diff --git a/Software/hoverboard-firmware-hack_modified20190825/Makefile b/Software/hoverboard-firmware-hack_modified20190825/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..832aab5862939f07e5debd7a92f7b16fc86506e0
--- /dev/null
+++ b/Software/hoverboard-firmware-hack_modified20190825/Makefile
@@ -0,0 +1,176 @@
+######################################
+# target
+######################################
+TARGET = hover
+
+######################################
+# building variables
+######################################
+# debug build?
+DEBUG = 1
+# optimization
+OPT = -Og
+
+# Build path
+BUILD_DIR = build
+
+######################################
+# source
+######################################
+# C sources
+C_SOURCES =  \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc_ex.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_i2c.c \
+Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c \
+Src/system_stm32f1xx.c \
+Src/setup.c \
+Src/control.c \
+Src/main.c \
+Src/bldc.c \
+Src/comms.c \
+Src/stm32f1xx_it.c \
+
+# ASM sources
+ASM_SOURCES =  \
+startup_stm32f103xe.s
+
+#######################################
+# binaries
+#######################################
+PREFIX = arm-none-eabi-
+CC = $(PREFIX)gcc
+AS = $(PREFIX)gcc -x assembler-with-cpp
+CP = $(PREFIX)objcopy
+AR = $(PREFIX)ar
+SZ = $(PREFIX)size
+HEX = $(CP) -O ihex
+BIN = $(CP) -O binary -S
+
+#######################################
+# CFLAGS
+#######################################
+# cpu
+CPU = -mcpu=cortex-m3
+
+# fpu
+# NONE for Cortex-M0/M0+/M3
+
+# float-abi
+
+
+# mcu
+MCU = $(CPU) -mthumb $(FPU) $(FLOAT-ABI)
+
+# macros for gcc
+# AS defines
+AS_DEFS =
+
+# C defines
+C_DEFS =  \
+-DUSE_HAL_DRIVER \
+-DSTM32F103xE
+
+
+# AS includes
+AS_INCLUDES =
+
+# C includes
+C_INCLUDES =  \
+-IInc \
+-IDrivers/STM32F1xx_HAL_Driver/Inc \
+-IDrivers/STM32F1xx_HAL_Driver/Inc/Legacy \
+-IDrivers/CMSIS/Device/ST/STM32F1xx/Include \
+-IDrivers/CMSIS/Include
+
+
+# compile gcc flags
+ASFLAGS = $(MCU) $(AS_DEFS) $(AS_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
+
+CFLAGS = $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections -std=gnu11
+
+ifeq ($(DEBUG), 1)
+CFLAGS += -g -gdwarf-2
+endif
+
+
+# Generate dependency information
+CFLAGS += -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)"
+
+
+#######################################
+# LDFLAGS
+#######################################
+# link script
+LDSCRIPT = STM32F103RCTx_FLASH.ld
+
+# libraries
+LIBS = -lc -lm -lnosys
+LIBDIR =
+LDFLAGS = $(MCU) -specs=nano.specs -T$(LDSCRIPT) $(LIBDIR) $(LIBS) -Wl,-Map=$(BUILD_DIR)/$(TARGET).map,--cref -Wl,--gc-sections
+
+# default action: build all
+all: $(BUILD_DIR)/$(TARGET).elf $(BUILD_DIR)/$(TARGET).hex $(BUILD_DIR)/$(TARGET).bin
+
+
+#######################################
+# build the application
+#######################################
+# list of objects
+OBJECTS = $(addprefix $(BUILD_DIR)/,$(notdir $(C_SOURCES:.c=.o)))
+vpath %.c $(sort $(dir $(C_SOURCES)))
+# list of ASM program objects
+OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(ASM_SOURCES:.s=.o)))
+vpath %.s $(sort $(dir $(ASM_SOURCES)))
+
+$(BUILD_DIR)/%.o: %.c Inc/config.h Makefile | $(BUILD_DIR)
+	$(CC) -c $(CFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.c=.lst)) $< -o $@
+
+$(BUILD_DIR)/%.o: %.s Inc/config.h Makefile | $(BUILD_DIR)
+	$(AS) -c $(CFLAGS) $< -o $@
+
+$(BUILD_DIR)/$(TARGET).elf: $(OBJECTS) Makefile
+	$(CC) $(OBJECTS) $(LDFLAGS) -o $@
+	$(SZ) $@
+
+$(BUILD_DIR)/%.hex: $(BUILD_DIR)/%.elf | $(BUILD_DIR)
+	$(HEX) $< $@
+
+$(BUILD_DIR)/%.bin: $(BUILD_DIR)/%.elf | $(BUILD_DIR)
+	$(BIN) $< $@
+
+$(BUILD_DIR):
+	mkdir -p $@
+
+format:
+	find Src/ Inc/ -iname '*.h' -o -iname '*.c' | xargs clang-format -i
+#######################################
+# clean up
+#######################################
+clean:
+	-rm -fR .dep $(BUILD_DIR)
+
+flash:
+	st-flash --reset write $(BUILD_DIR)/$(TARGET).bin 0x8000000
+
+unlock:
+	openocd -f interface/stlink-v2.cfg -f target/stm32f1x.cfg -c init -c "reset halt" -c "stm32f1x unlock 0"
+
+#######################################
+# dependencies
+#######################################
+-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
+
+# *** EOF ***