diff --git a/flight/Bootloaders/AHRS/Makefile b/flight/Bootloaders/AHRS/Makefile
index f79fba35b..2fa62ce20 100644
--- a/flight/Bootloaders/AHRS/Makefile
+++ b/flight/Bootloaders/AHRS/Makefile
@@ -22,6 +22,9 @@
  # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  #####
 
+WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
+TOP      := $(realpath $(WHEREAMI)/../../../)
+include $(TOP)/make/firmware-defs.mk
 
 # Set developer code and compile options
 # Set to YES for debugging
@@ -31,9 +34,6 @@ USE_BOOTLOADER ?= NO
 # Set to YES when using Code Sourcery toolchain
 CODE_SOURCERY ?= YES
 
-# Toolchain prefix (i.e arm-elf- -> arm-elf-gcc.exe)
-TCHAIN_PREFIX = arm-none-eabi-
-
 ifeq ($(CODE_SOURCERY), YES)
 REMOVE_CMD = cs-rm
 else
@@ -42,10 +42,6 @@ endif
 
 FLASH_TOOL = OPENOCD
 
-# YES enables -mthumb option to flags for source-files listed 
-# in SRC and CPPSRC
-USE_THUMB_MODE = YES
-
 # MCU name, submodel and board
 # - MCU used for compiler-option (-mcpu)
 # - MODEL used for linker-script name (-T) and passed as define
@@ -58,7 +54,7 @@ MODEL    = MD
 
 
 # Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
-OUTDIR = ../../../build/bootloaders/ahrs
+OUTDIR = $(TOP)/build/bootloaders/ahrs
 
 # Target file name (without extension).
 TARGET = AHRS_BL
@@ -331,40 +327,10 @@ OOCD_CL+=-c shutdown
 
 
 # Define programs and commands.
-CC      = $(TCHAIN_PREFIX)gcc
-CPP     = $(TCHAIN_PREFIX)g++
-AR      = $(TCHAIN_PREFIX)ar
-OBJCOPY = $(TCHAIN_PREFIX)objcopy
-OBJDUMP = $(TCHAIN_PREFIX)objdump
-SIZE    = $(TCHAIN_PREFIX)size
-NM      = $(TCHAIN_PREFIX)nm
 REMOVE  = $(REMOVE_CMD) -f
 ###SHELL   = sh
 ###COPY    = cp
 
-
-# Define Messages
-# English
-MSG_ERRORS_NONE = Errors: none
-MSG_BEGIN = "-------- begin (mode: $(RUN_MODE)) --------"
-MSG_END = --------  end  --------
-MSG_SIZE_BEFORE = Size before: 
-MSG_SIZE_AFTER = Size after build:
-MSG_LOAD_FILE = Creating load file:
-MSG_EXTENDED_LISTING = Creating Extended Listing/Disassembly:
-MSG_SYMBOL_TABLE = Creating Symbol Table:
-MSG_LINKING = "**** Linking :"
-MSG_COMPILING = "**** Compiling C :"
-MSG_COMPILING_ARM = "**** Compiling C (ARM-only):"
-MSG_COMPILINGCPP = "Compiling C++ :"
-MSG_COMPILINGCPP_ARM = "Compiling C++ (ARM-only):"
-MSG_ASSEMBLING = "**** Assembling:"
-MSG_ASSEMBLING_ARM = "****Assembling (ARM-only):"
-MSG_CLEANING = Cleaning project:
-MSG_FORMATERROR = Can not handle output-format
-MSG_ASMFROMC = "Creating asm-File from C-Source:"
-MSG_ASMFROMC_ARM = "Creating asm-File from C-Source (ARM-only):"
-
 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
 # List of all source files without directory and file-extension.
@@ -378,15 +344,8 @@ LSTFILES   = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
 # Define all depedency-files (used for make clean).
 DEPFILES   = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
 
-elf: $(OUTDIR)/$(TARGET).elf
-lss: $(OUTDIR)/$(TARGET).lss 
-sym: $(OUTDIR)/$(TARGET).sym
-hex: $(OUTDIR)/$(TARGET).hex
-bin: $(OUTDIR)/$(TARGET).bin
-
 # Default target.
-#all: begin gccversion sizebefore build sizeafter finished end
-all: begin gccversion build sizeafter finished end
+all: build
 
 ifeq ($(LOADFORMAT),ihex)
 build: elf hex sym
@@ -402,35 +361,6 @@ endif
 endif
 endif
 
-
-# Eye candy.
-begin:
-##	@echo
-	@echo $(MSG_BEGIN)
-
-finished:
-##	@echo $(MSG_ERRORS_NONE)
-
-end:
-	@echo $(MSG_END)
-##	@echo
-
-# Display sizes of sections.
-ELFSIZE = $(SIZE) -A  $(OUTDIR)/$(TARGET).elf
-##ELFSIZE = $(SIZE) --format=Berkeley --common $(OUTDIR)/$(TARGET).elf
-sizebefore:
-#	@if [ -f  $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
-
-sizeafter:
-#	@if [ -f  $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
-	@echo $(MSG_SIZE_AFTER)
-	$(ELFSIZE)
-	
-# Display compiler version information.
-gccversion : 
-	@$(CC) --version
-#	@echo $(ALLOBJ)
-
 # Program the device.
 ifeq ($(FLASH_TOOL),OPENOCD)
 # Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
@@ -439,133 +369,67 @@ program: $(OUTDIR)/$(TARGET).elf
 	$(OOCD_EXE) $(OOCD_CL)
 endif
 
-# Create final output file (.hex) from ELF output file.
-%.hex: %.elf
-##	@echo
-	@echo $(MSG_LOAD_FILE) $@
-	$(OBJCOPY) -O ihex $< $@
-	
-# Create final output file (.bin) from ELF output file.
-%.bin: %.elf
-##	@echo
-	@echo $(MSG_LOAD_FILE) $@
-	$(OBJCOPY) -O binary $< $@
-
-# Create extended listing file/disassambly from ELF output file.
-# using objdump testing: option -C
-%.lss: %.elf
-##	@echo
-	@echo $(MSG_EXTENDED_LISTING) $@
-	$(OBJDUMP) -h -S -C -r $< > $@
-#	$(OBJDUMP) -x -S $< > $@
-
-# Create a symbol table from ELF output file.
-%.sym: %.elf
-##	@echo
-	@echo $(MSG_SYMBOL_TABLE) $@
-	$(NM) -n $< > $@
-
 # Link: create ELF output file from object files.
-.SECONDARY : $(TARGET).elf
-.PRECIOUS : $(ALLOBJ)
-%.elf:  $(ALLOBJ)
-	@echo
-	@echo $(MSG_LINKING) $@
-# use $(CC) for C-only projects or $(CPP) for C++-projects:
-	$(CC) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
-#	$(CPP) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
-
+$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
 
 # Assemble: create object files from assembler source files.
-define ASSEMBLE_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_ASSEMBLING) $$< "->" $$@
-	$(CC) -c $(THUMB) $$(ASFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src)))) 
 
 # Assemble: create object files from assembler source files. ARM-only
-define ASSEMBLE_ARM_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_ASSEMBLING_ARM) $$< "->" $$@
-	$(CC) -c $$(ASFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src)))) 
 
-
 # Compile: create object files from C source files.
-define COMPILE_C_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_COMPILING) $$< "->" $$@
-	$(CC) -c $(THUMB) $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src)))) 
 
 # Compile: create object files from C source files. ARM-only
-define COMPILE_C_ARM_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_COMPILING_ARM) $$< "->" $$@
-	$(CC) -c $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src)))) 
 
-
 # Compile: create object files from C++ source files.
-define COMPILE_CPP_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_COMPILINGCPP) $$< "->" $$@
-	$(CC) -c $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src)))) 
 
 # Compile: create object files from C++ source files. ARM-only
-define COMPILE_CPP_ARM_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_COMPILINGCPP_ARM) $$< "->" $$@
-	$(CC) -c $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src)))) 
 
-
 # Compile: create assembler files from C source files. ARM/Thumb
-$(SRC:.c=.s) : %.s : %.c
-	@echo $(MSG_ASMFROMC) $< to $@
-	$(CC) $(THUMB) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
+$(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
 
 # Compile: create assembler files from C source files. ARM only
-$(SRCARM:.c=.s) : %.s : %.c
-	@echo $(MSG_ASMFROMC_ARM) $< to $@
-	$(CC) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
+$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
+
+.PHONY: elf lss sym hex bin
+elf: $(OUTDIR)/$(TARGET).elf
+lss: $(OUTDIR)/$(TARGET).lss 
+sym: $(OUTDIR)/$(TARGET).sym
+hex: $(OUTDIR)/$(TARGET).hex
+bin: $(OUTDIR)/$(TARGET).bin
+
+# Display sizes of sections.
+$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
+.PHONY: size
+size: $(OUTDIR)/$(TARGET).elf_size
 
 # Generate Doxygen documents
 docs:
 	doxygen  $(DOXYGENDIR)/doxygen.cfg
-	
+
 # Target: clean project.
-clean: begin clean_list finished end
+clean: clean_list
 
 clean_list :
-##	@echo
 	@echo $(MSG_CLEANING)
-	$(REMOVE) $(OUTDIR)/$(TARGET).map
-	$(REMOVE) $(OUTDIR)/$(TARGET).elf
-	$(REMOVE) $(OUTDIR)/$(TARGET).hex
-	$(REMOVE) $(OUTDIR)/$(TARGET).bin
-	$(REMOVE) $(OUTDIR)/$(TARGET).sym
-	$(REMOVE) $(OUTDIR)/$(TARGET).lss
-	$(REMOVE) $(ALLOBJ)
-	$(REMOVE) $(LSTFILES)
-	$(REMOVE) $(DEPFILES)
-	$(REMOVE) $(SRC:.c=.s)
-	$(REMOVE) $(SRCARM:.c=.s)
-	$(REMOVE) $(CPPSRC:.cpp=.s)
-	$(REMOVE) $(CPPSRCARM:.cpp=.s)
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).map
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).elf
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).hex
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss
+	$(V1) $(REMOVE) $(ALLOBJ)
+	$(V1) $(REMOVE) $(LSTFILES)
+	$(V1) $(REMOVE) $(DEPFILES)
+	$(V1) $(REMOVE) $(SRC:.c=.s)
+	$(V1) $(REMOVE) $(SRCARM:.c=.s)
+	$(V1) $(REMOVE) $(CPPSRC:.cpp=.s)
+	$(V1) $(REMOVE) $(CPPSRCARM:.cpp=.s)
 
 
 # Create output files directory
@@ -583,9 +447,5 @@ else
 -include $(shell mkdir -p $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
 endif
 
-
-
 # Listing of phony targets.
-.PHONY : all begin finish end sizebefore sizeafter gccversion \
-build elf hex bin lss sym clean clean_list program
-
+.PHONY : all build clean clean_list program
diff --git a/flight/Bootloaders/CopterControl/Makefile b/flight/Bootloaders/CopterControl/Makefile
index dce327a00..191cc1d94 100644
--- a/flight/Bootloaders/CopterControl/Makefile
+++ b/flight/Bootloaders/CopterControl/Makefile
@@ -22,6 +22,9 @@
  # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  #####
 
+WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
+TOP      := $(realpath $(WHEREAMI)/../../../)
+include $(TOP)/make/firmware-defs.mk
 
 # Set developer code and compile options
 # Set to YES to compile for debugging
@@ -40,9 +43,6 @@ USE_BOOTLOADER ?= NO
 # Set to YES when using Code Sourcery toolchain
 CODE_SOURCERY ?= NO
 
-# Toolchain prefix (i.e arm-elf- -> arm-elf-gcc.exe)
-TCHAIN_PREFIX ?= arm-none-eabi-
-
 # Remove command is different for Code Sourcery on Windows
 ifeq ($(CODE_SOURCERY), YES)
 REMOVE_CMD = cs-rm
@@ -52,11 +52,6 @@ endif
 
 FLASH_TOOL = OPENOCD
 
-# YES enables -mthumb option to flags for source-files listed 
-# in SRC and CPPSRC
-USE_THUMB_MODE = YES
-
-
 # MCU name, submodel and board
 # - MCU used for compiler-option (-mcpu)
 # - MODEL used for linker-script name (-T) and passed as define
@@ -73,7 +68,7 @@ BOOT_MODEL    = $(MODEL)_NB
 endif
 
 # Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
-OUTDIR = ../../../build/bootloaders/coptercontrol
+OUTDIR = $(TOP)/build/bootloaders/coptercontrol
 
 # Target file name (without extension).
 TARGET = CopterControl_BL
@@ -411,42 +406,10 @@ OOCD_CL+=-c shutdown
 
 
 # Define programs and commands.
-CC      = $(TCHAIN_PREFIX)gcc
-CPP     = $(TCHAIN_PREFIX)g++
-AR      = $(TCHAIN_PREFIX)ar
-OBJCOPY = $(TCHAIN_PREFIX)objcopy
-OBJDUMP = $(TCHAIN_PREFIX)objdump
-SIZE    = $(TCHAIN_PREFIX)size
-NM      = $(TCHAIN_PREFIX)nm
 REMOVE  = $(REMOVE_CMD) -f
 ###SHELL   = sh
 ###COPY    = cp
 
-
-
-# Define Messages
-# English
-MSG_ERRORS_NONE = Errors: none
-MSG_BEGIN = ${quote}-------- begin (mode: $(RUN_MODE)) --------${quote}
-MSG_END = ${quote}--------  end  --------${quote}
-MSG_MODINIT = ${quote}**** Generating ModInit.c${quote}
-MSG_SIZE_BEFORE = ${quote}Size before:${quote} 
-MSG_SIZE_AFTER = ${quote}Size after build:${quote}
-MSG_LOAD_FILE = ${quote}Creating load file:${quote}
-MSG_EXTENDED_LISTING = ${quote}Creating Extended Listing/Disassembly:${quote}
-MSG_SYMBOL_TABLE = ${quote}Creating Symbol Table:${quote}
-MSG_LINKING = ${quote}**** Linking :${quote}
-MSG_COMPILING = ${quote}**** Compiling C :${quote}
-MSG_COMPILING_ARM = ${quote}**** Compiling C (ARM-only):${quote}
-MSG_COMPILINGCPP = ${quote}Compiling C++ :${quote}
-MSG_COMPILINGCPP_ARM = ${quote}Compiling C++ (ARM-only):${quote}
-MSG_ASSEMBLING = ${quote}**** Assembling:${quote}
-MSG_ASSEMBLING_ARM = ${quote}****Assembling (ARM-only):${quote}
-MSG_CLEANING = ${quote}Cleaning project:${quote}
-MSG_FORMATERROR = ${quote}Can not handle output-format${quote}
-MSG_ASMFROMC = ${quote}Creating asm-File from C-Source:${quote}
-MSG_ASMFROMC_ARM = ${quote}Creating asm-File from C-Source (ARM-only):${quote}
-
 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
 # List of all source files without directory and file-extension.
@@ -460,15 +423,8 @@ LSTFILES   = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
 # Define all depedency-files (used for make clean).
 DEPFILES   = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
 
-elf: $(OUTDIR)/$(TARGET).elf 
-lss: $(OUTDIR)/$(TARGET).lss
-sym: $(OUTDIR)/$(TARGET).sym
-hex: $(OUTDIR)/$(TARGET).hex
-bin: $(OUTDIR)/$(TARGET).bin
-
 # Default target.
-#all: begin gccversion sizebefore build sizeafter finished end
-all: begin gccversion build sizeafter finished end
+all: build
 
 ifeq ($(LOADFORMAT),ihex)
 build: elf hex sym
@@ -484,50 +440,13 @@ endif
 endif
 endif
 
-# Test if quotes are needed for the echo-command
-result = ${shell echo "test"}
-ifeq (${result}, test)
-	quote = '
-else
-	quote = 
-endif
-
 ${OUTDIR}/InitMods.c: Makefile
-	@echo ${MSG_MODINIT}
+	@echo $(MSG_MODINIT) $(call toprel, $@)
 	@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c 
 	@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote}  >> ${OUTDIR}/InitMods.c
 	@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
 	@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote}  >> ${OUTDIR}/InitMods.c
 	@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
-	
-# Eye candy.
-begin:
-##	@echo
-	@echo $(MSG_BEGIN)
-
-finished:
-##	@echo $(MSG_ERRORS_NONE)
-
-end:
-	@echo $(MSG_END)
-##	@echo
-
-# Display sizes of sections.
-ELFSIZE = $(SIZE) -A  $(OUTDIR)/$(TARGET).elf
-#ELFSIZE = $(SIZE) -B -t $(ALLOBJ)  $(OUTDIR)/$(TARGET).elf
-##ELFSIZE = $(SIZE) --format=Berkeley --common $(OUTDIR)/$(TARGET).elf
-sizebefore:
-#	@if [ -f  $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
-
-sizeafter:
-#	@if [ -f  $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
-	@echo $(MSG_SIZE_AFTER)
-	$(ELFSIZE)
-	
-# Display compiler version information.
-gccversion : 
-	@$(CC) --version
-#	@echo $(ALLOBJ)
 
 # Program the device.
 ifeq ($(FLASH_TOOL),OPENOCD)
@@ -537,132 +456,67 @@ program: $(OUTDIR)/$(TARGET).elf
 	$(OOCD_EXE) $(OOCD_CL)
 endif
 
-# Create final output file (.hex) from ELF output file.
-%.hex: %.elf
-##	@echo
-	@echo $(MSG_LOAD_FILE) $@
-	$(OBJCOPY) -O ihex $< $@
-	
-# Create final output file (.bin) from ELF output file.
-%.bin: %.elf
-##	@echo
-	@echo $(MSG_LOAD_FILE) $@
-	$(OBJCOPY) -O binary $< $@
-
-# Create extended listing file/disassambly from ELF output file.
-# using objdump testing: option -C
-%.lss: %.elf
-##	@echo
-	@echo $(MSG_EXTENDED_LISTING) $@
-	$(OBJDUMP) -h -S -C -r $< > $@
-#	$(OBJDUMP) -x -S $< > $@
-
-# Create a symbol table from ELF output file.
-%.sym: %.elf
-##	@echo
-	@echo $(MSG_SYMBOL_TABLE) $@
-	$(NM) -n $< > $@
-
 # Link: create ELF output file from object files.
-.SECONDARY : $(TARGET).elf
-.PRECIOUS : $(ALLOBJ)
-%.elf:  $(ALLOBJ)
-	@echo $(MSG_LINKING) $@
-# use $(CC) for C-only projects or $(CPP) for C++-projects:
-	$(CC) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
-#	$(CPP) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
-
+$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
 
 # Assemble: create object files from assembler source files.
-define ASSEMBLE_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_ASSEMBLING) $$<  to  $$@
-	$(CC) -c $(THUMB) $$(ASFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src)))) 
 
 # Assemble: create object files from assembler source files. ARM-only
-define ASSEMBLE_ARM_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_ASSEMBLING_ARM) $$<  to  $$@
-	$(CC) -c $$(ASFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src)))) 
 
-
 # Compile: create object files from C source files.
-define COMPILE_C_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_COMPILING) $$<  to  $$@
-	$(CC) -c $(THUMB) $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src)))) 
 
 # Compile: create object files from C source files. ARM-only
-define COMPILE_C_ARM_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_COMPILING_ARM) $$<  to  $$@
-	$(CC) -c $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src)))) 
 
-
 # Compile: create object files from C++ source files.
-define COMPILE_CPP_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_COMPILINGCPP) $$<  to  $$@
-	$(CC) -c $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src)))) 
 
 # Compile: create object files from C++ source files. ARM-only
-define COMPILE_CPP_ARM_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_COMPILINGCPP_ARM) $$<  to  $$@
-	$(CC) -c $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src)))) 
 
-
 # Compile: create assembler files from C source files. ARM/Thumb
-$(SRC:.c=.s) : %.s : %.c
-	@echo $(MSG_ASMFROMC) $< to $@
-	$(CC) $(THUMB) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
+$(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
 
 # Compile: create assembler files from C source files. ARM only
-$(SRCARM:.c=.s) : %.s : %.c
-	@echo $(MSG_ASMFROMC_ARM) $< to $@
-	$(CC) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
+$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 
 # Generate Doxygen documents
 docs:
 	doxygen  $(DOXYGENDIR)/doxygen.cfg
-	
+
+.PHONY: elf lss sym hex bin
+elf: $(OUTDIR)/$(TARGET).elf
+lss: $(OUTDIR)/$(TARGET).lss 
+sym: $(OUTDIR)/$(TARGET).sym
+hex: $(OUTDIR)/$(TARGET).hex
+bin: $(OUTDIR)/$(TARGET).bin
+
+# Display sizes of sections.
+$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
+.PHONY: size
+size: $(OUTDIR)/$(TARGET).elf_size
+
 # Target: clean project.
-clean: begin clean_list finished end
+clean: clean_list
 
 clean_list :
-##	@echo
 	@echo $(MSG_CLEANING)
-	$(REMOVE) $(OUTDIR)/$(TARGET).map
-	$(REMOVE) $(OUTDIR)/$(TARGET).elf
-	$(REMOVE) $(OUTDIR)/$(TARGET).hex
-	$(REMOVE) $(OUTDIR)/$(TARGET).bin
-	$(REMOVE) $(OUTDIR)/$(TARGET).sym
-	$(REMOVE) $(OUTDIR)/$(TARGET).lss
-	$(REMOVE) $(ALLOBJ)
-	$(REMOVE) $(LSTFILES)
-	$(REMOVE) $(DEPFILES)
-	$(REMOVE) $(SRC:.c=.s)
-	$(REMOVE) $(SRCARM:.c=.s)
-	$(REMOVE) $(CPPSRC:.cpp=.s)
-	$(REMOVE) $(CPPSRCARM:.cpp=.s)
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).map
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).elf
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).hex
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss
+	$(V1) $(REMOVE) $(ALLOBJ)
+	$(V1) $(REMOVE) $(LSTFILES)
+	$(V1) $(REMOVE) $(DEPFILES)
+	$(V1) $(REMOVE) $(SRC:.c=.s)
+	$(V1) $(REMOVE) $(SRCARM:.c=.s)
+	$(V1) $(REMOVE) $(CPPSRC:.cpp=.s)
+	$(V1) $(REMOVE) $(CPPSRCARM:.cpp=.s)
 
 
 # Create output files directory
@@ -680,9 +534,5 @@ else
 -include $(shell mkdir -p $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
 endif
 
-
-
 # Listing of phony targets.
-.PHONY : all begin finish end sizebefore sizeafter gccversion \
-build elf hex bin lss sym clean clean_list program
-
+.PHONY : all build clean clean_list program
diff --git a/flight/Bootloaders/OpenPilot/Makefile b/flight/Bootloaders/OpenPilot/Makefile
index 17a153f6f..4dcc692b9 100644
--- a/flight/Bootloaders/OpenPilot/Makefile
+++ b/flight/Bootloaders/OpenPilot/Makefile
@@ -22,6 +22,9 @@
  # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  #####
 
+WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
+TOP      := $(realpath $(WHEREAMI)/../../../)
+include $(TOP)/make/firmware-defs.mk
 
 # Set developer code and compile options
 # Set to YES to compile for debugging
@@ -40,9 +43,6 @@ USE_BOOTLOADER ?= NO
 # Set to YES when using Code Sourcery toolchain
 CODE_SOURCERY ?= NO
 
-# Toolchain prefix (i.e arm-elf- -> arm-elf-gcc.exe)
-TCHAIN_PREFIX ?= arm-none-eabi-
-
 # Remove command is different for Code Sourcery on Windows
 ifeq ($(CODE_SOURCERY), YES)
 REMOVE_CMD = cs-rm
@@ -52,11 +52,6 @@ endif
 
 FLASH_TOOL = OPENOCD
 
-# YES enables -mthumb option to flags for source-files listed 
-# in SRC and CPPSRC
-USE_THUMB_MODE = YES
-
-
 # MCU name, submodel and board
 # - MCU used for compiler-option (-mcpu)
 # - MODEL used for linker-script name (-T) and passed as define
@@ -73,7 +68,7 @@ BOOT_MODEL    = $(MODEL)_NB
 endif
 
 # Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
-OUTDIR = ../../../build/bootloaders/openpilot
+OUTDIR = $(TOP)/build/bootloaders/openpilot
 
 # Target file name (without extension).
 TARGET = OpenPilot_BL
@@ -331,7 +326,7 @@ ifeq ($(DEBUG),NO)
 CFLAGS += -ffunction-sections
 endif
 
-CFLAGS += -mcpu=$(MCU) -mthumb
+CFLAGS += -mcpu=$(MCU)
 CFLAGS += $(CDEFS)
 CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
 
@@ -352,7 +347,7 @@ CONLYFLAGS += $(CSTANDARD)
 # Assembler flags.
 #  -Wa,...:    tell GCC to pass this to the assembler.
 #  -ahlns:     create listing
-ASFLAGS  = -mcpu=$(MCU) -mthumb -I. -x assembler-with-cpp
+ASFLAGS  = -mcpu=$(MCU) -I. -x assembler-with-cpp
 ASFLAGS += $(ADEFS)
 ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
 ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
@@ -412,42 +407,10 @@ OOCD_CL+=-c shutdown
 
 
 # Define programs and commands.
-CC      = $(TCHAIN_PREFIX)gcc
-CPP     = $(TCHAIN_PREFIX)g++
-AR      = $(TCHAIN_PREFIX)ar
-OBJCOPY = $(TCHAIN_PREFIX)objcopy
-OBJDUMP = $(TCHAIN_PREFIX)objdump
-SIZE    = $(TCHAIN_PREFIX)size
-NM      = $(TCHAIN_PREFIX)nm
 REMOVE  = $(REMOVE_CMD) -f
 ###SHELL   = sh
 ###COPY    = cp
 
-
-
-# Define Messages
-# English
-MSG_ERRORS_NONE = Errors: none
-MSG_BEGIN = ${quote}-------- begin (mode: $(RUN_MODE)) --------${quote}
-MSG_END = ${quote}--------  end  --------${quote}
-MSG_MODINIT = ${quote}**** Generating ModInit.c${quote}
-MSG_SIZE_BEFORE = ${quote}Size before:${quote} 
-MSG_SIZE_AFTER = ${quote}Size after build:${quote}
-MSG_LOAD_FILE = ${quote}Creating load file:${quote}
-MSG_EXTENDED_LISTING = ${quote}Creating Extended Listing/Disassembly:${quote}
-MSG_SYMBOL_TABLE = ${quote}Creating Symbol Table:${quote}
-MSG_LINKING = ${quote}**** Linking :${quote}
-MSG_COMPILING = ${quote}**** Compiling C :${quote}
-MSG_COMPILING_ARM = ${quote}**** Compiling C (ARM-only):${quote}
-MSG_COMPILINGCPP = ${quote}Compiling C++ :${quote}
-MSG_COMPILINGCPP_ARM = ${quote}Compiling C++ (ARM-only):${quote}
-MSG_ASSEMBLING = ${quote}**** Assembling:${quote}
-MSG_ASSEMBLING_ARM = ${quote}****Assembling (ARM-only):${quote}
-MSG_CLEANING = ${quote}Cleaning project:${quote}
-MSG_FORMATERROR = ${quote}Can not handle output-format${quote}
-MSG_ASMFROMC = ${quote}Creating asm-File from C-Source:${quote}
-MSG_ASMFROMC_ARM = ${quote}Creating asm-File from C-Source (ARM-only):${quote}
-
 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
 # List of all source files without directory and file-extension.
@@ -461,15 +424,8 @@ LSTFILES   = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
 # Define all depedency-files (used for make clean).
 DEPFILES   = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
 
-elf: $(OUTDIR)/$(TARGET).elf 
-lss: $(OUTDIR)/$(TARGET).lss
-sym: $(OUTDIR)/$(TARGET).sym
-hex: $(OUTDIR)/$(TARGET).hex
-bin: $(OUTDIR)/$(TARGET).bin
-
 # Default target.
-#all: begin gccversion sizebefore build sizeafter finished end
-all: begin gccversion build sizeafter finished end
+all: build
 
 ifeq ($(LOADFORMAT),ihex)
 build: elf hex sym
@@ -485,50 +441,13 @@ endif
 endif
 endif
 
-# Test if quotes are needed for the echo-command
-result = ${shell echo "test"}
-ifeq (${result}, test)
-	quote = '
-else
-	quote = 
-endif
-
 ${OUTDIR}/InitMods.c: Makefile
-	@echo ${MSG_MODINIT}
+	@echo $(MSG_MODINIT) $(call toprel, $@)
 	@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c 
 	@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote}  >> ${OUTDIR}/InitMods.c
 	@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
 	@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote}  >> ${OUTDIR}/InitMods.c
 	@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
-	
-# Eye candy.
-begin:
-##	@echo
-	@echo $(MSG_BEGIN)
-
-finished:
-##	@echo $(MSG_ERRORS_NONE)
-
-end:
-	@echo $(MSG_END)
-##	@echo
-
-# Display sizes of sections.
-ELFSIZE = $(SIZE) -A  $(OUTDIR)/$(TARGET).elf
-#ELFSIZE = $(SIZE) -B -t $(ALLOBJ)  $(OUTDIR)/$(TARGET).elf
-##ELFSIZE = $(SIZE) --format=Berkeley --common $(OUTDIR)/$(TARGET).elf
-sizebefore:
-#	@if [ -f  $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
-
-sizeafter:
-#	@if [ -f  $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
-	@echo $(MSG_SIZE_AFTER)
-	$(ELFSIZE)
-	
-# Display compiler version information.
-gccversion : 
-	@$(CC) --version
-#	@echo $(ALLOBJ)
 
 # Program the device.
 ifeq ($(FLASH_TOOL),OPENOCD)
@@ -538,132 +457,67 @@ program: $(OUTDIR)/$(TARGET).elf
 	$(OOCD_EXE) $(OOCD_CL)
 endif
 
-# Create final output file (.hex) from ELF output file.
-%.hex: %.elf
-##	@echo
-	@echo $(MSG_LOAD_FILE) $@
-	$(OBJCOPY) -O ihex $< $@
-	
-# Create final output file (.bin) from ELF output file.
-%.bin: %.elf
-##	@echo
-	@echo $(MSG_LOAD_FILE) $@
-	$(OBJCOPY) -O binary $< $@
-
-# Create extended listing file/disassambly from ELF output file.
-# using objdump testing: option -C
-%.lss: %.elf
-##	@echo
-	@echo $(MSG_EXTENDED_LISTING) $@
-	$(OBJDUMP) -h -S -C -r $< > $@
-#	$(OBJDUMP) -x -S $< > $@
-
-# Create a symbol table from ELF output file.
-%.sym: %.elf
-##	@echo
-	@echo $(MSG_SYMBOL_TABLE) $@
-	$(NM) -n $< > $@
-
 # Link: create ELF output file from object files.
-.SECONDARY : $(TARGET).elf
-.PRECIOUS : $(ALLOBJ)
-%.elf:  $(ALLOBJ)
-	@echo $(MSG_LINKING) $@
-# use $(CC) for C-only projects or $(CPP) for C++-projects:
-	$(CC) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
-#	$(CPP) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
-
+$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
 
 # Assemble: create object files from assembler source files.
-define ASSEMBLE_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_ASSEMBLING) $$<  to  $$@
-	$(CC) -c $(THUMB) $$(ASFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src)))) 
 
 # Assemble: create object files from assembler source files. ARM-only
-define ASSEMBLE_ARM_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_ASSEMBLING_ARM) $$<  to  $$@
-	$(CC) -c $$(ASFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src)))) 
 
-
 # Compile: create object files from C source files.
-define COMPILE_C_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_COMPILING) $$<  to  $$@
-	$(CC) -c $(THUMB) $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src)))) 
 
 # Compile: create object files from C source files. ARM-only
-define COMPILE_C_ARM_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_COMPILING_ARM) $$<  to  $$@
-	$(CC) -c $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src)))) 
 
-
 # Compile: create object files from C++ source files.
-define COMPILE_CPP_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_COMPILINGCPP) $$<  to  $$@
-	$(CC) -c $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src)))) 
 
 # Compile: create object files from C++ source files. ARM-only
-define COMPILE_CPP_ARM_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_COMPILINGCPP_ARM) $$<  to  $$@
-	$(CC) -c $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src)))) 
 
-
 # Compile: create assembler files from C source files. ARM/Thumb
-$(SRC:.c=.s) : %.s : %.c
-	@echo $(MSG_ASMFROMC) $< to $@
-	$(CC) $(THUMB) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
+$(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
 
 # Compile: create assembler files from C source files. ARM only
-$(SRCARM:.c=.s) : %.s : %.c
-	@echo $(MSG_ASMFROMC_ARM) $< to $@
-	$(CC) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
+$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
+
+.PHONY: elf lss sym hex bin
+elf: $(OUTDIR)/$(TARGET).elf
+lss: $(OUTDIR)/$(TARGET).lss 
+sym: $(OUTDIR)/$(TARGET).sym
+hex: $(OUTDIR)/$(TARGET).hex
+bin: $(OUTDIR)/$(TARGET).bin
+
+# Display sizes of sections.
+$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
+.PHONY: size
+size: $(OUTDIR)/$(TARGET).elf_size
 
 # Generate Doxygen documents
 docs:
 	doxygen  $(DOXYGENDIR)/doxygen.cfg
-	
+
 # Target: clean project.
-clean: begin clean_list finished end
+clean: clean_list
 
 clean_list :
-##	@echo
 	@echo $(MSG_CLEANING)
-	$(REMOVE) $(OUTDIR)/$(TARGET).map
-	$(REMOVE) $(OUTDIR)/$(TARGET).elf
-	$(REMOVE) $(OUTDIR)/$(TARGET).hex
-	$(REMOVE) $(OUTDIR)/$(TARGET).bin
-	$(REMOVE) $(OUTDIR)/$(TARGET).sym
-	$(REMOVE) $(OUTDIR)/$(TARGET).lss
-	$(REMOVE) $(ALLOBJ)
-	$(REMOVE) $(LSTFILES)
-	$(REMOVE) $(DEPFILES)
-	$(REMOVE) $(SRC:.c=.s)
-	$(REMOVE) $(SRCARM:.c=.s)
-	$(REMOVE) $(CPPSRC:.cpp=.s)
-	$(REMOVE) $(CPPSRCARM:.cpp=.s)
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).map
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).elf
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).hex
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss
+	$(V1) $(REMOVE) $(ALLOBJ)
+	$(V1) $(REMOVE) $(LSTFILES)
+	$(V1) $(REMOVE) $(DEPFILES)
+	$(V1) $(REMOVE) $(SRC:.c=.s)
+	$(V1) $(REMOVE) $(SRCARM:.c=.s)
+	$(V1) $(REMOVE) $(CPPSRC:.cpp=.s)
+	$(V1) $(REMOVE) $(CPPSRCARM:.cpp=.s)
 
 
 # Create output files directory
@@ -681,9 +535,5 @@ else
 -include $(shell mkdir -p $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
 endif
 
-
-
 # Listing of phony targets.
-.PHONY : all begin finish end sizebefore sizeafter gccversion \
-build elf hex bin lss sym clean clean_list program
-
+.PHONY : all build clean clean_list program
diff --git a/flight/Bootloaders/PipXtreme/Makefile b/flight/Bootloaders/PipXtreme/Makefile
index 293b3a70f..22a249f8a 100644
--- a/flight/Bootloaders/PipXtreme/Makefile
+++ b/flight/Bootloaders/PipXtreme/Makefile
@@ -22,6 +22,9 @@
  # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  #####
 
+WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
+TOP      := $(realpath $(WHEREAMI)/../../../)
+include $(TOP)/make/firmware-defs.mk
 
 # Set developer code and compile options
 # Set to YES to compile for debugging
@@ -40,9 +43,6 @@ USE_BOOTLOADER ?= NO
 # Set to YES when using Code Sourcery toolchain
 CODE_SOURCERY ?= NO
 
-# Toolchain prefix (i.e arm-elf- -> arm-elf-gcc.exe)
-TCHAIN_PREFIX ?= arm-none-eabi-
-
 # Remove command is different for Code Sourcery on Windows
 ifeq ($(CODE_SOURCERY), YES)
 REMOVE_CMD = cs-rm
@@ -52,11 +52,6 @@ endif
 
 FLASH_TOOL = OPENOCD
 
-# YES enables -mthumb option to flags for source-files listed 
-# in SRC and CPPSRC
-USE_THUMB_MODE = YES
-
-
 # MCU name, submodel and board
 # - MCU used for compiler-option (-mcpu)
 # - MODEL used for linker-script name (-T) and passed as define
@@ -73,7 +68,7 @@ BOOT_MODEL    = $(MODEL)_NB
 endif
 
 # Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
-OUTDIR = ../../../build/bootloaders/pipxtreme
+OUTDIR = $(TOP)/build/bootloaders/pipxtreme
 
 # Target file name (without extension).
 TARGET = PipXtreme_BL
@@ -411,42 +406,10 @@ OOCD_CL+=-c shutdown
 
 
 # Define programs and commands.
-CC      = $(TCHAIN_PREFIX)gcc
-CPP     = $(TCHAIN_PREFIX)g++
-AR      = $(TCHAIN_PREFIX)ar
-OBJCOPY = $(TCHAIN_PREFIX)objcopy
-OBJDUMP = $(TCHAIN_PREFIX)objdump
-SIZE    = $(TCHAIN_PREFIX)size
-NM      = $(TCHAIN_PREFIX)nm
 REMOVE  = $(REMOVE_CMD) -f
 ###SHELL   = sh
 ###COPY    = cp
 
-
-
-# Define Messages
-# English
-MSG_ERRORS_NONE = Errors: none
-MSG_BEGIN = ${quote}-------- begin (mode: $(RUN_MODE)) --------${quote}
-MSG_END = ${quote}--------  end  --------${quote}
-MSG_MODINIT = ${quote}**** Generating ModInit.c${quote}
-MSG_SIZE_BEFORE = ${quote}Size before:${quote} 
-MSG_SIZE_AFTER = ${quote}Size after build:${quote}
-MSG_LOAD_FILE = ${quote}Creating load file:${quote}
-MSG_EXTENDED_LISTING = ${quote}Creating Extended Listing/Disassembly:${quote}
-MSG_SYMBOL_TABLE = ${quote}Creating Symbol Table:${quote}
-MSG_LINKING = ${quote}**** Linking :${quote}
-MSG_COMPILING = ${quote}**** Compiling C :${quote}
-MSG_COMPILING_ARM = ${quote}**** Compiling C (ARM-only):${quote}
-MSG_COMPILINGCPP = ${quote}Compiling C++ :${quote}
-MSG_COMPILINGCPP_ARM = ${quote}Compiling C++ (ARM-only):${quote}
-MSG_ASSEMBLING = ${quote}**** Assembling:${quote}
-MSG_ASSEMBLING_ARM = ${quote}****Assembling (ARM-only):${quote}
-MSG_CLEANING = ${quote}Cleaning project:${quote}
-MSG_FORMATERROR = ${quote}Can not handle output-format${quote}
-MSG_ASMFROMC = ${quote}Creating asm-File from C-Source:${quote}
-MSG_ASMFROMC_ARM = ${quote}Creating asm-File from C-Source (ARM-only):${quote}
-
 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
 # List of all source files without directory and file-extension.
@@ -460,15 +423,8 @@ LSTFILES   = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
 # Define all depedency-files (used for make clean).
 DEPFILES   = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
 
-elf: $(OUTDIR)/$(TARGET).elf 
-lss: $(OUTDIR)/$(TARGET).lss
-sym: $(OUTDIR)/$(TARGET).sym
-hex: $(OUTDIR)/$(TARGET).hex
-bin: $(OUTDIR)/$(TARGET).bin
-
 # Default target.
-#all: begin gccversion sizebefore build sizeafter finished end
-all: begin gccversion build sizeafter finished end
+all: build
 
 ifeq ($(LOADFORMAT),ihex)
 build: elf hex sym
@@ -484,50 +440,13 @@ endif
 endif
 endif
 
-# Test if quotes are needed for the echo-command
-result = ${shell echo "test"}
-ifeq (${result}, test)
-	quote = '
-else
-	quote = 
-endif
-
 ${OUTDIR}/InitMods.c: Makefile
-	@echo ${MSG_MODINIT}
+	@echo $(MSG_MODINIT) $(call toprel, $@)
 	@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c 
 	@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote}  >> ${OUTDIR}/InitMods.c
 	@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
 	@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote}  >> ${OUTDIR}/InitMods.c
 	@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
-	
-# Eye candy.
-begin:
-##	@echo
-	@echo $(MSG_BEGIN)
-
-finished:
-##	@echo $(MSG_ERRORS_NONE)
-
-end:
-	@echo $(MSG_END)
-##	@echo
-
-# Display sizes of sections.
-ELFSIZE = $(SIZE) -A  $(OUTDIR)/$(TARGET).elf
-#ELFSIZE = $(SIZE) -B -t $(ALLOBJ)  $(OUTDIR)/$(TARGET).elf
-##ELFSIZE = $(SIZE) --format=Berkeley --common $(OUTDIR)/$(TARGET).elf
-sizebefore:
-#	@if [ -f  $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi
-
-sizeafter:
-#	@if [ -f  $(OUTDIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
-	@echo $(MSG_SIZE_AFTER)
-	$(ELFSIZE)
-	
-# Display compiler version information.
-gccversion : 
-	@$(CC) --version
-#	@echo $(ALLOBJ)
 
 # Program the device.
 ifeq ($(FLASH_TOOL),OPENOCD)
@@ -537,132 +456,67 @@ program: $(OUTDIR)/$(TARGET).elf
 	$(OOCD_EXE) $(OOCD_CL)
 endif
 
-# Create final output file (.hex) from ELF output file.
-%.hex: %.elf
-##	@echo
-	@echo $(MSG_LOAD_FILE) $@
-	$(OBJCOPY) -O ihex $< $@
-	
-# Create final output file (.bin) from ELF output file.
-%.bin: %.elf
-##	@echo
-	@echo $(MSG_LOAD_FILE) $@
-	$(OBJCOPY) -O binary $< $@
-
-# Create extended listing file/disassambly from ELF output file.
-# using objdump testing: option -C
-%.lss: %.elf
-##	@echo
-	@echo $(MSG_EXTENDED_LISTING) $@
-	$(OBJDUMP) -h -S -C -r $< > $@
-#	$(OBJDUMP) -x -S $< > $@
-
-# Create a symbol table from ELF output file.
-%.sym: %.elf
-##	@echo
-	@echo $(MSG_SYMBOL_TABLE) $@
-	$(NM) -n $< > $@
-
 # Link: create ELF output file from object files.
-.SECONDARY : $(TARGET).elf
-.PRECIOUS : $(ALLOBJ)
-%.elf:  $(ALLOBJ)
-	@echo $(MSG_LINKING) $@
-# use $(CC) for C-only projects or $(CPP) for C++-projects:
-	$(CC) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
-#	$(CPP) $(THUMB) $(CFLAGS) $(ALLOBJ) --output $@ $(LDFLAGS)
-
+$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
 
 # Assemble: create object files from assembler source files.
-define ASSEMBLE_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_ASSEMBLING) $$<  to  $$@
-	$(CC) -c $(THUMB) $$(ASFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src)))) 
 
 # Assemble: create object files from assembler source files. ARM-only
-define ASSEMBLE_ARM_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_ASSEMBLING_ARM) $$<  to  $$@
-	$(CC) -c $$(ASFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src)))) 
 
-
 # Compile: create object files from C source files.
-define COMPILE_C_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_COMPILING) $$<  to  $$@
-	$(CC) -c $(THUMB) $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src)))) 
 
 # Compile: create object files from C source files. ARM-only
-define COMPILE_C_ARM_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_COMPILING_ARM) $$<  to  $$@
-	$(CC) -c $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src)))) 
 
-
 # Compile: create object files from C++ source files.
-define COMPILE_CPP_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_COMPILINGCPP) $$<  to  $$@
-	$(CC) -c $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src)))) 
 
 # Compile: create object files from C++ source files. ARM-only
-define COMPILE_CPP_ARM_TEMPLATE
-$(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-##	@echo
-	@echo $(MSG_COMPILINGCPP_ARM) $$<  to  $$@
-	$(CC) -c $$(CFLAGS) $$(CPPFLAGS) $$< -o $$@ 
-endef
 $(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src)))) 
 
-
 # Compile: create assembler files from C source files. ARM/Thumb
-$(SRC:.c=.s) : %.s : %.c
-	@echo $(MSG_ASMFROMC) $< to $@
-	$(CC) $(THUMB) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
+$(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
 
 # Compile: create assembler files from C source files. ARM only
-$(SRCARM:.c=.s) : %.s : %.c
-	@echo $(MSG_ASMFROMC_ARM) $< to $@
-	$(CC) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
+$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
+
+.PHONY: elf lss sym hex bin
+elf: $(OUTDIR)/$(TARGET).elf
+lss: $(OUTDIR)/$(TARGET).lss 
+sym: $(OUTDIR)/$(TARGET).sym
+hex: $(OUTDIR)/$(TARGET).hex
+bin: $(OUTDIR)/$(TARGET).bin
+
+# Display sizes of sections.
+$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
+.PHONY: size
+size: $(OUTDIR)/$(TARGET).elf_size
 
 # Generate Doxygen documents
 docs:
 	doxygen  $(DOXYGENDIR)/doxygen.cfg
-	
+
 # Target: clean project.
-clean: begin clean_list finished end
+clean: clean_list
 
 clean_list :
-##	@echo
 	@echo $(MSG_CLEANING)
-	$(REMOVE) $(OUTDIR)/$(TARGET).map
-	$(REMOVE) $(OUTDIR)/$(TARGET).elf
-	$(REMOVE) $(OUTDIR)/$(TARGET).hex
-	$(REMOVE) $(OUTDIR)/$(TARGET).bin
-	$(REMOVE) $(OUTDIR)/$(TARGET).sym
-	$(REMOVE) $(OUTDIR)/$(TARGET).lss
-	$(REMOVE) $(ALLOBJ)
-	$(REMOVE) $(LSTFILES)
-	$(REMOVE) $(DEPFILES)
-	$(REMOVE) $(SRC:.c=.s)
-	$(REMOVE) $(SRCARM:.c=.s)
-	$(REMOVE) $(CPPSRC:.cpp=.s)
-	$(REMOVE) $(CPPSRCARM:.cpp=.s)
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).map
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).elf
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).hex
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).bin
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).sym
+	$(V1) $(REMOVE) $(OUTDIR)/$(TARGET).lss
+	$(V1) $(REMOVE) $(ALLOBJ)
+	$(V1) $(REMOVE) $(LSTFILES)
+	$(V1) $(REMOVE) $(DEPFILES)
+	$(V1) $(REMOVE) $(SRC:.c=.s)
+	$(V1) $(REMOVE) $(SRCARM:.c=.s)
+	$(V1) $(REMOVE) $(CPPSRC:.cpp=.s)
+	$(V1) $(REMOVE) $(CPPSRCARM:.cpp=.s)
 
 
 # Create output files directory
@@ -680,9 +534,6 @@ else
 -include $(shell mkdir -p $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
 endif
 
-
-
 # Listing of phony targets.
-.PHONY : all begin finish end sizebefore sizeafter gccversion \
-build elf hex bin lss sym clean clean_list program
+.PHONY : all build clean clean_list program