diff --git a/.gitignore b/.gitignore
index f82baaad13..4444ace738 100644
--- a/.gitignore
+++ b/.gitignore
@@ -4,7 +4,7 @@
 lib*.so
 lib*.so.*
 *.a
-build
+build*/
 .dep
 __pycache__
 *.pyc
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 23597466c7..7ee028830e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,29 +4,80 @@
 
 cmake_minimum_required(VERSION 2.8)
 
-if(DEFINED CMAKE_BUILD_TYPE)
-   set(CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} CACHE STRING "Debug Release RelWithDebInfo MinSizeRel")
-else()
-   set(CMAKE_BUILD_TYPE RelWithDebInfo CACHE STRING "Debug Release RelWithDebInfo MinSizeRel")
+project(uavcan C CXX)
+
+#
+# Build options
+#
+if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux")
+    set(DEFAULT_UAVCAN_PLATFORM "linux")
 endif()
 
-project(uavcan)
+# options are listed in a table format below
+set(opts
+    # name: type: default value: string options list : description
+    "CMAKE_BUILD_TYPE:STRING:RelWithDebInfo:Debug Release RelWithDebInfo MinSizeRel:Build type."
+    "CMAKE_CXX_FLAGS:STRING:::C++ flags."
+    "CMAKE_C_FLAGS:STRING:::C flags."
+    "UAVCAN_USE_CPP03:BOOL:OFF::Use C++03 standard."
+    "UAVCAN_PLATFORM:STRING:generic:generic linux stm32:Platform."
+    )
+foreach(_opt ${opts})
+    # arguments are : delimited
+    string(REPLACE ":" ";" _opt ${_opt})
+    list(GET _opt 0 _name)
+    list(GET _opt 1 _type)
+    list(GET _opt 2 _default)
+    list(GET _opt 3 _options)
+    list(GET _opt 4 _descr)
+    # options are space delimited
+    string(REPLACE " " ";" _options "${_options}")
+    # if a default has not already been defined, use default from table
+    if(NOT DEFINED DEFAULT_${_name})
+        set(DEFAULT_${_name} ${_default})
+    endif()
+    # option has not been set already or it is empty, set it with the default
+    if(NOT DEFINED ${_name} OR ${_name} STREQUAL "")
+        set(${_name} ${DEFAULT_${_name}})
+    endif()
+    # create a cache from the variable and force it to set
+    message(STATUS "${_name}\t: ${${_name}} : ${_descr}")
+    set("${_name}" "${${_name}}" CACHE "${_type}" "${_descr}" FORCE)
+    # if an options list is provided for the cache, set it
+    if("${_type}" STREQUAL "STRING" AND NOT "${_options}" STREQUAL "")
+        set_property(CACHE ${_name} PROPERTY STRINGS ${_options})
+    endif()
+endforeach()
 
 #
-# DSDL definitions
+# Set flags
 #
+include_directories(
+    ./libuavcan/include/
+    ./libuavcan/include/dsdlc_generated
+    )
+
+#
+# Install
+#
+# DSDL definitions
 install(DIRECTORY dsdl DESTINATION share/uavcan)
 
 #
-# libuavcan
+# Subdirectories
 #
+# library
 add_subdirectory(libuavcan)
 
-#
-# libuavcan drivers
-#
-if (${CMAKE_SYSTEM_NAME} MATCHES "Linux")
-    message(STATUS "Adding Linux support library")
+# drivers
+if (${UAVCAN_PLATFORM} STREQUAL "linux")
+    message(STATUS "Adding Linux platform driver")
     add_subdirectory(libuavcan_drivers/posix)
     add_subdirectory(libuavcan_drivers/linux)
-endif ()
+elseif(${UAVCAN_PLATFORM} STREQUAL "stm32")
+    message(STATUS "Adding STM32 platform driver")
+    add_subdirectory(libuavcan_drivers/posix)
+    add_subdirectory(libuavcan_drivers/stm32/driver)
+endif()
+
+# vim: set et ft=cmake fenc=utf-8 ff=unix sts=4 sw=4 ts=4 :
diff --git a/README.md b/README.md
index d804371028..4bf26cbeea 100644
--- a/README.md
+++ b/README.md
@@ -47,6 +47,15 @@ make -j8
 sudo make install
 ```
 
+For cross-compiling the procedure is similar.
+
+```bash
+mkdir build
+cd build
+cmake .. -D CMAKE_TOOLCHAIN_FILE=../cmake/Toolchain-stm32-cortex-m4.cmake
+make -j8
+```
+
 The following components will be installed into the system:
 
 * Libuavcan headers and the static library
diff --git a/libuavcan/CMakeLists.txt b/libuavcan/CMakeLists.txt
index 5058e65b55..7f16ab35e0 100644
--- a/libuavcan/CMakeLists.txt
+++ b/libuavcan/CMakeLists.txt
@@ -43,11 +43,11 @@ include_directories(${DSDLC_OUTPUT})
 #
 if (COMPILER_IS_GCC_COMPATIBLE)
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wundef")
-    if (USE_CPP03)
+    if (UAVCAN_USE_CPP03)
         message(STATUS "Using C++03")
         set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++03 -Wno-variadic-macros -Wno-long-long")
     else ()
-        message(STATUS "Using C++11 (pass USE_CPP03=1 to override)")
+        message(STATUS "Using C++11 (pass UAVCAN_USE_CPP03=1 to override)")
         set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
     endif ()
 endif ()
@@ -128,3 +128,5 @@ if (DEBUG_BUILD)
 else ()
     message(STATUS "Release build type: " ${CMAKE_BUILD_TYPE})
 endif ()
+
+# vim: set et ft=cmake fenc=utf-8 ff=unix sts=4 sw=4 ts=4 :
diff --git a/libuavcan_drivers/stm32/driver/CMakeLists.txt b/libuavcan_drivers/stm32/driver/CMakeLists.txt
new file mode 100644
index 0000000000..ce8ef00234
--- /dev/null
+++ b/libuavcan_drivers/stm32/driver/CMakeLists.txt
@@ -0,0 +1,17 @@
+include_directories(
+    ./include
+    )
+
+add_library(uavcan_stm32_driver STATIC
+    ./src/uc_stm32_can.cpp
+    ./src/uc_stm32_clock.cpp
+    ./src/uc_stm32_thread.cpp
+    )
+
+add_dependencies(uavcan_stm32_driver uavcan)
+
+install(DIRECTORY include/uavcan_stm32 DESTINATION include)
+install(TARGETS uavcan_stm32_driver DESTINATION lib)
+
+# vim: set et ft=cmake fenc=utf-8 ff=unix sts=4 sw=4 ts=4 :)
+