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+# Cmake Usage
+
+## Introduction
+
+This guide documents INAV usage of the `cmake` build tool.
+
+## Target Defintion
+
+A target requires `CMakeLists.txt` file. This file contains one of more lines of the form:
+
+```
+target_hardware_definition(name optional_parameters)
+```
+
+For example:
+
+```
+target_stm32f405xg(QUARKVISION HSE_MHZ 16)
+```
+
+* The hardware is `stm32f405xg`, a F405 with a 1MiB flash
+* The name is `QUARKVISION` (a board that never reached production)
+* The optional parameter is `HSE_MHZ 16` defining the non-default high-speed external (HSE) oscillator clock.
+
+## Hardware names
+
+As of INAV 4.1, the following target hardware platforms are recognised:
+
+* stm32f405xg
+* stm32f411xe
+* stm32f427xg
+* stm32f722xe
+* stm32f745xg
+* stm32f765xg
+* stm32f765xi
+* stm32h743xi
+
+The device characteristics for these names may be found at [stm32-base.org](https://stm32-base.org/cheatsheets/linker-memory-regions/).
+
+## Optional Parameters
+
+The following optional parameters are recognised:
+
+| Paramater | Usage |
+| --------- | ----- |
+| `SKIP_RELEASES` | The target is disabled for releases and CI. It still may be possible to build the target directly. |
+| `COMPILE_DEFINITIONS "VAR[=value]"` | Sets a preprocessor define. |
+| `HSE_MZ value` | The target uses a high-speed external crystal (HSE) oscillator clock with a frequency different from the 8MHz default. The `value` is the desired clock, for example `HSE_MHZ 24` |
+
+Multiple optional parameters may be specified, for example `HSE_MHZ 16 SKIP_RELEASES`.
+
+## Target variations
+
+A number of targets support multiple variants, either successive versions of the same hardware, or varations that enable different resources (soft serial, leds etc.) This is defined by adding additional `target_` lines to `CMakeLists.txt`. For example, the OMNIBUSF4 and its multiple clones / variations, `src/main/target/OMNIBUSF4/CMakeLists.txt`:
+
+```
+target_stm32f405xg(DYSF4PRO)
+target_stm32f405xg(DYSF4PROV2)
+target_stm32f405xg(OMNIBUSF4)
+# the OMNIBUSF4SD has an SDCARD instead of flash, a BMP280 baro and therefore a slightly different ppm/pwm and SPI mapping
+target_stm32f405xg(OMNIBUSF4PRO)
+target_stm32f405xg(OMNIBUSF4PRO_LEDSTRIPM5)
+target_stm32f405xg(OMNIBUSF4V3_S5_S6_2SS)
+target_stm32f405xg(OMNIBUSF4V3_S5S6_SS)
+target_stm32f405xg(OMNIBUSF4V3_S6_SS)
+# OMNIBUSF4V3 is a (almost identical) variant of OMNIBUSF4PRO target,
+# except for an inverter on UART6.
+target_stm32f405xg(OMNIBUSF4V3)
+```
+
+## Adding (or removing) a source file
+
+In the cmake system, project source files are listed in `src/main/CMakeLists.txt`. New source files must be added to this list to be considered by the build system.