diff --git a/dynamixel_base/Makefile b/dynamixel_base/Makefile
index 15320b753fea686f86c69e2efa02e67aa4113be9..d9e8c5ecdd305b5f1f82c4bf880eaf85b18ea66a 100755
--- a/dynamixel_base/Makefile
+++ b/dynamixel_base/Makefile
@@ -5,8 +5,10 @@ COMPILE_OPTS = -mlittle-endian -mthumb -mthumb-interwork
 COMPILE_OPTS += -Wall -O2 -fno-common
 COMPILE_OPTS += -ffreestanding -nostdlib
 
-COMPILE_OPTS_HARD = -mfloat-abi=hard -mfpu=fpv4-sp-d16 -mcpu=cortex-m4
-COMPILE_OPTS_SOFT = -mfloat-abi=softfp -mcpu=cortex-m3
+COMPILE_OPTS_M4_FPU = -mfloat-abi=hard -mfpu=fpv4-sp-d16 -mcpu=cortex-m4
+COMPILE_OPTS_M0 = -mfloat-abi=softfp -mcpu=cortex-m0
+COMPILE_OPTS_M0plus = -mfloat-abi=softfp -mcpu=cortex-m0plus
+COMPILE_OPTS_M3 = -mfloat-abi=softfp -mcpu=cortex-m3
 
 COMM_PATH = ../comm
 UTILS_PATH = ../utils