diff --git a/project/modules/Makefile b/project/modules/Makefile
old mode 100755
new mode 100644
index 3eefd1d..6a7a92c
--- a/project/modules/Makefile
+++ b/project/modules/Makefile
@@ -1,29 +1,43 @@
-# Makefile
-CC=gcc
-CFLAGS = -W -Wall -pedantic -g -std=gnu99 -c
-LDFLAGS = -static
-RM = rm -f
+PWD                = $(realpath $(shell pwd))
+MODULE_NAME       ?= $(shell basename "$(PWD)")
 
-TARGET = motor
-OBJECTS = gpio.o
-HEADERS = $(OBJECTS:.o=.h)
-SOURCES = $(TARGET).c $(OBJECTS:.o=.c)
+ifneq ($(KERNELRELEASE),)
+	# call from kernel build system
+	obj-m := $(MODULE_NAME).o
+else
+	ARCH            ?= aarch64
+	KERNEL_ARCH     ?= arm64
+	CROSS_COMPILE   ?= $(ARCH)-linux-gnu-
+	KVER            ?= $(shell ls "$(PWD)/../../kernel" | grep 'linux-' | sed 's/linux-//')
+	KERNELDIR       ?= $(PWD)/../../kernel/linux-$(KVER)
+	MODDESTDIR      ?= /lib/modules/$(KVER)/kernel/drivers/syso
+
+default:
+	ARCH=$(KERNEL_ARCH) CROSS_COMPILE=$(CROSS_COMPILE) MODULE_NAME=$(MODULE_NAME) $(MAKE) -C $(KERNELDIR) M=$(PWD) modules
+endif
+
+test: $(MODULE_NAME).ko.test
+
+$(MODULE_NAME).ko.test: $(MODULE_NAME).test.o
+	$(CROSS_COMPILE)$(CC) $(LDFLAGS) -pthread $^ -o $@
 
 %.o: %.c
-	$(CC) $(CFLAGS) $< -o $@
-
-.PHONY: all clean
-
-all: $(TARGET)
+	$(CROSS_COMPILE)$(CC) $(CPPFLAGS) $(CFLAGS) -c $< -o $@
 
 clean:
-	$(RM) $(TARGET) $(TARGET).o $(OBJECTS) depend
+	rm -rf *.ko *.o *.mod.c *~ core .depend .*.cmd .tmp_versions *.symvers *.order
 
-depend: $(SOURCES) $(HEADERS)
-	$(CC) $(CPPFLAGS) -MM $(SOURCES) > $@
+depend .depend dep:
+	$(CROSS_COMPILE)$(CC) $(CFLAGS) -M *.c > .depend
 
-$(TARGET): $(TARGET).o $(OBJECTS)
-	$(CC) $(LDFLAGS) $^ -o $@
-	$(RM) depend $(TARGET).o $(OBJECTS)
+install:
+	install -p -m 644 $(MODULE_NAME).ko $(MODDESTDIR)
+	/sbin/depmod -a ${KVER}
 
-include depend
+uninstall:
+	rm -f $(MODDESTDIR)/$(MODULE_NAME).ko
+	/sbin/depmod -a ${KVER}
+
+ifeq (.depend,$(wildcard .depend))
+	include .depend
+endif