diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
new file mode 100644
index 00000000..e2fe1323
--- /dev/null
+++ b/.github/workflows/ci.yaml
@@ -0,0 +1,44 @@
+name: Build
+
+# Build on every branch push, tag push, and pull request change:
+on: [push, pull_request_target]
+
+jobs:
+  build_repo:
+    name: Build repo
+    runs-on: ubuntu-latest
+
+    strategy:
+      fail-fast: false
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v4
+      with:
+        ref: ${{ github.event.pull_request.head.sha }}
+
+    - name: Install package requirements
+      run: sudo apt-get install -y git make git build-essential binutils-mips-linux-gnu python3 python3-pip
+
+    - name: Install Python dependencies
+      run: python3 -m pip install -r ./tools/requirements-python.txt
+
+    - name: Update submodules
+      run: git submodule update --init --recursive
+
+    - name: Get extra dependencies
+      uses: actions/checkout@v4
+      with:
+        repository: ${{ secrets.SF64_DEPENDENCIES }}
+        token: ${{ secrets.SF64_TOKEN }}
+        path: sf64-secret
+
+    - name: Get the dependency
+      run: cp -r sf64-secret/baserom.us.z64 ./
+
+    - name: Compile
+      run: make init
+
+#    - name: Upload frogress
+#      if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/main' }}
+#      run: python3 tools/upload_frogress.py --apikey ${{ secrets.PROGRESS_API_KEY }}
diff --git a/.github/workflows/format.yaml b/.github/workflows/format.yaml
new file mode 100644
index 00000000..3e6d933f
--- /dev/null
+++ b/.github/workflows/format.yaml
@@ -0,0 +1,19 @@
+name: Check Format
+
+# Build on every branch push, tag push, and pull request change:
+on: [push, pull_request]
+
+jobs:
+  build:
+    name: Check format
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Checkout reposistory
+      uses: actions/checkout@v4
+
+    - name: Install package requirements
+      run: sudo apt-get install -y python3 python3-pip clang-format-14 clang-tidy-14
+
+    - name: Check format
+      run: ./tools/check_format.sh
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 4c4b984f..ec06a287 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -14,6 +14,5 @@
         "tools/gfxsotn/**": false,
     },
     "files.associations": {
-        "functions.h": "c"
     },
 }
\ No newline at end of file
diff --git a/Makefile b/Makefile
index badd35e2..ace0d144 100644
--- a/Makefile
+++ b/Makefile
@@ -191,6 +191,9 @@ build/src/main/1EB50.o: OPTFLAGS := -O1 -g0
 build/src/libultra/2BDF0.o: OPTFLAGS := -O1 -g0
 build/src/libultra/2C700.o: OPTFLAGS := -O1 -g0
 build/src/libultra/2D300.o: OPTFLAGS := -O1 -g0
+build/src/libultra/io/controller.o: OPTFLAGS := -O1 -g0
+build/src/libultra/libc/string.o: OPTFLAGS := -O2 -g0
+build/src/libultra/libc/ldiv.o: OPTFLAGS := -O2 -g0
 
 # cc & asm-processor
 build/src/%.o: CC := $(ASM_PROC) $(ASM_PROC_FLAGS) $(CC) -- $(AS) $(ASFLAGS) --
@@ -198,14 +201,15 @@ build/src/%.o: CC := $(ASM_PROC) $(ASM_PROC_FLAGS) $(CC) -- $(AS) $(ASFLAGS) --
 all: uncompressed
 
 init:
-	$(MAKE) clean
-	$(MAKE) decompress
-	$(MAKE) extract -j $(N_THREADS)
-	$(MAKE) all -j $(N_THREADS)
-	$(MAKE) compressed
+	@$(MAKE) clean
+	@$(MAKE) decompress
+	@$(MAKE) extract -j $(N_THREADS)
+	@$(MAKE) all -j $(N_THREADS)
+	@$(MAKE) compressed
 
 uncompressed: $(ROM)
 ifneq ($(COMPARE),0)
+	@echo MD5 CHECK:
 	@md5sum $(ROM)
 	@md5sum -c $(TARGET).$(VERSION).uncompressed.md5
 endif
@@ -223,9 +227,11 @@ decompress: $(BASEROM)
 	@$(PYTHON) $(COMPTOOL) -de $(COMPTOOL_DIR) -m $(MIO0) $(BASEROM) $(BASEROM_UNCOMPRESSED)
 
 extract:
-	$(RM) -r asm/$(VERSION) bin/$(VERSION)
-	$(CAT) yamls/$(VERSION)/header.yaml yamls/$(VERSION)/makerom.yaml yamls/$(VERSION)/main.yaml yamls/$(VERSION)/overlays.yaml > $(SPLAT_YAML)
-	$(SPLAT) $(SPLAT_YAML)
+	@$(RM) -r asm/$(VERSION) bin/$(VERSION)
+	@echo "Unifying yamls..."
+	@$(CAT) yamls/$(VERSION)/header.yaml yamls/$(VERSION)/makerom.yaml yamls/$(VERSION)/main.yaml yamls/$(VERSION)/overlays.yaml > $(SPLAT_YAML)
+	@echo "Extracting..."
+	@$(SPLAT) $(SPLAT_YAML)
 
 clean:
 	@git clean -fdx asm/
@@ -249,22 +255,25 @@ expected:
 
 #### Various Recipes ####
 
-$(ROM): $(ELF)
-	$(OBJCOPY) -O binary $< $@
-
+# Final ROM
 $(ROMC): $(BASEROM_UNCOMPRESSED)
 	@echo "Compressing ROM..."
 	@$(PYTHON) $(COMPTOOL) -c $(ROM) $(ROMC)
 
-# TODO: update rom header checksum
+# Uncompressed ROM
+$(ROM): $(ELF)
+	@echo "ELF->ROM:"
+	$(OBJCOPY) -O binary $< $@
 
-# TODO: avoid using auto/undefined
+# Link
 $(ELF): $(LIBULTRA_O) $(O_FILES) $(LD_SCRIPT) $(BUILD_DIR)/linker_scripts/$(VERSION)/hardware_regs.ld $(BUILD_DIR)/linker_scripts/$(VERSION)/undefined_syms.ld $(BUILD_DIR)/linker_scripts/$(VERSION)/pif_syms.ld $(BUILD_DIR)/linker_scripts/$(VERSION)/auto/undefined_syms_auto.ld $(BUILD_DIR)/linker_scripts/$(VERSION)/auto/undefined_funcs_auto.ld
+	@echo "Linking..."
 	$(LD) $(LDFLAGS) -T $(LD_SCRIPT) \
 		-T $(BUILD_DIR)/linker_scripts/$(VERSION)/hardware_regs.ld -T $(BUILD_DIR)/linker_scripts/$(VERSION)/undefined_syms.ld -T $(BUILD_DIR)/linker_scripts/$(VERSION)/pif_syms.ld \
 		-T $(BUILD_DIR)/linker_scripts/$(VERSION)/auto/undefined_syms_auto.ld -T $(BUILD_DIR)/linker_scripts/$(VERSION)/auto/undefined_funcs_auto.ld \
 		-Map $(LD_MAP) -o $@
 
+# PreProcessor
 $(BUILD_DIR)/%.ld: %.ld
 	$(CPP) $(CPPFLAGS) $(BUILD_DEFINES) $(IINC) $< > $@
 
@@ -289,4 +298,4 @@ $(BUILD_DIR)/%.o: %.c
 # Print target for debugging
 print-% : ; $(info $* is a $(flavor $*) variable set to [$($*)]) @true
 
-.PHONY: all uncompressed compressed clean init extract format checkformat decompress
\ No newline at end of file
+.PHONY: all uncompressed compressed clean init extract expected format checkformat decompress
\ No newline at end of file
diff --git a/README.md b/README.md
index 95f3349d..e6ea1d7e 100644
--- a/README.md
+++ b/README.md
@@ -4,7 +4,7 @@ This is a WIP **decompilation** of ***Starfox 64***. The purpose of the project
 
 It currently builds the following ROM:
 
-* starfox64.us.z64 `md5: 741a94eee093c4c8684e66b89f8685e8`
+* starfox64.us.z64 `MD5: 741a94eee093c4c8684e66b89f8685e8`
 
 **This repo does not include any assets or assembly code necessary for compiling the ROM. A prior copy of the game is required to extract the required assets.**
 
@@ -34,7 +34,7 @@ Under Debian / Ubuntu (which we recommend using), you can install them with the
 
 ```bash
 sudo apt update
-sudo apt install make git build-essential binutils-mips-linux-gnu python3 python3-pip libpng-dev
+sudo apt install make git build-essential binutils-mips-linux-gnu python3 python3-pip
 ```
 
 #### 2. Clone the repository
diff --git a/include/PR/controller.h b/include/PR/controller.h
new file mode 100644
index 00000000..d2b0b812
--- /dev/null
+++ b/include/PR/controller.h
@@ -0,0 +1,51 @@
+#ifndef PR_CONTROLLER_H
+#define PR_CONTROLLER_H
+
+#include "global.h"
+#include "PR/os.h"
+
+typedef struct {
+    /* 0x00 */ u8 align;
+    /* 0x01 */ u8 txsize;
+    /* 0x02 */ u8 rxsize;
+    /* 0x03 */ u8 poll;
+    /* 0x04 */ u8 typeh;
+    /* 0x05 */ u8 typel;
+    /* 0x06 */ u8 status;
+    /* 0x07 */ u8 align1;
+} __OSContRequestHeader; // size = 0x8
+
+// Joybus commands
+#define CONT_CMD_REQUEST_STATUS 0
+#define CONT_CMD_READ_BUTTON    1
+#define CONT_CMD_READ_PAK       2
+#define CONT_CMD_WRITE_PAK      3
+#define CONT_CMD_READ_EEPROM    4
+#define CONT_CMD_WRITE_EEPROM   5
+#define CONT_CMD_READ36_VOICE   9
+#define CONT_CMD_WRITE20_VOICE  10
+#define CONT_CMD_READ2_VOICE    11
+#define CONT_CMD_WRITE4_VOICE   12
+#define CONT_CMD_SWRITE_VOICE   13
+#define CONT_CMD_CHANNEL_RESET  0xFD
+#define CONT_CMD_RESET          0xFF
+
+#define UNK(n) 500000 * (u64)(n) / 1000000
+
+typedef struct
+{
+              u32 ramarray[15];
+               u32 pifstatus;
+} OSPifRam;
+
+extern u32 __osContinitialized;
+extern u8 __osMaxControllers;
+extern u8 __osContLastCmd;
+extern OSPifRam __osContPifRam;
+extern OSMesgQueue __osEepromTimerQ;
+extern OSMesg __osEepromTimerMsg;
+
+void __osPackRequestData(u8 poll);
+void __osContGetInitData(u8* pattern, OSContStatus* data);
+
+#endif
diff --git a/include/PR/os.h b/include/PR/os.h
index d6ec937a..073232e7 100644
--- a/include/PR/os.h
+++ b/include/PR/os.h
@@ -877,7 +877,7 @@ extern int		osStopTimer(OSTimer *);
 
 /* Controller interface */
 
-extern s32		osContInit(OSMesgQueue *, u8 *, OSContStatus *);
+extern s32		osContInit(OSMesgQueue * mq, u8 * bitpattern, OSContStatus * data);
 extern s32		osContReset(OSMesgQueue *, OSContStatus *);
 extern s32		osContStartQuery(OSMesgQueue *);
 extern s32		osContStartReadData(OSMesgQueue *);
diff --git a/include/PR/ultratypes.h b/include/PR/ultratypes.h
index 85e44f2e..6af7c9ff 100644
--- a/include/PR/ultratypes.h
+++ b/include/PR/ultratypes.h
@@ -57,6 +57,8 @@ typedef volatile long long		vs64;	/* signed 64-bit */
 typedef float				f32;	/* single prec floating point */
 typedef double				f64;	/* double prec floating point */
 
+typedef u32 size_t;
+
 #endif  /* _LANGUAGE_C */
 
 
diff --git a/include/libc/stddef.h b/include/libc/stddef.h
new file mode 100644
index 00000000..1dc74697
--- /dev/null
+++ b/include/libc/stddef.h
@@ -0,0 +1,14 @@
+#ifndef LIBC_STDDEF_H
+#define LIBC_STDDEF_H
+
+#include "PR/ultratypes.h"
+
+typedef s32 ptrdiff_t;
+
+#ifdef __GNUC__
+#define offsetof(structure, member) __builtin_offsetof (structure, member)
+#else
+#define offsetof(structure, member) ((size_t)&(((structure*)0)->member))
+#endif
+
+#endif /* STDDEF_H */
\ No newline at end of file
diff --git a/include/libc/stdlib.h b/include/libc/stdlib.h
new file mode 100644
index 00000000..ec15b4f6
--- /dev/null
+++ b/include/libc/stdlib.h
@@ -0,0 +1,28 @@
+#ifndef LIBC_STDLIB_H
+#define LIBC_STDLIB_H
+
+#include "libc/stddef.h"
+
+typedef struct {
+    /* 0x0 */ int quot;
+    /* 0x4 */ int rem;
+} div_t;
+
+typedef struct {
+    /* 0x0 */ long quot;
+    /* 0x4 */ long rem;
+} ldiv_t;
+
+typedef struct {
+    /* 0x0 */ long long quot;
+    /* 0x8 */ long long rem;
+} lldiv_t;
+
+typedef int ssize_t;
+
+typedef long wchar_t;
+
+ldiv_t ldiv(long numer, long denom);
+lldiv_t lldiv(long long numer, long long denom);
+
+#endif /* STDLIB_H */
diff --git a/include/macros.h b/include/macros.h
index 5a7124ff..424291b7 100644
--- a/include/macros.h
+++ b/include/macros.h
@@ -1,6 +1,6 @@
 #ifndef MACROS_H
 #define MACROS_H
 
-
+#define ARRAY_COUNT(arr) (s32)(sizeof(arr) / sizeof(arr[0]))
 
 #endif // MACROS_H
diff --git a/src/libultra/io/controller.c b/src/libultra/io/controller.c
index ba278426..90bf1169 100644
--- a/src/libultra/io/controller.c
+++ b/src/libultra/io/controller.c
@@ -1,7 +1,87 @@
-#include "common.h"
+#include "global.h"
+#include "PR/controller.h"
 
-#pragma GLOBAL_ASM("asm/us/nonmatchings/libultra/io/controller/osContInit.s")
+s32 osContInit(OSMesgQueue* mq, u8* bitpattern, OSContStatus* data) {
+    OSMesg dummy;
+    s32 ret = 0;
+    OSTime t;
+    OSTimer mytimer;
+    OSMesgQueue timerMesgQueue;
 
-#pragma GLOBAL_ASM("asm/us/nonmatchings/libultra/io/controller/__osContGetInitData.s")
+    if (__osContinitialized != 0) {
+        return 0;
+    }
 
-#pragma GLOBAL_ASM("asm/us/nonmatchings/libultra/io/controller/__osPackRequestData.s")
+    __osContinitialized = 1;
+    t = osGetTime();
+
+    if (t < UNK(osClockRate)) {
+        osCreateMesgQueue(&timerMesgQueue, &dummy, 1);
+        osSetTimer(&mytimer, UNK(osClockRate) - t, 0, &timerMesgQueue, &dummy);
+        osRecvMesg(&timerMesgQueue, &dummy, OS_MESG_BLOCK);
+    }
+    __osMaxControllers = 4;
+
+    __osPackRequestData(CONT_CMD_REQUEST_STATUS);
+
+    ret = __osSiRawStartDma(OS_WRITE, __osContPifRam.ramarray);
+    osRecvMesg(mq, &dummy, OS_MESG_BLOCK);
+
+    ret = __osSiRawStartDma(OS_READ, __osContPifRam.ramarray);
+    osRecvMesg(mq, &dummy, OS_MESG_BLOCK);
+
+    __osContGetInitData(bitpattern, data);
+    __osContLastCmd = CONT_CMD_REQUEST_STATUS;
+    __osSiCreateAccessQueue();
+    osCreateMesgQueue(&__osEepromTimerQ, &__osEepromTimerMsg, 1);
+
+    return ret;
+}
+
+void __osContGetInitData(u8* pattern, OSContStatus* data) {
+    u8* ptr;
+    __OSContRequestHeader requestHeader;
+    s32 i;
+    u8 bits;
+
+    bits = 0;
+    ptr = (u8*)__osContPifRam.ramarray;
+    for (i = 0; i < __osMaxControllers; i++, ptr += sizeof(requestHeader), data++) {
+        requestHeader = *(__OSContRequestHeader*)ptr;
+        data->errno = (requestHeader.rxsize & 0xC0) >> 4;
+        if (data->errno == 0) {
+            data->type = requestHeader.typel << 8 | requestHeader.typeh;
+            data->status = requestHeader.status;
+
+            bits |= 1 << i;
+        }
+    }
+    *pattern = bits;
+}
+
+void __osPackRequestData(u8 poll) {
+    u8* ptr;
+    __OSContRequestHeader requestHeader;
+    s32 i;
+
+    for (i = 0; i < 16; i++) {
+        __osContPifRam.ramarray[i] = 0;
+    }
+
+    __osContPifRam.pifstatus = CONT_CMD_READ_BUTTON;
+    ptr = (u8*)__osContPifRam.ramarray;
+    requestHeader.align = 255;
+    requestHeader.txsize = 1;
+    requestHeader.rxsize = 3;
+    requestHeader.poll = poll;
+    requestHeader.typeh = 255;
+    requestHeader.typel = 255;
+    requestHeader.status = 255;
+    requestHeader.align1 = 255;
+
+    for (i = 0; i < __osMaxControllers; i++) {
+        *(__OSContRequestHeader*)ptr = requestHeader;
+        ptr += sizeof(requestHeader);
+    }
+    *ptr = 254;
+}
diff --git a/src/libultra/libc/ldiv.c b/src/libultra/libc/ldiv.c
index a9f3099e..657071f6 100644
--- a/src/libultra/libc/ldiv.c
+++ b/src/libultra/libc/ldiv.c
@@ -1,5 +1,28 @@
-#include "common.h"
+#include "global.h"
+#include "libc/stdlib.h"
 
-#pragma GLOBAL_ASM("asm/us/nonmatchings/libultra/libc/ldiv/lldiv.s")
+lldiv_t lldiv(long long numer, long long denom) {
+    lldiv_t val;
 
-#pragma GLOBAL_ASM("asm/us/nonmatchings/libultra/libc/ldiv/ldiv.s")
+    val.quot = numer / denom;
+    val.rem = numer - denom * val.quot;
+    if ((val.quot < 0) && (val.rem > 0)) {
+        val.quot++;
+        val.rem -= denom;
+    }
+
+    return val;
+}
+
+ldiv_t ldiv(long numer, long denom) {
+    ldiv_t val;
+
+    val.quot = numer / denom;
+    val.rem = numer - denom * val.quot;
+    if ((val.quot < 0) && (val.rem > 0)) {
+        val.quot++;
+        val.rem -= denom;
+    }
+
+    return val;
+}
diff --git a/src/libultra/libc/string.c b/src/libultra/libc/string.c
index 5561b1b9..f35bb375 100644
--- a/src/libultra/libc/string.c
+++ b/src/libultra/libc/string.c
@@ -1,7 +1,38 @@
-#include "common.h"
+#include "global.h"
 
-#pragma GLOBAL_ASM("asm/us/nonmatchings/libultra/libc/string/memcpy.s")
+void* memcpy(void* s1, const void* s2, size_t n) {
+    unsigned char* su1 = (unsigned char*)s1;
+    const unsigned char* su2 = (const unsigned char*)s2;
 
-#pragma GLOBAL_ASM("asm/us/nonmatchings/libultra/libc/string/strlen.s")
+    while (n > 0) {
+        *su1 = *su2;
+        su1++;
+        su2++;
+        n--;
+    }
 
-#pragma GLOBAL_ASM("asm/us/nonmatchings/libultra/libc/string/strchr.s")
+    return s1;
+}
+
+size_t strlen(const char* s) {
+    const char* sc = s;
+
+    while (*sc != '\0') {
+        sc++;
+    }
+
+    return (size_t)(sc - s);
+}
+
+const char* strchr(const char* s, int c) {
+    const unsigned char ch = c;
+
+    while (*s != ch) {
+        if (*s == '\0') {
+            return NULL;
+        }
+        s++;
+    }
+
+    return s;
+}
diff --git a/tools/check_format.sh b/tools/check_format.sh
new file mode 100755
index 00000000..051e5a7b
--- /dev/null
+++ b/tools/check_format.sh
@@ -0,0 +1,23 @@
+#!/bin/bash
+
+STATUSOLD=`git status --porcelain`
+./tools/format.py -j
+if [ $? -ne 0 ]
+then
+   echo "Formatter failed. Exiting."
+   exit -1
+fi
+STATUSNEW=`git status --porcelain`
+
+if [ "${STATUSOLD}" != "${STATUSNEW}" ];
+then
+    echo ""
+    echo "Misformatted files found. Run 'make format' and verify codegen is not impacted."
+    echo ""
+    diff --unified=0  --label "Old git status" <(echo "${STATUSOLD}") --label "New git status" <(echo "${STATUSNEW}")
+    echo ""
+    echo "Exiting."
+    exit 1
+fi
+
+exit 0
diff --git a/tools/permuter_settings.toml b/tools/permuter_settings.toml
index d9acc8df..e86aa08a 100644
--- a/tools/permuter_settings.toml
+++ b/tools/permuter_settings.toml
@@ -1 +1,4 @@
-compiler_type = "ido"
\ No newline at end of file
+compiler_type = "ido"
+
+[decompme.compilers]
+"tools/ido_recomp/linux/5.3/cc" = "ido5.3"
\ No newline at end of file