diff --git a/Makefile b/Makefile
index 183dd32408..ba2e9f9246 100644
--- a/Makefile
+++ b/Makefile
@@ -1,448 +1,450 @@
-###############################################################################
-# "THE BEER-WARE LICENSE" (Revision 42):
-# <msmith@FreeBSD.ORG> wrote this file. As long as you retain this notice you
-# can do whatever you want with this stuff. If we meet some day, and you think
-# this stuff is worth it, you can buy me a beer in return
-###############################################################################
-#
-# Makefile for building the cleanflight firmware.
-#
-# Invoke this with 'make help' to see the list of supported targets.
-# 
-
-###############################################################################
-# Things that the user might override on the commandline
-#
-
-# The target to build, see VALID_TARGETS below
-TARGET		?= NAZE
-
-# Compile-time options
-OPTIONS		?=
-
-# Debugger optons, must be empty or GDB
-DEBUG ?=
-
-# Serial port/Device for flashing
-SERIAL_DEVICE	?= /dev/ttyUSB0
-
-###############################################################################
-# Things that need to be maintained as the source changes
-#
-
-FORKNAME			 = cleanflight
-
-VALID_TARGETS	 = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 CC3D CJMCU
-
-# Working directories
-ROOT		 = $(dir $(lastword $(MAKEFILE_LIST)))
-SRC_DIR		 = $(ROOT)/src/main
-OBJECT_DIR	 = $(ROOT)/obj/main
-BIN_DIR		 = $(ROOT)/obj
-CMSIS_DIR	 = $(ROOT)/lib/main/CMSIS
-INCLUDE_DIRS = $(SRC_DIR)
-
-# Search path for sources
-VPATH		:= $(SRC_DIR):$(SRC_DIR)/startup
-
-ifeq ($(TARGET),$(filter $(TARGET),STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO))
-
-STDPERIPH_DIR	= $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
-USBFS_DIR		= $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
-
-USBPERIPH_SRC = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
-STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
-
-EXCLUDES = stm32f30x_crc.c \
-		stm32f30x_can.c
-
-STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
-
-DEVICE_STDPERIPH_SRC = $(USBPERIPH_SRC) \
-		$(STDPERIPH_SRC)
-
-
-VPATH		:= $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x:$(USBFS_DIR)/src
-CMSIS_SRC	 = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
-			   $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
-
-INCLUDE_DIRS := $(INCLUDE_DIRS) \
-		   $(STDPERIPH_DIR)/inc \
-		   $(USBFS_DIR)/inc \
-		   $(CMSIS_DIR)/CM1/CoreSupport \
-		   $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x \
-		   $(ROOT)/src/main/vcp
-
-LD_SCRIPT	 = $(ROOT)/stm32_flash_f303.ld
-
-ARCH_FLAGS	 = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 
-DEVICE_FLAGS = -DSTM32F303xC
-TARGET_FLAGS = -D$(TARGET)
-ifeq ($(TARGET),CHEBUZZF3)
-# CHEBUZZ is a VARIANT of STM32F3DISCOVERY
-TARGET_FLAGS := $(TARGET_FLAGS) -DSTM32F3DISCOVERY
-endif
-
-
-else
-
-STDPERIPH_DIR	 = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
-
-STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
-
-# Search path and source files for the CMSIS sources
-VPATH		:= $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
-CMSIS_SRC	 = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
-			   $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
-
-INCLUDE_DIRS := $(INCLUDE_DIRS) \
-		   $(STDPERIPH_DIR)/inc \
-		   $(CMSIS_DIR)/CM3/CoreSupport \
-		   $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
-
-LD_SCRIPT	 = $(ROOT)/stm32_flash_f103.ld
-
-ARCH_FLAGS	 = -mthumb -mcpu=cortex-m3
-TARGET_FLAGS = -D$(TARGET)
-DEVICE_FLAGS = -DSTM32F10X_MD
-
-DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
-
-endif
-
-TARGET_DIR = $(ROOT)/src/main/target/$(TARGET)
-TARGET_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
-
-INCLUDE_DIRS := $(INCLUDE_DIRS) \
-		    $(TARGET_DIR)
-
-VPATH		:= $(VPATH):$(TARGET_DIR)
-
-COMMON_SRC	 = build_config.c \
-		   $(TARGET_SRC) \
-		   config/config.c \
-		   config/runtime_config.c \
-		   common/maths.c \
-		   common/printf.c \
-		   common/typeconversion.c \
-		   main.c \
-		   mw.c \
-		   flight/altitudehold.c \
-		   flight/failsafe.c \
-		   flight/flight.c \
-		   flight/imu.c \
-		   flight/mixer.c \
-		   drivers/bus_i2c_soft.c \
-		   drivers/serial.c \
-		   drivers/sound_beeper.c \
-		   drivers/system.c \
-		   io/beeper.c \
-		   io/rc_controls.c \
-		   io/rc_curves.c \
-		   io/serial.c \
-		   io/serial_cli.c \
-		   io/serial_msp.c \
-		   io/statusindicator.c \
-		   rx/rx.c \
-		   rx/pwm.c \
-		   rx/msp.c \
-		   sensors/acceleration.c \
-		   sensors/battery.c \
-		   sensors/boardalignment.c \
-		   sensors/compass.c \
-		   sensors/gyro.c \
-		   sensors/initialisation.c \
-		   $(CMSIS_SRC) \
-		   $(DEVICE_STDPERIPH_SRC)
-
-HIGHEND_SRC  = flight/autotune.c \
-		   io/gps.c \
-		   io/gps_conversion.c \
-		   io/ledstrip.c \
-		   rx/sbus.c \
-		   rx/sumd.c \
-		   rx/spektrum.c \
-		   telemetry/telemetry.c \
-		   telemetry/frsky.c \
-		   telemetry/hott.c \
-		   telemetry/msp.c \
-		   sensors/sonar.c \
-		   sensors/barometer.c
-
-NAZE_SRC	 = startup_stm32f10x_md_gcc.S \
-		   drivers/accgyro_adxl345.c \
-		   drivers/accgyro_bma280.c \
-		   drivers/accgyro_l3g4200d.c \
-		   drivers/accgyro_mma845x.c \
-		   drivers/accgyro_mpu3050.c \
-		   drivers/accgyro_mpu6050.c \
-		   drivers/adc.c \
-		   drivers/adc_stm32f10x.c \
-		   drivers/barometer_bmp085.c \
-		   drivers/barometer_ms5611.c \
-		   drivers/bus_spi.c \
-		   drivers/bus_i2c_stm32f10x.c \
-		   drivers/compass_hmc5883l.c \
-		   drivers/gpio_stm32f10x.c \
-		   drivers/light_led_stm32f10x.c \
-		   drivers/light_ws2811strip.c \
-		   drivers/light_ws2811strip_stm32f10x.c \
-		   drivers/sonar_hcsr04.c \
-		   drivers/pwm_mapping.c \
-		   drivers/pwm_output.c \
-		   drivers/pwm_rx.c \
-		   drivers/serial_softserial.c \
-		   drivers/serial_uart.c \
-		   drivers/serial_uart_stm32f10x.c \
-		   drivers/sound_beeper_stm32f10x.c \
-		   drivers/system_stm32f10x.c \
-		   drivers/timer.c \
-		   $(HIGHEND_SRC) \
-		   $(COMMON_SRC)
-
-OLIMEXINO_SRC	 = startup_stm32f10x_md_gcc.S \
-		   drivers/accgyro_mpu6050.c \
-		   drivers/adc.c \
-		   drivers/adc_stm32f10x.c \
-		   drivers/barometer_bmp085.c \
-		   drivers/bus_i2c_stm32f10x.c \
-		   drivers/bus_spi.c \
-		   drivers/compass_hmc5883l.c \
-		   drivers/gpio_stm32f10x.c \
-		   drivers/light_led_stm32f10x.c \
-		   drivers/light_ws2811strip.c \
-		   drivers/light_ws2811strip_stm32f10x.c \
-		   drivers/pwm_mapping.c \
-		   drivers/pwm_output.c \
-		   drivers/pwm_rssi.c \
-		   drivers/pwm_rx.c \
-		   drivers/serial_softserial.c \
-		   drivers/serial_uart.c \
-		   drivers/serial_uart_stm32f10x.c \
-		   drivers/sound_beeper_stm32f10x.c \
-		   drivers/system_stm32f10x.c \
-		   drivers/timer.c \
-		   $(HIGHEND_SRC) \
-		   $(COMMON_SRC)
-
-CJMCU_SRC	 = startup_stm32f10x_md_gcc.S \
-		   drivers/adc.c \
-		   drivers/adc_stm32f10x.c \
-		   drivers/accgyro_mpu6050.c \
-		   drivers/bus_i2c_stm32f10x.c \
-		   drivers/bus_spi.c \
-		   drivers/compass_hmc5883l.c \
-		   drivers/gpio_stm32f10x.c \
-		   drivers/light_led_stm32f10x.c \
-		   drivers/pwm_mapping.c \
-		   drivers/pwm_output.c \
-		   drivers/pwm_rssi.c \
-		   drivers/pwm_rx.c \
-		   drivers/serial_uart.c \
-		   drivers/serial_uart_stm32f10x.c \
-		   drivers/sound_beeper_stm32f10x.c \
-		   drivers/system_stm32f10x.c \
-		   drivers/timer.c \
-		   $(COMMON_SRC)
-
-CC3D_SRC	 = startup_stm32f10x_md_gcc.S \
-		   drivers/accgyro_spi_mpu6000.c \
-		   drivers/adc.c \
-		   drivers/adc_stm32f10x.c \
-		   drivers/bus_i2c_stm32f10x.c \
-		   drivers/bus_spi.c \
-		   drivers/gpio_stm32f10x.c \
-		   drivers/light_led_stm32f10x.c \
-		   drivers/light_ws2811strip.c \
-		   drivers/light_ws2811strip_stm32f10x.c \
-		   drivers/pwm_mapping.c \
-		   drivers/pwm_output.c \
-		   drivers/pwm_rssi.c \
-		   drivers/pwm_rx.c \
-		   drivers/serial_softserial.c \
-		   drivers/serial_uart.c \
-		   drivers/serial_uart_stm32f10x.c \
-		   drivers/sound_beeper_stm32f10x.c \
-		   drivers/system_stm32f10x.c \
-		   drivers/timer.c \
-		   $(HIGHEND_SRC) \
-		   $(COMMON_SRC)
-
-STM32F30x_COMMON_SRC	 = startup_stm32f30x_md_gcc.S \
-		   drivers/adc.c \
-		   drivers/adc_stm32f30x.c \
-		   drivers/bus_i2c_stm32f30x.c \
-		   drivers/bus_spi.c \
-		   drivers/gpio_stm32f30x.c \
-		   drivers/light_led_stm32f30x.c \
-		   drivers/light_ws2811strip.c \
-		   drivers/light_ws2811strip_stm32f30x.c \
-		   drivers/pwm_mapping.c \
-		   drivers/pwm_output.c \
-		   drivers/pwm_rssi.c \
-		   drivers/pwm_rx.c \
-		   drivers/serial_uart.c \
-		   drivers/serial_uart_stm32f30x.c \
-		   drivers/serial_softserial.c \
-		   drivers/serial_usb_vcp.c \
-		   drivers/sound_beeper_stm32f30x.c \
-		   drivers/system_stm32f30x.c \
-		   drivers/timer.c \
-		   vcp/hw_config.c \
-		   vcp/stm32_it.c \
-		   vcp/usb_desc.c \
-		   vcp/usb_endp.c \
-		   vcp/usb_istr.c \
-		   vcp/usb_prop.c \
-		   vcp/usb_pwr.c
-
-NAZE32PRO_SRC	 = $(STM32F30x_COMMON_SRC) \
-		   $(HIGHEND_SRC) \
-		   $(COMMON_SRC)
-
-STM32F3DISCOVERY_COMMON_SRC	 = $(STM32F30x_COMMON_SRC) \
-		   drivers/accgyro_l3gd20.c \
-		   drivers/accgyro_l3gd20.c \
-		   drivers/accgyro_lsm303dlhc.c
-
-STM32F3DISCOVERY_SRC	 = $(STM32F3DISCOVERY_COMMON_SRC) \
-		   drivers/accgyro_adxl345.c \
-		   drivers/accgyro_bma280.c \
-		   drivers/accgyro_mma845x.c \
-		   drivers/accgyro_mpu3050.c \
-		   drivers/accgyro_mpu6050.c \
-		   drivers/accgyro_l3g4200d.c \
-		   $(HIGHEND_SRC) \
-		   $(COMMON_SRC)
-
-CHEBUZZF3_SRC	 = $(STM32F3DISCOVERY_SRC) \
-		   $(HIGHEND_SRC) \
-		   $(COMMON_SRC)
-
-# Search path and source files for the ST stdperiph library
-VPATH		:= $(VPATH):$(STDPERIPH_DIR)/src
-
-###############################################################################
-# Things that might need changing to use different tools
-#
-
-# Tool names
-CC		 = arm-none-eabi-gcc
-OBJCOPY		 = arm-none-eabi-objcopy
-SIZE		 = arm-none-eabi-size
-
-#
-# Tool options.
-#
-
-ifeq ($(DEBUG),GDB)
-OPTIMIZE	 = -O0
-LTO_FLAGS	 = $(OPTIMIZE)
-else
-OPTIMIZE	 = -Os
-LTO_FLAGS	 = -flto -fuse-linker-plugin $(OPTIMIZE)
-endif
-
-DEBUG_FLAGS	 = -ggdb3
-
-CFLAGS		 = $(ARCH_FLAGS) \
-		   $(LTO_FLAGS) \
-		   $(addprefix -D,$(OPTIONS)) \
-		   $(addprefix -I,$(INCLUDE_DIRS)) \
-		   $(DEBUG_FLAGS) \
-		   -std=gnu99 \
-		   -Wall -pedantic \
-		   -ffunction-sections \
-		   -fdata-sections \
-		   $(DEVICE_FLAGS) \
-		   -DUSE_STDPERIPH_DRIVER \
-		   $(TARGET_FLAGS) \
-		   -D'__FORKNAME__="$(FORKNAME)"' \
-		   -save-temps=obj
-
-ASFLAGS		 = $(ARCH_FLAGS) \
-		   -x assembler-with-cpp \
-		   $(addprefix -I,$(INCLUDE_DIRS))
-
-# XXX Map/crossref output?
-LDFLAGS		 = -lm \
-		   -nostartfiles \
-		   --specs=nano.specs \
-		   -lnosys \
-		   $(ARCH_FLAGS) \
-		   $(LTO_FLAGS) \
-		   $(DEBUG_FLAGS) \
-		   -static \
-		   -Wl,-gc-sections,-Map,$(TARGET_MAP) \
-		   -T$(LD_SCRIPT)
-
-###############################################################################
-# No user-serviceable parts below
-###############################################################################
-
-#
-# Things we will build
-#
-ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
-$(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS))
-endif
-
-
-TARGET_HEX	 = $(BIN_DIR)/$(FORKNAME)_$(TARGET).hex
-TARGET_ELF	 = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
-TARGET_OBJS	 = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
-TARGET_MAP   = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
-
-# List of buildable ELF files and their object dependencies.
-# It would be nice to compute these lists, but that seems to be just beyond make.
-
-$(TARGET_HEX): $(TARGET_ELF)
-	$(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
-
-$(TARGET_ELF):  $(TARGET_OBJS)
-	$(CC) -o $@ $^ $(LDFLAGS)
-	$(SIZE) $(TARGET_ELF) 
-
-# Compile
-$(OBJECT_DIR)/$(TARGET)/%.o: %.c
-	@mkdir -p $(dir $@)
-	@echo %% $(notdir $<)
-	@$(CC) -c -o $@ $(CFLAGS) $<
-
-# Assemble
-$(OBJECT_DIR)/$(TARGET)/%.o: %.s
-	@mkdir -p $(dir $@)
-	@echo %% $(notdir $<)
-	@$(CC) -c -o $@ $(ASFLAGS) $< 
-$(OBJECT_DIR)/$(TARGET)/%.o): %.S
-	@mkdir -p $(dir $@)
-	@echo %% $(notdir $<)
-	@$(CC) -c -o $@ $(ASFLAGS) $< 
-
-clean:
-	rm -f $(TARGET_HEX) $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
-	rm -rf $(OBJECT_DIR)/$(TARGET)
-
-flash_$(TARGET): $(TARGET_HEX)
-	stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
-	echo -n 'R' >$(SERIAL_DEVICE)
-	stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
-
-flash: flash_$(TARGET)
-
-
-unbrick_$(TARGET): $(TARGET_HEX)
-	stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
-	stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
-
-unbrick: unbrick_$(TARGET)
-
-help:
-	@echo ""
-	@echo "Makefile for the $(FORKNAME) firmware"
-	@echo ""
-	@echo "Usage:"
-	@echo "        make [TARGET=<target>] [OPTIONS=\"<options>\"]"
-	@echo ""
-	@echo "Valid TARGET values are: $(VALID_TARGETS)"
-	@echo ""
+###############################################################################
+# "THE BEER-WARE LICENSE" (Revision 42):
+# <msmith@FreeBSD.ORG> wrote this file. As long as you retain this notice you
+# can do whatever you want with this stuff. If we meet some day, and you think
+# this stuff is worth it, you can buy me a beer in return
+###############################################################################
+#
+# Makefile for building the cleanflight firmware.
+#
+# Invoke this with 'make help' to see the list of supported targets.
+# 
+
+###############################################################################
+# Things that the user might override on the commandline
+#
+
+# The target to build, see VALID_TARGETS below
+TARGET		?= NAZE
+
+# Compile-time options
+OPTIONS		?=
+
+# Debugger optons, must be empty or GDB
+DEBUG ?=
+
+# Serial port/Device for flashing
+SERIAL_DEVICE	?= /dev/ttyUSB0
+
+###############################################################################
+# Things that need to be maintained as the source changes
+#
+
+FORKNAME			 = cleanflight
+
+VALID_TARGETS	 = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 CC3D CJMCU
+
+# Working directories
+ROOT		 = $(dir $(lastword $(MAKEFILE_LIST)))
+SRC_DIR		 = $(ROOT)/src/main
+OBJECT_DIR	 = $(ROOT)/obj/main
+BIN_DIR		 = $(ROOT)/obj
+CMSIS_DIR	 = $(ROOT)/lib/main/CMSIS
+INCLUDE_DIRS = $(SRC_DIR)
+
+# Search path for sources
+VPATH		:= $(SRC_DIR):$(SRC_DIR)/startup
+
+ifeq ($(TARGET),$(filter $(TARGET),STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO))
+
+STDPERIPH_DIR	= $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
+USBFS_DIR		= $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
+
+USBPERIPH_SRC = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
+STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
+
+EXCLUDES = stm32f30x_crc.c \
+		stm32f30x_can.c
+
+STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
+
+DEVICE_STDPERIPH_SRC = $(USBPERIPH_SRC) \
+		$(STDPERIPH_SRC)
+
+
+VPATH		:= $(VPATH):$(CMSIS_DIR)/CM1/CoreSupport:$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x:$(USBFS_DIR)/src
+CMSIS_SRC	 = $(notdir $(wildcard $(CMSIS_DIR)/CM1/CoreSupport/*.c \
+			   $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x/*.c))
+
+INCLUDE_DIRS := $(INCLUDE_DIRS) \
+		   $(STDPERIPH_DIR)/inc \
+		   $(USBFS_DIR)/inc \
+		   $(CMSIS_DIR)/CM1/CoreSupport \
+		   $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x \
+		   $(ROOT)/src/main/vcp
+
+LD_SCRIPT	 = $(ROOT)/stm32_flash_f303.ld
+
+ARCH_FLAGS	 = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 
+DEVICE_FLAGS = -DSTM32F303xC
+TARGET_FLAGS = -D$(TARGET)
+ifeq ($(TARGET),CHEBUZZF3)
+# CHEBUZZ is a VARIANT of STM32F3DISCOVERY
+TARGET_FLAGS := $(TARGET_FLAGS) -DSTM32F3DISCOVERY
+endif
+
+
+else
+
+STDPERIPH_DIR	 = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
+
+STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
+
+# Search path and source files for the CMSIS sources
+VPATH		:= $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
+CMSIS_SRC	 = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
+			   $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
+
+INCLUDE_DIRS := $(INCLUDE_DIRS) \
+		   $(STDPERIPH_DIR)/inc \
+		   $(CMSIS_DIR)/CM3/CoreSupport \
+		   $(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
+
+LD_SCRIPT	 = $(ROOT)/stm32_flash_f103.ld
+
+ARCH_FLAGS	 = -mthumb -mcpu=cortex-m3
+TARGET_FLAGS = -D$(TARGET)
+DEVICE_FLAGS = -DSTM32F10X_MD
+
+DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
+
+endif
+
+TARGET_DIR = $(ROOT)/src/main/target/$(TARGET)
+TARGET_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
+
+INCLUDE_DIRS := $(INCLUDE_DIRS) \
+		    $(TARGET_DIR)
+
+VPATH		:= $(VPATH):$(TARGET_DIR)
+
+COMMON_SRC	 = build_config.c \
+		   $(TARGET_SRC) \
+		   config/config.c \
+		   config/runtime_config.c \
+		   common/maths.c \
+		   common/printf.c \
+		   common/typeconversion.c \
+		   main.c \
+		   mw.c \
+		   flight/altitudehold.c \
+		   flight/failsafe.c \
+		   flight/flight.c \
+		   flight/imu.c \
+		   flight/mixer.c \
+		   drivers/bus_i2c_soft.c \
+		   drivers/serial.c \
+		   drivers/sound_beeper.c \
+		   drivers/system.c \
+		   io/beeper.c \
+		   io/rc_controls.c \
+		   io/rc_curves.c \
+		   io/serial.c \
+		   io/serial_cli.c \
+		   io/serial_msp.c \
+		   io/statusindicator.c \
+		   rx/rx.c \
+		   rx/pwm.c \
+		   rx/msp.c \
+		   sensors/acceleration.c \
+		   sensors/battery.c \
+		   sensors/boardalignment.c \
+		   sensors/compass.c \
+		   sensors/gyro.c \
+		   sensors/initialisation.c \
+		   $(CMSIS_SRC) \
+		   $(DEVICE_STDPERIPH_SRC)
+
+HIGHEND_SRC  = flight/autotune.c \
+		   io/gps.c \
+		   io/gps_conversion.c \
+		   io/ledstrip.c \
+		   rx/sbus.c \
+		   rx/sumd.c \
+		   rx/spektrum.c \
+		   telemetry/telemetry.c \
+		   telemetry/frsky.c \
+		   telemetry/hott.c \
+		   telemetry/msp.c \
+		   sensors/sonar.c \
+		   sensors/barometer.c
+
+NAZE_SRC	 = startup_stm32f10x_md_gcc.S \
+		   drivers/accgyro_adxl345.c \
+		   drivers/accgyro_bma280.c \
+		   drivers/accgyro_l3g4200d.c \
+		   drivers/accgyro_mma845x.c \
+		   drivers/accgyro_mpu3050.c \
+		   drivers/accgyro_mpu6050.c \
+		   drivers/adc.c \
+		   drivers/adc_stm32f10x.c \
+		   drivers/barometer_bmp085.c \
+		   drivers/barometer_ms5611.c \
+		   drivers/bus_spi.c \
+		   drivers/bus_i2c_stm32f10x.c \
+		   drivers/compass_hmc5883l.c \
+		   drivers/gpio_stm32f10x.c \
+		   drivers/light_led_stm32f10x.c \
+		   drivers/light_ws2811strip.c \
+		   drivers/light_ws2811strip_stm32f10x.c \
+		   drivers/sonar_hcsr04.c \
+		   drivers/pwm_mapping.c \
+		   drivers/pwm_output.c \
+		   drivers/pwm_rx.c \
+		   drivers/serial_softserial.c \
+		   drivers/serial_uart.c \
+		   drivers/serial_uart_stm32f10x.c \
+		   drivers/sound_beeper_stm32f10x.c \
+		   drivers/system_stm32f10x.c \
+		   drivers/timer.c \
+		   $(HIGHEND_SRC) \
+		   $(COMMON_SRC)
+
+OLIMEXINO_SRC	 = startup_stm32f10x_md_gcc.S \
+		   drivers/accgyro_mpu6050.c \
+		   drivers/adc.c \
+		   drivers/adc_stm32f10x.c \
+		   drivers/barometer_bmp085.c \
+		   drivers/bus_i2c_stm32f10x.c \
+		   drivers/bus_spi.c \
+		   drivers/compass_hmc5883l.c \
+		   drivers/gpio_stm32f10x.c \
+		   drivers/light_led_stm32f10x.c \
+		   drivers/light_ws2811strip.c \
+		   drivers/light_ws2811strip_stm32f10x.c \
+		   drivers/pwm_mapping.c \
+		   drivers/pwm_output.c \
+		   drivers/pwm_rssi.c \
+		   drivers/pwm_rx.c \
+		   drivers/serial_softserial.c \
+		   drivers/serial_uart.c \
+		   drivers/serial_uart_stm32f10x.c \
+		   drivers/sound_beeper_stm32f10x.c \
+		   drivers/system_stm32f10x.c \
+		   drivers/timer.c \
+		   $(HIGHEND_SRC) \
+		   $(COMMON_SRC)
+
+CJMCU_SRC	 = startup_stm32f10x_md_gcc.S \
+		   drivers/adc.c \
+		   drivers/adc_stm32f10x.c \
+		   drivers/accgyro_mpu6050.c \
+		   drivers/bus_i2c_stm32f10x.c \
+		   drivers/bus_spi.c \
+		   drivers/compass_hmc5883l.c \
+		   drivers/gpio_stm32f10x.c \
+		   drivers/light_led_stm32f10x.c \
+		   drivers/pwm_mapping.c \
+		   drivers/pwm_output.c \
+		   drivers/pwm_rssi.c \
+		   drivers/pwm_rx.c \
+		   drivers/serial_uart.c \
+		   drivers/serial_uart_stm32f10x.c \
+		   drivers/sound_beeper_stm32f10x.c \
+		   drivers/system_stm32f10x.c \
+		   drivers/timer.c \
+		   $(COMMON_SRC)
+
+CC3D_SRC	 = startup_stm32f10x_md_gcc.S \
+		   drivers/accgyro_spi_mpu6000.c \
+		   drivers/adc.c \
+		   drivers/adc_stm32f10x.c \
+		   drivers/bus_i2c_stm32f10x.c \
+		   drivers/bus_spi.c \
+		   drivers/gpio_stm32f10x.c \
+		   drivers/light_led_stm32f10x.c \
+		   drivers/light_ws2811strip.c \
+		   drivers/light_ws2811strip_stm32f10x.c \
+		   drivers/pwm_mapping.c \
+		   drivers/pwm_output.c \
+		   drivers/pwm_rssi.c \
+		   drivers/pwm_rx.c \
+		   drivers/serial_softserial.c \
+		   drivers/serial_uart.c \
+		   drivers/serial_uart_stm32f10x.c \
+		   drivers/sound_beeper_stm32f10x.c \
+		   drivers/system_stm32f10x.c \
+		   drivers/timer.c \
+		   $(HIGHEND_SRC) \
+		   $(COMMON_SRC)
+
+STM32F30x_COMMON_SRC	 = startup_stm32f30x_md_gcc.S \
+		   drivers/adc.c \
+		   drivers/adc_stm32f30x.c \
+		   drivers/bus_i2c_stm32f30x.c \
+		   drivers/bus_spi.c \
+		   drivers/gpio_stm32f30x.c \
+		   drivers/light_led_stm32f30x.c \
+		   drivers/light_ws2811strip.c \
+		   drivers/light_ws2811strip_stm32f30x.c \
+		   drivers/pwm_mapping.c \
+		   drivers/pwm_output.c \
+		   drivers/pwm_rssi.c \
+		   drivers/pwm_rx.c \
+		   drivers/serial_uart.c \
+		   drivers/serial_uart_stm32f30x.c \
+		   drivers/serial_softserial.c \
+		   drivers/serial_usb_vcp.c \
+		   drivers/sound_beeper_stm32f30x.c \
+		   drivers/system_stm32f30x.c \
+		   drivers/timer.c \
+		   vcp/hw_config.c \
+		   vcp/stm32_it.c \
+		   vcp/usb_desc.c \
+		   vcp/usb_endp.c \
+		   vcp/usb_istr.c \
+		   vcp/usb_prop.c \
+		   vcp/usb_pwr.c
+
+NAZE32PRO_SRC	 = $(STM32F30x_COMMON_SRC) \
+		   $(HIGHEND_SRC) \
+		   $(COMMON_SRC)
+
+STM32F3DISCOVERY_COMMON_SRC	 = $(STM32F30x_COMMON_SRC) \
+		   drivers/accgyro_l3gd20.c \
+		   drivers/accgyro_l3gd20.c \
+		   drivers/accgyro_lsm303dlhc.c
+
+STM32F3DISCOVERY_SRC	 = $(STM32F3DISCOVERY_COMMON_SRC) \
+		   drivers/accgyro_adxl345.c \
+		   drivers/accgyro_bma280.c \
+		   drivers/accgyro_mma845x.c \
+		   drivers/accgyro_mpu3050.c \
+		   drivers/accgyro_mpu6050.c \
+		   drivers/accgyro_l3g4200d.c \
+		   $(HIGHEND_SRC) \
+		   $(COMMON_SRC)
+
+CHEBUZZF3_SRC	 = $(STM32F3DISCOVERY_SRC) \
+		   $(HIGHEND_SRC) \
+		   $(COMMON_SRC)
+
+# Search path and source files for the ST stdperiph library
+VPATH		:= $(VPATH):$(STDPERIPH_DIR)/src
+
+###############################################################################
+# Things that might need changing to use different tools
+#
+
+# Tool names
+CC		 = arm-none-eabi-gcc
+OBJCOPY		 = arm-none-eabi-objcopy
+SIZE		 = arm-none-eabi-size
+
+#
+# Tool options.
+#
+
+ifeq ($(DEBUG),GDB)
+OPTIMIZE	 = -O0
+LTO_FLAGS	 = $(OPTIMIZE)
+SPEC_FLAGS   =
+else
+OPTIMIZE	 = -Os
+LTO_FLAGS	 = $(OPTIMIZE) -flto -fuse-linker-plugin
+SPEC_FLAGS   = --specs=nano.specs
+endif
+
+DEBUG_FLAGS	 = -ggdb3
+
+CFLAGS		 = $(ARCH_FLAGS) \
+		   $(addprefix -D,$(OPTIONS)) \
+		   $(addprefix -I,$(INCLUDE_DIRS)) \
+		   $(DEBUG_FLAGS) \
+		   -std=gnu99 \
+		   -Wall -pedantic -Wextra -Wshadow -Wunsafe-loop-optimizations \
+		   -ffunction-sections \
+		   -fdata-sections \
+		   $(DEVICE_FLAGS) \
+		   -DUSE_STDPERIPH_DRIVER \
+		   $(TARGET_FLAGS) \
+		   -D'__FORKNAME__="$(FORKNAME)"' \
+		   -save-temps=obj \
+		   $(LTO_FLAGS)
+
+ASFLAGS		 = $(ARCH_FLAGS) \
+		   -x assembler-with-cpp \
+		   $(addprefix -I,$(INCLUDE_DIRS))
+
+# XXX Map/crossref output?
+LDFLAGS		 = -T$(LD_SCRIPT) \
+		   $(ARCH_FLAGS) \
+		   $(DEBUG_FLAGS) \
+		   -static \
+		   -nostartfiles \
+		   -Wl,-gc-sections,-Map,$(TARGET_MAP) \
+		   -lnosys \
+		   -lm \
+		   $(LTO_FLAGS) \
+		   $(SPEC_FLAGS)
+
+###############################################################################
+# No user-serviceable parts below
+###############################################################################
+
+#
+# Things we will build
+#
+ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
+$(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS))
+endif
+
+
+TARGET_HEX	 = $(BIN_DIR)/$(FORKNAME)_$(TARGET).hex
+TARGET_ELF	 = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
+TARGET_OBJS	 = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
+TARGET_MAP   = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
+
+# List of buildable ELF files and their object dependencies.
+# It would be nice to compute these lists, but that seems to be just beyond make.
+
+$(TARGET_HEX): $(TARGET_ELF)
+	$(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
+
+$(TARGET_ELF):  $(TARGET_OBJS)
+	$(CC) -o $@ $^ $(LDFLAGS)
+	$(SIZE) $(TARGET_ELF) 
+
+# Compile
+$(OBJECT_DIR)/$(TARGET)/%.o: %.c
+	@mkdir -p $(dir $@)
+	@echo %% $(notdir $<)
+	@$(CC) -c -o $@ $(CFLAGS) $<
+
+# Assemble
+$(OBJECT_DIR)/$(TARGET)/%.o: %.s
+	@mkdir -p $(dir $@)
+	@echo %% $(notdir $<)
+	@$(CC) -c -o $@ $(ASFLAGS) $< 
+$(OBJECT_DIR)/$(TARGET)/%.o): %.S
+	@mkdir -p $(dir $@)
+	@echo %% $(notdir $<)
+	@$(CC) -c -o $@ $(ASFLAGS) $< 
+
+clean:
+	rm -f $(TARGET_HEX) $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
+	rm -rf $(OBJECT_DIR)/$(TARGET)
+
+flash_$(TARGET): $(TARGET_HEX)
+	stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
+	echo -n 'R' >$(SERIAL_DEVICE)
+	stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
+
+flash: flash_$(TARGET)
+
+
+unbrick_$(TARGET): $(TARGET_HEX)
+	stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
+	stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
+
+unbrick: unbrick_$(TARGET)
+
+help:
+	@echo ""
+	@echo "Makefile for the $(FORKNAME) firmware"
+	@echo ""
+	@echo "Usage:"
+	@echo "        make [TARGET=<target>] [OPTIONS=\"<options>\"]"
+	@echo ""
+	@echo "Valid TARGET values are: $(VALID_TARGETS)"
+	@echo ""