diff --git a/flight/AHRS/Makefile b/flight/AHRS/Makefile
index bbd8d4eda..1602dc18a 100644
--- a/flight/AHRS/Makefile
+++ b/flight/AHRS/Makefile
@@ -1,606 +1,606 @@
- #####
- # Project: OpenPilot AHRS
- #
- #
- # Makefile for OpenPilot AHRS project
- #
- # The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
- #
- #
- # This program is free software; you can redistribute it and/or modify
- # it under the terms of the GNU General Public License as published by
- # the Free Software Foundation; either version 3 of the License, or
- # (at your option) any later version.
- #
- # This program is distributed in the hope that it will be useful, but
- # WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- # or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- # for more details.
- #
- # You should have received a copy of the GNU General Public License along
- # with this program; if not, write to the Free Software Foundation, Inc.,
- # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- #####
-
-
-# Set developer code and compile options
-# Set to YES for debugging
-DEBUG ?= NO
-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 ($(CODE_SOURCERY), YES)
-REMOVE_CMD = cs-rm
-else
-REMOVE_CMD = rm
-endif
-
-FLASH_TOOL = OPENOCD
-
-# YES enables -mthumb option to flags for source-files listed
-# in SRC and CPPSRC
-USE_THUMB_MODE = YES
-
-# MCU name, submodel and board
-# - MCU used for compiler-option (-mcpu)
-# - MODEL used for linker-script name (-T) and passed as define
-# - BOARD just passed as define (optional)
-MCU      = cortex-m3
-CHIP     = STM32F103CBT
-BOARD    = STM32103CB_AHRS
-MODEL    = MD
-ifeq ($(USE_BOOTLOADER), YES)
-BOOT_MODEL    = $(MODEL)_BL
-else
-BOOT_MODEL    = $(MODEL)_NB
-endif
-# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
-OUTDIR = Build
-
-# Target file name (without extension).
-TARGET = AHRS
-
-# Paths
-AHRS = ./
-AHRSINC = $(AHRS)/inc
-PIOS = ../PiOS
-PIOSINC = $(PIOS)/inc
-FLIGHTLIB = ../Libraries
-FLIGHTLIBINC = ../Libraries/inc
-PIOSSTM32F10X = $(PIOS)/STM32F10x
-PIOSCOMMON = $(PIOS)/Common
-PIOSBOARDS = $(PIOS)/Boards
-APPLIBDIR = $(PIOSSTM32F10X)/Libraries
-STMLIBDIR = $(APPLIBDIR)
-STMSPDDIR = $(STMLIBDIR)/STM32F10x_StdPeriph_Driver
-STMUSBDIR = $(STMLIBDIR)/STM32_USB-FS-Device_Driver
-STMSPDSRCDIR = $(STMSPDDIR)/src
-STMSPDINCDIR = $(STMSPDDIR)/inc
-CMSISDIR  = $(STMLIBDIR)/CMSIS/Core/CM3
-OPDIR = ../OpenPilot
-OPUAVOBJ = $(OPDIR)/UAVObjects
-OPUAVOBJINC = $(OPUAVOBJ)/inc
+ #####
+ # Project: OpenPilot AHRS
+ #
+ #
+ # Makefile for OpenPilot AHRS project
+ #
+ # The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2009.
+ #
+ #
+ # This program is free software; you can redistribute it and/or modify
+ # it under the terms of the GNU General Public License as published by
+ # the Free Software Foundation; either version 3 of the License, or
+ # (at your option) any later version.
+ #
+ # This program is distributed in the hope that it will be useful, but
+ # WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ # or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ # for more details.
+ #
+ # You should have received a copy of the GNU General Public License along
+ # with this program; if not, write to the Free Software Foundation, Inc.,
+ # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ #####
+
+
+# Set developer code and compile options
+# Set to YES for debugging
+DEBUG ?= NO
+USE_BOOTLOADER ?= NO
+
+# Set to YES when using Code Sourcery toolchain
+CODE_SOURCERY ?= YES
+
+# Toolchain prefix (i.e arm-elf- -> arm-elf-gcc.exe)
+TCHAIN_PREFIX = arm-none-eabi-
+
+ifeq ($(CODE_SOURCERY), YES)
+REMOVE_CMD = cs-rm
+else
+REMOVE_CMD = rm
+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
+# - BOARD just passed as define (optional)
+MCU      = cortex-m3
+CHIP     = STM32F103CBT
+BOARD    = STM32103CB_AHRS
+MODEL    = MD
+ifeq ($(USE_BOOTLOADER), YES)
+BOOT_MODEL    = $(MODEL)_BL
+else
+BOOT_MODEL    = $(MODEL)_NB
+endif
+# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
+OUTDIR = Build
+
+# Target file name (without extension).
+TARGET = AHRS
+
+# Paths
+AHRS = ./
+AHRSINC = $(AHRS)/inc
+PIOS = ../PiOS
+PIOSINC = $(PIOS)/inc
+FLIGHTLIB = ../Libraries
+FLIGHTLIBINC = ../Libraries/inc
+PIOSSTM32F10X = $(PIOS)/STM32F10x
+PIOSCOMMON = $(PIOS)/Common
+PIOSBOARDS = $(PIOS)/Boards
+APPLIBDIR = $(PIOSSTM32F10X)/Libraries
+STMLIBDIR = $(APPLIBDIR)
+STMSPDDIR = $(STMLIBDIR)/STM32F10x_StdPeriph_Driver
+STMUSBDIR = $(STMLIBDIR)/STM32_USB-FS-Device_Driver
+STMSPDSRCDIR = $(STMSPDDIR)/src
+STMSPDINCDIR = $(STMSPDDIR)/inc
+CMSISDIR  = $(STMLIBDIR)/CMSIS/Core/CM3
+OPDIR = ../OpenPilot
+OPUAVOBJ = $(OPDIR)/UAVObjects
+OPUAVOBJINC = $(OPUAVOBJ)/inc
 OPSYSINC = $(OPDIR)/System/inc
 BOOT = ../Bootloaders/AHRS
-BOOTINC = $(BOOT)/inc
-
-# List C source files here. (C dependencies are automatically generated.)
-# use file-extension c for "c-only"-files
-
-## AHRS:
-SRC = ahrs.c
-SRC += pios_board.c
-SRC += ahrs_adc.c
-SRC += ahrs_timer.c
-SRC += $(FLIGHTLIB)/ahrs_spi_comm.c
-SRC += $(FLIGHTLIB)/ahrs_comm_objects.c
-SRC += $(BOOT)/ahrs_spi_program_slave.c
-SRC += $(BOOT)/ahrs_slave_test.c
-SRC += $(BOOT)/ahrs_spi_program.c
-SRC += insgps.c
-SRC += $(FLIGHTLIB)/CoordinateConversions.c
-
-## PIOS Hardware (STM32F10x)
-SRC += $(PIOSSTM32F10X)/pios_sys.c
-SRC += $(PIOSSTM32F10X)/pios_led.c
-SRC += $(PIOSSTM32F10X)/pios_delay.c
-SRC += $(PIOSSTM32F10X)/pios_usart.c
-SRC += $(PIOSSTM32F10X)/pios_irq.c
-SRC += $(PIOSSTM32F10X)/pios_i2c.c
-SRC += $(PIOSSTM32F10X)/pios_gpio.c
-SRC += $(PIOSSTM32F10X)/pios_spi.c
-SRC += $(PIOSSTM32F10X)/pios_exti.c
-
-## PIOS Hardware (Common)
-SRC += $(PIOSCOMMON)/pios_com.c
-SRC += $(PIOSCOMMON)/pios_hmc5843.c
-SRC += $(PIOSCOMMON)/printf-stdarg.c
-
-## CMSIS for STM32
-SRC += $(CMSISDIR)/core_cm3.c
-SRC += $(CMSISDIR)/system_stm32f10x.c
-
-## Used parts of the STM-Library
-SRC += $(STMSPDSRCDIR)/stm32f10x_adc.c
-SRC += $(STMSPDSRCDIR)/stm32f10x_bkp.c
-SRC += $(STMSPDSRCDIR)/stm32f10x_crc.c
-SRC += $(STMSPDSRCDIR)/stm32f10x_dac.c
-SRC += $(STMSPDSRCDIR)/stm32f10x_dma.c
-SRC += $(STMSPDSRCDIR)/stm32f10x_exti.c
-SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c
-SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.c
-SRC += $(STMSPDSRCDIR)/stm32f10x_i2c.c
-SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c
-SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
-SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
-SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c
-SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c
-SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c
-SRC += $(STMSPDSRCDIR)/misc.c
-
-# List C source files here which must be compiled in ARM-Mode (no -mthumb).
-# use file-extension c for "c-only"-files
-## just for testing, timer.c could be compiled in thumb-mode too
-SRCARM =
-
-# List C++ source files here.
-# use file-extension .cpp for C++-files (not .C)
-CPPSRC =
-
-# List C++ source files here which must be compiled in ARM-Mode.
-# use file-extension .cpp for C++-files (not .C)
-#CPPSRCARM = $(TARGET).cpp
-CPPSRCARM =
-
-# List Assembler source files here.
-# Make them always end in a capital .S. Files ending in a lowercase .s
-# will not be considered source files but generated files (assembler
-# output from the compiler), and will be deleted upon "make clean"!
-# Even though the DOS/Win* filesystem matches both .s and .S the same,
-# it will preserve the spelling of the filenames, and gcc itself does
-# care about how the name is spelled on its command-line.
-ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).S
-
-# List Assembler source files here which must be assembled in ARM-Mode..
-ASRCARM =
-
-# List any extra directories to look for include files here.
-#    Each directory must be seperated by a space.
-EXTRAINCDIRS  += $(PIOS)
-EXTRAINCDIRS  += $(PIOSINC)
-EXTRAINCDIRS  += $(FLIGHTLIBINC)
-EXTRAINCDIRS  += $(PIOSSTM32F10X)
-EXTRAINCDIRS  += $(PIOSCOMMON)
-EXTRAINCDIRS  += $(PIOSBOARDS)
-EXTRAINCDIRS  += $(STMSPDINCDIR)
-EXTRAINCDIRS  += $(CMSISDIR)
-EXTRAINCDIRS  += $(AHRSINC)
+BOOTINC = $(BOOT)/inc
+
+# List C source files here. (C dependencies are automatically generated.)
+# use file-extension c for "c-only"-files
+
+## AHRS:
+SRC = ahrs.c
+SRC += pios_board.c
+SRC += ahrs_adc.c
+SRC += ahrs_timer.c
+SRC += $(FLIGHTLIB)/ahrs_spi_comm.c
+SRC += $(FLIGHTLIB)/ahrs_comm_objects.c
+SRC += $(BOOT)/ahrs_spi_program_slave.c
+SRC += $(BOOT)/ahrs_slave_test.c
+SRC += $(BOOT)/ahrs_spi_program.c
+SRC += insgps.c
+SRC += $(FLIGHTLIB)/CoordinateConversions.c
+
+## PIOS Hardware (STM32F10x)
+SRC += $(PIOSSTM32F10X)/pios_sys.c
+SRC += $(PIOSSTM32F10X)/pios_led.c
+SRC += $(PIOSSTM32F10X)/pios_delay.c
+SRC += $(PIOSSTM32F10X)/pios_usart.c
+SRC += $(PIOSSTM32F10X)/pios_irq.c
+SRC += $(PIOSSTM32F10X)/pios_i2c.c
+SRC += $(PIOSSTM32F10X)/pios_gpio.c
+SRC += $(PIOSSTM32F10X)/pios_spi.c
+SRC += $(PIOSSTM32F10X)/pios_exti.c
+
+## PIOS Hardware (Common)
+SRC += $(PIOSCOMMON)/pios_com.c
+SRC += $(PIOSCOMMON)/pios_hmc5843.c
+SRC += $(PIOSCOMMON)/printf-stdarg.c
+
+## CMSIS for STM32
+SRC += $(CMSISDIR)/core_cm3.c
+SRC += $(CMSISDIR)/system_stm32f10x.c
+
+## Used parts of the STM-Library
+SRC += $(STMSPDSRCDIR)/stm32f10x_adc.c
+SRC += $(STMSPDSRCDIR)/stm32f10x_bkp.c
+SRC += $(STMSPDSRCDIR)/stm32f10x_crc.c
+SRC += $(STMSPDSRCDIR)/stm32f10x_dac.c
+SRC += $(STMSPDSRCDIR)/stm32f10x_dma.c
+SRC += $(STMSPDSRCDIR)/stm32f10x_exti.c
+SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c
+SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.c
+SRC += $(STMSPDSRCDIR)/stm32f10x_i2c.c
+SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c
+SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
+SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
+SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c
+SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c
+SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c
+SRC += $(STMSPDSRCDIR)/misc.c
+
+# List C source files here which must be compiled in ARM-Mode (no -mthumb).
+# use file-extension c for "c-only"-files
+## just for testing, timer.c could be compiled in thumb-mode too
+SRCARM =
+
+# List C++ source files here.
+# use file-extension .cpp for C++-files (not .C)
+CPPSRC =
+
+# List C++ source files here which must be compiled in ARM-Mode.
+# use file-extension .cpp for C++-files (not .C)
+#CPPSRCARM = $(TARGET).cpp
+CPPSRCARM =
+
+# List Assembler source files here.
+# Make them always end in a capital .S. Files ending in a lowercase .s
+# will not be considered source files but generated files (assembler
+# output from the compiler), and will be deleted upon "make clean"!
+# Even though the DOS/Win* filesystem matches both .s and .S the same,
+# it will preserve the spelling of the filenames, and gcc itself does
+# care about how the name is spelled on its command-line.
+ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).S
+
+# List Assembler source files here which must be assembled in ARM-Mode..
+ASRCARM =
+
+# List any extra directories to look for include files here.
+#    Each directory must be seperated by a space.
+EXTRAINCDIRS  += $(PIOS)
+EXTRAINCDIRS  += $(PIOSINC)
+EXTRAINCDIRS  += $(FLIGHTLIBINC)
+EXTRAINCDIRS  += $(PIOSSTM32F10X)
+EXTRAINCDIRS  += $(PIOSCOMMON)
+EXTRAINCDIRS  += $(PIOSBOARDS)
+EXTRAINCDIRS  += $(STMSPDINCDIR)
+EXTRAINCDIRS  += $(CMSISDIR)
+EXTRAINCDIRS  += $(AHRSINC)
 EXTRAINCDIRS  += $(OPUAVOBJINC)
-EXTRAINCDIRS  += $(BOOTINC)
-
-# List any extra directories to look for library files here.
-# Also add directories where the linker should search for
-# includes from linker-script to the list
-#     Each directory must be seperated by a space.
-EXTRA_LIBDIRS =
-
-# Extra Libraries
-#    Each library-name must be seperated by a space.
-#    i.e. to link with libxyz.a, libabc.a and libefsl.a:
-#    EXTRA_LIBS = xyz abc efsl
-# for newlib-lpc (file: libnewlibc-lpc.a):
-#    EXTRA_LIBS = newlib-lpc
-EXTRA_LIBS =
-
-# Path to Linker-Scripts
-LINKERSCRIPTPATH = $(PIOSSTM32F10X)
-
-# Optimization level, can be [0, 1, 2, 3, s].
-# 0 = turn off optimization. s = optimize for size.
-# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
-
-ifeq ($(DEBUG),YES)
-CFLAGS += -O0
-CFLAGS += -DGENERAL_COV
-else
-CFLAGS += -Os
-endif
-
-# Output format. (can be ihex or binary or both)
-#  binary to create a load-image in raw-binary format i.e. for SAM-BA,
-#  ihex to create a load-image in Intel hex format
-#LOADFORMAT = ihex
-#LOADFORMAT = binary
-LOADFORMAT = both
-
-# Debugging format.
-DEBUGF = dwarf-2
-
-# Place project-specific -D (define) and/or
-# -U options for C here.
-CDEFS = -DSTM32F10X_$(MODEL)
-CDEFS += -DUSE_STDPERIPH_DRIVER
-CDEFS += -DUSE_$(BOARD)
-CDEFS += -DIN_AHRS
-ifeq ($(USE_BOOTLOADER), YES)
-CDEFS += -DUSE_BOOTLOADER
-endif
-# Place project-specific -D and/or -U options for
-# Assembler with preprocessor here.
-#ADEFS = -DUSE_IRQ_ASM_WRAPPER
-ADEFS = -D__ASSEMBLY__
-
-# Compiler flag to set the C Standard level.
-# c89   - "ANSI" C
-# gnu89 - c89 plus GCC extensions
-# c99   - ISO C99 standard (not yet fully implemented)
-# gnu99 - c99 plus GCC extensions
-CSTANDARD = -std=gnu99
-
-#-----
-
-# Compiler flags.
-
-#  -g*:          generate debugging information
-#  -O*:          optimization level
-#  -f...:        tuning, see GCC manual and avr-libc documentation
-#  -Wall...:     warning level
-#  -Wa,...:      tell GCC to pass this to the assembler.
-#    -adhlns...: create assembler listing
-#
-# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
-
-CFLAGS += -g$(DEBUGF)
-
-CFLAGS += -ffast-math
-
-CFLAGS += -mcpu=$(MCU) -mthumb
-CFLAGS += $(CDEFS)
-CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
-
-CFLAGS += -mapcs-frame
-CFLAGS += -fomit-frame-pointer
-ifeq ($(CODE_SOURCERY), YES)
-CFLAGS += -fpromote-loop-indices
-endif
-
-CFLAGS += -Wall
-CFLAGS += -Werror
-CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
-# Compiler flags to generate dependency files:
-CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
-
-# flags only for C
-#CONLYFLAGS += -Wnested-externs
-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 += $(ADEFS)
-ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
-ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
-
-MATH_LIB = -lm
-
-# Linker flags.
-#  -Wl,...:     tell GCC to pass this to linker.
-#    -Map:      create map file
-#    --cref:    add cross reference to  map file
-LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
-LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
-LDFLAGS += -lc
-LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
-LDFLAGS += $(MATH_LIB)
-LDFLAGS += -lc -lgcc
-
-# Set linker-script name depending on selected submodel name
-LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(BOOT_MODEL).ld
-
-# ---------------------------------------------------------------------------
-# Options for OpenOCD flash-programming
-# see openocd.pdf/openocd.texi for further information
-#
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
-# if OpenOCD is in the $PATH just set OPENOCDEXE=openocd
-OOCD_EXE=openocd
-# debug level
-OOCD_CL=-d0
-# interface and board/target settings (using the OOCD target-library here)
-UNAME := $(shell uname)
-ifeq ($(UNAME), Darwin)
-  OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.ahrs.osx.cfg -f ../Project/OpenOCD/stm32.cfg
-else
-  OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.ahrs.cfg -f ../Project/OpenOCD/stm32.cfg
-endif
-# initialize
-OOCD_CL+=-c init
-# show the targets
-OOCD_CL+=-c targets
-# commands to prepare flash-write
-OOCD_CL+= -c "reset halt"
-# flash erase
-OOCD_CL+=-c "stm32x mass_erase 0"
-# flash-write
-OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
-# Verify
-OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
-# reset target
-OOCD_CL+=-c "reset run"
-# terminate OOCD after programming
-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.
-ALLSRCBASE = $(notdir $(basename $(ALLSRC)))
-
-# Define all object files.
-ALLOBJ     = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE)))
-
-# Define all listing files (used for make clean).
-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
-
-ifeq ($(LOADFORMAT),ihex)
-build: elf hex lss sym
-else
-ifeq ($(LOADFORMAT),binary)
-build: elf bin lss sym
-else
-ifeq ($(LOADFORMAT),both)
-build: elf hex bin lss sym
-else
-$(error "$(MSG_FORMATERROR) $(FORMAT)")
-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 $(ALLOBJ)
-
-# Program the device.
-ifeq ($(USE_BOOTLOADER), YES)
-# Program the device with OP Upload Tool".
-program: $(OUTDIR)/$(TARGET).bin
-	@echo ${quote}Programming with OP Upload Tool${quote}
-	../../ground/src/experimental/upload-build-desktop/debug/OPUploadTool -d 1 -p $(OUTDIR)/$(TARGET).bin
-else
-ifeq ($(FLASH_TOOL),OPENOCD)
-# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
-program: $(OUTDIR)/$(TARGET).elf
-	@echo ${quote}Programming with OPENOCD${quote}
-	$(OOCD_EXE) $(OOCD_CL)
-endif
-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 $@ $(LDFLAGS)
-
-
-# Assemble: create object files from assembler source files.
-define ASSEMBLE_TEMPLATE
-$(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 $@
-
-# Compile: create assembler files from C source files. ARM only
-$(SRCARM:.c=.s) : %.s : %.c
-	@echo $(MSG_ASMFROMC_ARM) $< to $@
-	$(CC) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
-
-# Generate Doxygen documents
-docs:
-	doxygen  $(DOXYGENDIR)/doxygen.cfg
-
-# Target: clean project.
-clean: begin clean_list finished end
-
-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) $(CPPSRCARM:.cpp=.s)
-
-
-# Create output files directory
-# all known MS Windows OS define the ComSpec environment variable
-ifdef ComSpec
-$(shell md $(OUTDIR) 2>NUL)
-else
-$(shell mkdir $(OUTDIR) 2>/dev/null)
-endif
-
-# Include the dependency files.
-ifdef ComSpec
--include $(shell md $(OUTDIR)\dep 2>NUL) $(wildcard $(OUTDIR)/dep/*)
-else
--include $(shell mkdir $(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
-
+EXTRAINCDIRS  += $(BOOTINC)
+
+# List any extra directories to look for library files here.
+# Also add directories where the linker should search for
+# includes from linker-script to the list
+#     Each directory must be seperated by a space.
+EXTRA_LIBDIRS =
+
+# Extra Libraries
+#    Each library-name must be seperated by a space.
+#    i.e. to link with libxyz.a, libabc.a and libefsl.a:
+#    EXTRA_LIBS = xyz abc efsl
+# for newlib-lpc (file: libnewlibc-lpc.a):
+#    EXTRA_LIBS = newlib-lpc
+EXTRA_LIBS =
+
+# Path to Linker-Scripts
+LINKERSCRIPTPATH = $(PIOSSTM32F10X)
+
+# Optimization level, can be [0, 1, 2, 3, s].
+# 0 = turn off optimization. s = optimize for size.
+# (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
+
+ifeq ($(DEBUG),YES)
+CFLAGS += -O0
+CFLAGS += -DGENERAL_COV
+else
+CFLAGS += -Os
+endif
+
+# Output format. (can be ihex or binary or both)
+#  binary to create a load-image in raw-binary format i.e. for SAM-BA,
+#  ihex to create a load-image in Intel hex format
+#LOADFORMAT = ihex
+#LOADFORMAT = binary
+LOADFORMAT = both
+
+# Debugging format.
+DEBUGF = dwarf-2
+
+# Place project-specific -D (define) and/or
+# -U options for C here.
+CDEFS = -DSTM32F10X_$(MODEL)
+CDEFS += -DUSE_STDPERIPH_DRIVER
+CDEFS += -DUSE_$(BOARD)
+CDEFS += -DIN_AHRS
+ifeq ($(USE_BOOTLOADER), YES)
+CDEFS += -DUSE_BOOTLOADER
+endif
+# Place project-specific -D and/or -U options for
+# Assembler with preprocessor here.
+#ADEFS = -DUSE_IRQ_ASM_WRAPPER
+ADEFS = -D__ASSEMBLY__
+
+# Compiler flag to set the C Standard level.
+# c89   - "ANSI" C
+# gnu89 - c89 plus GCC extensions
+# c99   - ISO C99 standard (not yet fully implemented)
+# gnu99 - c99 plus GCC extensions
+CSTANDARD = -std=gnu99
+
+#-----
+
+# Compiler flags.
+
+#  -g*:          generate debugging information
+#  -O*:          optimization level
+#  -f...:        tuning, see GCC manual and avr-libc documentation
+#  -Wall...:     warning level
+#  -Wa,...:      tell GCC to pass this to the assembler.
+#    -adhlns...: create assembler listing
+#
+# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
+
+CFLAGS += -g$(DEBUGF)
+
+CFLAGS += -ffast-math
+
+CFLAGS += -mcpu=$(MCU) -mthumb
+CFLAGS += $(CDEFS)
+CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
+
+CFLAGS += -mapcs-frame
+CFLAGS += -fomit-frame-pointer
+ifeq ($(CODE_SOURCERY), YES)
+CFLAGS += -fpromote-loop-indices
+endif
+
+CFLAGS += -Wall
+CFLAGS += -Werror
+CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
+# Compiler flags to generate dependency files:
+CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
+
+# flags only for C
+#CONLYFLAGS += -Wnested-externs
+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 += $(ADEFS)
+ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
+ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
+
+MATH_LIB = -lm
+
+# Linker flags.
+#  -Wl,...:     tell GCC to pass this to linker.
+#    -Map:      create map file
+#    --cref:    add cross reference to  map file
+LDFLAGS = -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
+LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
+LDFLAGS += -lc
+LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
+LDFLAGS += $(MATH_LIB)
+LDFLAGS += -lc -lgcc
+
+# Set linker-script name depending on selected submodel name
+LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(BOOT_MODEL).ld
+
+# ---------------------------------------------------------------------------
+# Options for OpenOCD flash-programming
+# see openocd.pdf/openocd.texi for further information
+#
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
+# if OpenOCD is in the $PATH just set OPENOCDEXE=openocd
+OOCD_EXE=openocd
+# debug level
+OOCD_CL=-d0
+# interface and board/target settings (using the OOCD target-library here)
+UNAME := $(shell uname)
+ifeq ($(UNAME), Darwin)
+  OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.ahrs.osx.cfg -f ../Project/OpenOCD/stm32.cfg
+else
+  OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.ahrs.cfg -f ../Project/OpenOCD/stm32.cfg
+endif
+# initialize
+OOCD_CL+=-c init
+# show the targets
+OOCD_CL+=-c targets
+# commands to prepare flash-write
+OOCD_CL+= -c "reset halt"
+# flash erase
+OOCD_CL+=-c "stm32x mass_erase 0"
+# flash-write
+OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
+# Verify
+OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
+# reset target
+OOCD_CL+=-c "reset run"
+# terminate OOCD after programming
+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.
+ALLSRCBASE = $(notdir $(basename $(ALLSRC)))
+
+# Define all object files.
+ALLOBJ     = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE)))
+
+# Define all listing files (used for make clean).
+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
+
+ifeq ($(LOADFORMAT),ihex)
+build: elf hex lss sym
+else
+ifeq ($(LOADFORMAT),binary)
+build: elf bin lss sym
+else
+ifeq ($(LOADFORMAT),both)
+build: elf hex bin lss sym
+else
+$(error "$(MSG_FORMATERROR) $(FORMAT)")
+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 $(ALLOBJ)
+
+# Program the device.
+ifeq ($(USE_BOOTLOADER), YES)
+# Program the device with OP Upload Tool".
+program: $(OUTDIR)/$(TARGET).bin
+	@echo ${quote}Programming with OP Upload Tool${quote}
+	../../ground/src/experimental/upload-build-desktop/debug/OPUploadTool -d 1 -p $(OUTDIR)/$(TARGET).bin
+else
+ifeq ($(FLASH_TOOL),OPENOCD)
+# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
+program: $(OUTDIR)/$(TARGET).elf
+	@echo ${quote}Programming with OPENOCD${quote}
+	$(OOCD_EXE) $(OOCD_CL)
+endif
+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 $@ $(LDFLAGS)
+
+
+# Assemble: create object files from assembler source files.
+define ASSEMBLE_TEMPLATE
+$(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 $@
+
+# Compile: create assembler files from C source files. ARM only
+$(SRCARM:.c=.s) : %.s : %.c
+	@echo $(MSG_ASMFROMC_ARM) $< to $@
+	$(CC) -S $(CFLAGS) $(CONLYFLAGS) $< -o $@
+
+# Generate Doxygen documents
+docs:
+	doxygen  $(DOXYGENDIR)/doxygen.cfg
+
+# Target: clean project.
+clean: begin clean_list finished end
+
+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) $(CPPSRCARM:.cpp=.s)
+
+
+# Create output files directory
+# all known MS Windows OS define the ComSpec environment variable
+ifdef ComSpec
+$(shell md $(OUTDIR) 2>NUL)
+else
+$(shell mkdir $(OUTDIR) 2>/dev/null)
+endif
+
+# Include the dependency files.
+ifdef ComSpec
+-include $(shell md $(OUTDIR)\dep 2>NUL) $(wildcard $(OUTDIR)/dep/*)
+else
+-include $(shell mkdir $(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
+