diff --git a/examples/device/board_test/CMakeLists.txt b/examples/device/board_test/CMakeLists.txt
index c09ffe215..ee0d7ef58 100644
--- a/examples/device/board_test/CMakeLists.txt
+++ b/examples/device/board_test/CMakeLists.txt
@@ -1,15 +1,16 @@
-# 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)
 
 # 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(board_test)
+
+include(${TOP}/hw/bsp/${FAMILY}/family_extra.cmake OPTIONAL)
diff --git a/examples/make.mk b/examples/make.mk
index bf3b36a62..da0f60d2f 100644
--- a/examples/make.mk
+++ b/examples/make.mk
@@ -40,7 +40,7 @@ ifeq ($(FAMILY),)
   include $(TOP)/hw/bsp/$(BOARD)/board.mk
 else
   # Include Family and Board specific defs
-  include $(TOP)/$(FAMILY_PATH)/family.mk
+  -include $(TOP)/$(FAMILY_PATH)/family.mk
 
   SRC_C += $(subst $(TOP)/,,$(wildcard $(TOP)/$(FAMILY_PATH)/*.c))
 endif
diff --git a/examples/rules.mk b/examples/rules.mk
index fb1fe76c2..b61af1d55 100644
--- a/examples/rules.mk
+++ b/examples/rules.mk
@@ -2,34 +2,46 @@
 # Common make rules for all examples
 # ---------------------------------------
 
-ifeq ($(CROSS_COMPILE),xtensa-esp32s2-elf-)
+ifeq ($(FAMILY),esp32s2)
 # Espressif IDF use CMake build system, this add wrapper target to call idf.py
 
 .PHONY: all clean flash
 .DEFAULT_GOAL := all
 
 all:
-	idf.py -B$(BUILD) -DBOARD=$(BOARD) build
+	idf.py -B$(BUILD) -DFAMILY=$(FAMILY) -DBOARD=$(BOARD) build
 
 build: all
 
 clean:
-	idf.py -B$(BUILD) -DBOARD=$(BOARD) clean
+	idf.py -B$(BUILD) -DFAMILY=$(FAMILY) -DBOARD=$(BOARD) clean
+
+fullclean:
+	idf.py -B$(BUILD) -DFAMILY=$(FAMILY) -DBOARD=$(BOARD) fullclean
 
 flash:
-	idf.py -B$(BUILD) -DBOARD=$(BOARD) flash
+	idf.py -B$(BUILD) -DFAMILY=$(FAMILY) -DBOARD=$(BOARD) flash
 
 bootloader-flash:
-	idf.py -B$(BUILD) -DBOARD=$(BOARD) bootloader-flash
+	idf.py -B$(BUILD) -DFAMILY=$(FAMILY) -DBOARD=$(BOARD) bootloader-flash
 
 app-flash:
-	idf.py -B$(BUILD) -DBOARD=$(BOARD) app-flash
+	idf.py -B$(BUILD) -DFAMILY=$(FAMILY) -DBOARD=$(BOARD) app-flash
 
 erase:
-	idf.py -B$(BUILD) -DBOARD=$(BOARD) erase_flash
+	idf.py -B$(BUILD) -DFAMILY=$(FAMILY) -DBOARD=$(BOARD) erase_flash
 
 monitor:
-	idf.py -B$(BUILD) -DBOARD=$(BOARD) monitor
+	idf.py -B$(BUILD) -DFAMILY=$(FAMILY) -DBOARD=$(BOARD) monitor
+
+else ifeq ($(FAMILY),rp2040)
+
+all:
+	[ -d $(BUILD) ] || cmake -S . -B $(BUILD) -DFAMILY=$(FAMILY) -DPICO_BUILD_DOCS=0
+	$(MAKE) -C $(BUILD)
+
+clean:
+	$(RM) -rf $(BUILD)
 
 else
 # GNU Make build system
diff --git a/hw/bsp/esp32s2/family.cmake b/hw/bsp/esp32s2/family.cmake
new file mode 100644
index 000000000..c19221b14
--- /dev/null
+++ b/hw/bsp/esp32s2/family.cmake
@@ -0,0 +1,6 @@
+cmake_minimum_required(VERSION 3.5)
+
+# Add example src and bsp directories
+set(EXTRA_COMPONENT_DIRS "src" "${TOP}/hw/bsp/esp32s2/boards" "${TOP}/hw/bsp/esp32s2/components")  
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+set(SUPPORTED_TARGETS esp32s2)
diff --git a/hw/bsp/esp32s2/family.mk b/hw/bsp/esp32s2/family.mk
deleted file mode 100644
index 167ef6226..000000000
--- a/hw/bsp/esp32s2/family.mk
+++ /dev/null
@@ -1,2 +0,0 @@
-# Cross Compiler for ESP32
-CROSS_COMPILE = xtensa-esp32s2-elf-
diff --git a/hw/bsp/raspberry_pi_pico/board_raspberry_pi_pico.c b/hw/bsp/rp2040/boards/raspberry_pi_pico/board_raspberry_pi_pico.c
similarity index 100%
rename from hw/bsp/raspberry_pi_pico/board_raspberry_pi_pico.c
rename to hw/bsp/rp2040/boards/raspberry_pi_pico/board_raspberry_pi_pico.c
diff --git a/hw/bsp/rp2040/family.cmake b/hw/bsp/rp2040/family.cmake
new file mode 100644
index 000000000..8a3882cc0
--- /dev/null
+++ b/hw/bsp/rp2040/family.cmake
@@ -0,0 +1,3 @@
+cmake_minimum_required(VERSION 3.12)
+set(PICO_SDK_PATH ${TOP}/hw/mcu/raspberrypi/pico-sdk)
+include(${PICO_SDK_PATH}/pico_sdk_init.cmake)
diff --git a/hw/bsp/rp2040/family_extra.cmake b/hw/bsp/rp2040/family_extra.cmake
new file mode 100644
index 000000000..661845844
--- /dev/null
+++ b/hw/bsp/rp2040/family_extra.cmake
@@ -0,0 +1 @@
+pico_sdk_init()