diff --git a/flight/PiOS/STM32F4xx/library.mk b/flight/PiOS/STM32F4xx/library.mk
index b2366ca36..d0e403453 100644
--- a/flight/PiOS/STM32F4xx/library.mk
+++ b/flight/PiOS/STM32F4xx/library.mk
@@ -13,6 +13,7 @@ LINKER_SCRIPTS_BL	=  $(PIOS_DEVLIB)/link_STM32F4xx_BL_memory.ld \
 
 # Compiler options implied by the F4xx
 CDEFS			+= -DSTM32F4XX
+CDEFS			+= -DSYSCLK_FREQ=$(SYSCLK_FREQ)
 CDEFS			+= -DHSE_VALUE=$(OSCILLATOR_FREQ)
 CDEFS 			+= -DUSE_STDPERIPH_DRIVER
 ARCHFLAGS		+= -mcpu=cortex-m4 -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard
@@ -22,7 +23,7 @@ SRC			+= $(wildcard $(PIOS_DEVLIB)*.c)
 EXTRAINCDIRS		+= $(PIOS_DEVLIB)/inc
 
 # CMSIS for the F4
-include $(PIOSCOMMONLIB)/CMSIS2/library.mk
+include $(PIOSCOMMON)/Libraries/CMSIS2/library.mk
 CMSIS2_DEVICEDIR	:= $(PIOS_DEVLIB)/Libraries/CMSIS2/Device/ST/STM32F4xx
 SRC			+= $(wildcard $(CMSIS2_DEVICEDIR)/Source/$(BOARD_NAME)/*.c)
 EXTRAINCDIRS		+= $(CMSIS2_DEVICEDIR)/Include
diff --git a/flight/targets/Bootloaders/CopterControl/Makefile b/flight/targets/Bootloaders/CopterControl/Makefile
index ed1d8f3e8..bdfea5986 100644
--- a/flight/targets/Bootloaders/CopterControl/Makefile
+++ b/flight/targets/Bootloaders/CopterControl/Makefile
@@ -23,6 +23,7 @@ endif
 include $(ROOT_DIR)/make/boards/$(BOARD_NAME)/board-info.mk
 include $(ROOT_DIR)/make/firmware-defs.mk
 include $(ROOT_DIR)/make/boot-defs.mk
+include $(ROOT_DIR)/make/common-defs.mk
 
 $(info Making bootloader for CopterControl, board revision $(BOARD_REVISION))
 $(info Use BOARD_REVISION=1 for CC, BOARD_REVISION=2 for CC3D (default))
diff --git a/flight/targets/Bootloaders/OSD/Makefile b/flight/targets/Bootloaders/OSD/Makefile
index aad1047d2..ed5d04928 100644
--- a/flight/targets/Bootloaders/OSD/Makefile
+++ b/flight/targets/Bootloaders/OSD/Makefile
@@ -23,3 +23,4 @@ endif
 include $(ROOT_DIR)/make/boards/$(BOARD_NAME)/board-info.mk
 include $(ROOT_DIR)/make/firmware-defs.mk
 include $(ROOT_DIR)/make/boot-defs.mk
+include $(ROOT_DIR)/make/common-defs.mk
diff --git a/flight/targets/Bootloaders/PipXtreme/Makefile b/flight/targets/Bootloaders/PipXtreme/Makefile
index 55df4a8a3..e6a37c2e4 100644
--- a/flight/targets/Bootloaders/PipXtreme/Makefile
+++ b/flight/targets/Bootloaders/PipXtreme/Makefile
@@ -23,6 +23,7 @@ endif
 include $(ROOT_DIR)/make/boards/$(BOARD_NAME)/board-info.mk
 include $(ROOT_DIR)/make/firmware-defs.mk
 include $(ROOT_DIR)/make/boot-defs.mk
+include $(ROOT_DIR)/make/common-defs.mk
 
 BLONLY_CDEFS += -DEE_BANK_BASE=$(EE_BANK_BASE)
 BLONLY_CDEFS += -DEE_BANK_SIZE=$(EE_BANK_SIZE)
diff --git a/flight/targets/Bootloaders/RevoMini/Makefile b/flight/targets/Bootloaders/RevoMini/Makefile
index aad1047d2..ed5d04928 100644
--- a/flight/targets/Bootloaders/RevoMini/Makefile
+++ b/flight/targets/Bootloaders/RevoMini/Makefile
@@ -23,3 +23,4 @@ endif
 include $(ROOT_DIR)/make/boards/$(BOARD_NAME)/board-info.mk
 include $(ROOT_DIR)/make/firmware-defs.mk
 include $(ROOT_DIR)/make/boot-defs.mk
+include $(ROOT_DIR)/make/common-defs.mk
diff --git a/flight/targets/Bootloaders/Revolution/Makefile b/flight/targets/Bootloaders/Revolution/Makefile
index aad1047d2..ed5d04928 100644
--- a/flight/targets/Bootloaders/Revolution/Makefile
+++ b/flight/targets/Bootloaders/Revolution/Makefile
@@ -23,3 +23,4 @@ endif
 include $(ROOT_DIR)/make/boards/$(BOARD_NAME)/board-info.mk
 include $(ROOT_DIR)/make/firmware-defs.mk
 include $(ROOT_DIR)/make/boot-defs.mk
+include $(ROOT_DIR)/make/common-defs.mk
diff --git a/make/boot-defs.mk b/make/boot-defs.mk
index a012f7d6e..b1e37e35f 100644
--- a/make/boot-defs.mk
+++ b/make/boot-defs.mk
@@ -38,29 +38,12 @@ PIOSINC		= $(PIOS)/inc
 PIOSCOMMON	= $(PIOS)/Common
 PIOSBOARDS	= $(PIOS)/Boards
 FLIGHTLIBINC	= $(FLIGHTLIB)/inc
-STMSPDSRCDIR	= $(STMSPDDIR)/src
-STMSPDINCDIR	= $(STMSPDDIR)/inc
 
+## PIOS Hardware
 ifeq ($(MCU),cortex-m3)
-    PIOSSTM32F10X = $(PIOS)/STM32F10x
-    APPLIBDIR     = $(PIOSSTM32F10X)/Libraries
-    STMLIBDIR     = $(APPLIBDIR)
-    STMSPDDIR     = $(STMLIBDIR)/STM32F10x_StdPeriph_Driver
-    STMUSBDIR     = $(STMLIBDIR)/STM32_USB-FS-Device_Driver
-    STMUSBSRCDIR  = $(STMUSBDIR)/src
-    STMUSBINCDIR  = $(STMUSBDIR)/inc
-    CMSISDIR      = $(STMLIBDIR)/CMSIS/Core/CM3
-    DOSFSDIR      = $(APPLIBDIR)/dosfs
-    MSDDIR        = $(APPLIBDIR)/msd
-    RTOSDIR       = $(APPLIBDIR)/FreeRTOS
-    RTOSSRCDIR    = $(RTOSDIR)/Source
-    RTOSINCDIR    = $(RTOSSRCDIR)/include
+    include $(PIOS)/STM32F10x/library.mk
 else ifeq ($(MCU),cortex-m4)
-    PIOSSTM32F4XX = $(PIOS)/STM32F4xx
-    APPLIBDIR     = $(PIOSSTM32F4XX)/Libraries
-    STMLIBDIR     = $(APPLIBDIR)
-    STMSPDDIR     = $(STMLIBDIR)/STM32F4xx_StdPeriph_Driver
-    PIOSCOMMONLIB = $(PIOSCOMMON)/Libraries
+    include $(PIOS)/STM32F4xx/library.mk
 else
     $(error Unsupported MCU: $(MCU))
 endif
@@ -74,58 +57,6 @@ SRC += $(OPSYSTEM)/pios_board.c
 SRC += $(OPSYSTEM)/pios_usb_board_data.c
 SRC += $(OPSYSTEM)/op_dfu.c
 
-## PIOS Hardware
-ifeq ($(MCU),cortex-m3)
-    ## 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_debug.c
-    SRC += $(PIOSSTM32F10X)/pios_gpio.c
-    SRC += $(PIOSSTM32F10X)/pios_iap.c
-    SRC += $(PIOSSTM32F10X)/pios_bl_helper.c
-    SRC += $(PIOSSTM32F10X)/pios_usb.c
-    SRC += $(PIOSSTM32F10X)/pios_usbhook.c
-    SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
-    SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c
-    SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
-
-    ## Libraries for flight calculations
-    SRC += $(FLIGHTLIB)/fifo_buffer.c
-
-    ## CMSIS for STM32
-    SRC += $(CMSISDIR)/core_cm3.c
-    SRC += $(CMSISDIR)/system_stm32f10x.c
-
-    ## Used parts of the STM-Library
-    SRC += $(STMSPDSRCDIR)/stm32f10x_bkp.c
-    SRC += $(STMSPDSRCDIR)/stm32f10x_crc.c
-    SRC += $(STMSPDSRCDIR)/stm32f10x_dma.c
-    SRC += $(STMSPDSRCDIR)/stm32f10x_exti.c
-    SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c
-    SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.c
-    SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c
-    SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
-    SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
-    SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c
-    SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c
-    SRC += $(STMSPDSRCDIR)/stm32f10x_dbgmcu.c
-    SRC += $(STMSPDSRCDIR)/misc.c
-
-    ## STM32 USB Library
-    SRC += $(STMUSBSRCDIR)/usb_core.c
-    SRC += $(STMUSBSRCDIR)/usb_init.c
-    SRC += $(STMUSBSRCDIR)/usb_int.c
-    SRC += $(STMUSBSRCDIR)/usb_mem.c
-    SRC += $(STMUSBSRCDIR)/usb_regs.c
-    SRC += $(STMUSBSRCDIR)/usb_sil.c
-else ifeq ($(MCU),cortex-m4)
-    ## PIOS Hardware (STM32F4xx)
-    include $(PIOS)/STM32F4xx/library.mk
-endif
-
 ## PIOS Hardware (Common)
 SRC += $(PIOSCOMMON)/pios_board_info.c
 SRC += $(PIOSCOMMON)/pios_com_msg.c
@@ -135,15 +66,15 @@ SRC += $(PIOSCOMMON)/pios_usb_util.c
 
 # List C source files here which must be compiled in ARM-Mode (no -mthumb).
 # Use file-extension c for "c-only"-files
-SRCARM =
+SRCARM +=
 
 # List C++ source files here.
 # Use file-extension .cpp for C++-files (not .C)
-CPPSRC =
+CPPSRC +=
 
 # List C++ source files here which must be compiled in ARM-Mode.
 # Use file-extension .cpp for C++-files (not .C)
-CPPSRCARM =
+CPPSRCARM +=
 
 # List Assembler source files here.
 # Make them always end in a capital .S. Files ending in a lowercase .s
@@ -152,14 +83,10 @@ CPPSRCARM =
 # 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.
-ifeq ($(MCU),cortex-m3)
-    ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
-else
-    ASRC =
-endif
+ASRC +=
 
 # List Assembler source files here which must be assembled in ARM-Mode.
-ASRCARM =
+ASRCARM +=
 
 # List any extra directories to look for include files here.
 #    Each directory must be seperated by a space.
@@ -169,26 +96,9 @@ EXTRAINCDIRS += $(FLIGHTLIBINC)
 EXTRAINCDIRS += $(PIOSCOMMON)
 EXTRAINCDIRS += $(PIOSBOARDS)
 EXTRAINCDIRS += $(STMSPDINCDIR)
-EXTRAINCDIRS += $(CMSISDIR)
 EXTRAINCDIRS += $(HWDEFSINC)
 EXTRAINCDIRS += $(OPSYSTEMINC)
 
-ifeq ($(MCU),cortex-m3)
-    EXTRAINCDIRS += $(PIOSSTM32F10X)
-    EXTRAINCDIRS += $(OPUAVTALK)
-    EXTRAINCDIRS += $(OPUAVTALKINC)
-    EXTRAINCDIRS += $(OPUAVOBJ)
-    EXTRAINCDIRS += $(OPUAVOBJINC)
-    EXTRAINCDIRS += $(DOSFSDIR)
-    EXTRAINCDIRS += $(MSDDIR)
-    EXTRAINCDIRS += $(RTOSINCDIR)
-    EXTRAINCDIRS += $(STMUSBINCDIR)
-    EXTRAINCDIRS += $(APPLIBDIR)
-    EXTRAINCDIRS += $(RTOSSRCDIR)/portable/GCC/ARM_CM3
-else ifeq ($(MCU),cortex-m4)
-    EXTRAINCDIRS += $(PIOSSTM34FXX)
-endif
-
 # 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
@@ -203,51 +113,6 @@ EXTRA_LIBDIRS =
 #    EXTRA_LIBS = newlib-lpc
 EXTRA_LIBS =
 
-# Path to linker scripts
-ifeq ($(MCU),cortex-m3)
-    LINKERSCRIPTPATH = $(PIOSSTM32F10X)
-else ifeq ($(MCU),cortex-m4)
-    LINKERSCRIPTPATH = $(PIOSSTM32FXX)
-endif
-
-# Optimization level, can be [0, 1, 2, 3, s].
-# 0 = turn off optimization. s = optimize for size.
-# Note: 3 is not always the best optimization level.
-ifeq ($(DEBUG), YES)
-    OPT = 0
-else
-    OPT = s
-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.
-ifeq ($(MCU),cortex-m3)
-    CDEFS =  -DSTM32F10X_$(MODEL)
-else ifeq ($(MCU),cortex-m4)
-    CDEFS += -DSTM32F4XX
-    CDEFS += -DSYSCLK_FREQ=$(SYSCLK_FREQ)
-    CDEFS += -DHSE_VALUE=$(OSCILLATOR_FREQ)
-endif
-
-CDEFS += -DUSE_$(BOARD)
-CDEFS += -DUSE_STDPERIPH_DRIVER
-
-ifeq ($(ENABLE_DEBUG_PINS), YES)
-    CDEFS += -DPIOS_ENABLE_DEBUG_PINS
-endif
-ifeq ($(ENABLE_AUX_UART), YES)
-    CDEFS += -DPIOS_ENABLE_AUX_UART
-endif
-
 # Provide (only) the bootloader with board-specific defines
 BLONLY_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE)
 BLONLY_CDEFS += -DBOARD_REVISION=$(BOARD_REVISION)
@@ -257,205 +122,13 @@ BLONLY_CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE)
 BLONLY_CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE)
 BLONLY_CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE)
 
-# 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++)
-ifeq ($(MCU),cortex-m4)
-    # This is not the best place for these.  Really should abstract out
-    # to the board file or something
-    CFLAGS += -DSTM32F4XX
-    CFLAGS += -DMEM_SIZE=1024000000
-endif
-
-CFLAGS += -mcpu=$(MCU)
-CFLAGS += $(CDEFS)
+# Compiler flags
 CFLAGS += $(BLONLY_CDEFS)
-CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
-CFLAGS += -mapcs-frame
-CFLAGS += -fomit-frame-pointer
-CFLAGS += -O$(OPT)
-CFLAGS += -g$(DEBUGF)
-
-ifeq ($(DEBUG), YES)
-    CFLAGS += -DDEBUG
-else
-    CFLAGS += -fdata-sections -ffunction-sections
-endif
-
-CFLAGS += -Wall
-# FIXME: STM32F4xx library raises strict aliasing and const qualifier warnings
-ifneq ($(MCU),cortex-m4)
-    CFLAGS += -Werror
-endif
-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) -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 += $(patsubst %,-l%,$(EXTRA_LIBS))
-LDFLAGS += -lc -lgcc $(MATH_LIB)
-LDFLAGS += -Wl,--warn-common
-LDFLAGS += -Wl,--fatal-warnings
-
-ifneq ($(DEBUG), YES)
-    LDFLAGS += -Wl,-static
-endif
 
 # Set linker-script name depending on selected submodel name
 ifeq ($(MCU),cortex-m3)
-    LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
-    LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
+    LDFLAGS += -T$(LINKER_SCRIPTS_PATH)/link_$(BOARD)_memory.ld
+    LDFLAGS += -T$(LINKER_SCRIPTS_PATH)/link_$(BOARD)_BL_sections.ld
 else ifeq ($(MCU),cortex-m4)
     LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_BL))
 endif
-
-# 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, $(ALLSRCBASE)))
-
-# Default target.
-all: build
-
-ifeq ($(LOADFORMAT),ihex)
-build: elf hex sym
-else ifeq ($(LOADFORMAT),binary)
-build: elf bin sym
-else ifeq ($(LOADFORMAT),both)
-build: elf hex bin sym
-else
-    $(error "$(MSG_FORMATERROR) $(FORMAT)")
-endif
-
-# Link: create ELF output file from object files.
-$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ), $(ALLLIB)))
-
-# Assemble: create object files from assembler source files.
-$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
-
-# Assemble: create object files from assembler source files. ARM-only
-$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src))))
-
-# Compile: create object files from C source files.
-$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
-
-# Compile: create object files from C source files. ARM-only
-$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src))))
-
-# Compile: create object files from C++ source files.
-$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src))))
-
-# Compile: create object files from C++ source files. ARM-only
-$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src))))
-
-# Compile: create assembler files from C source files. ARM/Thumb
-$(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
-
-# Compile: create assembler files from C source files. ARM only
-$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
-
-$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
-
-# Add jtag targets (program and wipe)
-$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))
-
-.PHONY: elf lss sym hex bin bino
-elf: $(OUTDIR)/$(TARGET).elf
-lss: $(OUTDIR)/$(TARGET).lss
-sym: $(OUTDIR)/$(TARGET).sym
-hex: $(OUTDIR)/$(TARGET).hex
-bin: $(OUTDIR)/$(TARGET).bin
-bino: $(OUTDIR)/$(TARGET).bin.o
-
-# Display sizes of sections.
-$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
-
-# Generate Doxygen documents
-docs:
-	doxygen  $(DOXYGENDIR)/doxygen.cfg
-
-# Install: install binary file with prefix/suffix into install directory
-install: $(OUTDIR)/$(TARGET).bin
-ifneq ($(INSTALL_DIR),)
-	@$(ECHO) $(MSG_INSTALLING) $(call toprel, $<)
-	$(V1) $(MKDIR) -p $(INSTALL_DIR)
-	$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin
-else
-	$(error INSTALL_DIR must be specified for $@)
-endif
-
-# Target: clean project.
-clean: clean_list
-
-clean_list :
-	@echo $(MSG_CLEANING)
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).map
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).elf
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).hex
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).bin
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).sym
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).lss
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).bin.o
-	$(V1) $(RM) -f $(ALLOBJ)
-	$(V1) $(RM) -f $(LSTFILES)
-	$(V1) $(RM) -f $(DEPFILES)
-	$(V1) $(RM) -f $(SRC:.c=.s)
-	$(V1) $(RM) -f $(SRCARM:.c=.s)
-	$(V1) $(RM) -f $(CPPSRC:.cpp=.s)
-	$(V1) $(RM) -f $(CPPSRCARM:.cpp=.s)
-
-# Create output files directory
-# all known MS Windows OS define the ComSpec environment variable
-$(shell $(MKDIR) -p $(OUTDIR) 2>/dev/null)
-
-# Include the dependency files.
--include $(shell $(MKDIR) -p $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
-
-# Listing of phony targets.
-.PHONY : all build clean clean_list install
diff --git a/make/common-defs.mk b/make/common-defs.mk
new file mode 100644
index 000000000..cf05fb68a
--- /dev/null
+++ b/make/common-defs.mk
@@ -0,0 +1,235 @@
+#
+# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
+#
+# 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
+#
+
+ifndef OPENPILOT_IS_COOL
+    $(error Top level Makefile must be used to build this target)
+endif
+
+#
+# Common botloader and firmware rules
+#
+
+# Optimization level, can be [0, 1, 2, 3, s].
+# 0 = turn off optimization. s = optimize for size.
+# Note: 3 is not always the best optimization level.
+ifeq ($(DEBUG), YES)
+    OPT = 0
+else
+    OPT = s
+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 += -DUSE_$(BOARD)
+
+ifeq ($(ENABLE_DEBUG_PINS), YES)
+    CDEFS += -DPIOS_ENABLE_DEBUG_PINS
+endif
+
+ifeq ($(ENABLE_AUX_UART), YES)
+    CDEFS += -DPIOS_ENABLE_AUX_UART
+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
+
+# Common architecture-specific flags from the device-specific library makefile
+CFLAGS += $(ARCHFLAGS)
+CFLAGS += $(CDEFS)
+CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
+CFLAGS += -mapcs-frame
+CFLAGS += -fomit-frame-pointer
+CFLAGS += -O$(OPT)
+CFLAGS += -g$(DEBUGF)
+CFLAGS += -Wall
+CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
+
+# FIXME: STM32F4xx library raises strict aliasing and const qualifier warnings
+ifneq ($(MCU),cortex-m4)
+    CFLAGS += -Werror
+endif
+
+ifeq ($(DEBUG), YES)
+    CFLAGS += -DDEBUG
+else
+    CFLAGS += -fdata-sections -ffunction-sections
+endif
+
+# 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) -I. -x assembler-with-cpp
+ASFLAGS += $(ADEFS)
+ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
+ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
+
+# 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 += $(patsubst %,-l%,$(EXTRA_LIBS))
+LDFLAGS += -lc -lgcc -lm
+LDFLAGS += -Wl,--warn-common
+LDFLAGS += -Wl,--fatal-warnings
+
+ifneq ($(DEBUG), YES)
+    LDFLAGS += -Wl,-static
+endif
+
+# 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, $(ALLSRCBASE)))
+
+# Default target.
+all: build
+
+ifeq ($(LOADFORMAT),ihex)
+build: elf hex sym
+else ifeq ($(LOADFORMAT),binary)
+build: elf bin sym
+else ifeq ($(LOADFORMAT),both)
+build: elf hex bin sym
+else
+    $(error "$(MSG_FORMATERROR) $(FORMAT)")
+endif
+
+# Link: create ELF output file from object files.
+$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
+
+# Assemble: create object files from assembler source files.
+$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
+
+# Assemble: create object files from assembler source files. ARM-only
+$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src))))
+
+# Compile: create object files from C source files.
+$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
+
+# Compile: create object files from C source files. ARM-only
+$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src))))
+
+# Compile: create object files from C++ source files.
+$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src))))
+
+# Compile: create object files from C++ source files. ARM-only
+$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src))))
+
+# Compile: create assembler files from C source files. ARM/Thumb
+$(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
+
+# Compile: create assembler files from C source files. ARM only
+$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
+
+$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
+
+# Add opfw target
+$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
+
+# Add jtag targets (program and wipe)
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))
+
+.PHONY: elf lss sym hex bin bino opfw
+elf: $(OUTDIR)/$(TARGET).elf
+lss: $(OUTDIR)/$(TARGET).lss
+sym: $(OUTDIR)/$(TARGET).sym
+hex: $(OUTDIR)/$(TARGET).hex
+bin: $(OUTDIR)/$(TARGET).bin
+bino: $(OUTDIR)/$(TARGET).bin.o
+opfw: $(OUTDIR)/$(TARGET).opfw
+
+# Display sizes of sections.
+$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
+
+# Generate Doxygen documents
+docs:
+	doxygen  $(DOXYGENDIR)/doxygen.cfg
+
+# Target: clean project
+clean:
+	@echo $(MSG_CLEANING)
+	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).map
+	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).elf
+	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).hex
+	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).bin
+	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).sym
+	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).lss
+	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).bin.o
+	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).opfw
+	$(V1) $(RM) -f $(wildcard $(OUTDIR)/*.c)
+	$(V1) $(RM) -f $(wildcard $(OUTDIR)/*.h)
+	$(V1) $(RM) -f $(ALLOBJ)
+	$(V1) $(RM) -f $(LSTFILES)
+	$(V1) $(RM) -f $(DEPFILES)
+	$(V1) $(RM) -f $(SRC:.c=.s)
+	$(V1) $(RM) -f $(SRCARM:.c=.s)
+	$(V1) $(RM) -f $(CPPSRC:.cpp=.s)
+	$(V1) $(RM) -f $(CPPSRCARM:.cpp=.s)
+
+# Create output files directory
+# all known MS Windows OS define the ComSpec environment variable
+$(shell $(MKDIR) -p $(OUTDIR) 2>/dev/null)
+
+# Include the dependency files.
+-include $(shell $(MKDIR) -p $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
+
+# Listing of phony targets.
+.PHONY : all build clean install