diff --git a/adcs/README.org b/adcs/README.org
new file mode 100644
index 00000000..aa9f07c7
--- /dev/null
+++ b/adcs/README.org
@@ -0,0 +1,239 @@
+#+title: SC-Sat1 ADCS board Flight Softrare
+
+ This is for SC-Sat1 ADCS board Flight Softrare
+
+* Software
+  Flight Software for SC-Sat1 ADCS board is based on [[https://zephyrproject.org/][Zephyr
+  RTOS]]. This repository can be use as a Zephyr application
+  repository -- aka. T2 star topology.
+
+** Requirements
+   - Zephyr 3.4
+
+** Setting up a Build Environment
+   #+begin_example
+   mkdir workspace
+   cd workspace
+   git clone https://github.com/spacecubics/scsat1-fsw.git
+   pip install west
+   west init -l scsat1-fsw
+   west update
+   pip install -r zephyr/scripts/requirements-base.txt
+   #+end_example
+
+** How to build
+
+   Here is an instraction to build the flight software.  This instruction
+   uses "scsat1_adcs" as the target board.
+
+   #+begin_example
+     cd workspace/scsat1-fsw/adcs/
+     rm -rf build && west build -b scsat1_adcs
+   #+end_example
+
+** How to program
+
+  Currently This code is enough size to running on ITCM on 128 KB ITCM. But if
+  your code will larger than 128 KB, you need to switch to HREM with below.
+  And first flash will always fail for a known limitation, need a retry.
+
+   #+begin_example
+     west flash --cmd-pre-load 'mww 0x4f000000 0x5a5a0000'
+     west flash --cmd-pre-load 'mww 0x4f000000 0x5a5a0000'
+   #+end_example
+
+** How to run the ztest
+
+  This software support the CAN driver, and ztest already prepare the CAN
+  driver test code.
+  If you want to run the test code, please build the ztest program with below.
+
+   #+begin_example
+     cd workspace/
+     rm -rf build && west build -b scsat1_adcs zephyr/tests/drivers/can/api/ -- -DBOARD_ROOT=${PWD}/scsat1-fsw/
+   #+end_example
+
+  And then you can run the ztest for CAN driver.
+
+   #+begin_example
+     west flash --cmd-pre-load 'mww 0x4f000000 0x5a5a0000'
+     west flash --cmd-pre-load 'mww 0x4f000000 0x5a5a0000'
+     *** Booting Zephyr OS build zephyr-v3.4.0-1430-g0bfe3cc2d051 ***
+     Running TESTSUITE can_classic
+     ===================================================================
+     START - test_add_filter
+      PASS - test_add_filter in 0.006 seconds
+     ===================================================================
+     START - test_filters_added_while_stopped
+      PASS - test_filters_added_while_stopped in 0.002 seconds
+     ===================================================================
+     START - test_filters_preserved_through_bitrate_change
+      PASS - test_filters_preserved_through_bitrate_change in 0.004 seconds
+     ===================================================================
+     START - test_filters_preserved_through_mode_change
+      PASS - test_filters_preserved_through_mode_change in 0.004 seconds
+     ===================================================================
+     START - test_get_capabilities
+      PASS - test_get_capabilities in 0.001 seconds
+     ===================================================================
+     START - test_get_core_clock
+      PASS - test_get_core_clock in 0.001 seconds
+     ===================================================================
+     START - test_get_state
+      PASS - test_get_state in 0.001 seconds
+     ===================================================================
+     START - test_max_ext_filters
+     E: No free filter left
+      PASS - test_max_ext_filters in 0.005 seconds
+     ===================================================================
+     START - test_max_std_filters
+     E: No free filter left
+      PASS - test_max_std_filters in 0.005 seconds
+     ===================================================================
+     START - test_receive_timeout
+      PASS - test_receive_timeout in 0.102 seconds
+     ===================================================================
+     START - test_recover
+      PASS - test_recover in 0.001 seconds
+     ===================================================================
+     START - test_recover_while_stopped
+      PASS - test_recover_while_stopped in 0.001 seconds
+     ===================================================================
+     START - test_send_and_forget
+      PASS - test_send_and_forget in 0.002 seconds
+     ===================================================================
+     START - test_send_callback
+      PASS - test_send_callback in 0.002 seconds
+     ===================================================================
+     START - test_send_fd_format
+     E: unsupported CAN frame flags 0x04
+      PASS - test_send_fd_format in 0.004 seconds
+     ===================================================================
+     START - test_send_invalid_dlc
+     E: DLC of 9 exceeds maximum (8)
+      PASS - test_send_invalid_dlc in 0.004 seconds
+     ===================================================================
+     START - test_send_receive_ext_id
+      PASS - test_send_receive_ext_id in 0.007 seconds
+     ===================================================================
+     START - test_send_receive_ext_id_masked
+      PASS - test_send_receive_ext_id_masked in 0.007 seconds
+     ===================================================================
+     START - test_send_receive_ext_id_rtr
+      PASS - test_send_receive_ext_id_rtr in 0.207 seconds
+     ===================================================================
+     START - test_send_receive_msgq
+      PASS - test_send_receive_msgq in 0.014 seconds
+     ===================================================================
+     START - test_send_receive_std_id
+      PASS - test_send_receive_std_id in 0.006 seconds
+     ===================================================================
+     START - test_send_receive_std_id_masked
+      PASS - test_send_receive_std_id_masked in 0.006 seconds
+     ===================================================================
+     START - test_send_receive_std_id_rtr
+      PASS - test_send_receive_std_id_rtr in 0.206 seconds
+     ===================================================================
+     START - test_send_receive_wrong_id
+      PASS - test_send_receive_wrong_id in 0.103 seconds
+     ===================================================================
+     START - test_send_while_stopped
+      PASS - test_send_while_stopped in 0.001 seconds
+     ===================================================================
+     START - test_set_bitrate
+      PASS - test_set_bitrate in 0.001 seconds
+     ===================================================================
+     START - test_set_bitrate_too_high
+      PASS - test_set_bitrate_too_high in 0.001 seconds
+     ===================================================================
+     START - test_set_bitrate_while_started
+     E: Failed to set timing because enabled CAN
+      PASS - test_set_bitrate_while_started in 0.005 seconds
+     ===================================================================
+     START - test_set_mode_while_started
+      PASS - test_set_mode_while_started in 0.001 seconds
+     ===================================================================
+     START - test_set_state_change_callback
+      PASS - test_set_state_change_callback in 0.001 seconds
+     ===================================================================
+     START - test_set_timing_while_started
+     E: Failed to set timing because enabled CAN
+      PASS - test_set_timing_while_started in 0.005 seconds
+     ===================================================================
+     START - test_start_while_started
+      PASS - test_start_while_started in 0.001 seconds
+     ===================================================================
+     START - test_stop_while_stopped
+      PASS - test_stop_while_stopped in 0.001 seconds
+     ===================================================================
+     TESTSUITE can_classic succeeded
+     Running TESTSUITE can_utilities
+     ===================================================================
+     START - test_can_bytes_to_dlc
+      PASS - test_can_bytes_to_dlc in 0.001 seconds
+     ===================================================================
+     START - test_can_dlc_to_bytes
+      PASS - test_can_dlc_to_bytes in 0.001 seconds
+     ===================================================================
+     START - test_can_frame_matches_filter
+      PASS - test_can_frame_matches_filter in 0.001 seconds
+     ===================================================================
+     TESTSUITE can_utilities succeeded
+     
+     ------ TESTSUITE SUMMARY START ------
+     
+     SUITE PASS - 100.00% [can_classic]: pass = 33, fail = 0, skip = 0, total = 33 duration = 0.718 seconds
+      - PASS - [can_classic.test_add_filter] duration = 0.006 seconds
+      - PASS - [can_classic.test_filters_added_while_stopped] duration = 0.002 seconds
+      - PASS - [can_classic.test_filters_preserved_through_bitrate_change] duration = 0.004 seconds
+      - PASS - [can_classic.test_filters_preserved_through_mode_change] duration = 0.004 seconds
+      - PASS - [can_classic.test_get_capabilities] duration = 0.001 seconds
+      - PASS - [can_classic.test_get_core_clock] duration = 0.001 seconds
+      - PASS - [can_classic.test_get_state] duration = 0.001 seconds
+      - PASS - [can_classic.test_max_ext_filters] duration = 0.005 seconds
+      - PASS - [can_classic.test_max_std_filters] duration = 0.005 seconds
+      - PASS - [can_classic.test_receive_timeout] duration = 0.102 seconds
+      - PASS - [can_classic.test_recover] duration = 0.001 seconds
+      - PASS - [can_classic.test_recover_while_stopped] duration = 0.001 seconds
+      - PASS - [can_classic.test_send_and_forget] duration = 0.002 seconds
+      - PASS - [can_classic.test_send_callback] duration = 0.002 seconds
+      - PASS - [can_classic.test_send_fd_format] duration = 0.004 seconds
+      - PASS - [can_classic.test_send_invalid_dlc] duration = 0.004 seconds
+      - PASS - [can_classic.test_send_receive_ext_id] duration = 0.007 seconds
+      - PASS - [can_classic.test_send_receive_ext_id_masked] duration = 0.007 seconds
+      - PASS - [can_classic.test_send_receive_ext_id_rtr] duration = 0.207 seconds
+      - PASS - [can_classic.test_send_receive_msgq] duration = 0.014 seconds
+      - PASS - [can_classic.test_send_receive_std_id] duration = 0.006 seconds
+      - PASS - [can_classic.test_send_receive_std_id_masked] duration = 0.006 seconds
+      - PASS - [can_classic.test_send_receive_std_id_rtr] duration = 0.206 seconds
+      - PASS - [can_classic.test_send_receive_wrong_id] duration = 0.103 seconds
+      - PASS - [can_classic.test_send_while_stopped] duration = 0.001 seconds
+      - PASS - [can_classic.test_set_bitrate] duration = 0.001 seconds
+      - PASS - [can_classic.test_set_bitrate_too_high] duration = 0.001 seconds
+      - PASS - [can_classic.test_set_bitrate_while_started] duration = 0.005 seconds
+      - PASS - [can_classic.test_set_mode_while_started] duration = 0.001 seconds
+      - PASS - [can_classic.test_set_state_change_callback] duration = 0.001 seconds
+      - PASS - [can_classic.test_set_timing_while_started] duration = 0.005 seconds
+      - PASS - [can_classic.test_start_while_started] duration = 0.001 seconds
+      - PASS - [can_classic.test_stop_while_stopped] duration = 0.001 seconds
+     
+     SUITE PASS - 100.00% [can_utilities]: pass = 3, fail = 0, skip = 0, total = 3 duration = 0.003 seconds
+      - PASS - [can_utilities.test_can_bytes_to_dlc] duration = 0.001 seconds
+      - PASS - [can_utilities.test_can_dlc_to_bytes] duration = 0.001 seconds
+      - PASS - [can_utilities.test_can_frame_matches_filter] duration = 0.001 seconds
+     
+     SUITE SKIP -   0.00% [canfd]: pass = 0, fail = 0, skip = 8, total = 8 duration = 0.000 seconds
+      - SKIP - [canfd.test_filters_preserved_through_classic_to_fd_mode_change] duration = 0.000 seconds
+      - SKIP - [canfd.test_filters_preserved_through_fd_to_classic_mode_change] duration = 0.000 seconds
+      - SKIP - [canfd.test_get_capabilities] duration = 0.000 seconds
+      - SKIP - [canfd.test_send_receive_classic] duration = 0.000 seconds
+      - SKIP - [canfd.test_send_receive_fd] duration = 0.000 seconds
+      - SKIP - [canfd.test_send_receive_mixed] duration = 0.000 seconds
+      - SKIP - [canfd.test_set_bitrate_data_while_started] duration = 0.000 seconds
+      - SKIP - [canfd.test_set_timing_data_while_started] duration = 0.000 seconds
+     
+     ------ TESTSUITE SUMMARY END ------
+     
+     ===================================================================
+     PROJECT EXECUTION SUCCESSFUL
+   #+end_example
diff --git a/adcs/app.overlay b/adcs/app.overlay
deleted file mode 100644
index 33ab5b6b..00000000
--- a/adcs/app.overlay
+++ /dev/null
@@ -1,14 +0,0 @@
-#include <freq.h>
-#include <mem.h>
-
-/delete-node/ &uartlite0;
-
-/ {
-	soc {
-		uartlite0: uartlite@4f010000 {
-			compatible = "xlnx,xps-uartlite-1.00.a";
-			interrupts = <0 0>;
-			reg = <0x4f010000 0x10000>;
-		};
-	};
-};
diff --git a/adcs/prj.conf b/adcs/prj.conf
index aff4dcdb..a3fbd878 100644
--- a/adcs/prj.conf
+++ b/adcs/prj.conf
@@ -1,2 +1,4 @@
 CONFIG_LIBCSP=y
 CONFIG_PICOLIBC=y
+CONFIG_CAN=y
+CONFIG_LOG=y
diff --git a/boards/arm/scsat1_adcs/Kconfig.board b/boards/arm/scsat1_adcs/Kconfig.board
new file mode 100644
index 00000000..92f0ecdd
--- /dev/null
+++ b/boards/arm/scsat1_adcs/Kconfig.board
@@ -0,0 +1,8 @@
+# SC-Sat1 ADCS Board configuration
+
+# Copyright (c) 2023 Space Cubics, LLC.
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD_SCSAT1_ADCS
+	bool "SC-Sat1 ADCS Board"
+	depends on SOC_SERIES_ARM_DESIGNSTART
diff --git a/boards/arm/scsat1_adcs/Kconfig.defconfig b/boards/arm/scsat1_adcs/Kconfig.defconfig
new file mode 100644
index 00000000..0e127782
--- /dev/null
+++ b/boards/arm/scsat1_adcs/Kconfig.defconfig
@@ -0,0 +1,20 @@
+# SC-Sat1 ADCS Board
+
+# Copyright (c) 2023 Space Cubics,LLC
+# SPDX-License-Identifier: Apache-2.0
+
+if BOARD_SCSAT1_ADCS
+
+config BOARD
+	default "scsat1_adcs"
+
+config CPU_CORTEX_M_HAS_SYSTICK
+	default y
+
+config CPU_HAS_ARM_MPU
+	default y
+
+config NUM_IRQS
+	default 32
+
+endif # BOARD_SCSAT1_ADCS
diff --git a/boards/arm/scsat1_adcs/board.cmake b/boards/arm/scsat1_adcs/board.cmake
new file mode 100644
index 00000000..02694994
--- /dev/null
+++ b/boards/arm/scsat1_adcs/board.cmake
@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: Apache-2.0
+
+if(CONFIG_BOARD_SCSAT1_ADCS)
+  board_runner_args(openocd "--use-elf" "--config=${BOARD_DIR}/support/openocd-ftdi.cfg")
+
+  include(${ZEPHYR_BASE}/boards/common/openocd.board.cmake)
+endif()
diff --git a/boards/arm/scsat1_adcs/dts/bindings/sc,hrmem.yaml b/boards/arm/scsat1_adcs/dts/bindings/sc,hrmem.yaml
new file mode 100644
index 00000000..59cf87ff
--- /dev/null
+++ b/boards/arm/scsat1_adcs/dts/bindings/sc,hrmem.yaml
@@ -0,0 +1,11 @@
+# SPDX-License-Identifier: Apache-2.0
+
+description: Space Cubics HRMEM (High-reliability Memory)
+
+compatible: "sc,hrmem"
+
+include: base.yaml
+
+properties:
+  reg:
+    required: true
diff --git a/boards/arm/scsat1_adcs/scsat1_adcs.dts b/boards/arm/scsat1_adcs/scsat1_adcs.dts
new file mode 100644
index 00000000..2f6b9d27
--- /dev/null
+++ b/boards/arm/scsat1_adcs/scsat1_adcs.dts
@@ -0,0 +1,72 @@
+/*
+ * Copyright (c) 2023 Space Cubics, LLC.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/dts-v1/;
+#include <arm/armv7-m.dtsi>
+#include <mem.h>
+
+/ {
+	model = "Space Cubics Satellite 1 ADCS Board";
+
+	chosen {
+		zephyr,console = &uartlite0;
+		zephyr,shell-uart = &uartlite0;
+		zephyr,sram = &hrmem;
+		zephyr,canbus = &can0;
+	};
+
+	cpus {
+		#address-cells = <1>;
+		#size-cells = <0>;
+
+		cpu0: cpu@0 {
+			device_type = "cpu";
+			compatible = "arm,cortex-m3";
+			reg = <0>;
+			#address-cells = <1>;
+			#size-cells = <1>;
+
+			mpu: mpu@e000ed90 {
+				compatible = "arm,armv7m-mpu";
+				reg = <0xe000ed90 0x40>;
+				arm,num-mpu-regions = <8>;
+			};
+		};
+	};
+
+	soc {
+		hrmem: memory@0 {
+			compatible = "sc,hrmem";
+			reg = <0x00000000 DT_SIZE_M(4)>;
+		};
+
+		uartlite0: uartlite@4f010000 {
+			compatible = "xlnx,xps-uartlite-1.00.a";
+			interrupts = <0 0>;
+			reg = <0x4f010000 0x10000>;
+		};
+
+		can0: can@40400000 {
+			compatible = "sc,can";
+			clock-frequency = <24000000>;
+			interrupts = <5 0>;
+			reg = <0x40400000 0x10000>;
+			bus-speed = <1000000>;
+			sjw = <4>;
+			sample-point = <750>;
+			tx-fifo-depth = <64>;
+			max-filter = <4>;
+
+			can-transceiver {
+				max-bitrate = <1000000>;
+			};
+		};
+	};
+};
+
+&nvic {
+	arm,num-irq-priority-bits = <3>;
+};
diff --git a/boards/arm/scsat1_adcs/scsat1_adcs.yaml b/boards/arm/scsat1_adcs/scsat1_adcs.yaml
new file mode 100644
index 00000000..66c5b299
--- /dev/null
+++ b/boards/arm/scsat1_adcs/scsat1_adcs.yaml
@@ -0,0 +1,9 @@
+identifier: scsat1_adcs
+name: SC-Sat1 ADCS Board
+type: mcu
+arch: arm
+toolchain:
+  - zephyr
+supported:
+  - uart
+  - can
diff --git a/boards/arm/scsat1_adcs/scsat1_adcs_defconfig b/boards/arm/scsat1_adcs/scsat1_adcs_defconfig
new file mode 100644
index 00000000..fcbe374b
--- /dev/null
+++ b/boards/arm/scsat1_adcs/scsat1_adcs_defconfig
@@ -0,0 +1,17 @@
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_SOC_SERIES_ARM_DESIGNSTART=y
+CONFIG_SOC_ARM_DESIGNSTART_FPGA_CORTEX_M3=y
+CONFIG_BOARD_SCSAT1_ADCS=y
+CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC=48000000
+CONFIG_ARM_MPU=n
+
+CONFIG_SERIAL=y
+CONFIG_UART_INTERRUPT_DRIVEN=y
+CONFIG_CONSOLE=y
+CONFIG_UART_CONSOLE=y
+
+CONFIG_XIP=n
+CONFIG_FLASH_SIZE=0
+CONFIG_FLASH_BASE_ADDRESS=0x0
+CONFIG_BOOTLOADER_SRAM_SIZE=0
diff --git a/boards/arm/scsat1_adcs/support/akizuki-m-02990.cfg b/boards/arm/scsat1_adcs/support/akizuki-m-02990.cfg
new file mode 100644
index 00000000..cadf916d
--- /dev/null
+++ b/boards/arm/scsat1_adcs/support/akizuki-m-02990.cfg
@@ -0,0 +1,12 @@
+#
+# Akizuki Denshi FT2232D Module (M-02990)
+#
+# https://akizukidenshi.com/catalog/g/gM-02990/
+#
+
+adapter driver ftdi
+ftdi device_desc "Dual RS232"
+ftdi vid_pid 0x0403 0x6010
+
+# Every pin set as high impedance except TCK, TDI, TDO and TMS
+ftdi layout_init 0x0008 0x000b
diff --git a/boards/arm/scsat1_adcs/support/openocd-ft232r.cfg b/boards/arm/scsat1_adcs/support/openocd-ft232r.cfg
new file mode 100644
index 00000000..ccdcd2b6
--- /dev/null
+++ b/boards/arm/scsat1_adcs/support/openocd-ft232r.cfg
@@ -0,0 +1,2 @@
+source [find interface/ft232r.cfg]
+source [find scobc-module1.cfg]
diff --git a/boards/arm/scsat1_adcs/support/openocd-ftdi.cfg b/boards/arm/scsat1_adcs/support/openocd-ftdi.cfg
new file mode 100644
index 00000000..14d6ef55
--- /dev/null
+++ b/boards/arm/scsat1_adcs/support/openocd-ftdi.cfg
@@ -0,0 +1,3 @@
+source [find akizuki-m-02990.cfg]
+adapter speed 2000
+source [find scobc-module1.cfg]
diff --git a/boards/arm/scsat1_adcs/support/openocd.cfg b/boards/arm/scsat1_adcs/support/openocd.cfg
new file mode 100644
index 00000000..bfd27c5b
--- /dev/null
+++ b/boards/arm/scsat1_adcs/support/openocd.cfg
@@ -0,0 +1,21 @@
+source [find interface/cmsis-dap.cfg]
+transport select swd
+source [find target/swj-dp.tcl]
+
+adapter speed 5000
+
+set _CHIPNAME cortex_m3
+set _ENDIAN little
+set _WORKAREASIZE 0x4000
+set _CPUTAPID 0x412FC231
+
+swj_newdap $_CHIPNAME cpu -expected-id $_CPUTAPID
+dap create $_CHIPNAME.dap -chain-position $_CHIPNAME.cpu
+
+set _TARGETNAME $_CHIPNAME.cpu
+target create $_TARGETNAME cortex_m -dap $_CHIPNAME.dap
+$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
+
+if {![using_hla]} {
+   cortex_m reset_config sysresetreq
+}
diff --git a/boards/arm/scsat1_adcs/support/scobc-module1.cfg b/boards/arm/scsat1_adcs/support/scobc-module1.cfg
new file mode 100644
index 00000000..aad20e5e
--- /dev/null
+++ b/boards/arm/scsat1_adcs/support/scobc-module1.cfg
@@ -0,0 +1,31 @@
+# Copyright (C) 2021 Space Cubics, LLC.
+# Yasushi SHOJI <yashi@spacecubics.com>
+
+if { [info exists CHIPNAME] } {
+    set  _CHIPNAME $CHIPNAME
+} else {
+    set  _CHIPNAME cortex_m3
+}
+
+if { [info exists CPUTAPID ] } {
+    set _CPUTAPID $CPUTAPID
+} else {
+    set _CPUTAPID 0x4ba00477
+}
+
+if { [info exists WORKAREASIZE] } {
+	set _WORKAREASIZE $WORKAREASIZE
+} else {
+	set _WORKAREASIZE 0x4000
+}
+
+jtag newtap $_CHIPNAME cpu -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_CPUTAPID
+dap create $_CHIPNAME.dap -chain-position $_CHIPNAME.cpu
+
+set _TARGETNAME $_CHIPNAME.cpu
+target create $_TARGETNAME cortex_m -dap $_CHIPNAME.dap
+$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
+
+if {![using_hla]} {
+   cortex_m reset_config sysresetreq
+}