diff --git a/CMakeLists.txt b/CMakeLists.txt
index dcce0ab..a629cbf 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -42,11 +42,19 @@ else()
     message(SEND_ERROR "CAN_PROTOCOL is unknown.")
 endif()
 
-# Set build dir based on hardware version and protocol
-set(BUILD_ROOT_DIR ${ROOT_DIR}/build)
-set(BUILD_TARGET_DIR ${BUILD_ROOT_DIR}/${CAN_PROTOCOL}_${PLATFORM_NAME})
-set(BUILD_SRC_DIR ${BUILD_TARGET_DIR}/src)
-set(BUILD_OBJ_DIR ${BUILD_TARGET_DIR}/obj)
+# Set build dir based on the hardware version and protocol
+if(DEFINED BUILD_OBJ_DIR)
+    cmake_path(GET BUILD_OBJ_DIR PARENT_PATH BUILD_TARGET_DIR)
+    set(BUILD_SRC_DIR ${BUILD_TARGET_DIR}/src)
+else()
+    set(BUILD_TARGET_DIR ${ROOT_DIR}/build/${CAN_PROTOCOL}_${PLATFORM_NAME})
+    set(BUILD_SRC_DIR ${BUILD_TARGET_DIR}/src)
+    set(BUILD_OBJ_DIR ${BUILD_TARGET_DIR}/obj)
+endif()
+
+message(STATUS "BUILD_TARGET_DIR is set to ${BUILD_TARGET_DIR}")
+message(STATUS "BUILD_OBJ_DIR is set to ${BUILD_OBJ_DIR}")
+message(STATUS "BUILD_SRC_DIR is set to ${BUILD_SRC_DIR}")
 
 if(USE_PLATFORM_UBUNTU)
     add_definitions(-DLIBPARAMS_PARAMS_DIR="${BUILD_SRC_DIR}")
diff --git a/Makefile b/Makefile
index b44e9ad..1d598a3 100644
--- a/Makefile
+++ b/Makefile
@@ -48,6 +48,30 @@ v3: checks generate_dsdl clean
 	mkdir -p ${BUILD_DIR}/both_v3/obj
 	cd ${BUILD_DIR}/both_v3/obj && cmake -DCAN_PROTOCOL=both -DUSE_PLATFORM_NODE_V3=ON -G "Unix Makefiles" ../../.. && make
 
+# Bootloader
+bootloader: bootloader_v3
+bootloader_v3: generate_dsdl
+	mkdir -p ${BUILD_DIR}/bootloader_v3/libs/kocherga && \
+	cd ${BUILD_DIR}/bootloader_v3/libs/kocherga && \
+	if [ ! -d .git ]; then \
+		git clone https://github.com/Zubax/kocherga.git . && \
+		git checkout d806ba1; \
+	else \
+			echo "Repository already exists, skipping clone."; \
+	fi
+
+	mkdir -p ${BUILD_DIR}/bootloader_v3/libs/bootloader-ioc && \
+	cd ${BUILD_DIR}/bootloader_v3/libs/bootloader-ioc && \
+	if [ ! -d .git ]; then \
+		git clone https://github.com/RaccoonLabHardware/v3-software-template.git . && \
+		git checkout dc90159; \
+	else \
+			echo "Repository already exists, skipping clone."; \
+	fi
+
+	mkdir -p ${BUILD_DIR}/bootloader_v3/obj
+	cd ${BUILD_DIR}/bootloader_v3/obj && cmake -DCAN_PROTOCOL=both -DUSE_PLATFORM_NODE_V3=ON -DBUILD_OBJ_DIR=`pwd` -G "Unix Makefiles" ../../.. && make
+
 # Common:
 checks:
 	@python scripts/prebuild_check.py || (echo "Requirements verification failed. Stopping build." && exit 1)
diff --git a/cmake/create_binary_with_meaningful_name.cmake b/cmake/create_binary_with_meaningful_name.cmake
index 460a2f2..ddd8d6d 100644
--- a/cmake/create_binary_with_meaningful_name.cmake
+++ b/cmake/create_binary_with_meaningful_name.cmake
@@ -12,7 +12,7 @@ set(SOURCE_BIN "${BUILD_OBJ_DIR}/example.bin")
 # message(FATAL_ERROR "${SOURCE_BIN}")
 
 # Define the source and destination paths
-set(DESTINATION_DIR "${BUILD_ROOT_DIR}/release")
+set(DESTINATION_DIR "${BUILD_RELEASE_DIR}")
 set(DESTINATION_BIN "${DESTINATION_DIR}/node_${PLATFORM_NAME}_${CAN_PROTOCOL}_${LATEST_COMMIT_DATE}_v${APP_VERSION_MAJOR}.${APP_VERSION_MINOR}.${APP_VERSION_PATCH}_${GIT_HASH_SHORT_8_DIGITS}.bin")
 
 # Create the release directory if it doesn't exist