diff --git a/aos/build/aos.gypi b/aos/build/aos.gypi
index f0ebb12..144bffb 100644
--- a/aos/build/aos.gypi
+++ b/aos/build/aos.gypi
@@ -30,9 +30,14 @@
           'aos_target': 'static_library',
         },
       }, {
-        'make_global_settings': [
-          ['CC', '<!(which arm-linux-gnueabihf-gcc-4.7)'],
-          ['CXX', '<!(which arm-linux-gnueabihf-g++-4.7)'],
+        'conditions': [
+          ['PLATFORM!="linux-amd64"', {
+              'make_global_settings': [
+                ['CC', '<!(which arm-linux-gnueabihf-gcc-4.7)'],
+                ['CXX', '<!(which arm-linux-gnueabihf-g++-4.7)'],
+              ],
+            },
+          ],
         ],
         'variables': {
           'aos_target': 'executable',
@@ -92,15 +97,24 @@
                 '-fno-builtin',
                 '-fno-strict-aliasing',
               ],
-            }, {
+            }],
+            ['PLATFORM=="linux"', {
               'cflags': [
                 '-mcpu=cortex-a8',
                 '-mfpu=neon',
 
                 '-fstack-protector-all',
               ],
-            }
-          ]],
+            }],
+            ['PLATFORM=="linux-amd64"', {
+              'cflags': [
+                '-march=atom',
+                '-mfpmath=sse',
+
+                '-fstack-protector-all',
+              ],
+            }],
+          ]
         }
       ],
       ['OS=="crio"', {
diff --git a/aos/build/build.sh b/aos/build/build.sh
index 0fe13ab..9073492 100755
--- a/aos/build/build.sh
+++ b/aos/build/build.sh
@@ -17,7 +17,7 @@
 
 export WIND_BASE=${WIND_BASE:-"/usr/local/powerpc-wrs-vxworks/wind_base"}
 
-[ "${PLATFORM}" == "crio" -o "${PLATFORM}" == "linux" ] || ( echo Platform "(${PLATFORM})" must be '"crio" or "linux"'. ; exit 1 )
+[ "${PLATFORM}" == "crio" -o "${PLATFORM}" == "linux" -o "${PLATFORM}" == "linux-amd64" ] || ( echo Platform "(${PLATFORM})" must be '"crio", "linux", or "linux-amd64"'. ; exit 1 )
 [ "${DEBUG}" == "yes" -o "${DEBUG}" == "no" ] || ( echo Debug "(${DEBUG})" must be '"yes" or "no"'. ; exit 1 )
 
 AOS=`dirname $0`/..
@@ -25,7 +25,8 @@
 OUTDIR=${AOS}/../output/${OUT_NAME}
 BUILD_NINJA=${OUTDIR}/build.ninja
 
-${AOS}/build/download_externals.sh
+${AOS}/build/download_externals.sh arm
+${AOS}/build/download_externals.sh amd64
 . $(dirname $0)/tools_config
 
 # The exciting quoting is so that it ends up with -DWHATEVER='"'`a command`'"'.
@@ -50,7 +51,8 @@
   echo "${GYP_INCLUDE}" | ${GYP} \
       --check --depth=${AOS}/.. --no-circular-check -f ninja \
       -I${AOS}/build/aos.gypi -I/dev/stdin -Goutput_dir=output \
-      -DOS=${PLATFORM} -DWIND_BASE=${WIND_BASE} -DDEBUG=${DEBUG} \
+      -DOS=$(echo ${PLATFORM} | sed 's/-.*//g') -DPLATFORM=${PLATFORM} \
+      -DWIND_BASE=${WIND_BASE} -DDEBUG=${DEBUG} \
       ${GYP_MAIN}
   # Have to substitute "command = $compiler" so that it doesn't try to
   #   substitute them in the linker commands, where it doesn't work.
diff --git a/aos/build/download_externals.sh b/aos/build/download_externals.sh
index e50ff56..36ce094 100755
--- a/aos/build/download_externals.sh
+++ b/aos/build/download_externals.sh
@@ -4,19 +4,28 @@
 
 AOS=$(readlink -f $(dirname $0)/..)
 . $(dirname $0)/tools_config
-COMPILED=${EXTERNALS}/../compiled-arm
 
-CROSS_COMPILE=arm-linux-gnueabihf-
+if [ "$1" == "arm" ]; then
+  COMPILED=${EXTERNALS}/../compiled-arm
 
-export CC=${CROSS_COMPILE}gcc-4.7
-export CXX=${CROSS_COMPILE}g++-4.7
-export CFLAGS="-mcpu=cortex-a8 -mfpu=neon"
-export CXXFLAGS="-mcpu=cortex-a8 -mfpu=neon"
-export OBJDUMP=${CROSS_COMPLIE}objdump
-# Flags that should get passed to all configure scripts.
-# Some of them need to set LDFLAGS separately to work around stupid configure
-# scripts, so we can't just set that here.
-CONFIGURE_FLAGS="--host=arm-linux-gnueabihf CC=${CC} CXX=${CXX} CFLAGS=\"${CFLAGS}\" CXXFLAGS=\"${CXXFLAGS}\" OBJDUMP=${OBJDUMP}"
+  CROSS_COMPILE=arm-linux-gnueabihf-
+
+  export CC=${CROSS_COMPILE}gcc-4.7
+  export CXX=${CROSS_COMPILE}g++-4.7
+  export CFLAGS="-mcpu=cortex-a8 -mfpu=neon"
+  export CXXFLAGS="-mcpu=cortex-a8 -mfpu=neon"
+  export OBJDUMP=${CROSS_COMPILE}objdump
+  # Flags that should get passed to all configure scripts.
+  # Some of them need to set LDFLAGS separately to work around stupid configure
+  # scripts, so we can't just set that here.
+  CONFIGURE_FLAGS="--host=arm-linux-gnueabihf CC=${CC} CXX=${CXX} CFLAGS=\"${CFLAGS}\" CXXFLAGS=\"${CXXFLAGS}\" OBJDUMP=${OBJDUMP}"
+else
+  COMPILED=${EXTERNALS}/../compiled-amd64
+
+  export CFLAGS="-march=atom -mfpmath=sse"
+  export CXXFLAGS="-march=atom -mfpmath=sse"
+  CONFIGURE_FLAGS="CFLAGS=\"${CFLAGS}\" CXXFLAGS=\"${CXXFLAGS}\""
+fi
 
 TMPDIR=/tmp/$$-aos-tmpdir
 mkdir -p ${EXTERNALS}
diff --git a/aos/build/externals.gyp b/aos/build/externals.gyp
index 1d5d7fb..ee10566 100644
--- a/aos/build/externals.gyp
+++ b/aos/build/externals.gyp
@@ -4,8 +4,13 @@
   'variables': {
     'externals': '<(AOS)/../output/downloaded',
     'externals_abs': '<!(readlink -f ../../output/downloaded)',
-    'compiled': '<(externals)/../compiled-arm',
-    'compiled_abs': '<(externals_abs)/../compiled-arm',
+    'conditions': [['PLATFORM=="linux-amd64"', {
+          'compiled': '<(externals)/../compiled-amd64',
+          'compiled_abs': '<(externals_abs)/../compiled-amd64',
+    }, {
+          'compiled': '<(externals)/../compiled-arm',
+          'compiled_abs': '<(externals_abs)/../compiled-arm',
+    }]],
 
 # These versions have to be kept in sync with the ones in download_externals.sh.
     'eigen_version': '3.1.3',
diff --git a/aos/common/logging/logging_impl_test.cc b/aos/common/logging/logging_impl_test.cc
index faaf1cd..58b7b00 100644
--- a/aos/common/logging/logging_impl_test.cc
+++ b/aos/common/logging/logging_impl_test.cc
@@ -159,7 +159,7 @@
   }
   time::Time end = time::Time::Now();
   time::Time diff = end - start;
-  printf("short message took %lld nsec for %ld\n",
+  printf("short message took %" PRId64 " nsec for %ld\n",
          diff.ToNSec(), kTimingCycles);
 
   start = time::Time::Now();
@@ -168,7 +168,7 @@
   }
   end = time::Time::Now();
   diff = end - start;
-  printf("long message took %lld nsec for %ld\n",
+  printf("long message took %" PRId64 " nsec for %ld\n",
          diff.ToNSec(), kTimingCycles);
 }
 
diff --git a/aos/linux_code/ipc_lib/shared_mem.c b/aos/linux_code/ipc_lib/shared_mem.c
index 4126d65..4e38117 100644
--- a/aos/linux_code/ipc_lib/shared_mem.c
+++ b/aos/linux_code/ipc_lib/shared_mem.c
@@ -74,7 +74,8 @@
   if (shm_address == MAP_FAILED) {
     fprintf(stderr, "shared_mem: mmap(%p, 0x%zx, stuff, stuff, %d, 0) failed"
             " with %d: %s\n",
-            (void *)SHM_START, SIZEOFSHMSEG, shm, errno, strerror(errno));
+            (void *)SHM_START, (size_t)SIZEOFSHMSEG, shm,
+            errno, strerror(errno));
     return -1;
   }
   printf("shared_mem: shm at: %p\n", shm_address);
@@ -115,7 +116,7 @@
   void *shm_address = global_core->shared_mem;
       if (munmap((void *)SHM_START, SIZEOFSHMSEG) == -1) {
           fprintf(stderr, "shared_mem: munmap(%p, 0x%zx) failed with %d: %s\n",
-        shm_address, SIZEOFSHMSEG, errno, strerror(errno));
+        shm_address, (size_t)SIZEOFSHMSEG, errno, strerror(errno));
           return -1;
       }
   if (global_core->owner) {
diff --git a/aos/prime/input/joystick_input.cc b/aos/prime/input/joystick_input.cc
index 6439dbc..e53a180 100644
--- a/aos/prime/input/joystick_input.cc
+++ b/aos/prime/input/joystick_input.cc
@@ -28,7 +28,7 @@
     }
 
     if (!joysticks.DeserializeFrom(buffer, received)) {
-      LOG(WARNING, "deserializing data from %zd bytes failed\n", received);
+      LOG(WARNING, "deserializing data from %d bytes failed\n", received);
       continue;
     }
 
diff --git a/bbb_cape/src/bbb/packet_finder.cc b/bbb_cape/src/bbb/packet_finder.cc
index 9e06b62..eace2aa 100644
--- a/bbb_cape/src/bbb/packet_finder.cc
+++ b/bbb_cape/src/bbb/packet_finder.cc
@@ -105,7 +105,7 @@
     LOG(INFO, "invalid packet\n");
     return false;
   } else if (unstuffed != (packet_size_ - 4) / 4) {
-    LOG(WARNING, "packet is %" PRIu32 " words instead of %" PRIu32 "\n",
+    LOG(WARNING, "packet is %" PRIu32 " words instead of %zu\n",
         unstuffed, (packet_size_ - 4) / 4);
     return false;
   }
@@ -134,7 +134,7 @@
       if (buf_[i] == 0) {
         ++zeros;
         if (zeros == 4) {
-          LOG(INFO, "found another packet start at %d\n", i);
+          LOG(INFO, "found another packet start at %zd\n", i);
           packet_bytes_ = packet_size_ - (i + 1);
           memmove(buf_, buf_ + i + 1, packet_bytes_);
           return false;
diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 69d9c21..61217fa 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -58,7 +58,7 @@
   } else {
     Eigen::Matrix<double, 2, Eigen::Dynamic> region_vertices =
         region.Vertices();
-    double min_distance;
+    double min_distance = INFINITY;
     int closest_i = 0;
     for (int i = 0; i < region_vertices.outerSize(); i++) {
       const double length = ::std::abs(
diff --git a/frc971/prime/build.sh b/frc971/prime/build.sh
index 81ae16a..81d7e28 100755
--- a/frc971/prime/build.sh
+++ b/frc971/prime/build.sh
@@ -3,3 +3,4 @@
 cd $(dirname $0)
 
 ../../aos/build/build.sh linux prime.gyp no prime "$@"
+../../aos/build/build.sh linux-amd64 prime.gyp no prime-amd64 "$@"
diff --git a/output/.gitignore b/output/.gitignore
index 6ec381b..79c1adf 100644
--- a/output/.gitignore
+++ b/output/.gitignore
@@ -1,5 +1,6 @@
 /prime/
 /crio/
+/prime-amd64/
 /flasher/
 /compiled-*/
 /ip_base.txt