diff --git a/.clang-format b/.clang-format
deleted file mode 100644
index 4369c29fe..000000000
--- a/.clang-format
+++ /dev/null
@@ -1,6 +0,0 @@
----
-BreakBeforeBraces: Linux
-ColumnLimit: '200'
-ReflowComments: 'true'
-
-...
diff --git a/examples/build_system/cmake/cpu/arm1176jzf-s.cmake b/examples/build_system/cmake/cpu/arm1176jzf-s.cmake
new file mode 100644
index 000000000..11bb52f30
--- /dev/null
+++ b/examples/build_system/cmake/cpu/arm1176jzf-s.cmake
@@ -0,0 +1,19 @@
+if (TOOLCHAIN STREQUAL "gcc")
+  set(TOOLCHAIN_COMMON_FLAGS
+    -mcpu=arm1176jzf-s
+  )
+  # set(FREERTOS_PORT GCC_ARM_CM0 CACHE INTERNAL "")
+
+elseif (TOOLCHAIN STREQUAL "clang")
+  set(TOOLCHAIN_COMMON_FLAGS
+    --target=arm-none-eabi
+    -mcpu=arm1176jzf-s
+    -mfpu=none
+    -mfloat-abi=soft
+  )
+  #set(FREERTOS_PORT GCC_ARM_CM0 CACHE INTERNAL "")
+
+elseif (TOOLCHAIN STREQUAL "iar")
+  message(FATAL_ERROR "IAR not supported")
+
+endif ()
diff --git a/examples/build_system/make/cpu/arm1176.mk b/examples/build_system/make/cpu/arm1176jzf-s.mk
similarity index 100%
rename from examples/build_system/make/cpu/arm1176.mk
rename to examples/build_system/make/cpu/arm1176jzf-s.mk
diff --git a/hw/bsp/broadcom_32bit/boards/raspberrypi_zero/board.cmake b/hw/bsp/broadcom_32bit/boards/raspberrypi_zero/board.cmake
new file mode 100644
index 000000000..2b8cc19e0
--- /dev/null
+++ b/hw/bsp/broadcom_32bit/boards/raspberrypi_zero/board.cmake
@@ -0,0 +1,8 @@
+set(CMAKE_SYSTEM_PROCESSOR arm1176jzf-s CACHE INTERNAL "System Processor")
+#set(SUFFIX "")
+
+function(update_board TARGET)
+  target_compile_definitions(${TARGET} PUBLIC
+    BCM_VERSION=2835
+    )
+endfunction()
diff --git a/hw/bsp/broadcom_32bit/boards/raspberrypi_zero_w/board.h b/hw/bsp/broadcom_32bit/boards/raspberrypi_zero/board.h
similarity index 100%
rename from hw/bsp/broadcom_32bit/boards/raspberrypi_zero_w/board.h
rename to hw/bsp/broadcom_32bit/boards/raspberrypi_zero/board.h
diff --git a/hw/bsp/broadcom_32bit/boards/raspberrypi_zero_w/board.mk b/hw/bsp/broadcom_32bit/boards/raspberrypi_zero/board.mk
similarity index 77%
rename from hw/bsp/broadcom_32bit/boards/raspberrypi_zero_w/board.mk
rename to hw/bsp/broadcom_32bit/boards/raspberrypi_zero/board.mk
index 052033230..7a248ed24 100644
--- a/hw/bsp/broadcom_32bit/boards/raspberrypi_zero_w/board.mk
+++ b/hw/bsp/broadcom_32bit/boards/raspberrypi_zero/board.mk
@@ -1,4 +1,4 @@
-CPU_CORE = arm1176
+CPU_CORE = arm1176jzf-s
 CFLAGS += -DBCM_VERSION=2835 \
           -DCFG_TUSB_MCU=OPT_MCU_BCM2835
 
diff --git a/hw/bsp/broadcom_32bit/family.c b/hw/bsp/broadcom_32bit/family.c
index 664b4dcaf..626565e34 100644
--- a/hw/bsp/broadcom_32bit/family.c
+++ b/hw/bsp/broadcom_32bit/family.c
@@ -27,6 +27,13 @@
 #include "bsp/board_api.h"
 #include "board.h"
 
+// Suppress warning caused by mcu driver
+#ifdef __GNUC__
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wcast-qual"
+#pragma GCC diagnostic ignored "-Wredundant-decls"
+#endif
+
 #include "broadcom/cpu.h"
 #include "broadcom/gpio.h"
 #include "broadcom/interrupts.h"
@@ -34,6 +41,10 @@
 #include "broadcom/caches.h"
 #include "broadcom/vcmailbox.h"
 
+#ifdef __GNUC__
+#pragma GCC diagnostic pop
+#endif
+
 // LED
 #define LED_PIN               18
 #define LED_STATE_ON          1
diff --git a/hw/bsp/broadcom_32bit/family.cmake b/hw/bsp/broadcom_32bit/family.cmake
new file mode 100644
index 000000000..223c85e48
--- /dev/null
+++ b/hw/bsp/broadcom_32bit/family.cmake
@@ -0,0 +1,107 @@
+include_guard()
+
+set(MCU_DIR ${TOP}/hw/mcu/broadcom)
+
+# include board specific
+include(${CMAKE_CURRENT_LIST_DIR}/boards/${BOARD}/board.cmake)
+
+# toolchain set up
+set(CMAKE_TOOLCHAIN_FILE ${TOP}/examples/build_system/cmake/toolchain/arm_${TOOLCHAIN}.cmake)
+
+set(FAMILY_MCUS BCM2835 CACHE INTERNAL "")
+
+
+#------------------------------------
+# BOARD_TARGET
+#------------------------------------
+# only need to be built ONCE for all examples
+function(add_board_target BOARD_TARGET)
+  if (TARGET ${BOARD_TARGET})
+    return()
+  endif ()
+
+  if (NOT DEFINED LD_FILE_GNU)
+    set(LD_FILE_GNU ${MCU_DIR}/broadcom/link.ld)
+  endif ()
+  set(LD_FILE_Clang ${LD_FILE_GNU})
+
+  if (NOT DEFINED STARTUP_FILE_${CMAKE_C_COMPILER_ID})
+    set(STARTUP_FILE_GNU ${MCU_DIR}/broadcom/boot.s)
+  endif ()
+  set(STARTUP_FILE_Clang ${STARTUP_FILE_GNU})
+
+  add_library(${BOARD_TARGET} STATIC
+    ${MCU_DIR}/broadcom/gen/interrupt_handlers.c
+    ${MCU_DIR}/broadcom/gpio.c
+    ${MCU_DIR}/broadcom/interrupts.c
+    ${MCU_DIR}/broadcom/mmu.c
+    ${MCU_DIR}/broadcom/caches.c
+    ${MCU_DIR}/broadcom/vcmailbox.c
+    ${STARTUP_FILE_${CMAKE_C_COMPILER_ID}}
+    )
+  target_compile_options(${BOARD_TARGET} PUBLIC
+    -O0
+    -ffreestanding
+    -mgeneral-regs-only
+    -fno-exceptions
+    -std=c17
+    )
+  target_include_directories(${BOARD_TARGET} PUBLIC
+    ${MCU_DIR}
+    )
+
+  update_board(${BOARD_TARGET})
+
+  if (CMAKE_C_COMPILER_ID STREQUAL "GNU")
+    target_link_options(${BOARD_TARGET} PUBLIC
+      "LINKER:--script=${LD_FILE_GNU}"
+      -nostdlib -nostartfiles
+      )
+  elseif (CMAKE_C_COMPILER_ID STREQUAL "Clang")
+    target_link_options(${BOARD_TARGET} PUBLIC
+      "LINKER:--script=${LD_FILE_Clang}"
+      )
+  elseif (CMAKE_C_COMPILER_ID STREQUAL "IAR")
+    target_link_options(${BOARD_TARGET} PUBLIC
+      "LINKER:--config=${LD_FILE_IAR}"
+      )
+  endif ()
+endfunction()
+
+
+#------------------------------------
+# Functions
+#------------------------------------
+function(family_configure_example TARGET RTOS)
+  family_configure_common(${TARGET} ${RTOS})
+
+  # Board target
+  add_board_target(board_${BOARD})
+
+  #---------- Port Specific ----------
+  # These files are built for each example since it depends on example's tusb_config.h
+  target_sources(${TARGET} PUBLIC
+    # BSP
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/family.c
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/../board.c
+    )
+  target_include_directories(${TARGET} PUBLIC
+    # family, hw, board
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/../../
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/boards/${BOARD}
+    )
+
+  # Add TinyUSB target and port source
+  family_add_tinyusb(${TARGET} OPT_MCU_BCM2835 ${RTOS})
+  target_sources(${TARGET}-tinyusb PUBLIC
+    ${TOP}/src/portable/synopsys/dwc2/dcd_dwc2.c
+    )
+  target_link_libraries(${TARGET}-tinyusb PUBLIC board_${BOARD})
+
+  # Link dependencies
+  target_link_libraries(${TARGET} PUBLIC board_${BOARD} ${TARGET}-tinyusb)
+
+  # Flashing
+  family_flash_jlink(${TARGET})
+endfunction()
diff --git a/hw/bsp/broadcom_32bit/family.mk b/hw/bsp/broadcom_32bit/family.mk
index cf68e21ee..e15bd93f7 100644
--- a/hw/bsp/broadcom_32bit/family.mk
+++ b/hw/bsp/broadcom_32bit/family.mk
@@ -1,5 +1,4 @@
 MCU_DIR = hw/mcu/broadcom
-DEPS_SUBMODULES += $(MCU_DIR)
 
 include $(TOP)/$(BOARD_PATH)/board.mk
 
@@ -27,15 +26,13 @@ SRC_C += \
 	$(MCU_DIR)/broadcom/caches.c \
 	$(MCU_DIR)/broadcom/vcmailbox.c
 
-SKIP_NANOLIB = 1
-
 LD_FILE = $(MCU_DIR)/broadcom/link$(SUFFIX).ld
 
 INC += \
 	$(TOP)/$(BOARD_PATH) \
 	$(TOP)/$(MCU_DIR)
 
-SRC_S += $(MCU_DIR)/broadcom/boot$(SUFFIX).S
+SRC_S += $(MCU_DIR)/broadcom/boot$(SUFFIX).s
 
 $(BUILD)/kernel$(SUFFIX).img: $(BUILD)/$(PROJECT).elf
 	$(OBJCOPY) -O binary $^ $@
diff --git a/src/common/tusb_fifo.h b/src/common/tusb_fifo.h
index 2d9f5e667..0de576601 100644
--- a/src/common/tusb_fifo.h
+++ b/src/common/tusb_fifo.h
@@ -145,13 +145,13 @@ bool tu_fifo_clear(tu_fifo_t *f);
 bool tu_fifo_config(tu_fifo_t *f, void* buffer, uint16_t depth, uint16_t item_size, bool overwritable);
 
 #if OSAL_MUTEX_REQUIRED
-  TU_ATTR_ALWAYS_INLINE static inline
-  void tu_fifo_config_mutex(tu_fifo_t *f, osal_mutex_t wr_mutex, osal_mutex_t rd_mutex) {
-    f->mutex_wr = wr_mutex;
-    f->mutex_rd = rd_mutex;
-  }
+TU_ATTR_ALWAYS_INLINE static inline
+void tu_fifo_config_mutex(tu_fifo_t *f, osal_mutex_t wr_mutex, osal_mutex_t rd_mutex) {
+  f->mutex_wr = wr_mutex;
+  f->mutex_rd = rd_mutex;
+}
 #else
-  #define tu_fifo_config_mutex(_f, _wr_mutex, _rd_mutex)
+#define tu_fifo_config_mutex(_f, _wr_mutex, _rd_mutex)
 #endif
 
 bool     tu_fifo_write                  (tu_fifo_t* f, void const * p_data);
diff --git a/src/common/tusb_mcu.h b/src/common/tusb_mcu.h
index 5a567f2d5..8d58be2a1 100644
--- a/src/common/tusb_mcu.h
+++ b/src/common/tusb_mcu.h
@@ -430,7 +430,7 @@
 #endif
 
 #if !defined(TUP_DCD_ENDPOINT_MAX) && defined(CFG_TUD_ENABLED) && CFG_TUD_ENABLED
-#warning "TUP_DCD_ENDPOINT_MAX is not defined for this MCU, default to 8"
+  #warning "TUP_DCD_ENDPOINT_MAX is not defined for this MCU, default to 8"
   #define TUP_DCD_ENDPOINT_MAX    8
 #endif
 
diff --git a/src/common/tusb_verify.h b/src/common/tusb_verify.h
index 0a9549c99..dde0550d3 100644
--- a/src/common/tusb_verify.h
+++ b/src/common/tusb_verify.h
@@ -78,8 +78,7 @@
 // Halt CPU (breakpoint) when hitting error, only apply for Cortex M3, M4, M7, M33. M55
 #if defined(__ARM_ARCH_7M__) || defined (__ARM_ARCH_7EM__) || defined(__ARM_ARCH_8M_MAIN__) || defined(__ARM_ARCH_8_1M_MAIN__) || \
     defined(__ARM7M__) || defined (__ARM7EM__) || defined(__ARM8M_MAINLINE__) || defined(__ARM8EM_MAINLINE__)
-  #define TU_BREAKPOINT() do                                                                                \
-  {                                                                                                         \
+  #define TU_BREAKPOINT() do {                                                                              \
     volatile uint32_t* ARM_CM_DHCSR =  ((volatile uint32_t*) 0xE000EDF0UL); /* Cortex M CoreDebug->DHCSR */ \
     if ( (*ARM_CM_DHCSR) & 1UL ) __asm("BKPT #0\n"); /* Only halt mcu if debugger is attached */            \
   } while(0)