diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 58963013b..97f219e6f 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -93,7 +93,7 @@ jobs:
       matrix:
         toolchain:
           - 'aarch64-gcc'
-          - 'arm-clang'
+          #- 'arm-clang'
           - 'arm-gcc'
           - 'msp430-gcc'
           - 'riscv-gcc'
diff --git a/examples/device/audio_4_channel_mic_freertos/src/main.c b/examples/device/audio_4_channel_mic_freertos/src/main.c
index 99278b5cc..d5a34b194 100644
--- a/examples/device/audio_4_channel_mic_freertos/src/main.c
+++ b/examples/device/audio_4_channel_mic_freertos/src/main.c
@@ -39,7 +39,7 @@
 #include "bsp/board_api.h"
 #include "tusb.h"
 
-#if TUSB_MCU_VENDOR_ESPRESSIF
+#ifdef ESP_PLATFORM
   // ESP-IDF need "freertos/" prefix in include path.
   // CFG_TUSB_OS_INC_PATH should be defined accordingly.
   #include "freertos/FreeRTOS.h"
@@ -158,17 +158,16 @@ int main(void)
   xTaskCreate(audio_task, "audio", AUDIO_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL);
 #endif
 
-  // skip starting scheduler (and return) for ESP32-S2 or ESP32-S3
-  #if !TUSB_MCU_VENDOR_ESPRESSIF
+  // only start scheduler for non-espressif mcu
+  #ifndef ESP_PLATFORM
     vTaskStartScheduler();
   #endif
 
   return 0;
 }
 
-#if TUSB_MCU_VENDOR_ESPRESSIF
-void app_main(void)
-{
+#ifdef ESP_PLATFORM
+void app_main(void) {
   main();
 }
 #endif
diff --git a/examples/device/audio_4_channel_mic_freertos/src/tusb_config.h b/examples/device/audio_4_channel_mic_freertos/src/tusb_config.h
index 5ac51b153..f7c0efe08 100644
--- a/examples/device/audio_4_channel_mic_freertos/src/tusb_config.h
+++ b/examples/device/audio_4_channel_mic_freertos/src/tusb_config.h
@@ -59,7 +59,7 @@ extern "C" {
 #endif
 
 // Espressif IDF requires "freertos/" prefix in include path
-#if TUSB_MCU_VENDOR_ESPRESSIF
+#ifdef ESP_PLATFORM
 #define CFG_TUSB_OS_INC_PATH  freertos/
 #endif
 
diff --git a/examples/device/audio_test_freertos/src/main.c b/examples/device/audio_test_freertos/src/main.c
index c5143c3fc..3831be87f 100644
--- a/examples/device/audio_test_freertos/src/main.c
+++ b/examples/device/audio_test_freertos/src/main.c
@@ -38,7 +38,7 @@
 #include "bsp/board_api.h"
 #include "tusb.h"
 
-#if TUSB_MCU_VENDOR_ESPRESSIF
+#ifdef ESP_PLATFORM
   // ESP-IDF need "freertos/" prefix in include path.
   // CFG_TUSB_OS_INC_PATH should be defined accordingly.
   #include "freertos/FreeRTOS.h"
@@ -132,15 +132,15 @@ int main(void)
   xTaskCreate(usb_device_task, "usbd", USBD_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL);
 #endif
 
-  // skip starting scheduler (and return) for ESP32-S2 or ESP32-S3
-  #if !TUSB_MCU_VENDOR_ESPRESSIF
+  // only start scheduler for non-espressif mcu
+  #ifndef ESP_PLATFORM
     vTaskStartScheduler();
   #endif
 
   return 0;
 }
 
-#if TUSB_MCU_VENDOR_ESPRESSIF
+#ifdef ESP_PLATFORM
 void app_main(void) {
   main();
 }
diff --git a/examples/device/audio_test_freertos/src/tusb_config.h b/examples/device/audio_test_freertos/src/tusb_config.h
index 61c5cbb96..0fb2106e2 100644
--- a/examples/device/audio_test_freertos/src/tusb_config.h
+++ b/examples/device/audio_test_freertos/src/tusb_config.h
@@ -59,7 +59,7 @@ extern "C" {
 #endif
 
 // Espressif IDF requires "freertos/" prefix in include path
-#if TUSB_MCU_VENDOR_ESPRESSIF
+#ifdef ESP_PLATFORM
 #define CFG_TUSB_OS_INC_PATH  freertos/
 #endif
 
diff --git a/examples/device/board_test/src/tusb_config.h b/examples/device/board_test/src/tusb_config.h
index 8ac3bc8de..81829d450 100644
--- a/examples/device/board_test/src/tusb_config.h
+++ b/examples/device/board_test/src/tusb_config.h
@@ -44,7 +44,7 @@
 #endif
 
 // Espressif IDF requires "freertos/" prefix in include path
-#if TUSB_MCU_VENDOR_ESPRESSIF
+#ifdef ESP_PLATFORM
 #define CFG_TUSB_OS_INC_PATH  freertos/
 #endif
 
diff --git a/examples/device/cdc_msc_freertos/src/main.c b/examples/device/cdc_msc_freertos/src/main.c
index 4dada9801..6fe964153 100644
--- a/examples/device/cdc_msc_freertos/src/main.c
+++ b/examples/device/cdc_msc_freertos/src/main.c
@@ -30,7 +30,7 @@
 #include "bsp/board_api.h"
 #include "tusb.h"
 
-#if TUSB_MCU_VENDOR_ESPRESSIF
+#ifdef ESP_PLATFORM
   #define USBD_STACK_SIZE     4096
 #else
   // Increase stack size when debug log is enabled
@@ -91,15 +91,15 @@ int main(void) {
   xTaskCreate(cdc_task, "cdc", CDC_STACK_SZIE, NULL, configMAX_PRIORITIES - 2, NULL);
 #endif
 
-#if !TUSB_MCU_VENDOR_ESPRESSIF
-  // skip starting scheduler (and return) for ESP32-S2 or ESP32-S3
+#ifndef ESP_PLATFORM
+  // only start scheduler for non-espressif mcu
   vTaskStartScheduler();
 #endif
 
   return 0;
 }
 
-#if TUSB_MCU_VENDOR_ESPRESSIF
+#ifdef ESP_PLATFORM
 void app_main(void) {
   main();
 }
diff --git a/examples/device/cdc_msc_freertos/src/tusb_config.h b/examples/device/cdc_msc_freertos/src/tusb_config.h
index c3f2f7fb5..71a0e985a 100644
--- a/examples/device/cdc_msc_freertos/src/tusb_config.h
+++ b/examples/device/cdc_msc_freertos/src/tusb_config.h
@@ -59,7 +59,7 @@
 #endif
 
 // Espressif IDF requires "freertos/" prefix in include path
-#if TUSB_MCU_VENDOR_ESPRESSIF
+#ifdef ESP_PLATFORM
 #define CFG_TUSB_OS_INC_PATH  freertos/
 #endif
 
diff --git a/examples/device/hid_composite_freertos/src/main.c b/examples/device/hid_composite_freertos/src/main.c
index 30c0331ef..3f5e8a91c 100644
--- a/examples/device/hid_composite_freertos/src/main.c
+++ b/examples/device/hid_composite_freertos/src/main.c
@@ -31,7 +31,7 @@
 #include "tusb.h"
 #include "usb_descriptors.h"
 
-#if TUSB_MCU_VENDOR_ESPRESSIF
+#ifdef ESP_PLATFORM
   // ESP-IDF need "freertos/" prefix in include path.
   // CFG_TUSB_OS_INC_PATH should be defined accordingly.
   #include "freertos/FreeRTOS.h"
@@ -112,17 +112,16 @@ int main(void)
 
   xTimerStart(blinky_tm, 0);
 
-  // skip starting scheduler (and return) for ESP32-S2 or ESP32-S3
-#if !TUSB_MCU_VENDOR_ESPRESSIF
+  // only start scheduler for non-espressif mcu
+#ifndef ESP_PLATFORM
   vTaskStartScheduler();
 #endif
 
   return 0;
 }
 
-#if TUSB_MCU_VENDOR_ESPRESSIF
-void app_main(void)
-{
+#ifdef ESP_PLATFORM
+void app_main(void) {
   main();
 }
 #endif
diff --git a/examples/device/hid_composite_freertos/src/tusb_config.h b/examples/device/hid_composite_freertos/src/tusb_config.h
index 6ec38b95c..b28033a0c 100644
--- a/examples/device/hid_composite_freertos/src/tusb_config.h
+++ b/examples/device/hid_composite_freertos/src/tusb_config.h
@@ -59,7 +59,7 @@
 #endif
 
 // Espressif IDF requires "freertos/" prefix in include path
-#if TUSB_MCU_VENDOR_ESPRESSIF
+#ifdef ESP_PLATFORM
 #define CFG_TUSB_OS_INC_PATH  freertos/
 #endif
 
diff --git a/examples/device/midi_test_freertos/src/main.c b/examples/device/midi_test_freertos/src/main.c
index dbe89080c..3e406d38d 100644
--- a/examples/device/midi_test_freertos/src/main.c
+++ b/examples/device/midi_test_freertos/src/main.c
@@ -40,7 +40,7 @@
 //--------------------------------------------------------------------+
 // MACRO CONSTANT TYPEDEF PROTYPES
 //--------------------------------------------------------------------+
-#if TUSB_MCU_VENDOR_ESPRESSIF
+#ifdef ESP_PLATFORM
   #define USBD_STACK_SIZE     4096
 #else
   // Increase stack size when debug log is enabled
@@ -95,15 +95,15 @@ int main(void) {
   xTaskCreate(midi_task, "midi", MIDI_STACK_SIZE, NULL, configMAX_PRIORITIES - 2, NULL);
 #endif
 
-#if !TUSB_MCU_VENDOR_ESPRESSIF
-  // skip starting scheduler (and return) for ESP32-S2 or ESP32-S3
+#ifndef ESP_PLATFORM
+  // only start scheduler for non-espressif mcu
   vTaskStartScheduler();
 #endif
 
   return 0;
 }
 
-#if TUSB_MCU_VENDOR_ESPRESSIF
+#ifdef ESP_PLATFORM
 void app_main(void) {
   main();
 }
diff --git a/examples/device/video_capture/src/main.c b/examples/device/video_capture/src/main.c
index 04d4af4e5..0406279fd 100644
--- a/examples/device/video_capture/src/main.c
+++ b/examples/device/video_capture/src/main.c
@@ -292,7 +292,7 @@ void led_blinking_task(void* param) {
 #define BLINKY_STACK_SIZE   configMINIMAL_STACK_SIZE
 #define VIDEO_STACK_SIZE    (configMINIMAL_STACK_SIZE*4)
 
-#if TUSB_MCU_VENDOR_ESPRESSIF
+#ifdef ESP_PLATFORM
   #define USBD_STACK_SIZE     4096
   int main(void);
   void app_main(void) {
@@ -351,8 +351,8 @@ void freertos_init_task(void) {
   xTaskCreate(video_task, "video", VIDEO_STACK_SZIE, NULL, configMAX_PRIORITIES - 2, NULL);
   #endif
 
-  // skip starting scheduler (and return) for ESP32-S2 or ESP32-S3
-  #if !TUSB_MCU_VENDOR_ESPRESSIF
+  // only start scheduler for non-espressif mcu
+  #ifndef ESP_PLATFORM
   vTaskStartScheduler();
   #endif
 }
diff --git a/examples/device/video_capture/src/tusb_config.h b/examples/device/video_capture/src/tusb_config.h
index 6dbd6f2a5..4ba86ca65 100644
--- a/examples/device/video_capture/src/tusb_config.h
+++ b/examples/device/video_capture/src/tusb_config.h
@@ -58,7 +58,7 @@
 #endif
 
 // Espressif IDF requires "freertos/" prefix in include path
-#if TUSB_MCU_VENDOR_ESPRESSIF
+#ifdef ESP_PLATFORM
 #define CFG_TUSB_OS_INC_PATH  freertos/
 #endif
 
diff --git a/examples/device/video_capture_2ch/src/main.c b/examples/device/video_capture_2ch/src/main.c
index 245e7abb8..dc616e3fa 100644
--- a/examples/device/video_capture_2ch/src/main.c
+++ b/examples/device/video_capture_2ch/src/main.c
@@ -300,7 +300,7 @@ void led_blinking_task(void* param) {
 #define BLINKY_STACK_SIZE   configMINIMAL_STACK_SIZE
 #define VIDEO_STACK_SIZE    (configMINIMAL_STACK_SIZE*4)
 
-#if TUSB_MCU_VENDOR_ESPRESSIF
+#ifdef ESP_PLATFORM
   #define USBD_STACK_SIZE     4096
   int main(void);
   void app_main(void) {
@@ -359,8 +359,8 @@ void freertos_init_task(void) {
   xTaskCreate(video_task, "video", VIDEO_STACK_SZIE, NULL, configMAX_PRIORITIES - 2, NULL);
   #endif
 
-  // skip starting scheduler (and return) for ESP32-S2 or ESP32-S3
-  #if !TUSB_MCU_VENDOR_ESPRESSIF
+  // only start scheduler for non-espressif mcu
+  #ifndef ESP_PLATFORM
   vTaskStartScheduler();
   #endif
 }
diff --git a/examples/device/video_capture_2ch/src/tusb_config.h b/examples/device/video_capture_2ch/src/tusb_config.h
index 91775a327..e84e49879 100644
--- a/examples/device/video_capture_2ch/src/tusb_config.h
+++ b/examples/device/video_capture_2ch/src/tusb_config.h
@@ -58,7 +58,7 @@
 #endif
 
 // Espressif IDF requires "freertos/" prefix in include path
-#if TUSB_MCU_VENDOR_ESPRESSIF
+#ifdef ESP_PLATFORM
 #define CFG_TUSB_OS_INC_PATH  freertos/
 #endif
 
diff --git a/examples/host/cdc_msc_hid_freertos/src/cdc_app.c b/examples/host/cdc_msc_hid_freertos/src/cdc_app.c
index e279ad509..d99760a02 100644
--- a/examples/host/cdc_msc_hid_freertos/src/cdc_app.c
+++ b/examples/host/cdc_msc_hid_freertos/src/cdc_app.c
@@ -27,7 +27,7 @@
 #include "tusb.h"
 #include "bsp/board_api.h"
 
-#if TUSB_MCU_VENDOR_ESPRESSIF
+#ifdef ESP_PLATFORM
   #define CDC_STACK_SZIE      2048
 #else
   #define CDC_STACK_SZIE     (3*configMINIMAL_STACK_SIZE/2)
diff --git a/examples/host/cdc_msc_hid_freertos/src/main.c b/examples/host/cdc_msc_hid_freertos/src/main.c
index 64a108254..0bcb355ec 100644
--- a/examples/host/cdc_msc_hid_freertos/src/main.c
+++ b/examples/host/cdc_msc_hid_freertos/src/main.c
@@ -30,7 +30,7 @@
 #include "bsp/board_api.h"
 #include "tusb.h"
 
-#if TUSB_MCU_VENDOR_ESPRESSIF
+#ifdef ESP_PLATFORM
   #define USBH_STACK_SIZE     4096
 #else
   // Increase stack size when debug log is enabled
@@ -86,15 +86,15 @@ int main(void) {
 
   xTimerStart(blinky_tm, 0);
 
-  // skip starting scheduler (and return) for ESP32-S2 or ESP32-S3
-#if !TUSB_MCU_VENDOR_ESPRESSIF
+  // only start scheduler for non-espressif mcu
+#ifndef ESP_PLATFORM
   vTaskStartScheduler();
 #endif
 
   return 0;
 }
 
-#if TUSB_MCU_VENDOR_ESPRESSIF
+#ifdef ESP_PLATFORM
 void app_main(void) {
   main();
 }
diff --git a/examples/host/cdc_msc_hid_freertos/src/tusb_config.h b/examples/host/cdc_msc_hid_freertos/src/tusb_config.h
index bc8887211..3cdb227e2 100644
--- a/examples/host/cdc_msc_hid_freertos/src/tusb_config.h
+++ b/examples/host/cdc_msc_hid_freertos/src/tusb_config.h
@@ -44,7 +44,7 @@
 #endif
 
 // Espressif IDF requires "freertos/" prefix in include path
-#if TUSB_MCU_VENDOR_ESPRESSIF
+#ifdef ESP_PLATFORM
 #define CFG_TUSB_OS_INC_PATH  freertos/
 #endif
 
diff --git a/examples/host/device_info/src/main.c b/examples/host/device_info/src/main.c
index e924a137b..7189972d6 100644
--- a/examples/host/device_info/src/main.c
+++ b/examples/host/device_info/src/main.c
@@ -268,7 +268,7 @@ void led_blinking_task(void* param) {
 
 #define BLINKY_STACK_SIZE   configMINIMAL_STACK_SIZE
 
-#if TUSB_MCU_VENDOR_ESPRESSIF
+#ifdef ESP_PLATFORM
   #define USB_STACK_SIZE     4096
 #else
   // Increase stack size when debug log is enabled
@@ -285,7 +285,7 @@ StackType_t  usb_stack[USB_STACK_SIZE];
 StaticTask_t usb_taskdef;
 #endif
 
-#if TUSB_MCU_VENDOR_ESPRESSIF
+#ifdef ESP_PLATFORM
 void app_main(void) {
   main();
 }
@@ -308,8 +308,8 @@ void init_freertos_task(void) {
   xTaskCreate(usb_host_task, "usbh", USB_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL);
 #endif
 
-  // skip starting scheduler (and return) for ESP32-S2 or ESP32-S3
-#if !TUSB_MCU_VENDOR_ESPRESSIF
+  // only start scheduler for non-espressif mcu
+#ifndef ESP_PLATFORM
   vTaskStartScheduler();
 #endif
 }
diff --git a/examples/host/device_info/src/tusb_config.h b/examples/host/device_info/src/tusb_config.h
index e12970c12..e4ca2528e 100644
--- a/examples/host/device_info/src/tusb_config.h
+++ b/examples/host/device_info/src/tusb_config.h
@@ -40,7 +40,7 @@
 #endif
 
 // Espressif IDF requires "freertos/" prefix in include path
-#if TUSB_MCU_VENDOR_ESPRESSIF
+#ifdef ESP_PLATFORM
 #define CFG_TUSB_OS_INC_PATH  freertos/
 #endif
 
diff --git a/examples/host/midi_rx/src/tusb_config.h b/examples/host/midi_rx/src/tusb_config.h
index c9b430388..76bdf87f3 100644
--- a/examples/host/midi_rx/src/tusb_config.h
+++ b/examples/host/midi_rx/src/tusb_config.h
@@ -40,7 +40,7 @@ extern "C" {
 #endif
 
 // Espressif IDF requires "freertos/" prefix in include path
-#if TUSB_MCU_VENDOR_ESPRESSIF
+#ifdef ESP_PLATFORM
 #define CFG_TUSB_OS_INC_PATH  freertos/
 #endif
 
diff --git a/examples/typec/power_delivery/src/main.c b/examples/typec/power_delivery/src/main.c
index 068dbbeb1..de0db4721 100644
--- a/examples/typec/power_delivery/src/main.c
+++ b/examples/typec/power_delivery/src/main.c
@@ -71,9 +71,8 @@ int main(void)
   }
 }
 
-#if TUSB_MCU_VENDOR_ESPRESSIF
-void app_main(void)
-{
+#ifdef ESP_PLATFORM
+void app_main(void) {
   main();
 }
 #endif
diff --git a/hw/bsp/board.c b/hw/bsp/board.c
index 4b8e5950f..8f2f93306 100644
--- a/hw/bsp/board.c
+++ b/hw/bsp/board.c
@@ -66,7 +66,6 @@ int sys_read(int fhdl, char *buf, size_t count) {
 #elif defined(LOGGER_SWO)
 
 #define ITM_BASE 0xE0000000
-
 #define ITM_STIM0 (*((volatile uint8_t*)(ITM_BASE + 0)))
 #define ITM_TER *((volatile uint32_t*)(ITM_BASE + 0xE00))
 #define ITM_TCR *((volatile uint32_t*)(ITM_BASE + 0xE80))
@@ -150,6 +149,9 @@ int board_getchar(void) {
   return (sys_read(0, &c, 1) > 0) ? (int) c : (-1);
 }
 
+void board_putchar(int c) {
+  sys_write(0, (const char*)&c, 1);
+}
 
 uint32_t tusb_time_millis_api(void) {
   return board_millis();
@@ -158,7 +160,7 @@ uint32_t tusb_time_millis_api(void) {
 //--------------------------------------------------------------------
 // FreeRTOS hooks
 //--------------------------------------------------------------------
-#if CFG_TUSB_OS == OPT_OS_FREERTOS && !TUSB_MCU_VENDOR_ESPRESSIF
+#if CFG_TUSB_OS == OPT_OS_FREERTOS && !defined(ESP_PLATFORM)
 #include "FreeRTOS.h"
 #include "task.h"
 
@@ -240,5 +242,4 @@ void vApplicationSetupTimerInterrupt(void) {
 }
 #endif
 
-
 #endif
diff --git a/hw/bsp/board_api.h b/hw/bsp/board_api.h
index 9cdbbf0d3..328fe9363 100644
--- a/hw/bsp/board_api.h
+++ b/hw/bsp/board_api.h
@@ -41,7 +41,7 @@ extern "C" {
 #if CFG_TUSB_OS == OPT_OS_ZEPHYR
   #include <zephyr/kernel.h>
 #elif CFG_TUSB_OS == OPT_OS_FREERTOS
-  #if TUSB_MCU_VENDOR_ESPRESSIF
+  #ifdef ESP_PLATFORM
     // ESP-IDF need "freertos/" prefix in include path.
     // CFG_TUSB_OS_INC_PATH should be defined accordingly.
     #include "freertos/FreeRTOS.h"
@@ -195,6 +195,7 @@ static inline void board_delay(uint32_t ms) {
 
 // stdio getchar() is blocking, this is non-blocking version
 int board_getchar(void);
+void board_putchar(int c);
 
 #ifdef __cplusplus
 }
diff --git a/hw/bsp/espressif/boards/family.c b/hw/bsp/espressif/boards/family.c
index 8f6c4bee2..2a5deed26 100644
--- a/hw/bsp/espressif/boards/family.c
+++ b/hw/bsp/espressif/boards/family.c
@@ -156,6 +156,10 @@ int board_getchar(void) {
   return getchar();
 }
 
+void board_putchar(int c) {
+  putchar(c);
+}
+
 //--------------------------------------------------------------------
 // PHY Init
 //--------------------------------------------------------------------
diff --git a/tools/build.py b/tools/build.py
index 6e73681fe..eaa383d73 100755
--- a/tools/build.py
+++ b/tools/build.py
@@ -101,10 +101,8 @@ def cmake_board(board, toolchain, build_flags_on):
             if build_utils.skip_example(example, board):
                 ret[2] += 1
             else:
-                rcmd = run_cmd(f'cmake examples/{example} -B {build_dir}/{example} -G Ninja '
-                               f'-DBOARD={board} {build_flags}')
-                if rcmd.returncode == 0:
-                    rcmd = run_cmd(f'cmake --build {build_dir}/{example}')
+                rcmd = run_cmd(f'idf.py -C examples/{example} -B {build_dir}/{example} -G Ninja '
+                               f'-DBOARD={board} {build_flags} build')
                 ret[0 if rcmd.returncode == 0 else 1] += 1
     else:
         rcmd = run_cmd(f'cmake examples -B {build_dir} -G Ninja -DBOARD={board} -DCMAKE_BUILD_TYPE=MinSizeRel '
diff --git a/tools/build_utils.py b/tools/build_utils.py
index 2998f940d..d80ceea7c 100755
--- a/tools/build_utils.py
+++ b/tools/build_utils.py
@@ -26,6 +26,8 @@ def skip_example(example, board):
 
     # family.mk
     family_mk = family_dir / "family.mk"
+    if not family_mk.exists():
+        family_mk = family_dir / "family.cmake"
     mk_contents = family_mk.read_text()
 
     # Find the mcu, first in family mk then board mk