diff --git a/Inc/ST-LIB.hpp b/Inc/ST-LIB.hpp
index 70f2ae38..c850e826 100644
--- a/Inc/ST-LIB.hpp
+++ b/Inc/ST-LIB.hpp
@@ -83,11 +83,30 @@ template <typename... Domains> struct BuildCtx {
   }
 };
 
-using DomainsCtx = BuildCtx<MPUDomain, GPIODomain, TimerDomain,
-                            DigitalOutputDomain,
-                            DigitalInputDomain,
-                            MdmaPacketDomain,
-                            SdDomain /*, ADCDomain, PWMDomain, ...*/>;
+/* DomainXList params:
+ *  - First param: Domain name
+ *  - Second param: instance name
+ *  - Rest: any dependencies on previous domains
+ */
+#define DomainXList \
+    X_TEMPLATED(MPUDomain, mpu) NEXT      \
+    X(GPIODomain, gpio) NEXT             \
+    X(TimerDomain, tim) NEXT             \
+    X(DigitalOutputDomain, dout, GPIODomain::Init<gpioN>::instances) NEXT \
+    X(DigitalInputDomain, din, GPIODomain::Init<gpioN>::instances) NEXT \
+    X(MdmaPacketDomain, mdmaPacket, MPUDomain::Init<mpuN, cfg.mpu_cfgs>::instances) NEXT \
+    /* X(ADCDomain, adc) NEXT */         \
+    X(SdDomain, sd, MPUDomain::Init<mpuN, cfg.mpu_cfgs>::instances, DigitalInputDomain::Init<dinN>::instances)
+
+#define X_TEMPLATED X
+
+#define NEXT ,
+#define X(domain, inst, ...) domain
+
+using DomainsCtx = BuildCtx<DomainXList>;
+
+#undef NEXT
+#undef X
 
 template <auto &...devs> struct Board {
   static consteval auto build_ctx() {
@@ -102,71 +121,62 @@ template <auto &...devs> struct Board {
     return ctx.template span<D>().size();
   }
 
+
   static consteval auto build() {
-    constexpr std::size_t mpuN = domain_size<MPUDomain>();
-    constexpr std::size_t gpioN = domain_size<GPIODomain>();
-    constexpr std::size_t timN = domain_size<TimerDomain>();
-    constexpr std::size_t doutN = domain_size<DigitalOutputDomain>();
-    constexpr std::size_t dinN = domain_size<DigitalInputDomain>();
-    constexpr std::size_t mdmaPacketN = domain_size<MdmaPacketDomain>();
-    constexpr std::size_t sdN = domain_size<SdDomain>();
-    // ...
+#define NEXT ;
+#define X(domain, inst, ...) \
+    constexpr std::size_t inst##N = domain_size<domain>();
+    
+    DomainXList;
+
+#undef NEXT
+#undef X
 
     struct ConfigBundle {
-      std::array<MPUDomain::Config, mpuN> mpu_cfgs;
-      std::array<GPIODomain::Config, gpioN> gpio_cfgs;
-      std::array<TimerDomain::Config, timN> tim_cfgs;
-      std::array<DigitalOutputDomain::Config, doutN> dout_cfgs;
-      std::array<DigitalInputDomain::Config, dinN> din_cfgs;
-      std::array<MdmaPacketDomain::Config, mdmaPacketN> mdma_packet_cfgs;
-      std::array<SdDomain::Config, sdN> sd_cfgs;
-      // ...
+#define NEXT ;
+#define X(domain, inst, ...) \
+    std::array<domain::Config, inst##N> inst##_cfgs
+    
+      DomainXList;
+
+#undef NEXT
+#undef X
     };
 
     return ConfigBundle{
-        .mpu_cfgs = MPUDomain::template build<mpuN>(
-            ctx.template span<MPUDomain>()),
-        .gpio_cfgs =
-            GPIODomain::template build<gpioN>(ctx.template span<GPIODomain>()),
-        .tim_cfgs =
-            TimerDomain::template build<timN>(ctx.template span<TimerDomain>()),
-        .dout_cfgs = DigitalOutputDomain::template build<doutN>(
-            ctx.template span<DigitalOutputDomain>()),
-        .din_cfgs = DigitalInputDomain::template build<dinN>(
-            ctx.template span<DigitalInputDomain>()),
-        .mdma_packet_cfgs = MdmaPacketDomain::template build<mdmaPacketN>(
-            ctx.template span<MdmaPacketDomain>()),
-        .sd_cfgs = SdDomain::template build<sdN>(
-            ctx.template span<SdDomain>()),
-        // ...
+#define NEXT ,
+#define X(domain, inst, ...) \
+    .inst##_cfgs = domain::template build<inst##N>(ctx.template span<domain>())
+
+        DomainXList,
+
+#undef NEXT
+#undef X
     };
   }
 
   static constexpr auto cfg = build();
 
   static void init() {
-    constexpr std::size_t mpuN = domain_size<MPUDomain>();
-    constexpr std::size_t gpioN = domain_size<GPIODomain>();
-    constexpr std::size_t timN = domain_size<TimerDomain>();
-    constexpr std::size_t doutN = domain_size<DigitalOutputDomain>();
-    constexpr std::size_t dinN = domain_size<DigitalInputDomain>();
-    constexpr std::size_t mdmaPacketN = domain_size<MdmaPacketDomain>();
-    constexpr std::size_t sdN = domain_size<SdDomain>();
-    // ...
-
-    MPUDomain::Init<mpuN, cfg.mpu_cfgs>::init();
-    GPIODomain::Init<gpioN>::init(cfg.gpio_cfgs);
-    TimerDomain::Init<timN>::init(cfg.tim_cfgs);
-    DigitalOutputDomain::Init<doutN>::init(cfg.dout_cfgs,
-                                           GPIODomain::Init<gpioN>::instances);
-    DigitalInputDomain::Init<dinN>::init(cfg.din_cfgs,
-                                         GPIODomain::Init<gpioN>::instances);
-    MdmaPacketDomain::Init<mdmaPacketN>::init(cfg.mdma_packet_cfgs,
-                                              MPUDomain::Init<mpuN, cfg.mpu_cfgs>::instances);
-    SdDomain::Init<sdN>::init(cfg.sd_cfgs,
-                              MPUDomain::Init<mpuN, cfg.mpu_cfgs>::instances,
-                              DigitalInputDomain::Init<dinN>::instances);
-    // ...
+#define NEXT ;
+#define X(domain, inst, ...) \
+    constexpr std::size_t inst##N = domain_size<domain>();
+    
+    DomainXList;
+
+#undef X
+
+#undef X_TEMPLATED
+#define X_TEMPLATED(domain, inst, ...) \
+    domain::Init<inst##N, cfg.inst##_cfgs>::init(##__VA_ARGS__);
+#define X(domain, inst, ...) \
+    domain::Init<inst##N>::init(cfg.inst##_cfgs, ##__VA_ARGS__);
+
+    DomainXList;
+
+#undef NEXT
+#undef X_TEMPLATED
+#undef X
   }
 
   template <typename Domain, auto &Target, std::size_t I = 0>