diff --git a/examples/make.mk b/examples/make.mk
index 53f633b18..e04a2592a 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 7f0927a17..9265bb684 100644
--- a/examples/rules.mk
+++ b/examples/rules.mk
@@ -5,69 +5,9 @@
 # Set all as default goal
 .DEFAULT_GOAL := all
 
-ifeq ($(FAMILY),esp32s2)
-# ---------------------------------------
-# Espressif IDF use CMake build system, this add wrapper target to call idf.py
-# ---------------------------------------
-
-.PHONY: all clean flash
-
-all:
-	idf.py -B$(BUILD) -DFAMILY=$(FAMILY) -DBOARD=$(BOARD) $(CMAKE_DEFSYM) build
-
-build: all
-
-clean:
-	idf.py -B$(BUILD) -DFAMILY=$(FAMILY) -DBOARD=$(BOARD) $(CMAKE_DEFSYM) clean
-
-fullclean:
-	idf.py -B$(BUILD) -DFAMILY=$(FAMILY) -DBOARD=$(BOARD) $(CMAKE_DEFSYM) fullclean
-
-flash:
-	idf.py -B$(BUILD) -DFAMILY=$(FAMILY) -DBOARD=$(BOARD) $(CMAKE_DEFSYM) flash
-
-bootloader-flash:
-	idf.py -B$(BUILD) -DFAMILY=$(FAMILY) -DBOARD=$(BOARD) $(CMAKE_DEFSYM) bootloader-flash
-
-app-flash:
-	idf.py -B$(BUILD) -DFAMILY=$(FAMILY) -DBOARD=$(BOARD) $(CMAKE_DEFSYM) app-flash
-
-erase:
-	idf.py -B$(BUILD) -DFAMILY=$(FAMILY) -DBOARD=$(BOARD) $(CMAKE_DEFSYM) erase_flash
-
-monitor:
-	idf.py -B$(BUILD) -DFAMILY=$(FAMILY) -DBOARD=$(BOARD) $(CMAKE_DEFSYM) monitor
-
-uf2: $(BUILD)/$(PROJECT).uf2
-
-UF2_FAMILY_ID = 0xbfdd4eee
-$(BUILD)/$(PROJECT).uf2: $(BUILD)/$(PROJECT).bin
-	@echo CREATE $@
-	$(PYTHON) $(TOP)/tools/uf2/utils/uf2conv.py -f $(UF2_FAMILY_ID) -b 0x0 -c -o $@ $^
-
-else ifeq ($(FAMILY),rp2040)
-# ---------------------------------------
-# RP2040 CMake
-# ---------------------------------------
-
-ifeq ($(DEBUG), 1)
-CMAKE_DEFSYM += -DCMAKE_BUILD_TYPE=Debug
-endif
-
-$(BUILD):
-	cmake -S . -B $(BUILD) -DFAMILY=$(FAMILY) -DBOARD=$(BOARD) -DPICO_BUILD_DOCS=0 $(CMAKE_DEFSYM)
-
-all: $(BUILD)
-	$(MAKE) -C $(BUILD)
-
-clean:
-	$(RM) -rf $(BUILD)
-
-#flash: flash-pyocd
-flash:
-	@$(CP) $(BUILD)/$(PROJECT).uf2 /media/$(USER)/RPI-RP2
-
-else
+# ESP32-S2 and RP2040 has its own CMake build system
+ifneq ($(FAMILY),esp32s2)
+ifneq ($(FAMILY),rp2040)
 # ---------------------------------------
 # GNU Make build system
 # ---------------------------------------
@@ -194,12 +134,12 @@ else
 	$(RM) -rf $(BUILD)
 endif
 
+endif
 endif # GNU Make
 
-# Print out the value of a make variable.
-# https://stackoverflow.com/questions/16467718/how-to-print-out-a-variable-in-makefile
-print-%:
-	@echo $* = $($*)
+# ---------------------------------------
+# Flash Targets
+# ---------------------------------------
 
 # Flash binary using Jlink
 ifeq ($(OS),Windows_NT)
@@ -244,3 +184,7 @@ copy-artifact: $(BIN)
 	#@$(CP) $(BUILD)/$(PROJECT).hex $(BIN)
 	#@$(CP) $(BUILD)/$(PROJECT).elf $(BIN)
 
+# Print out the value of a make variable.
+# https://stackoverflow.com/questions/16467718/how-to-print-out-a-variable-in-makefile
+print-%:
+	@echo $* = $($*)
diff --git a/hw/bsp/esp32s2/family.mk b/hw/bsp/esp32s2/family.mk
new file mode 100644
index 000000000..fd8481fd4
--- /dev/null
+++ b/hw/bsp/esp32s2/family.mk
@@ -0,0 +1,36 @@
+#DEPS_SUBMODULES =
+
+.PHONY: all clean flash
+
+all:
+	idf.py -B$(BUILD) -DFAMILY=$(FAMILY) -DBOARD=$(BOARD) $(CMAKE_DEFSYM) build
+
+build: all
+
+clean:
+	idf.py -B$(BUILD) -DFAMILY=$(FAMILY) -DBOARD=$(BOARD) $(CMAKE_DEFSYM) clean
+
+fullclean:
+	idf.py -B$(BUILD) -DFAMILY=$(FAMILY) -DBOARD=$(BOARD) $(CMAKE_DEFSYM) fullclean
+
+flash:
+	idf.py -B$(BUILD) -DFAMILY=$(FAMILY) -DBOARD=$(BOARD) $(CMAKE_DEFSYM) flash
+
+bootloader-flash:
+	idf.py -B$(BUILD) -DFAMILY=$(FAMILY) -DBOARD=$(BOARD) $(CMAKE_DEFSYM) bootloader-flash
+
+app-flash:
+	idf.py -B$(BUILD) -DFAMILY=$(FAMILY) -DBOARD=$(BOARD) $(CMAKE_DEFSYM) app-flash
+
+erase:
+	idf.py -B$(BUILD) -DFAMILY=$(FAMILY) -DBOARD=$(BOARD) $(CMAKE_DEFSYM) erase_flash
+
+monitor:
+	idf.py -B$(BUILD) -DFAMILY=$(FAMILY) -DBOARD=$(BOARD) $(CMAKE_DEFSYM) monitor
+
+uf2: $(BUILD)/$(PROJECT).uf2
+
+UF2_FAMILY_ID = 0xbfdd4eee
+$(BUILD)/$(PROJECT).uf2: $(BUILD)/$(PROJECT).bin
+	@echo CREATE $@
+	$(PYTHON) $(TOP)/tools/uf2/utils/uf2conv.py -f $(UF2_FAMILY_ID) -b 0x0 -c -o $@ $^
diff --git a/hw/bsp/rp2040/family.mk b/hw/bsp/rp2040/family.mk
index 2778183f8..c953840bf 100644
--- a/hw/bsp/rp2040/family.mk
+++ b/hw/bsp/rp2040/family.mk
@@ -1,4 +1,21 @@
 DEPS_SUBMODULES = hw/mcu/raspberrypi/pico-sdk
 
+ifeq ($(DEBUG), 1)
+CMAKE_DEFSYM += -DCMAKE_BUILD_TYPE=Debug
+endif
+
+$(BUILD):
+	cmake -S . -B $(BUILD) -DFAMILY=$(FAMILY) -DBOARD=$(BOARD) -DPICO_BUILD_DOCS=0 $(CMAKE_DEFSYM)
+
+all: $(BUILD)
+	$(MAKE) -C $(BUILD)
+
+clean:
+	$(RM) -rf $(BUILD)
+
+#flash: flash-pyocd
+flash:
+	@$(CP) $(BUILD)/$(PROJECT).uf2 /media/$(USER)/RPI-RP2
+
 JLINK_DEVICE = rp2040_m0_0
 PYOCD_TARGET = rp2040