diff --git a/Makefile b/Makefile
index c14955a2..029474b1 100644
--- a/Makefile
+++ b/Makefile
@@ -22,7 +22,7 @@ libswiftnav:
 	@printf "BUILD   libswiftnav\n"; \
 	$(MAKE) -C libswiftnav $(MAKEFLAGS)
 
-firmware: libswiftnav
+firmware:
 	@printf "BUILD   src\n"; \
 	$(MAKE) -C src $(MAKEFLAGS)
 
diff --git a/stm32/Makefile.include b/stm32/Makefile.include
index ac42faaa..8c1618b5 100644
--- a/stm32/Makefile.include
+++ b/stm32/Makefile.include
@@ -27,17 +27,16 @@ CC = $(PREFIX)-gcc
 LD = $(PREFIX)-gcc
 OBJCOPY = $(PREFIX)-objcopy
 OBJDUMP = $(PREFIX)-objdump
-# Uncomment this line if you want to use the installed (not local) library.
-#TOOLCHAIN_DIR := $(shell dirname `which $(CC)`)/../$(PREFIX)
-TOOLCHAIN_DIR = $(SWIFTNAV_ROOT)/../libopencm3
-CFLAGS += -O0 -g -Wall -Wextra -Werror -I$(TOOLCHAIN_DIR)/include -I$(SWIFTNAV_ROOT)\
-       -fno-common -mcpu=cortex-m3 -mthumb -msoft-float -MD -DSTM32F2 \
-       -DGIT_VERSION="\"$(GIT_VERSION)\"" -std=gnu99
+CFLAGS += -O0 -g -Wall -Wextra -Werror -std=gnu99 \
+       -fno-common -MD -DSTM32F4 -DGIT_VERSION="\"$(GIT_VERSION)\"" \
+			 -mcpu=cortex-m4 -march=armv7e-m -mthumb \
+			 -mfloat-abi=hard -mfpu=fpv4-sp-d16
+
 LDSCRIPT = $(SWIFTNAV_ROOT)/stm32/swiftnav.ld
-LDFLAGS += -lc -lnosys -L$(TOOLCHAIN_DIR)/lib -L$(SWIFTNAV_ROOT)/libswiftnav \
-        -L$(TOOLCHAIN_DIR)/lib/stm32/f4 \
-        -T$(LDSCRIPT) -nostartfiles -Wl,--gc-sections \
-        -mthumb -march=armv7 -mfix-cortex-m3-ldrd -msoft-float -lm
+LDFLAGS += -lc -lnosys -T$(LDSCRIPT) -nostartfiles -Wl,--gc-sections \
+				 	 -mcpu=cortex-m4 -march=armv7e-m -mthumb \
+					 -mfloat-abi=hard -mfpu=fpv4-sp-d16 \
+					 -lopencm3_stm32f4 -lswiftnav-static-cortex-m4 -lm
 
 OOCD ?= openocd
 OOCD_INTERFACE ?= flossjtag
@@ -81,7 +80,7 @@ flash: $(BINARY).flash
 
 %.elf: $(OBJS)
 	@printf "  LD      $(subst $(shell pwd)/,,$(@))\n"
-	$(Q)$(LD) -o $(*).elf $(OBJS) -lopencm3_stm32f4 -lswiftnav-arm -Xlinker -Map=$(*).map $(LDFLAGS)
+	$(Q)$(LD) -o $(*).elf $(OBJS) -Xlinker -Map=$(*).map $(LDFLAGS)
 
 %.o: %.c Makefile
 	@printf "  CC      $(subst $(shell pwd)/,,$(@))\n"