diff --git a/.gitignore b/.gitignore
index dcc7a78..2c2f6e2 100644
--- a/.gitignore
+++ b/.gitignore
@@ -10,9 +10,11 @@ output_files/
 output_files_cl_016/
 output_files_cl_025/
 
+# Eclipse files
 .cproject
 .project
 .settings/
+# Build/stage directories
 stage/
 build/
 
diff --git a/SBC/rpi-4/device_driver/firmware/Makefile b/SBC/rpi-4/device_driver/firmware/Makefile
index a85b092..0f7b04e 100644
--- a/SBC/rpi-4/device_driver/firmware/Makefile
+++ b/SBC/rpi-4/device_driver/firmware/Makefile
@@ -1,5 +1,7 @@
 CC=gcc
 LINK=gcc
+INSTALL = install
+BLDDIR = $(BUILDDIR:%=%/)
 
 OPTIONS=-g -O3 
 
@@ -7,7 +9,7 @@ LIBS=-lrt -lm -lpthread
 
 COMPILE=$(CC) $(OPTIONS) $(INCLUDES)
 
-PROGRAM=radioberry
+PROGRAM=$(BLDDIR)radioberry
 
 SOURCES= \
 measure.c \
@@ -28,22 +30,21 @@ bias.o \
 measure.o \
 radioberry.o 
 
-all: prebuild $(PROGRAM) $(HEADERS) $(SOURCES) 
+all: prebuild $(PROGRAM) | $(HEADERS) $(SOURCES) 
 
 prebuild:
 	rm -f version.o
 
-$(PROGRAM): $(OBJS) 
-	$(LINK) -o $(PROGRAM) $(OBJS) $(LIBS)
+$(PROGRAM): $(OBJS:%.o=$(BLDDIR)%.o) 
+	$(LINK) -o $(PROGRAM) $^ $(LIBS)
 
-.c.o:
+$(BLDDIR)%.o: %.c
 	$(COMPILE) -c -o $@ $<
 
-
 clean:
-	-rm -f *.o
+	-rm -f $(BLDDIR)*.o
 	-rm -f $(PROGRAM)
 	
 install: $(PROGRAM)
-	cp $(PROGRAM) /usr/local/bin
+	$(INSTALL) $(PROGRAM) $(DESTDIR)/usr/local/bin