diff --git a/.vscode/launch.json b/.vscode/launch.json
index 608126d79..d1184a3ee 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -4,19 +4,46 @@
     // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
     "version": "0.2.0",
     "configurations": [
+      // STLink configuration
+      {
+        "name": "AM32 STLink",
+        "cwd": "${workspaceFolder}",
+        "executable": "${workspaceFolder}/obj/debug.elf",
+        "liveWatch": {
+            "enabled": true,
+            "samplesPerSecond": 4,
+        },
+        "request": "launch",
+        "type": "cortex-debug",
+        "servertype": "openocd",
+	      "configFiles": [
+            "${workspaceFolder}/tools/openocd-at32f421.cfg",
+        ],
+	      "showDevDebugOutput": "none",
+
+      	"serverpath": "${workspaceFolder}${/}tools${/}${config:OS}${/}openocd${/}bin${/}openocd",
+	      "armToolchainPath": "${workspaceRoot}/tools/${config:OS}/xpack-arm-none-eabi-gcc-10.3.1-2.3/bin",
+      },
+
+      // JLink configuration
       {
         "type": "cortex-debug",
         "request": "launch",
-        "name": "AM32 Build/Debug",
+        "name": "AM32 JLink",
         "cwd": "${workspaceRoot}",
-        "executable": "${workspaceRoot}/obj/AM32_FOXEER_F421_2.12.elf",
-        "gdbTarget": ":3333",
-        "showDevDebugOutput": "none",
-        "servertype" : "external",
+	      "device" : "-AT32F421K8U7",
+	      "gdbPath": "${workspaceRoot}/tools/${config:OS}/xpack-arm-none-eabi-gcc-10.3.1-2.3/bin/arm-none-eabi-gdb",
+        "executable": "${workspaceRoot}/obj/debug.elf",
+	      "showDevDebugOutput": "raw",
+        "servertype" : "jlink",
         "swoConfig": {
           "enabled": false,
         },
         "serialNumber": "", 
+        "liveWatch": {
+          "enabled": true,
+          "samplesPerSecond": 4
+        }
       }
     ]
   }
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 385a1fabb..3e80d59c0 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -1,17 +1,17 @@
 {
-    "makefile.makePath": "/usr/bin/make",
-    "makefile.launchConfigurations": [
+    "OS": "windows",
+    "makefile.makePath": "tools/windows/make/bin/make.exe",
+
+    //"OS": "linux",
+    //"makefile.makePath": "/usr/bin/make",
+
+    "makefile.configurations": [
         {
-            "cwd": "/home/tridge/project/UAV/AM32/AM32",
-            "name": "Make Clean",
-            "request": "launch",
-            "type": "cppdbg",
-            "program": "${workspaceFolder}/Makefile",
-            "args": [
-                "clean"
-            ],
-            "stopAtEntry": false,
-            "externalConsole": false
+            "name": "MakeParallel",
+            "makeArgs": [
+                "-j8"
+            ]
         }
     ]
 }
+}
diff --git a/Makefile b/Makefile
index 3e00154a4..767d16d3b 100644
--- a/Makefile
+++ b/Makefile
@@ -1,3 +1,4 @@
+
 QUIET = @
 
 # update version numbers here
@@ -48,19 +49,18 @@ ROOT := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
 # Search source files
 SRC_COMMON := $(foreach dir,$(SRC_DIRS_COMMON),$(wildcard $(dir)/*.[cs]))
 
-VERSION_MAJOR := $(shell grep "#define VERSION_MAJOR" $(MAIN_SRC_DIR)/main.c | awk '{print $$3}' )
-VERSION_MINOR := $(shell grep "#define VERSION_MINOR" $(MAIN_SRC_DIR)/main.c | awk '{print $$3}' )
-
 FIRMWARE_VERSION := $(VERSION_MAJOR).$(VERSION_MINOR)
 
-TARGET_BASENAME = $(BIN_DIR)/$(IDENTIFIER)_$(TARGET)_$(FIRMWARE_VERSION)
+TARGET_FNAME = $(IDENTIFIER)_$(TARGET)_$(FIRMWARE_VERSION)
+TARGET_BASENAME = $(BIN_DIR)/$(TARGET_FNAME)
 
 # Build tools, so we all share the same versions
 # import macros common to all supported build systems
-include $(ROOT)/make/system-id.mk
+# include $(ROOT)/make/system-id.mk
 
 # configure some directories that are relative to wherever ROOT_DIR is located
-BIN_DIR := $(ROOT)/obj
+OBJ := obj
+BIN_DIR := $(ROOT)/$(OBJ)
 
 TOOLS_DIR ?= $(ROOT)/tools
 DL_DIR := $(ROOT)/downloads
@@ -74,10 +74,17 @@ e230 : $(TARGETS_E230)
 f421 : $(TARGETS_F421)
 f415 : $(TARGETS_F415)
 
+$(OBJ):
+	@$(MKDIR) $(OBJ) > $(NUL)
+
 clean :
-	rm -rf $(BIN_DIR)/*
+	@echo "Removing $(OBJ) directory"
+	@$(RMDIR) $(OBJ)
 
 binary : $(TARGET_BASENAME).bin
+# we copy debug.elf to give us a constant debug target for vscode
+# this means the debug button will always debug the last target built
+	@$(COPY) $(OBJ)$(DSEP)$(TARGET_FNAME).elf $(OBJ)$(DSEP)debug.elf > $(NUL)
 	@$(ECHO) done $(TARGET)
 
 $(TARGETS_F051) :
@@ -99,13 +106,11 @@ $(TARGETS_F415) :
 	@$(MAKE) -s MCU_TYPE=F415 TARGET=$@ binary		
 
 # Compile target
-$(TARGET_BASENAME).elf: SRC := $(SRC_COMMON) $(SRC_$(MCU_TYPE))
 $(TARGET_BASENAME).elf: CFLAGS := $(MCU_$(MCU_TYPE)) $(CFLAGS_$(MCU_TYPE)) $(CFLAGS_COMMON)
 $(TARGET_BASENAME).elf: LDFLAGS := $(LDFLAGS_COMMON) $(LDFLAGS_$(MCU_TYPE)) -T$(LDSCRIPT_$(MCU_TYPE))
-$(TARGET_BASENAME).elf: $(SRC)
+$(TARGET_BASENAME).elf: $(SRC_COMMON) $(SRC_$(MCU_TYPE)) $(OBJ)
 	@$(ECHO) Compiling $(notdir $@)
-	$(QUIET)mkdir -p $(dir $@)
-	$(QUIET)$(CC) $(CFLAGS) $(LDFLAGS) -MMD -MP -MF $(@:.elf=.d) -o $(@) $(SRC)
+	$(QUIET)$(CC) $(CFLAGS) $(LDFLAGS) -MMD -MP -MF $(@:.elf=.d) -o $(@) $(SRC_COMMON) $(SRC_$(MCU_TYPE))
 
 # Generate bin and hex files
 $(TARGET_BASENAME).bin: $(TARGET_BASENAME).elf
@@ -115,10 +120,10 @@ $(TARGET_BASENAME).bin: $(TARGET_BASENAME).elf
 
 # mkdirs
 $(DL_DIR):
-	$(QUIET)mkdir -p $@
+	$(QUIET)$(MKDIR) $@
 
 $(TOOLS_DIR):
-	$(QUIET)mkdir -p $@
+	$(QUIET)$(MKDIR) $@
 
 # include the tools makefile
 include $(ROOT)/make/tools.mk
diff --git a/Src/main.c b/Src/main.c
index 806352795..43aff5f7d 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -2263,4 +2263,4 @@ void assert_failed(uint8_t* file, uint32_t line)
        line) */
     /* USER CODE END 6 */
 }
-#endif /* USE_FULL_ASSERT */
\ No newline at end of file
+#endif /* USE_FULL_ASSERT */
diff --git a/make/tools.mk b/make/tools.mk
index 23fa8772c..d3f14d36a 100644
--- a/make/tools.mk
+++ b/make/tools.mk
@@ -2,318 +2,41 @@
 #
 # Installers for tools
 #
-# NOTE: These are not tied to the default goals
-#       and must be invoked manually
-#
 ###############################################################
 
-##############################
-#
-# Check that environmental variables are sane
-#
-##############################
-
-# Set up ARM (STM32) SDK
-ARM_SDK_DIR ?= $(TOOLS_DIR)/gcc-arm-none-eabi-10.3-2021.10
-# Checked below, Should match the output of $(shell arm-none-eabi-gcc -dumpversion)
-GCC_REQUIRED_VERSION ?= 10.3
-
-.PHONY: arm_sdk_version
-
-arm_sdk_version:
-	$(V1) $(ARM_SDK_PREFIX)gcc --version
-
-## arm_sdk_install   : Install Arm SDK
-.PHONY: arm_sdk_install
-
-
-ARM_SDK_URL_BASE  :=https://developer.arm.com/-/media/Files/downloads/gnu-rm/10.3-2021.10/gcc-arm-none-eabi-10.3-2021.10
-# source: https://developer.arm.com/open-source/gnu-toolchain/gnu-rm/downloads
-ifeq ($(OSFAMILY), linux)
-  ARM_SDK_URL  := $(ARM_SDK_URL_BASE)-x86_64-linux.tar.bz2
-endif
-
-ifeq ($(OSFAMILY), macosx)
-  ARM_SDK_URL  := $(ARM_SDK_URL_BASE)-mac.tar.bz2
-endif
-
-ifeq ($(OSFAMILY), windows)
-  ARM_SDK_URL  := $(ARM_SDK_URL_BASE)-win32.zip
-endif
 
-ARM_SDK_FILE := $(notdir $(ARM_SDK_URL))
+# download location for tools
+WINDOWS_TOOLS=http://uav.tridgell.net/AM32/tools/windows-tools.zip
+LINUX_TOOLS=http://uav.tridgell.net/AM32/tools/linux-tools.tar.gz
 
-SDK_INSTALL_MARKER := $(ARM_SDK_DIR)/bin/arm-none-eabi-gcc-$(GCC_REQUIRED_VERSION)
+ifeq ($(OS),Windows_NT)
+ARM_SDK_PREFIX:=tools/windows/xpack-arm-none-eabi-gcc-10.3.1-2.3/bin/arm-none-eabi-
+SHELL:=cmd.exe
+COPY:=copy /Y
+DSEP:=\\
+NUL:=NUL
+MKDIR:=mkdir
+RMDIR:=del /s /q
 
-# order-only prereq on directory existance:
-arm_sdk_install: | $(TOOLS_DIR)
+arm_sdk_install:
+	@echo "Installing windows tools"
+	@$(RMDIR) tools\\windows
+	@powershell -Command "& { (New-Object System.Net.WebClient).DownloadFile('$(WINDOWS_TOOLS)', 'windows-tools.zip') }"
+	@powershell -Command "Expand-Archive -Path windows-tools.zip -Force -DestinationPath ."
+	@echo "windows tools install done"
 
-arm_sdk_install: arm_sdk_download $(SDK_INSTALL_MARKER)
-
-$(SDK_INSTALL_MARKER):
-ifneq ($(OSFAMILY), windows)
-        # binary only release so just extract it
-	$(V1) tar -C $(TOOLS_DIR) -xjf "$(DL_DIR)/$(ARM_SDK_FILE)"
 else
-	$(V1) unzip -q -d $(ARM_SDK_DIR) "$(DL_DIR)/$(ARM_SDK_FILE)"
-endif
-
-.PHONY: arm_sdk_download
-arm_sdk_download: | $(DL_DIR)
-arm_sdk_download: $(DL_DIR)/$(ARM_SDK_FILE)
-$(DL_DIR)/$(ARM_SDK_FILE):
-        # download the source only if it's newer than what we already have
-	$(V1) curl -L -k -o "$(DL_DIR)/$(ARM_SDK_FILE)" -z "$(DL_DIR)/$(ARM_SDK_FILE)" "$(ARM_SDK_URL)"
-
+ARM_SDK_PREFIX:=tools/linux/xpack-arm-none-eabi-gcc-10.3.1-2.3/bin/arm-none-eabi-
+COPY:=cp
+DSEP:=/
+NUL:=/dev/null
+MKDIR:=mkdir -p
+RMDIR:=rm -rf
 
-## arm_sdk_clean     : Uninstall Arm SDK
-.PHONY: arm_sdk_clean
-arm_sdk_clean:
-	$(V1) [ ! -d "$(ARM_SDK_DIR)" ] || $(RM) -r $(ARM_SDK_DIR)
-	$(V1) [ ! -d "$(DL_DIR)" ] || $(RM) -r $(DL_DIR)
+arm_sdk_install:
+	@echo "Installing linux tools"
+	@wget $(LINUX_TOOLS)
+	@tar xzf linux-tools.tar.gz
+	@echo "linux tools install done"
 
-.PHONY: openocd_win_install
-
-openocd_win_install: | $(DL_DIR) $(TOOLS_DIR)
-openocd_win_install: OPENOCD_URL  := git://git.code.sf.net/p/openocd/code
-openocd_win_install: OPENOCD_REV  := cf1418e9a85013bbf8dbcc2d2e9985695993d9f4
-openocd_win_install: OPENOCD_OPTIONS :=
-
-ifeq ($(OPENOCD_FTDI), yes)
-openocd_win_install: OPENOCD_OPTIONS := $(OPENOCD_OPTIONS) --enable-ft2232_ftd2xx --with-ftd2xx-win32-zipdir=$(FTD2XX_DIR)
-endif
-
-openocd_win_install: openocd_win_clean libusb_win_install ftd2xx_install
-        # download the source
-	@echo " DOWNLOAD     $(OPENOCD_URL) @ $(OPENOCD_REV)"
-	$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)"
-	$(V1) mkdir -p "$(OPENOCD_BUILD_DIR)"
-	$(V1) git clone --no-checkout $(OPENOCD_URL) "$(DL_DIR)/openocd-build"
-	$(V1) ( \
-	  cd $(OPENOCD_BUILD_DIR) ; \
-	  git checkout -q $(OPENOCD_REV) ; \
-	)
-
-        # apply patches
-	@echo " PATCH        $(OPENOCD_BUILD_DIR)"
-	$(V1) ( \
-	  cd $(OPENOCD_BUILD_DIR) ; \
-	  git apply < $(ROOT_DIR)/flight/Project/OpenOCD/0003-freertos-cm4f-fpu-support.patch ; \
-	  git apply < $(ROOT_DIR)/flight/Project/OpenOCD/0004-st-icdi-disable.patch ; \
-	)
-
-        # build and install
-	@echo " BUILD        $(OPENOCD_WIN_DIR)"
-	$(V1) mkdir -p "$(OPENOCD_WIN_DIR)"
-	$(V1) ( \
-	  cd $(OPENOCD_BUILD_DIR) ; \
-	  ./bootstrap ; \
-	  ./configure --enable-maintainer-mode --prefix="$(OPENOCD_WIN_DIR)" \
-		--build=i686-pc-linux-gnu --host=i586-mingw32msvc \
-		CPPFLAGS=-I$(LIBUSB_WIN_DIR)/include \
-		LDFLAGS=-L$(LIBUSB_WIN_DIR)/lib/gcc \
-		$(OPENOCD_OPTIONS) \
-		--disable-werror \
-		--enable-stlink ; \
-	  $(MAKE) ; \
-	  $(MAKE) install ; \
-	)
-
-        # delete the extracted source when we're done
-	$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)"
-
-.PHONY: openocd_win_clean
-openocd_win_clean:
-	@echo " CLEAN        $(OPENOCD_WIN_DIR)"
-	$(V1) [ ! -d "$(OPENOCD_WIN_DIR)" ] || $(RM) -r "$(OPENOCD_WIN_DIR)"
-
-# Set up openocd tools
-OPENOCD_DIR       := $(TOOLS_DIR)/openocd
-OPENOCD_WIN_DIR   := $(TOOLS_DIR)/openocd_win
-OPENOCD_BUILD_DIR := $(DL_DIR)/openocd-build
-
-.PHONY: openocd_install
-
-openocd_install: | $(DL_DIR) $(TOOLS_DIR)
-openocd_install: OPENOCD_URL     := git://git.code.sf.net/p/openocd/code
-openocd_install: OPENOCD_TAG     := v0.9.0
-openocd_install: OPENOCD_OPTIONS := --enable-maintainer-mode --prefix="$(OPENOCD_DIR)" --enable-buspirate --enable-stlink
-
-ifeq ($(OPENOCD_FTDI), yes)
-openocd_install: OPENOCD_OPTIONS := $(OPENOCD_OPTIONS) --enable-ftdi
-endif
-
-ifeq ($(UNAME), Darwin)
-openocd_install: OPENOCD_OPTIONS := $(OPENOCD_OPTIONS) --disable-option-checking
 endif
-
-openocd_install: openocd_clean
-        # download the source
-	@echo " DOWNLOAD     $(OPENOCD_URL) @ $(OPENOCD_TAG)"
-	$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)"
-	$(V1) mkdir -p "$(OPENOCD_BUILD_DIR)"
-	$(V1) git clone --no-checkout $(OPENOCD_URL) "$(OPENOCD_BUILD_DIR)"
-	$(V1) ( \
-	  cd $(OPENOCD_BUILD_DIR) ; \
-	  git checkout -q tags/$(OPENOCD_TAG) ; \
-	)
-
-        # build and install
-	@echo " BUILD        $(OPENOCD_DIR)"
-	$(V1) mkdir -p "$(OPENOCD_DIR)"
-	$(V1) ( \
-	  cd $(OPENOCD_BUILD_DIR) ; \
-	  ./bootstrap ; \
-	  ./configure  $(OPENOCD_OPTIONS) ; \
-	  $(MAKE) ; \
-	  $(MAKE) install ; \
-	)
-
-        # delete the extracted source when we're done
-	$(V1) [ ! -d "$(OPENOCD_BUILD_DIR)" ] || $(RM) -rf "$(OPENOCD_BUILD_DIR)"
-
-.PHONY: openocd_clean
-openocd_clean:
-	@echo " CLEAN        $(OPENOCD_DIR)"
-	$(V1) [ ! -d "$(OPENOCD_DIR)" ] || $(RM) -r "$(OPENOCD_DIR)"
-
-STM32FLASH_DIR := $(TOOLS_DIR)/stm32flash
-
-.PHONY: stm32flash_install
-stm32flash_install: STM32FLASH_URL := http://stm32flash.googlecode.com/svn/trunk
-stm32flash_install: STM32FLASH_REV := 61
-stm32flash_install: stm32flash_clean
-        # download the source
-	@echo " DOWNLOAD     $(STM32FLASH_URL) @ r$(STM32FLASH_REV)"
-	$(V1) svn export -q -r "$(STM32FLASH_REV)" "$(STM32FLASH_URL)" "$(STM32FLASH_DIR)"
-
-        # build
-	@echo " BUILD        $(STM32FLASH_DIR)"
-	$(V1) $(MAKE) --silent -C $(STM32FLASH_DIR) all
-
-.PHONY: stm32flash_clean
-stm32flash_clean:
-	@echo " CLEAN        $(STM32FLASH_DIR)"
-	$(V1) [ ! -d "$(STM32FLASH_DIR)" ] || $(RM) -r "$(STM32FLASH_DIR)"
-
-# Set up uncrustify tools
-UNCRUSTIFY_DIR := $(TOOLS_DIR)/uncrustify-0.61
-UNCRUSTIFY_BUILD_DIR := $(DL_DIR)/uncrustify
-
-.PHONY: uncrustify_install
-uncrustify_install: | $(DL_DIR) $(TOOLS_DIR)
-uncrustify_install: UNCRUSTIFY_URL := http://downloads.sourceforge.net/project/uncrustify/uncrustify/uncrustify-0.61/uncrustify-0.61.tar.gz
-uncrustify_install: UNCRUSTIFY_FILE := uncrustify-0.61.tar.gz
-uncrustify_install: UNCRUSTIFY_OPTIONS := prefix=$(UNCRUSTIFY_DIR)
-uncrustify_install: uncrustify_clean
-ifneq ($(OSFAMILY), windows)
-	@echo " DOWNLOAD     $(UNCRUSTIFY_URL)"
-	$(V1) curl -L -k -o "$(DL_DIR)/$(UNCRUSTIFY_FILE)" "$(UNCRUSTIFY_URL)"
-endif
-        # extract the src
-	@echo " EXTRACT      $(UNCRUSTIFY_FILE)"
-	$(V1) tar -C $(TOOLS_DIR) -xf "$(DL_DIR)/$(UNCRUSTIFY_FILE)"
-
-	@echo " BUILD        $(UNCRUSTIFY_DIR)"
-	$(V1) ( \
-	  cd $(UNCRUSTIFY_DIR) ; \
-	  ./configure --prefix="$(UNCRUSTIFY_DIR)" ; \
-	  $(MAKE) ; \
-	  $(MAKE) install ; \
-	)
-	      # delete the extracted source when we're done
-	$(V1) [ ! -d "$(UNCRUSTIFY_BUILD_DIR)" ] || $(RM) -r "$(UNCRUSTIFY_BUILD_DIR)"
-
-.PHONY: uncrustify_clean
-uncrustify_clean:
-	@echo " CLEAN        $(UNCRUSTIFY_DIR)"
-	$(V1) [ ! -d "$(UNCRUSTIFY_DIR)" ] || $(RM) -r "$(UNCRUSTIFY_DIR)"
-	@echo " CLEAN        $(UNCRUSTIFY_BUILD_DIR)"
-	$(V1) [ ! -d "$(UNCRUSTIFY_BUILD_DIR)" ] || $(RM) -r "$(UNCRUSTIFY_BUILD_DIR)"
-
-# ZIP download URL
-zip_install: ZIP_URL  := http://pkgs.fedoraproject.org/repo/pkgs/zip/zip30.tar.gz/7b74551e63f8ee6aab6fbc86676c0d37/zip30.tar.gz
-
-zip_install: ZIP_FILE := $(notdir $(ZIP_URL))
-
-ZIP_DIR = $(TOOLS_DIR)/zip30
-
-# order-only prereq on directory existance:
-zip_install : | $(DL_DIR) $(TOOLS_DIR)
-zip_install: zip_clean
-	$(V1) curl -L -k -o "$(DL_DIR)/$(ZIP_FILE)" "$(ZIP_URL)"
-	$(V1) tar --force-local -C $(TOOLS_DIR) -xzf "$(DL_DIR)/$(ZIP_FILE)"
-ifneq ($(OSFAMILY), windows)
-	$(V1) cd "$(ZIP_DIR)" && $(MAKE) -f unix/Makefile generic_gcc
-else
-	$(V1) cd "$(ZIP_DIR)" && $(MAKE) -f win32/makefile.gcc
-endif
-
-.PHONY: zip_clean
-zip_clean:
-	$(V1) [ ! -d "$(ZIP_DIR)" ] || $(RM) -rf $(ZIP_DIR)
-
-##############################
-#
-# Set up paths to tools
-#
-##############################
-
-ifeq ($(shell [ -d "$(ARM_SDK_DIR)" ] && echo "exists"), exists)
-  ARM_SDK_PREFIX := $(ARM_SDK_DIR)/bin/arm-none-eabi-
-else ifeq (,$(findstring _install,$(MAKECMDGOALS)))
-  GCC_VERSION = $(shell arm-none-eabi-gcc -dumpversion)
-  ifeq ($(GCC_VERSION),)
-    $(error **ERROR** arm-none-eabi-gcc not in the PATH. Run 'make arm_sdk_install' to install automatically in the tools folder of this repo)
-  else ifneq ($(GCC_VERSION), $(GCC_REQUIRED_VERSION))
-    $(error **ERROR** your arm-none-eabi-gcc is '$(GCC_VERSION)', but '$(GCC_REQUIRED_VERSION)' is expected. Override with 'GCC_REQUIRED_VERSION' in make/local.mk or run 'make arm_sdk_install' to install the right version automatically in the tools folder of this repo)
-  endif
-
-  # ARM tookchain is in the path, and the version is what's required.
-  ARM_SDK_PREFIX ?= arm-none-eabi-
-endif
-
-ifeq ($(shell [ -d "$(ZIP_DIR)" ] && echo "exists"), exists)
-  export ZIPBIN := $(ZIP_DIR)/zip
-else
-  export ZIPBIN := zip
-endif
-
-ifeq ($(shell [ -d "$(OPENOCD_DIR)" ] && echo "exists"), exists)
-  OPENOCD := $(OPENOCD_DIR)/bin/openocd
-else
-  # not installed, hope it's in the path...
-  OPENOCD ?= openocd
-endif
-
-ifeq ($(shell [ -d "$(UNCRUSTIFY_DIR)" ] && echo "exists"), exists)
-  UNCRUSTIFY := $(UNCRUSTIFY_DIR)/bin/uncrustify
-else
-  # not installed, hope it's in the path...
-  UNCRUSTIFY ?= uncrustify
-endif
-
-# Google Breakpad
-DUMP_SYMBOLS_TOOL := $(TOOLS_DIR)/breakpad/$(OSFAMILY)-$(ARCHFAMILY)/dump_syms
-BREAKPAD_URL := http://dronin.tracer.nz/tools/breakpad.zip
-BREAKPAD_DL_FILE := $(DL_DIR)/$(notdir $(BREAKPAD_URL))
-BREAKPAD_DIR := $(TOOLS_DIR)/breakpad
-
-.PHONY: breakpad_install
-breakpad_install: | $(DL_DIR) $(TOOLS_DIR)
-breakpad_install: breakpad_clean
-	@echo " DOWNLOAD     $(BREAKPAD_URL)"
-	$(V1) $(V1) curl -L -k -z "$(BREAKPAD_DL_FILE)" -o "$(BREAKPAD_DL_FILE)" "$(BREAKPAD_URL)"
-	@echo " EXTRACT      $(notdir $(BREAKPAD_DL_FILE))"
-	$(V1) mkdir -p "$(BREAKPAD_DIR)"
-	$(V1) unzip -q -d $(BREAKPAD_DIR) "$(BREAKPAD_DL_FILE)"
-ifeq ($(OSFAMILY), windows)
-	$(V1) ln -s "$(TOOLS_DIR)/breakpad/$(OSFAMILY)-i686" "$(TOOLS_DIR)/breakpad/$(OSFAMILY)-x86_64"
-endif
-
-.PHONY: breakpad_clean
-breakpad_clean:
-	@echo " CLEAN        $(BREAKPAD_DIR)"
-	$(V1) [ ! -d "$(BREAKPAD_DIR)" ] || $(RM) -rf $(BREAKPAD_DIR)
-	@echo " CLEAN        $(BREAKPAD_DL_FILE)"
-	$(V1) $(RM) -f $(BREAKPAD_DL_FILE)
diff --git a/tools/openocd-at32f421.cfg b/tools/openocd-at32f421.cfg
new file mode 100644
index 000000000..eba041dfa
--- /dev/null
+++ b/tools/openocd-at32f421.cfg
@@ -0,0 +1,4 @@
+source [find interface/stlink.cfg]
+source [find target/at32f421xx.cfg]
+$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0 -gdb-max-connections 4
+init