diff --git a/.idea/runConfigurations/rt10xx_pyocd.xml b/.idea/runConfigurations/rt10xx_pyocd.xml
deleted file mode 100644
index f5c142690..000000000
--- a/.idea/runConfigurations/rt10xx_pyocd.xml
+++ /dev/null
@@ -1,7 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="rt10xx pyocd" type="CMakeRunConfiguration" factoryName="Application" PROGRAM_PARAMS="flash -t mimxrt1010 $CMakeCurrentProductFile$" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="cdc_msc_hid" TARGET_NAME="msc_dual_lun" RUN_PATH="$USER_HOME$/.local/bin/pyocd">
-    <method v="2">
-      <option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
-    </method>
-  </configuration>
-</component>
\ No newline at end of file
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index a23b4ed62..91c9fb098 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.17)
 
 #set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 include(${CMAKE_CURRENT_SOURCE_DIR}/../hw/bsp/family_support.cmake)
@@ -6,5 +6,5 @@ include(${CMAKE_CURRENT_SOURCE_DIR}/../hw/bsp/family_support.cmake)
 project(tinyusb_examples C CXX ASM)
 
 add_subdirectory(device)
-#add_subdirectory(dual)
-#add_subdirectory(host)
+add_subdirectory(dual)
+add_subdirectory(host)
diff --git a/examples/cmake/cpu/cortex-m7.cmake b/examples/cmake/cpu/cortex-m7.cmake
index 2b258726f..458d8b438 100644
--- a/examples/cmake/cpu/cortex-m7.cmake
+++ b/examples/cmake/cpu/cortex-m7.cmake
@@ -1,6 +1,12 @@
-set(TOOLCHAIN_COMMON_FLAGS
-  -mthumb
-  -mcpu=cortex-m7
-  -mfloat-abi=hard
-  -mfpu=fpv5-d16
-  )
+if (TOOLCHAIN STREQUAL "gcc")
+  set(TOOLCHAIN_COMMON_FLAGS
+    -mthumb
+    -mcpu=cortex-m7
+    -mfloat-abi=hard
+    -mfpu=fpv5-d16
+    )
+
+  set(FREERTOS_PORT GCC_ARM_CM7 CACHE INTERNAL "")
+else ()
+  # TODO support IAR
+endif ()
diff --git a/examples/device/CMakeLists.txt b/examples/device/CMakeLists.txt
index ac1bbf161..5b077a5e1 100644
--- a/examples/device/CMakeLists.txt
+++ b/examples/device/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.17)
 
 include(${CMAKE_CURRENT_SOURCE_DIR}/../../hw/bsp/family_support.cmake)
 
diff --git a/examples/device/cdc_msc_freertos/CMakeLists.txt b/examples/device/cdc_msc_freertos/CMakeLists.txt
index 75ec33145..319ad0356 100644
--- a/examples/device/cdc_msc_freertos/CMakeLists.txt
+++ b/examples/device/cdc_msc_freertos/CMakeLists.txt
@@ -34,11 +34,5 @@ target_include_directories(${PROJECT} PUBLIC
 # in hw/bsp/FAMILY/family.cmake for details.
 family_configure_device_example(${PROJECT})
 
-if (NOT TARGET freertos_kernel)
-family_configure_freertos_example(${PROJECT})
-add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../../../lib/FreeRTOS-Kernel lib/FreeRTOS-Kernel)
-endif()
-
-target_link_libraries(${PROJECT} PUBLIC
-  freertos_kernel
-  )
+# Add FreeRTOS for this example
+family_add_freertos(${PROJECT})
diff --git a/examples/device/hid_composite_freertos/CMakeLists.txt b/examples/device/hid_composite_freertos/CMakeLists.txt
index 30729f438..211904cf9 100644
--- a/examples/device/hid_composite_freertos/CMakeLists.txt
+++ b/examples/device/hid_composite_freertos/CMakeLists.txt
@@ -33,11 +33,5 @@ target_include_directories(${PROJECT} PUBLIC
 # in hw/bsp/FAMILY/family.cmake for details.
 family_configure_device_example(${PROJECT})
 
-if (NOT TARGET freertos_kernel)
-family_configure_freertos_example(${PROJECT})
-add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../../../lib/FreeRTOS-Kernel lib/FreeRTOS-Kernel)
-endif()
-
-target_link_libraries(${PROJECT} PUBLIC
-  freertos_kernel
-  )
+# Add FreeRTOS for this example
+family_add_freertos(${PROJECT})
diff --git a/examples/dual/CMakeLists.txt b/examples/dual/CMakeLists.txt
index d2f9a42f0..d211c8b83 100644
--- a/examples/dual/CMakeLists.txt
+++ b/examples/dual/CMakeLists.txt
@@ -1,8 +1,8 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.17)
 
 include(${CMAKE_CURRENT_SOURCE_DIR}/../../hw/bsp/family_support.cmake)
 
-project(tinyusb_dual_examples)
+project(tinyusb_dual_examples C CXX ASM)
 family_initialize_project(tinyusb_dual_examples ${CMAKE_CURRENT_LIST_DIR})
 if (FAMILY STREQUAL "rp2040" AND NOT TARGET tinyusb_pico_pio_usb)
     message("Skipping dual host/device mode examples as Pico-PIO-USB is not available")
diff --git a/examples/dual/host_hid_to_device_cdc/CMakeLists.txt b/examples/dual/host_hid_to_device_cdc/CMakeLists.txt
index 724d1e119..3505d39eb 100644
--- a/examples/dual/host_hid_to_device_cdc/CMakeLists.txt
+++ b/examples/dual/host_hid_to_device_cdc/CMakeLists.txt
@@ -1,11 +1,11 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.17)
 
 include(${CMAKE_CURRENT_SOURCE_DIR}/../../../hw/bsp/family_support.cmake)
 
 # gets PROJECT name for the example (e.g. <BOARD>-<DIR_NAME>)
 family_get_project_name(PROJECT ${CMAKE_CURRENT_LIST_DIR})
 
-project(${PROJECT})
+project(${PROJECT} C CXX ASM)
 
 # Checks this example is valid for the family and initializes the project
 family_initialize_project(${PROJECT} ${CMAKE_CURRENT_LIST_DIR})
diff --git a/examples/host/CMakeLists.txt b/examples/host/CMakeLists.txt
index 758973ab2..bedd2220b 100644
--- a/examples/host/CMakeLists.txt
+++ b/examples/host/CMakeLists.txt
@@ -1,8 +1,8 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.17)
 
 include(${CMAKE_CURRENT_SOURCE_DIR}/../../hw/bsp/family_support.cmake)
 
-project(tinyusb_host_examples)
+project(tinyusb_host_examples C CXX ASM)
 family_initialize_project(tinyusb_host_examples ${CMAKE_CURRENT_LIST_DIR})
 
 # family_add_subdirectory will filter what to actually add based on selected FAMILY
diff --git a/examples/host/bare_api/CMakeLists.txt b/examples/host/bare_api/CMakeLists.txt
index 616edd4ac..b6d8c9c89 100644
--- a/examples/host/bare_api/CMakeLists.txt
+++ b/examples/host/bare_api/CMakeLists.txt
@@ -1,11 +1,11 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.17)
 
 include(${CMAKE_CURRENT_SOURCE_DIR}/../../../hw/bsp/family_support.cmake)
 
 # gets PROJECT name for the example
 family_get_project_name(PROJECT ${CMAKE_CURRENT_LIST_DIR})
 
-project(${PROJECT})
+project(${PROJECT} C CXX ASM)
 
 # Checks this example is valid for the family and initializes the project
 family_initialize_project(${PROJECT} ${CMAKE_CURRENT_LIST_DIR})
diff --git a/examples/host/hid_controller/CMakeLists.txt b/examples/host/hid_controller/CMakeLists.txt
index ac3070b82..e1d2f1642 100644
--- a/examples/host/hid_controller/CMakeLists.txt
+++ b/examples/host/hid_controller/CMakeLists.txt
@@ -1,11 +1,11 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.17)
 
 include(${CMAKE_CURRENT_SOURCE_DIR}/../../../hw/bsp/family_support.cmake)
 
 # gets PROJECT name for the example (e.g. <BOARD>-<DIR_NAME>)
 family_get_project_name(PROJECT ${CMAKE_CURRENT_LIST_DIR})
 
-project(${PROJECT})
+project(${PROJECT} C CXX ASM)
 
 # Checks this example is valid for the family and initializes the project
 family_initialize_project(${PROJECT} ${CMAKE_CURRENT_LIST_DIR})
diff --git a/examples/host/msc_file_explorer/CMakeLists.txt b/examples/host/msc_file_explorer/CMakeLists.txt
index 7955b3078..2ab0aa881 100644
--- a/examples/host/msc_file_explorer/CMakeLists.txt
+++ b/examples/host/msc_file_explorer/CMakeLists.txt
@@ -1,11 +1,11 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.17)
 
 include(${CMAKE_CURRENT_SOURCE_DIR}/../../../hw/bsp/family_support.cmake)
 
 # gets PROJECT name for the example (e.g. <BOARD>-<DIR_NAME>)
 family_get_project_name(PROJECT ${CMAKE_CURRENT_LIST_DIR})
 
-project(${PROJECT})
+project(${PROJECT} C CXX ASM)
 
 # Checks this example is valid for the family and initializes the project
 family_initialize_project(${PROJECT} ${CMAKE_CURRENT_LIST_DIR})
diff --git a/hw/bsp/imxrt/FreeRTOSConfig/CMakeLists.txt b/hw/bsp/imxrt/FreeRTOSConfig/CMakeLists.txt
new file mode 100644
index 000000000..0bacaf824
--- /dev/null
+++ b/hw/bsp/imxrt/FreeRTOSConfig/CMakeLists.txt
@@ -0,0 +1,8 @@
+if (NOT TARGET freertos_config)
+  add_library(freertos_config INTERFACE)
+
+  # add path to FreeRTOSConfig.h
+  target_include_directories(freertos_config SYSTEM INTERFACE
+    ${CMAKE_CURRENT_LIST_DIR}
+    )
+endif()
diff --git a/hw/bsp/imxrt/boards/mimxrt1010_evk/board.cmake b/hw/bsp/imxrt/boards/mimxrt1010_evk/board.cmake
index d4015e488..02955e356 100644
--- a/hw/bsp/imxrt/boards/mimxrt1010_evk/board.cmake
+++ b/hw/bsp/imxrt/boards/mimxrt1010_evk/board.cmake
@@ -1,5 +1,8 @@
 set(MCU_VARIANT MIMXRT1011)
 
+set(JLINK_DEVICE MIMXRT1011DAE5A)
+set(PYOCD_TARGET mimxrt1010)
+
 function(update_board TARGET)
   target_sources(${TARGET} PUBLIC
     ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/evkmimxrt1010_flexspi_nor_config.c
diff --git a/hw/bsp/imxrt/family.cmake b/hw/bsp/imxrt/family.cmake
index 1731d9e60..653885bb2 100644
--- a/hw/bsp/imxrt/family.cmake
+++ b/hw/bsp/imxrt/family.cmake
@@ -81,7 +81,7 @@ function(family_configure_target TARGET)
 
   #---------- BSP_TARGET ----------
   # BSP_TARGET is built for each example since it depends on example's tusb_config.h
-  set(BSP_TARGET "${TARGET}_bsp_${BOARD}")
+  set(BSP_TARGET "${TARGET}-bsp")
   add_library(${BSP_TARGET} STATIC
     # TinyUSB
     ${TOP}/src/portable/chipidea/ci_hs/dcd_ci_hs.c
@@ -98,13 +98,13 @@ function(family_configure_target TARGET)
 
   #---------- TinyUSB ----------
   # tinyusb target is built for each example since it depends on example's tusb_config.h
-  set(TINYUSB_TARGET_PREFIX ${TARGET})
-  add_library(${TARGET}_tinyusb_config INTERFACE)
+  set(TINYUSB_TARGET_PREFIX ${TARGET}-)
+  add_library(${TARGET}-tinyusb_config INTERFACE)
 
-  target_include_directories(${TARGET}_tinyusb_config INTERFACE
+  target_include_directories(${TARGET}-tinyusb_config INTERFACE
     ${CMAKE_CURRENT_SOURCE_DIR}/src
     )
-  target_compile_definitions(${TARGET}_tinyusb_config INTERFACE
+  target_compile_definitions(${TARGET}-tinyusb_config INTERFACE
     CFG_TUSB_MCU=OPT_MCU_MIMXRT
     )
 
@@ -112,25 +112,41 @@ function(family_configure_target TARGET)
   add_subdirectory(${TOP}/src ${CMAKE_CURRENT_BINARY_DIR}/tinyusb)
 
   # Link dependencies
-  target_link_libraries(${BSP_TARGET} PUBLIC ${BOARD_TARGET} ${TARGET}_tinyusb)
-  target_link_libraries(${TARGET} PUBLIC ${BSP_TARGET} ${TARGET}_tinyusb)
+  target_link_libraries(${BSP_TARGET} PUBLIC ${BOARD_TARGET} ${TARGET}-tinyusb)
+  target_link_libraries(${TARGET} PUBLIC ${BSP_TARGET} ${TARGET}-tinyusb)
+
+  # Flash Target
+  add_custom_target(${TARGET}-pyocd
+    COMMAND pyocd flash -t ${PYOCD_TARGET} $<TARGET_FILE:${TARGET}>
+    )
 endfunction()
 
 
-function(family_configure_freertos_example TARGET)
-  add_library(freertos_config INTERFACE)
+function(family_add_freertos TARGET)
+  # freertos_config
+  add_subdirectory(${CMAKE_CURRENT_FUNCTION_LIST_DIR}/FreeRTOSConfig ${CMAKE_CURRENT_BINARY_DIR}/freertos_config)
 
-  # add path to FreeRTOSConfig.h
-  target_include_directories(freertos_config SYSTEM INTERFACE
-    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/FreeRTOSConfig
+  ## freertos
+  if (NOT TARGET freertos_kernel)
+    add_subdirectory(${CMAKE_CURRENT_FUNCTION_LIST_DIR}/../../../lib/FreeRTOS-Kernel ${CMAKE_CURRENT_BINARY_DIR}/freertos_kernel)
+  endif ()
+
+  # Add FreeRTOS option to tinyusb_config
+  target_compile_definitions(${TARGET}-tinyusb_config INTERFACE
+    CFG_TUSB_OS=OPT_OS_FREERTOS
+    )
+  # tinyusb need to be linked with freeRTOS kernel
+  target_link_libraries(${TARGET}-tinyusb PUBLIC
+    freertos_kernel
     )
 
-  # select freertos port
-  if (TOOLCHAIN STREQUAL "gcc")
-    set(FREERTOS_PORT "GCC_ARM_CM7" CACHE INTERNAL "")
-  else ()
-    # TODO support IAR
-  endif ()
+  target_link_libraries(${TARGET}-tinyusb PUBLIC
+    freertos_kernel
+    )
+
+  target_link_libraries(${TARGET} PUBLIC
+    freertos_kernel
+    )
 endfunction()
 
 function(family_configure_device_example TARGET)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 21aa23d54..02f962f44 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -35,13 +35,13 @@ set(TINYUSB_TARGET "tinyusb")
 set(TINYUSB_CONFIG_TARGET "tinyusb_config")
 
 if (DEFINED TINYUSB_TARGET_PREFIX)
-  set(TINYUSB_TARGET "${TINYUSB_TARGET_PREFIX}_${TINYUSB_TARGET}")
-  set(TINYUSB_CONFIG_TARGET "${TINYUSB_TARGET_PREFIX}_${TINYUSB_CONFIG_TARGET}")
+  set(TINYUSB_TARGET "${TINYUSB_TARGET_PREFIX}${TINYUSB_TARGET}")
+  set(TINYUSB_CONFIG_TARGET "${TINYUSB_TARGET_PREFIX}${TINYUSB_CONFIG_TARGET}")
 endif ()
 
 if (DEFINED TINYUSB_TARGET_SUFFIX)
-  set(TINYUSB_TARGET "${TINYUSB_TARGET}_${TINYUSB_TARGET_SUFFIX}")
-  set(TINYUSB_CONFIG_TARGET "${TINYUSB_CONFIG_TARGET}_${TINYUSB_TARGET_SUFFIX}")
+  set(TINYUSB_TARGET "${TINYUSB_TARGET}${TINYUSB_TARGET_SUFFIX}")
+  set(TINYUSB_CONFIG_TARGET "${TINYUSB_CONFIG_TARGET}${TINYUSB_TARGET_SUFFIX}")
 endif ()
 
 add_library(${TINYUSB_TARGET} STATIC)