSocketCAN.c
+SOURCES += $(APPSRC)/ecmcSocketCAN.cpp
+SOURCES += $(APPSRC)/ecmcSocketCANWrap.cpp
+SOURCES += $(APPSRC)/ecmcSocketCANWriteBuffer.cpp
+SOURCES += $(APPSRC)/ecmcCANOpenSDO.cpp
+SOURCES += $(APPSRC)/ecmcCANOpenPDO.cpp
+SOURCES += $(APPSRC)/ecmcCANOpenDevice.cpp
+SOURCES += $(APPSRC)/ecmcCANOpenMaster.cpp
+SOURCES += $(APPSRC)/ecmcByteToArrayAsub.cpp
+
+DBDS    += $(APPSRC)/ecmcSocketCAN.dbd
+
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/.keep b/db/.keep
similarity index 100%
rename from ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/.keep
rename to db/.keep
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_Com.template b/db/ecmcPluginSocketCAN_Com.template
similarity index 100%
rename from ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_Com.template
rename to db/ecmcPluginSocketCAN_Com.template
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_Dev.template b/db/ecmcPluginSocketCAN_Dev.template
similarity index 100%
rename from ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_Dev.template
rename to db/ecmcPluginSocketCAN_Dev.template
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_PDO_error.template b/db/ecmcPluginSocketCAN_PDO_error.template
similarity index 100%
rename from ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_PDO_error.template
rename to db/ecmcPluginSocketCAN_PDO_error.template
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_PDO_input.template b/db/ecmcPluginSocketCAN_PDO_input.template
similarity index 100%
rename from ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_PDO_input.template
rename to db/ecmcPluginSocketCAN_PDO_input.template
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_PDO_output.template b/db/ecmcPluginSocketCAN_PDO_output.template
similarity index 100%
rename from ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_PDO_output.template
rename to db/ecmcPluginSocketCAN_PDO_output.template
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO_error.template b/db/ecmcPluginSocketCAN_SDO_error.template
similarity index 100%
rename from ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO_error.template
rename to db/ecmcPluginSocketCAN_SDO_error.template
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO_input.template b/db/ecmcPluginSocketCAN_SDO_input.template
similarity index 100%
rename from ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO_input.template
rename to db/ecmcPluginSocketCAN_SDO_input.template
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO_output.template b/db/ecmcPluginSocketCAN_SDO_output.template
similarity index 100%
rename from ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/ecmcPluginSocketCAN_SDO_output.template
rename to db/ecmcPluginSocketCAN_SDO_output.template
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/test.template b/db/test.template
similarity index 100%
rename from ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/Db/test.template
rename to db/test.template
diff --git a/ecmc_plugin_socketcan.Makefile b/ecmc_plugin_socketcan.Makefile
deleted file mode 100644
index 06cf550..0000000
--- a/ecmc_plugin_socketcan.Makefile
+++ /dev/null
@@ -1,72 +0,0 @@
-#
-#  Copyright (c) 2019    European Spallation Source ERIC
-#
-#  The program is free software: you can redistribute
-#  it and/or modify it under the terms of the GNU General Public License
-#  as published by the Free Software Foundation, either version 2 of the
-#  License, or any newer version.
-#
-#  This program is distributed in the hope that it will be useful, but WITHOUT
-#  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-#  FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-#  more details.
-#
-#  You should have received a copy of the GNU General Public License along with
-#  this program. If not, see https://www.gnu.org/licenses/gpl-2.0.txt
-#
-# 
-# Author  : anderssandstrom
-# email   : anderssandstrom@esss.se
-# Date    : 2020Mar22-1607-33CET
-# version : 0.0.0 
-#
-# template file is generated by ./e3TemplateGenerator.bash with bf03d40
-# Please look at many other _module_.Makefile in e3-* repository
-# 
-
-## The following lines are mandatory, please don't change them.
-where_am_I := $(dir $(abspath $(lastword $(MAKEFILE_LIST))))
-include $(E3_REQUIRE_TOOLS)/driver.makefile
-include $(E3_REQUIRE_CONFIG)/DECOUPLE_FLAGS
-
-ifneq ($(strip $(ASYN_DEP_VERSION)),)
-asyn_VERSION=$(ASYN_DEP_VERSION)
-endif
-
-ifneq ($(strip $(ECMC_DEP_VERSION)),)
-ecmc_VERSION=$(ECMC_DEP_VERSION)
-endif
-
-APP:=ecmc_plugin_socketcanApp
-APPDB:=$(APP)/Db
-APPSRC:=$(APP)/src
-
-USR_CFLAGS   += -shared -fPIC -Wall -Wextra
-USR_CPPFLAGS += -std=c++11
-USR_LDFLAGS  += -lstdc++
-USR_INCLUDES += -I$(where_am_I)$(APPSRC)
-
-TEMPLATES += $(wildcard $(APPDB)/*.db)
-TEMPLATES += $(wildcard $(APPDB)/*.template)
-TEMPLATES += $(wildcard $(APPDB)/*.substitutions)
-SOURCES += $(APPSRC)/ecmcPluginSocketCAN.c
-SOURCES += $(APPSRC)/ecmcSocketCAN.cpp
-SOURCES += $(APPSRC)/ecmcSocketCANWrap.cpp
-SOURCES += $(APPSRC)/ecmcSocketCANWriteBuffer.cpp
-SOURCES += $(APPSRC)/ecmcCANOpenSDO.cpp
-SOURCES += $(APPSRC)/ecmcCANOpenPDO.cpp
-SOURCES += $(APPSRC)/ecmcCANOpenDevice.cpp
-SOURCES += $(APPSRC)/ecmcCANOpenMaster.cpp
-SOURCES += $(APPSRC)/ecmcByteToArrayAsub.cpp
-
-DBDS    += $(APPSRC)/ecmcSocketCAN.dbd
-
-db:
-
-.PHONY: db
-
-vlibs:
-
-.PHONY: vlibs
-
-###
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcan.Makefile b/ecmc_plugin_socketcan/ecmc_plugin_socketcan.Makefile
deleted file mode 100644
index 06cf550..0000000
--- a/ecmc_plugin_socketcan/ecmc_plugin_socketcan.Makefile
+++ /dev/null
@@ -1,72 +0,0 @@
-#
-#  Copyright (c) 2019    European Spallation Source ERIC
-#
-#  The program is free software: you can redistribute
-#  it and/or modify it under the terms of the GNU General Public License
-#  as published by the Free Software Foundation, either version 2 of the
-#  License, or any newer version.
-#
-#  This program is distributed in the hope that it will be useful, but WITHOUT
-#  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-#  FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-#  more details.
-#
-#  You should have received a copy of the GNU General Public License along with
-#  this program. If not, see https://www.gnu.org/licenses/gpl-2.0.txt
-#
-# 
-# Author  : anderssandstrom
-# email   : anderssandstrom@esss.se
-# Date    : 2020Mar22-1607-33CET
-# version : 0.0.0 
-#
-# template file is generated by ./e3TemplateGenerator.bash with bf03d40
-# Please look at many other _module_.Makefile in e3-* repository
-# 
-
-## The following lines are mandatory, please don't change them.
-where_am_I := $(dir $(abspath $(lastword $(MAKEFILE_LIST))))
-include $(E3_REQUIRE_TOOLS)/driver.makefile
-include $(E3_REQUIRE_CONFIG)/DECOUPLE_FLAGS
-
-ifneq ($(strip $(ASYN_DEP_VERSION)),)
-asyn_VERSION=$(ASYN_DEP_VERSION)
-endif
-
-ifneq ($(strip $(ECMC_DEP_VERSION)),)
-ecmc_VERSION=$(ECMC_DEP_VERSION)
-endif
-
-APP:=ecmc_plugin_socketcanApp
-APPDB:=$(APP)/Db
-APPSRC:=$(APP)/src
-
-USR_CFLAGS   += -shared -fPIC -Wall -Wextra
-USR_CPPFLAGS += -std=c++11
-USR_LDFLAGS  += -lstdc++
-USR_INCLUDES += -I$(where_am_I)$(APPSRC)
-
-TEMPLATES += $(wildcard $(APPDB)/*.db)
-TEMPLATES += $(wildcard $(APPDB)/*.template)
-TEMPLATES += $(wildcard $(APPDB)/*.substitutions)
-SOURCES += $(APPSRC)/ecmcPluginSocketCAN.c
-SOURCES += $(APPSRC)/ecmcSocketCAN.cpp
-SOURCES += $(APPSRC)/ecmcSocketCANWrap.cpp
-SOURCES += $(APPSRC)/ecmcSocketCANWriteBuffer.cpp
-SOURCES += $(APPSRC)/ecmcCANOpenSDO.cpp
-SOURCES += $(APPSRC)/ecmcCANOpenPDO.cpp
-SOURCES += $(APPSRC)/ecmcCANOpenDevice.cpp
-SOURCES += $(APPSRC)/ecmcCANOpenMaster.cpp
-SOURCES += $(APPSRC)/ecmcByteToArrayAsub.cpp
-
-DBDS    += $(APPSRC)/ecmcSocketCAN.dbd
-
-db:
-
-.PHONY: db
-
-vlibs:
-
-.PHONY: vlibs
-
-###
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/.keep b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/.keep
deleted file mode 100644
index e69de29..0000000
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/.vscode/settings.json b/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/.vscode/settings.json
deleted file mode 100644
index 3beec43..0000000
--- a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/.vscode/settings.json
+++ /dev/null
@@ -1,62 +0,0 @@
-{
-    "files.associations": {
-        "typeindex": "cpp",
-        "typeinfo": "cpp",
-        "stdexcept": "cpp",
-        "cctype": "cpp",
-        "clocale": "cpp",
-        "cmath": "cpp",
-        "csetjmp": "cpp",
-        "csignal": "cpp",
-        "cstdarg": "cpp",
-        "cstddef": "cpp",
-        "cstdio": "cpp",
-        "cstdlib": "cpp",
-        "cstring": "cpp",
-        "ctime": "cpp",
-        "cwchar": "cpp",
-        "cwctype": "cpp",
-        "array": "cpp",
-        "atomic": "cpp",
-        "strstream": "cpp",
-        "*.tcc": "cpp",
-        "bitset": "cpp",
-        "cfenv": "cpp",
-        "chrono": "cpp",
-        "cinttypes": "cpp",
-        "complex": "cpp",
-        "condition_variable": "cpp",
-        "cstdint": "cpp",
-        "deque": "cpp",
-        "forward_list": "cpp",
-        "list": "cpp",
-        "unordered_map": "cpp",
-        "unordered_set": "cpp",
-        "vector": "cpp",
-        "exception": "cpp",
-        "fstream": "cpp",
-        "functional": "cpp",
-        "future": "cpp",
-        "initializer_list": "cpp",
-        "iomanip": "cpp",
-        "iosfwd": "cpp",
-        "iostream": "cpp",
-        "istream": "cpp",
-        "limits": "cpp",
-        "mutex": "cpp",
-        "new": "cpp",
-        "ostream": "cpp",
-        "numeric": "cpp",
-        "ratio": "cpp",
-        "scoped_allocator": "cpp",
-        "sstream": "cpp",
-        "streambuf": "cpp",
-        "system_error": "cpp",
-        "thread": "cpp",
-        "regex": "cpp",
-        "tuple": "cpp",
-        "type_traits": "cpp",
-        "utility": "cpp",
-        "valarray": "cpp"
-    }
-}
\ No newline at end of file
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcByteToArrayAsub.cpp b/src/ecmcByteToArrayAsub.cpp
similarity index 100%
rename from ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcByteToArrayAsub.cpp
rename to src/ecmcByteToArrayAsub.cpp
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenDevice.cpp b/src/ecmcCANOpenDevice.cpp
similarity index 100%
rename from ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenDevice.cpp
rename to src/ecmcCANOpenDevice.cpp
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenDevice.h b/src/ecmcCANOpenDevice.h
similarity index 100%
rename from ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenDevice.h
rename to src/ecmcCANOpenDevice.h
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenMaster.cpp b/src/ecmcCANOpenMaster.cpp
similarity index 100%
rename from ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenMaster.cpp
rename to src/ecmcCANOpenMaster.cpp
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenMaster.h b/src/ecmcCANOpenMaster.h
similarity index 100%
rename from ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenMaster.h
rename to src/ecmcCANOpenMaster.h
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenPDO.cpp b/src/ecmcCANOpenPDO.cpp
similarity index 100%
rename from ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenPDO.cpp
rename to src/ecmcCANOpenPDO.cpp
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenPDO.h b/src/ecmcCANOpenPDO.h
similarity index 100%
rename from ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenPDO.h
rename to src/ecmcCANOpenPDO.h
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenSDO.cpp b/src/ecmcCANOpenSDO.cpp
similarity index 100%
rename from ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenSDO.cpp
rename to src/ecmcCANOpenSDO.cpp
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenSDO.h b/src/ecmcCANOpenSDO.h
similarity index 100%
rename from ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenSDO.h
rename to src/ecmcCANOpenSDO.h
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcPluginSocketCAN.c b/src/ecmcPluginSocketCAN.c
similarity index 100%
rename from ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcPluginSocketCAN.c
rename to src/ecmcPluginSocketCAN.c
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCAN.cpp b/src/ecmcSocketCAN.cpp
similarity index 100%
rename from ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCAN.cpp
rename to src/ecmcSocketCAN.cpp
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCAN.dbd b/src/ecmcSocketCAN.dbd
similarity index 100%
rename from ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCAN.dbd
rename to src/ecmcSocketCAN.dbd
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCAN.h b/src/ecmcSocketCAN.h
similarity index 100%
rename from ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCAN.h
rename to src/ecmcSocketCAN.h
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANDefs.h b/src/ecmcSocketCANDefs.h
similarity index 100%
rename from ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANDefs.h
rename to src/ecmcSocketCANDefs.h
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWrap.cpp b/src/ecmcSocketCANWrap.cpp
similarity index 100%
rename from ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWrap.cpp
rename to src/ecmcSocketCANWrap.cpp
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWrap.h b/src/ecmcSocketCANWrap.h
similarity index 100%
rename from ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWrap.h
rename to src/ecmcSocketCANWrap.h
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWriteBuffer.cpp b/src/ecmcSocketCANWriteBuffer.cpp
similarity index 100%
rename from ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWriteBuffer.cpp
rename to src/ecmcSocketCANWriteBuffer.cpp
diff --git a/ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWriteBuffer.h b/src/ecmcSocketCANWriteBuffer.h
similarity index 100%
rename from ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcSocketCANWriteBuffer.h
rename to src/ecmcSocketCANWriteBuffer.h