diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 63588467..a927ad4c 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -96,108 +96,4 @@ jobs:
         asset_name: ${{ matrix.family }}-tinyusb-${{ github.event.release.tag_name }}-examples.zip
         asset_content_type: application/zip
 
-  # Build all no-family (opharned) boards
-  build-board:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        example:
-        # Alphabetical order
-        - 'device/audio_test'
-        - 'device/board_test'
-        - 'device/cdc_dual_ports'
-        - 'device/cdc_msc'
-        - 'device/cdc_msc_freertos'
-        - 'device/dfu_runtime'
-        - 'device/hid_composite'
-        - 'device/hid_composite_freertos'
-        - 'device/hid_generic_inout'
-        - 'device/hid_multiple_interface'
-        - 'device/midi_test'
-        - 'device/msc_dual_lun'
-        - 'device/net_lwip_webserver'
-        - 'device/uac2_headset'
-        - 'device/usbtmc'
-        - 'device/webusb_serial'
-        - 'host/cdc_msc_hid'
 
-    steps:
-    - name: Setup Python
-      uses: actions/setup-python@v2
-
-    - name: Setup Node.js
-      uses: actions/setup-node@v1
-
-    - name: Checkout TinyUSB
-      uses: actions/checkout@v2
-      with:
-        submodules: 'true'
-
-    - name: Checkout Sub-Submodules
-      run: |
-        # some submodule has it own submodules that need to be fetched as well
-        git submodule update --init --recursive hw/mcu/microchip
-        git submodule update --init --recursive lib/FreeRTOS
-
-        # Add msp430-gcc url to env
-        echo >> $GITHUB_ENV MSP430_GCC_URL=http://software-dl.ti.com/msp430/msp430_public_sw/mcu/msp430/MSPGCC/9_2_0_0/export/msp430-gcc-9.2.0.50_linux64.tar.bz2
-
-    - name: Cache MSP430-GCC
-      uses: actions/cache@v2
-      id: cache-msp430
-      with:
-        path: ~/cache/
-        key: ${{ runner.os }}-21-01-26-${{ env.MSP430_GCC_URL }}
-
-    - name: Install MSP430-GCC
-      if: steps.cache-msp430.outputs.cache-hit != 'true'
-      run: |
-        # MSP430 GCC
-        mkdir -p ~/cache/msp430-gcc
-        wget --progress=dot:mega $MSP430_GCC_URL -O msp430-gcc.tar.bz2
-        tar -C ~/cache/msp430-gcc -xaf msp430-gcc.tar.bz2
-
-    - name: Install Toolchains
-      run: |
-        # ARM & RISC-V GCC from xpack
-        npm install --global xpm
-        xpm install --global @xpack-dev-tools/arm-none-eabi-gcc@latest
-        xpm install --global @xpack-dev-tools/riscv-none-embed-gcc@latest
-        echo `echo $HOME/.local/xPacks/@xpack-dev-tools/arm-none-eabi-gcc/*/.content/bin` >> $GITHUB_PATH
-        echo `echo $HOME/.local/xPacks/@xpack-dev-tools/riscv-none-embed-gcc/*/.content/bin` >> $GITHUB_PATH
-        
-        # TI MSP430 GCC
-        echo >> $GITHUB_PATH `echo ~/cache/msp430-gcc/msp430-gcc-*/bin`
-
-    - name: Build
-      run: python3 tools/build_board.py ${{ matrix.example }}
-
-  # Build ESP32S2
-  build-esp32s2:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        board:
-        # Alphabetical order
-        - 'adafruit_feather_esp32s2'
-        - 'adafruit_magtag_29gray'
-        - 'adafruit_metro_esp32s2'
-        - 'espressif_kaluga_1'
-        - 'espressif_saola_1'
-
-    steps:
-    - name: Setup Python
-      uses: actions/setup-python@v2
-
-    - name: Pull ESP-IDF docker
-      run: docker pull espressif/idf:latest
-
-    - name: Checkout TinyUSB
-      uses: actions/checkout@v2
-      with:
-        submodules: 'false'
-
-    - name: Build
-      run: docker run --rm -v $PWD:/project -w /project espressif/idf:latest python3 tools/build_esp32s2.py ${{ matrix.board }}
diff --git a/hw/bsp/lpc55/family.mk b/hw/bsp/lpc55/family.mk
index f5949b87..d7bb444d 100644
--- a/hw/bsp/lpc55/family.mk
+++ b/hw/bsp/lpc55/family.mk
@@ -1,4 +1,5 @@
 UF2_FAMILY_ID = 0x2abc77ec
+FAMILY_SUBMODULES = hw/mcu/nxp
 
 include $(TOP)/$(BOARD_PATH)/board.mk
 
diff --git a/hw/bsp/rp2040/family.mk b/hw/bsp/rp2040/family.mk
new file mode 100644
index 00000000..8e30e7eb
--- /dev/null
+++ b/hw/bsp/rp2040/family.mk
@@ -0,0 +1 @@
+FAMILY_SUBMODULES = hw/mcu/raspberrypi/pico-sdk
diff --git a/hw/bsp/samd11/family.mk b/hw/bsp/samd11/family.mk
index 4f01db8d..9faa246d 100644
--- a/hw/bsp/samd11/family.mk
+++ b/hw/bsp/samd11/family.mk
@@ -1,3 +1,4 @@
+FAMILY_SUBMODULES = hw/mcu/microchip
 
 include $(TOP)/$(BOARD_PATH)/board.mk
 
diff --git a/hw/bsp/samd21/family.mk b/hw/bsp/samd21/family.mk
index e2bba494..d49d4463 100644
--- a/hw/bsp/samd21/family.mk
+++ b/hw/bsp/samd21/family.mk
@@ -1,4 +1,5 @@
 UF2_FAMILY_ID = 0x68ed2b88
+FAMILY_SUBMODULES = hw/mcu/microchip
 
 include $(TOP)/$(BOARD_PATH)/board.mk
 
diff --git a/hw/bsp/samd51/family.mk b/hw/bsp/samd51/family.mk
index bb895dfc..75dfb9ad 100644
--- a/hw/bsp/samd51/family.mk
+++ b/hw/bsp/samd51/family.mk
@@ -1,4 +1,5 @@
 UF2_FAMILY_ID = 0x55114460
+FAMILY_SUBMODULES = hw/mcu/microchip
 
 include $(TOP)/$(BOARD_PATH)/board.mk
 
diff --git a/hw/bsp/stm32f4/family.mk b/hw/bsp/stm32f4/family.mk
index 384e7b1c..c974dc10 100644
--- a/hw/bsp/stm32f4/family.mk
+++ b/hw/bsp/stm32f4/family.mk
@@ -1,4 +1,5 @@
 UF2_FAMILY_ID = 0x57755a57
+FAMILY_SUBMODULES = hw/mcu/st/cmsis_device_f4 hw/mcu/st/stm32f4xx_hal_driver
 
 include $(TOP)/$(BOARD_PATH)/board.mk
 
diff --git a/hw/bsp/stm32f7/family.mk b/hw/bsp/stm32f7/family.mk
index b09d8143..680fd3b1 100644
--- a/hw/bsp/stm32f7/family.mk
+++ b/hw/bsp/stm32f7/family.mk
@@ -1,4 +1,5 @@
 UF2_FAMILY_ID = 0x53b80f00
+FAMILY_SUBMODULES = hw/mcu/st/cmsis_device_f7 hw/mcu/st/stm32f7xx_hal_driver
 
 include $(TOP)/$(BOARD_PATH)/board.mk