diff --git a/firmware/MotionControllerRP/src/hardware/MT6835_encoder.cpp b/firmware/MotionControllerRP/src/hardware/MT6835_encoder.cpp
index ee568f4..9e988ff 100644
--- a/firmware/MotionControllerRP/src/hardware/MT6835_encoder.cpp
+++ b/firmware/MotionControllerRP/src/hardware/MT6835_encoder.cpp
@@ -1,3 +1,9 @@
+// --------------------------------------------------------------------------------------
+// This code is a modified version of the MT6835 Driver from the SimpleFOC project
+// being distributed under the MIT liscence as well. Thank you SimpleFOC !
+// --------------------------------------------------------------------------------------
+
+
 #include "MT6835_encoder.h"
 #include "hardware/spi.h"
 #include "hardware/gpio.h"
diff --git a/firmware/MotionControllerRP/src/hardware/MT6835_encoder.h b/firmware/MotionControllerRP/src/hardware/MT6835_encoder.h
index dfaa116..4c13e35 100644
--- a/firmware/MotionControllerRP/src/hardware/MT6835_encoder.h
+++ b/firmware/MotionControllerRP/src/hardware/MT6835_encoder.h
@@ -1,3 +1,8 @@
+// --------------------------------------------------------------------------------------
+// This code is a modified version of the MT6835 Driver from the SimpleFOC project
+// being distributed under the MIT liscence as well. Thank you SimpleFOC !
+// --------------------------------------------------------------------------------------
+
 #pragma once
 
 #include <stdint.h>
diff --git a/firmware/MotionControllerRP/src/hardware/TB6612_motor_driver.cpp b/firmware/MotionControllerRP/src/hardware/TB6612_motor_driver.cpp
index 4f304b1..8dc9fb5 100644
--- a/firmware/MotionControllerRP/src/hardware/TB6612_motor_driver.cpp
+++ b/firmware/MotionControllerRP/src/hardware/TB6612_motor_driver.cpp
@@ -1,3 +1,10 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
+
 #include "TB6612_motor_driver.h"
 
 #include <math.h>
diff --git a/firmware/MotionControllerRP/src/hardware/TB6612_motor_driver.h b/firmware/MotionControllerRP/src/hardware/TB6612_motor_driver.h
index eea3847..aa1104c 100644
--- a/firmware/MotionControllerRP/src/hardware/TB6612_motor_driver.h
+++ b/firmware/MotionControllerRP/src/hardware/TB6612_motor_driver.h
@@ -1,3 +1,10 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
+
 #pragma once
 
 #include <stdint.h>
diff --git a/firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_base.cpp b/firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_base.cpp
index d7289fe..4580960 100644
--- a/firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_base.cpp
+++ b/firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_base.cpp
@@ -1 +1,8 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
+
 #include "kinematic_model_base.h"
\ No newline at end of file
diff --git a/firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_base.h b/firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_base.h
index 3638894..c4639ab 100644
--- a/firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_base.h
+++ b/firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_base.h
@@ -1,3 +1,9 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
 
 //*** CLASS *****************************************************************************
 
diff --git a/firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_delta3d.cpp b/firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_delta3d.cpp
index 90de69c..fa975a9 100644
--- a/firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_delta3d.cpp
+++ b/firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_delta3d.cpp
@@ -1,3 +1,9 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
 
 //*** INCLUDE ***************************************************************************
 
diff --git a/firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_delta3d.h b/firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_delta3d.h
index 7f65b72..e6b5919 100644
--- a/firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_delta3d.h
+++ b/firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_delta3d.h
@@ -1,3 +1,10 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
+
 #pragma once
 
 //*** INCLUDE ***************************************************************************
diff --git a/firmware/MotionControllerRP/src/main.cpp b/firmware/MotionControllerRP/src/main.cpp
index 27dbd57..e618a9a 100644
--- a/firmware/MotionControllerRP/src/main.cpp
+++ b/firmware/MotionControllerRP/src/main.cpp
@@ -1,3 +1,10 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
+
 #include "main.h"
 
 #include "hardware/clocks.h"
diff --git a/firmware/MotionControllerRP/src/main.h b/firmware/MotionControllerRP/src/main.h
index e69de29..162ddf8 100644
--- a/firmware/MotionControllerRP/src/main.h
+++ b/firmware/MotionControllerRP/src/main.h
@@ -0,0 +1,6 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
diff --git a/firmware/MotionControllerRP/src/motion_control/motion_controller.cpp b/firmware/MotionControllerRP/src/motion_control/motion_controller.cpp
index f900a31..80934fa 100644
--- a/firmware/MotionControllerRP/src/motion_control/motion_controller.cpp
+++ b/firmware/MotionControllerRP/src/motion_control/motion_controller.cpp
@@ -1,3 +1,9 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
 
 //*** INCLUDE ***************************************************************************
 
diff --git a/firmware/MotionControllerRP/src/motion_control/motion_controller.h b/firmware/MotionControllerRP/src/motion_control/motion_controller.h
index fb02a25..d86643e 100644
--- a/firmware/MotionControllerRP/src/motion_control/motion_controller.h
+++ b/firmware/MotionControllerRP/src/motion_control/motion_controller.h
@@ -1,3 +1,10 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
+
 #pragma once
 
 //*** INCLUDE ***************************************************************************
diff --git a/firmware/MotionControllerRP/src/motion_control/path_planner.cpp b/firmware/MotionControllerRP/src/motion_control/path_planner.cpp
index 8c6aeca..db5a7ae 100644
--- a/firmware/MotionControllerRP/src/motion_control/path_planner.cpp
+++ b/firmware/MotionControllerRP/src/motion_control/path_planner.cpp
@@ -1,3 +1,9 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
 
 #include "hardware/sync.h"
 
diff --git a/firmware/MotionControllerRP/src/motion_control/path_planner.h b/firmware/MotionControllerRP/src/motion_control/path_planner.h
index 7eabc2a..9064901 100644
--- a/firmware/MotionControllerRP/src/motion_control/path_planner.h
+++ b/firmware/MotionControllerRP/src/motion_control/path_planner.h
@@ -1,3 +1,10 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
+
 #pragma once
 
 //*** INCLUDE ***************************************************************************
diff --git a/firmware/MotionControllerRP/src/motion_control/path_segment.cpp b/firmware/MotionControllerRP/src/motion_control/path_segment.cpp
index 2123b1e..27c7402 100644
--- a/firmware/MotionControllerRP/src/motion_control/path_segment.cpp
+++ b/firmware/MotionControllerRP/src/motion_control/path_segment.cpp
@@ -1,3 +1,10 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
+
 #include "path_segment.h"
 #include "utilities/logging.h"
 #include "kinemtaic_models/kinematic_model_base.h"
diff --git a/firmware/MotionControllerRP/src/motion_control/path_segment.h b/firmware/MotionControllerRP/src/motion_control/path_segment.h
index 57b6c72..e5342a6 100644
--- a/firmware/MotionControllerRP/src/motion_control/path_segment.h
+++ b/firmware/MotionControllerRP/src/motion_control/path_segment.h
@@ -1,3 +1,10 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
+
 #pragma once
 
 //*** INCLUDE ***************************************************************************
diff --git a/firmware/MotionControllerRP/src/robot.cpp b/firmware/MotionControllerRP/src/robot.cpp
index 53019e2..47d94f7 100644
--- a/firmware/MotionControllerRP/src/robot.cpp
+++ b/firmware/MotionControllerRP/src/robot.cpp
@@ -1,3 +1,10 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
+
 #include "robot.h"
 #include "hw_config.h"
 #include "utilities/logging.h"
diff --git a/firmware/MotionControllerRP/src/robot.h b/firmware/MotionControllerRP/src/robot.h
index 3738850..980ec9e 100644
--- a/firmware/MotionControllerRP/src/robot.h
+++ b/firmware/MotionControllerRP/src/robot.h
@@ -1,3 +1,10 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
+
 #pragma once
 
 #include "utilities/logging.h"
diff --git a/firmware/MotionControllerRP/src/servo_control/encoder_lut.cpp b/firmware/MotionControllerRP/src/servo_control/encoder_lut.cpp
index b2bce02..5a72b7d 100644
--- a/firmware/MotionControllerRP/src/servo_control/encoder_lut.cpp
+++ b/firmware/MotionControllerRP/src/servo_control/encoder_lut.cpp
@@ -1,3 +1,10 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
+
 #include "encoder_lut.h"
 #include "pico/stdlib.h"
 #include "utilities/logging.h"
diff --git a/firmware/MotionControllerRP/src/servo_control/encoder_lut.h b/firmware/MotionControllerRP/src/servo_control/encoder_lut.h
index 730cc10..6e5d5c4 100644
--- a/firmware/MotionControllerRP/src/servo_control/encoder_lut.h
+++ b/firmware/MotionControllerRP/src/servo_control/encoder_lut.h
@@ -1,3 +1,10 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
+
 #pragma once
 
 #include <vector>
diff --git a/firmware/MotionControllerRP/src/servo_control/servo_controller.cpp b/firmware/MotionControllerRP/src/servo_control/servo_controller.cpp
index 69940b1..67bec01 100644
--- a/firmware/MotionControllerRP/src/servo_control/servo_controller.cpp
+++ b/firmware/MotionControllerRP/src/servo_control/servo_controller.cpp
@@ -1,3 +1,10 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
+
 #include "hardware/timer.h"
 #include "Arduino.h"
 
diff --git a/firmware/MotionControllerRP/src/servo_control/servo_controller.h b/firmware/MotionControllerRP/src/servo_control/servo_controller.h
index 2d13bde..2411942 100644
--- a/firmware/MotionControllerRP/src/servo_control/servo_controller.h
+++ b/firmware/MotionControllerRP/src/servo_control/servo_controller.h
@@ -1,3 +1,10 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
+
 #pragma once
 
 #include "hardware/MT6835_encoder.h"
diff --git a/firmware/MotionControllerRP/src/utilities/fp_math.h b/firmware/MotionControllerRP/src/utilities/fp_math.h
index b6b496b..c4f77c8 100644
--- a/firmware/MotionControllerRP/src/utilities/fp_math.h
+++ b/firmware/MotionControllerRP/src/utilities/fp_math.h
@@ -1,3 +1,10 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
+
 #pragma once
 
 #include <stdint.h>
diff --git a/firmware/MotionControllerRP/src/utilities/frequency_counter.h b/firmware/MotionControllerRP/src/utilities/frequency_counter.h
index 17da464..9286798 100644
--- a/firmware/MotionControllerRP/src/utilities/frequency_counter.h
+++ b/firmware/MotionControllerRP/src/utilities/frequency_counter.h
@@ -1,3 +1,10 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
+
 #pragma once
 
 #include <stdint.h>
diff --git a/firmware/MotionControllerRP/src/utilities/logging.cpp b/firmware/MotionControllerRP/src/utilities/logging.cpp
index 9269a32..c8d346b 100644
--- a/firmware/MotionControllerRP/src/utilities/logging.cpp
+++ b/firmware/MotionControllerRP/src/utilities/logging.cpp
@@ -1,3 +1,10 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
+
 #include "logging.h"
 #include "Arduino.h"
 #include <stdarg.h>
diff --git a/firmware/MotionControllerRP/src/utilities/logging.h b/firmware/MotionControllerRP/src/utilities/logging.h
index 05eb7bc..3d46de2 100644
--- a/firmware/MotionControllerRP/src/utilities/logging.h
+++ b/firmware/MotionControllerRP/src/utilities/logging.h
@@ -1,3 +1,10 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
+
 #pragma once
 
 #include <stdarg.h>
diff --git a/firmware/MotionControllerRP/src/utilities/math3d.h b/firmware/MotionControllerRP/src/utilities/math3d.h
index 73dd27d..9bfeebf 100644
--- a/firmware/MotionControllerRP/src/utilities/math3d.h
+++ b/firmware/MotionControllerRP/src/utilities/math3d.h
@@ -1,3 +1,10 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
+
 #pragma once
 #include <cmath>
 
diff --git a/firmware/MotionControllerRP/src/utilities/ringbuffer.h b/firmware/MotionControllerRP/src/utilities/ringbuffer.h
index bf452f1..09d4d48 100644
--- a/firmware/MotionControllerRP/src/utilities/ringbuffer.h
+++ b/firmware/MotionControllerRP/src/utilities/ringbuffer.h
@@ -1,3 +1,9 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
 
 template<typename T, int N>
 class RingBuffer {