diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index de1b9baf..e0d39e79 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -53,12 +53,21 @@ jobs:
       uses: actions/setup-node@v1
 
     - name: Cache MSP430 Toolchain
+      uses: actions/cache@v2
       id: cache-msp430
-      uses: actions/cache@v1
       with:
         path: /tmp/dl/
         # Increment gcc version number at end when updating downloads
-        key: msp430-${{ runner.os }}-9.2.0.50
+        key: ${{ runner.os }}-msp430-9.2.0.50
+
+    - name: Install MSP430 Toolchain
+      if: steps.cache-msp430.outputs.cache-hit != 'true'
+      env:
+        MSP430GCC_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      
+      run: |
+        mkdir -p /tmp/dl/
+        [ -f "/tmp/dl/msp430-gcc.tar.bz2" ] || wget --progress=dot:mega $MSP430GCC_URL -O /tmp/dl/msp430-gcc.tar.bz2
+        tar -C $HOME -xaf /tmp/dl/msp430-gcc.tar.bz2
 
     - name: Install Toolchains
       env:
@@ -72,9 +81,6 @@ jobs:
         echo `echo $HOME/opt/xPacks/@xpack-dev-tools/riscv-none-embed-gcc/*/.content/bin` >> $GITHUB_PATH
 
         # TI MSP430 GCC
-        mkdir -p /tmp/dl/
-        [ -f "/tmp/dl/msp430-gcc.tar.bz2" ] || wget --progress=dot:mega $MSP430GCC_URL -O /tmp/dl/msp430-gcc.tar.bz2
-        tar -C $HOME -xaf /tmp/dl/msp430-gcc.tar.bz2
         echo `echo $HOME/msp430-gcc-*_linux64/bin` >> $GITHUB_PATH
 
     - name: Checkout TinyUSB
@@ -113,17 +119,7 @@ jobs:
     - name: Setup Node.js
       uses: actions/setup-node@v1
 
-    - name: Cache MSP430 Toolchain
-      id: cache-msp430
-      uses: actions/cache@v1
-      with:
-        path: /tmp/dl/
-        # Increment gcc version number at end when updating downloads
-        key: msp430-${{ runner.os }}-9.2.0.50
-
     - name: Install Toolchains
-      env:
-        MSP430GCC_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
       run: |
         # ARM & RISC-V GCC from xpack
         npm install --global xpm
@@ -132,12 +128,6 @@ jobs:
         echo `echo $HOME/opt/xPacks/@xpack-dev-tools/arm-none-eabi-gcc/*/.content/bin` >> $GITHUB_PATH
         echo `echo $HOME/opt/xPacks/@xpack-dev-tools/riscv-none-embed-gcc/*/.content/bin` >> $GITHUB_PATH
 
-        # TI MSP430 GCC
-        mkdir -p /tmp/dl/
-        [ -f "/tmp/dl/msp430-gcc.tar.bz2" ] || wget --progress=dot:mega $MSP430GCC_URL -O /tmp/dl/msp430-gcc.tar.bz2
-        tar -C $HOME -xaf /tmp/dl/msp430-gcc.tar.bz2
-        echo `echo $HOME/msp430-gcc-*_linux64/bin` >> $GITHUB_PATH
-
     - name: Checkout TinyUSB
       uses: actions/checkout@v2
       with:
@@ -153,13 +143,15 @@ jobs:
     - name: Build
       run: python3 tools/build_family.py ${{ matrix.family }}
 
-  # Build ESP32S
-  build-esp32s:
+  # Build ESP32S2
+  build-esp32s2:
     runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
-        example: ['board_test', 'cdc_msc_freertos', 'hid_composite_freertos']
+        board:
+        - 'espressif_kaluga_1'
+        - 'espressif_saola_1'
 
     steps:
     - name: Setup Python
@@ -174,4 +166,4 @@ jobs:
         submodules: 'false'
 
     - name: Build
-      run: docker run --rm -v $PWD:/project -w /project espressif/idf:latest python3 tools/build_esp32s.py ${{ matrix.example }}
+      run: docker run --rm -v $PWD:/project -w /project espressif/idf:latest python3 tools/build_esp32s2.py ${{ matrix.board }}
diff --git a/examples/device/cdc_msc_freertos/CMakeLists.txt b/examples/device/cdc_msc_freertos/CMakeLists.txt
index 146b49cb..2e55d8c4 100644
--- a/examples/device/cdc_msc_freertos/CMakeLists.txt
+++ b/examples/device/cdc_msc_freertos/CMakeLists.txt
@@ -1,15 +1,18 @@
-# The following five lines of boilerplate have to be in your project's
-# CMakeLists in this exact order for cmake to work correctly
 cmake_minimum_required(VERSION 3.5)
 
+# use directory name for project id
+get_filename_component(PROJECT ${CMAKE_CURRENT_SOURCE_DIR} NAME)
+
 # TOP is absolute path to root directory of TinyUSB git repo
 set(TOP "../../..")
 get_filename_component(TOP "${TOP}" REALPATH)
 
-# Add example src and bsp directories
-set(EXTRA_COMPONENT_DIRS "src" "${TOP}/hw/bsp/esp32s2/boards" "${TOP}/hw/bsp/esp32s2/components")
+# Check for -DFAMILY=
+if(NOT DEFINED FAMILY)
+  message(FATAL_ERROR "Invalid FAMILY specified")
+endif()
 
-include($ENV{IDF_PATH}/tools/cmake/project.cmake)
-set(SUPPORTED_TARGETS esp32s2)
+include(${TOP}/hw/bsp/${FAMILY}/family.cmake)
+project(${PROJECT})
 
 project(cdc_msc_freertos)
diff --git a/examples/device/hid_composite_freertos/CMakeLists.txt b/examples/device/hid_composite_freertos/CMakeLists.txt
index 3c48e4e7..c4777f12 100644
--- a/examples/device/hid_composite_freertos/CMakeLists.txt
+++ b/examples/device/hid_composite_freertos/CMakeLists.txt
@@ -1,15 +1,18 @@
-# The following five lines of boilerplate have to be in your project's
-# CMakeLists in this exact order for cmake to work correctly
 cmake_minimum_required(VERSION 3.5)
 
+# use directory name for project id
+get_filename_component(PROJECT ${CMAKE_CURRENT_SOURCE_DIR} NAME)
+
 # TOP is absolute path to root directory of TinyUSB git repo
 set(TOP "../../..")
 get_filename_component(TOP "${TOP}" REALPATH)
 
-# Add example src and bsp directories
-set(EXTRA_COMPONENT_DIRS "src" "${TOP}/hw/bsp/esp32s2/boards" "${TOP}/hw/bsp/esp32s2/components")
+# Check for -DFAMILY=
+if(NOT DEFINED FAMILY)
+  message(FATAL_ERROR "Invalid FAMILY specified")
+endif()
 
-include($ENV{IDF_PATH}/tools/cmake/project.cmake)
-set(SUPPORTED_TARGETS esp32s2)
+include(${TOP}/hw/bsp/${FAMILY}/family.cmake)
+project(${PROJECT})
 
 project(hid_composite_freertos)
diff --git a/hw/bsp/esp32s2/boards/esp32s2_kaluga_1/board.h b/hw/bsp/esp32s2/boards/espressif_kaluga_1/board.h
similarity index 100%
rename from hw/bsp/esp32s2/boards/esp32s2_kaluga_1/board.h
rename to hw/bsp/esp32s2/boards/espressif_kaluga_1/board.h
diff --git a/hw/bsp/esp32s2/boards/esp32s2_saola_1/board.h b/hw/bsp/esp32s2/boards/espressif_saola_1/board.h
similarity index 100%
rename from hw/bsp/esp32s2/boards/esp32s2_saola_1/board.h
rename to hw/bsp/esp32s2/boards/espressif_saola_1/board.h
diff --git a/tools/build_esp32s.py b/tools/build_esp32s.py
deleted file mode 100644
index c63bbf6d..00000000
--- a/tools/build_esp32s.py
+++ /dev/null
@@ -1,102 +0,0 @@
-import os
-import glob
-import sys
-import subprocess
-import time
-
-SUCCEEDED = "\033[32msucceeded\033[0m"
-FAILED = "\033[31mfailed\033[0m"
-SKIPPED = "\033[33mskipped\033[0m"
-
-success_count = 0
-fail_count = 0
-skip_count = 0
-exit_status = 0
-
-total_time = time.monotonic()
-
-build_format = '| {:23} | {:30} | {:18} | {:7} | {:6} | {:6} |'
-build_separator = '-' * 100
-
-# 1st Argument is Example, build all examples if not existed
-all_examples = []
-if len(sys.argv) > 1:
-    all_examples.append(sys.argv[1])
-else:
-    for entry in os.scandir("examples/device"):
-        # Only includes example with CMakeLists.txt for esp32s
-        if entry.is_dir() and os.path.exists(entry.path + "/CMakeLists.txt"):
-            all_examples.append(entry.name)
-all_examples.sort()
-
-# 2nd Argument is Board, build all boards if not existed
-all_boards = []
-if len(sys.argv) > 2:
-    all_boards.append(sys.argv[2])
-else:
-    for entry in os.scandir("hw/bsp/esp32s2/boards"):
-        if entry.is_dir():
-            all_boards.append(entry.name)
-                                
-all_boards.sort()
-
-def build_example(example, board):
-    subprocess.run("make -C examples/device/{} BOARD={} clean".format(example, board), shell=True,
-                   stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
-    return subprocess.run("make -C examples/device/{} BOARD={} all".format(example, board), shell=True,
-                          stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
-
-def build_size(example, board):
-    #elf_file = 'examples/device/{}/_build/build-{}/{}-firmware.elf'.format(example, board, board)
-    elf_file = 'examples/device/{}/_build/build-{}/*.elf'.format(example, board)
-    size_output = subprocess.run('size {}'.format(elf_file), shell=True, stdout=subprocess.PIPE).stdout.decode("utf-8")
-    size_list = size_output.split('\n')[1].split('\t')
-    flash_size = int(size_list[0])
-    sram_size = int(size_list[1]) + int(size_list[2])
-    return (flash_size, sram_size)
-
-def skip_example(example, board):
-    return 0
-
-print(build_separator)
-print(build_format.format('Example', 'Board', '\033[39mResult\033[0m', 'Time', 'Flash', 'SRAM'))
-print(build_separator)
-
-for example in all_examples:
-    for board in all_boards:
-        start_time = time.monotonic()
-
-        flash_size = "-"
-        sram_size = "-"
-
-        # Check if board is skipped
-        if skip_example(example, board):
-            success = SKIPPED
-            skip_count += 1
-            print(build_format.format(example, board, success, '-', flash_size, sram_size))
-        else:
-            build_result = build_example(example, board)
-
-            if build_result.returncode == 0:
-                success = SUCCEEDED
-                success_count += 1
-                (flash_size, sram_size) = build_size(example, board)
-            else:
-                exit_status = build_result.returncode
-                success = FAILED
-                fail_count += 1
-
-            build_duration = time.monotonic() - start_time
-            print(build_format.format(example, board, success, "{:.2f}s".format(build_duration), flash_size, sram_size))
-
-            if build_result.returncode != 0:
-                print(build_result.stdout.decode("utf-8"))
-
-
-
-total_time = time.monotonic() - total_time
-print(build_separator)
-print("Build Summary: {} {}, {} {}, {} {} and took {:.2f}s".format(success_count, SUCCEEDED, fail_count, FAILED, skip_count, SKIPPED, total_time))
-print(build_separator)
-
-sys.exit(exit_status)
diff --git a/tools/build_esp32s2.py b/tools/build_esp32s2.py
new file mode 100644
index 00000000..cff0cc33
--- /dev/null
+++ b/tools/build_esp32s2.py
@@ -0,0 +1,99 @@
+import os
+import glob
+import sys
+import subprocess
+import time
+
+SUCCEEDED = "\033[32msucceeded\033[0m"
+FAILED = "\033[31mfailed\033[0m"
+SKIPPED = "\033[33mskipped\033[0m"
+
+success_count = 0
+fail_count = 0
+skip_count = 0
+exit_status = 0
+
+total_time = time.monotonic()
+
+build_format = '| {:23} | {:30} | {:18} | {:7} | {:6} | {:6} |'
+build_separator = '-' * 100
+
+def filter_with_input(mylist):
+    if len(sys.argv) > 1:
+        input_args = list(set(mylist).intersection(sys.argv))
+        if len(input_args) > 0:
+            mylist[:] = input_args
+
+# Build all examples if not specified
+all_examples = []
+for entry in os.scandir("examples/device"):
+    # Only includes example with CMakeLists.txt for esp32s
+    if entry.is_dir() and os.path.exists(entry.path + "/sdkconfig.defaults"):
+        all_examples.append(entry.name)
+filter_with_input(all_examples)
+all_examples.sort()
+
+# Build all boards if not specified
+all_boards = []
+for entry in os.scandir("hw/bsp/esp32s2/boards"):
+    if entry.is_dir():
+        all_boards.append(entry.name)
+filter_with_input(all_boards)
+all_boards.sort()
+
+def build_board(example, board):
+    global success_count, fail_count, skip_count
+    start_time = time.monotonic()
+    flash_size = "-"
+    sram_size = "-"
+
+    # Check if board is skipped
+    if skip_example(example, board):
+        success = SKIPPED
+        skip_count += 1
+        print(build_format.format(example, board, success, '-', flash_size, sram_size))
+    else:
+        subprocess.run("make -C examples/device/{} BOARD={} clean".format(example, board), shell=True, stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
+        build_result = subprocess.run("make -j -C examples/device/{} BOARD={} all".format(example, board), shell=True, stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
+
+        if build_result.returncode == 0:
+            success = SUCCEEDED
+            success_count += 1
+            (flash_size, sram_size) = build_size(example, board)
+        else:
+            exit_status = build_result.returncode
+            success = FAILED
+            fail_count += 1
+
+        build_duration = time.monotonic() - start_time
+        print(build_format.format(example, board, success, "{:.2f}s".format(build_duration), flash_size, sram_size))
+
+        if build_result.returncode != 0:
+            print(build_result.stdout.decode("utf-8"))
+
+def build_size(example, board):
+    #elf_file = 'examples/device/{}/_build/build-{}/{}-firmware.elf'.format(example, board, board)
+    elf_file = 'examples/device/{}/_build/build-{}/*.elf'.format(example, board)
+    size_output = subprocess.run('size {}'.format(elf_file), shell=True, stdout=subprocess.PIPE).stdout.decode("utf-8")
+    size_list = size_output.split('\n')[1].split('\t')
+    flash_size = int(size_list[0])
+    sram_size = int(size_list[1]) + int(size_list[2])
+    return (flash_size, sram_size)
+
+def skip_example(example, board):
+    return 0
+
+print(build_separator)
+print(build_format.format('Example', 'Board', '\033[39mResult\033[0m', 'Time', 'Flash', 'SRAM'))
+print(build_separator)
+
+for example in all_examples:
+    for board in all_boards:
+        build_board(example, board)
+
+total_time = time.monotonic() - total_time
+print(build_separator)
+print("Build Summary: {} {}, {} {}, {} {} and took {:.2f}s".format(success_count, SUCCEEDED, fail_count, FAILED, skip_count, SKIPPED, total_time))
+print(build_separator)
+
+sys.exit(exit_status)