diff --git a/Arduino/Drv/HardwareRateDriver/CMakeLists.txt b/Arduino/Drv/HardwareRateDriver/CMakeLists.txt
index 0049595..744fbfe 100644
--- a/Arduino/Drv/HardwareRateDriver/CMakeLists.txt
+++ b/Arduino/Drv/HardwareRateDriver/CMakeLists.txt
@@ -19,15 +19,12 @@ if (NOT FPRIME_ARDUINO)
     list(APPEND SOURCE_FILES "${CMAKE_CURRENT_LIST_DIR}/HardwareRateDriverLinux.cpp")
 elseif (IS_TEENSY)
     target_use_arduino_libraries("IntervalTimer")
-    list(APPEND MOD_DEPS "IntervalTimer")
     list(APPEND SOURCE_FILES "${CMAKE_CURRENT_LIST_DIR}/HardwareRateDriverTeensy.cpp")
 elseif (IS_ATMEGA)
     target_use_arduino_libraries("TimerOne")
-    list(APPEND MOD_DEPS "TimerOne")
     list(APPEND SOURCE_FILES "${CMAKE_CURRENT_LIST_DIR}/HardwareRateDriverAvr.cpp")
 elseif (IS_MBED)
     target_use_arduino_libraries("mbed")
-    list(APPEND MOD_DEPS "mbed")
     list(APPEND SOURCE_FILES "${CMAKE_CURRENT_LIST_DIR}/HardwareRateDriverMbed.cpp")
 else()
     set(COMPILE_DEFINITIONS "USE_BASIC_TIMER")
diff --git a/Arduino/Drv/I2cDriver/CMakeLists.txt b/Arduino/Drv/I2cDriver/CMakeLists.txt
new file mode 100644
index 0000000..e838b36
--- /dev/null
+++ b/Arduino/Drv/I2cDriver/CMakeLists.txt
@@ -0,0 +1,19 @@
+####
+# F prime CMakeLists.txt:
+#
+# SOURCE_FILES: combined list of source and autocoding files
+# MOD_DEPS: (optional) module dependencies
+# UT_SOURCE_FILES: list of source files for unit tests
+#
+####
+set(SOURCE_FILES
+  "${CMAKE_CURRENT_LIST_DIR}/I2cDriver.fpp"
+  "${CMAKE_CURRENT_LIST_DIR}/I2cDriver.cpp"
+)
+if(FPRIME_ARDUINO)
+    list(APPEND SOURCE_FILES "${CMAKE_CURRENT_LIST_DIR}/I2cDriverArduino.cpp")
+    target_use_arduino_libraries("Wire")
+else()
+    list(APPEND SOURCE_FILES "${CMAKE_CURRENT_LIST_DIR}/I2cDriverLinux.cpp")
+endif()
+register_fprime_module()
diff --git a/Arduino/Drv/I2cDriver/I2cDriver.cpp b/Arduino/Drv/I2cDriver/I2cDriver.cpp
new file mode 100644
index 0000000..993518e
--- /dev/null
+++ b/Arduino/Drv/I2cDriver/I2cDriver.cpp
@@ -0,0 +1,63 @@
+// ======================================================================
+// \title  I2cDriver.cpp
+// \author ethanchee
+// \brief  cpp file for I2cDriver component implementation class
+// ======================================================================
+
+
+#include <Arduino/Drv/I2cDriver/I2cDriver.hpp>
+#include <FpConfig.hpp>
+#include "Fw/Types/Assert.hpp"
+
+namespace Arduino {
+
+  // ----------------------------------------------------------------------
+  // Construction, initialization, and destruction
+  // ----------------------------------------------------------------------
+
+  I2cDriver ::
+    I2cDriver(
+        const char *const compName
+    ) : I2cDriverComponentBase(compName),
+        m_port_pointer(static_cast<POINTER_CAST>(NULL))
+  {
+
+  }
+
+  I2cDriver ::
+    ~I2cDriver()
+  {
+
+  }
+
+  // ----------------------------------------------------------------------
+  // Handler implementations for user-defined typed input ports
+  // ----------------------------------------------------------------------
+
+  Drv::I2cStatus I2cDriver ::
+    read_handler(
+        const NATIVE_INT_TYPE portNum,
+        U32 addr,
+        Fw::Buffer &serBuffer
+    )
+  {
+    // Ensure buffer is not a nullptr
+    FW_ASSERT(serBuffer.getData());
+
+    return read_data(addr, serBuffer);
+  }
+
+  Drv::I2cStatus I2cDriver ::
+    write_handler(
+        const NATIVE_INT_TYPE portNum,
+        U32 addr,
+        Fw::Buffer &serBuffer
+    )
+  {
+    // Ensure buffer is not a nullptr
+    FW_ASSERT(serBuffer.getData());
+    
+    return write_data(addr, serBuffer);
+  }
+
+} // end namespace Arduino
diff --git a/Arduino/Drv/I2cDriver/I2cDriver.fpp b/Arduino/Drv/I2cDriver/I2cDriver.fpp
new file mode 100644
index 0000000..cd6ce30
--- /dev/null
+++ b/Arduino/Drv/I2cDriver/I2cDriver.fpp
@@ -0,0 +1,10 @@
+module Arduino {
+    @ I2C Driver for Arduino
+    passive component I2cDriver {
+
+        guarded input port write: Drv.I2c
+
+        guarded input port read: Drv.I2c
+
+    }
+}
diff --git a/Arduino/Drv/I2cDriver/I2cDriver.hpp b/Arduino/Drv/I2cDriver/I2cDriver.hpp
new file mode 100644
index 0000000..127a083
--- /dev/null
+++ b/Arduino/Drv/I2cDriver/I2cDriver.hpp
@@ -0,0 +1,80 @@
+// ======================================================================
+// \title  I2cDriver.hpp
+// \author ethanchee
+// \brief  hpp file for I2cDriver component implementation class
+// ======================================================================
+
+#ifndef I2cDriver_HPP
+#define I2cDriver_HPP
+
+#include "Arduino/Drv/I2cDriver/I2cDriverComponentAc.hpp"
+#include <Wire.h>
+
+namespace Arduino {
+
+  class I2cDriver :
+    public I2cDriverComponentBase
+  {
+
+    public:
+
+      // ----------------------------------------------------------------------
+      // Construction, initialization, and destruction
+      // ----------------------------------------------------------------------
+
+      //! Construct object I2cDriver
+      //!
+      I2cDriver(
+          const char *const compName /*!< The component name*/
+      );
+
+      void open(TwoWire* wire);
+      void close();
+
+      //! Destroy object I2cDriver
+      //!
+      ~I2cDriver();
+
+    PRIVATE:
+
+      //! Read the actual data
+      Drv::I2cStatus read_data(U32 addr, Fw::Buffer& fwBuffer);
+      //! Write the actual data
+      Drv::I2cStatus write_data(U32 addr, Fw::Buffer& fwBuffer);
+
+      // ----------------------------------------------------------------------
+      // Handler implementations for user-defined typed input ports
+      // ----------------------------------------------------------------------
+
+      //! Handler implementation for read
+      //!
+      Drv::I2cStatus read_handler(
+          const NATIVE_INT_TYPE portNum, /*!< The port number*/
+          U32 addr, /*!< 
+      I2C slave device address
+      */
+          Fw::Buffer &serBuffer /*!< 
+      Buffer with data to read/write to/from
+      */
+      );
+
+      //! Handler implementation for write
+      //!
+      Drv::I2cStatus write_handler(
+          const NATIVE_INT_TYPE portNum, /*!< The port number*/
+          U32 addr, /*!< 
+      I2C slave device address
+      */
+          Fw::Buffer &serBuffer /*!< 
+      Buffer with data to read/write to/from
+      */
+      );
+
+      //! Stores the open wire port, POINTER_CAST so Linux and Ardunio may use different types
+      void* m_port_pointer;
+
+    };
+
+} // end namespace Arduino
+
+#endif
diff --git a/Arduino/Drv/I2cDriver/I2cDriverArduino.cpp b/Arduino/Drv/I2cDriver/I2cDriverArduino.cpp
new file mode 100644
index 0000000..e8a33c9
--- /dev/null
+++ b/Arduino/Drv/I2cDriver/I2cDriverArduino.cpp
@@ -0,0 +1,56 @@
+// ======================================================================
+// \title  I2cDriver.cpp
+// \author ethanchee
+// \brief  cpp file for I2cDriver component implementation class
+// ======================================================================
+
+
+#include <Arduino/Drv/I2cDriver/I2cDriver.hpp>
+#include <FpConfig.hpp>
+#include "Fw/Types/Assert.hpp"
+
+namespace Arduino {
+
+  void I2cDriver::open(TwoWire *wire) {
+    FW_ASSERT(wire != nullptr);
+    m_port_pointer = wire;
+    wire->begin();
+  }
+
+  void I2cDriver::close() {
+    FW_ASSERT(m_port_pointer != 0);
+    TwoWire* wire_ptr = reinterpret_cast<TwoWire*>(m_port_pointer);
+    wire_ptr->end();
+  }
+
+  Drv::I2cStatus I2cDriver::read_data(U32 addr, Fw::Buffer& fwBuffer)
+  {
+    TwoWire* wire_ptr = reinterpret_cast<TwoWire*>(m_port_pointer);
+
+    wire_ptr->requestFrom(static_cast<U8>(addr), fwBuffer.getSize());
+
+    int byte = 0;
+    NATIVE_UINT_TYPE count = 0;
+    U8* raw_data = reinterpret_cast<U8*>(fwBuffer.getData());
+    while ((wire_ptr->available() > 0) && (count < fwBuffer.getSize()) && ((byte = wire_ptr->read()) != -1)) {
+        *(raw_data + count) = static_cast<U8>(byte);
+        count++;
+    }
+    fwBuffer.setSize(count);
+
+    return Drv::I2cStatus::I2C_OK;
+  }
+
+  Drv::I2cStatus I2cDriver::write_data(U32 addr, Fw::Buffer& fwBuffer)
+  {
+    FW_ASSERT(m_port_pointer != 0);
+    TwoWire* wire_ptr = reinterpret_cast<TwoWire*>(m_port_pointer);
+
+    wire_ptr->beginTransmission(static_cast<U8>(addr));
+    wire_ptr->write(reinterpret_cast<U8*>(fwBuffer.getData()), fwBuffer.getSize());
+    wire_ptr->endTransmission();
+
+    return Drv::I2cStatus::I2C_OK;
+  }
+
+} // end namespace Arduino
diff --git a/Arduino/Drv/I2cDriver/I2cDriverLinux.cpp b/Arduino/Drv/I2cDriver/I2cDriverLinux.cpp
new file mode 100644
index 0000000..f9cd315
--- /dev/null
+++ b/Arduino/Drv/I2cDriver/I2cDriverLinux.cpp
@@ -0,0 +1,27 @@
+// ======================================================================
+// \title  I2cDriver.cpp
+// \author ethanchee
+// \brief  cpp file for I2cDriver component implementation class
+// ======================================================================
+
+
+#include <Arduino/Drv/I2cDriver/I2cDriver.hpp>
+#include <FpConfig.hpp>
+
+namespace Arduino {
+
+    void I2cDriver::close() {
+        
+    }
+
+    Drv::I2cStatus I2cDriver::read_data(U32 addr, Fw::Buffer& fwBuffer)
+    {
+        return Drv::I2cStatus::I2C_OK;
+    }
+
+    Drv::I2cStatus I2cDriver::write_data(U32 addr, Fw::Buffer& fwBuffer)
+    {
+        return Drv::I2cStatus::I2C_OK;        
+    }
+
+} // end namespace Arduino
diff --git a/Arduino/Drv/StreamDriver/CMakeLists.txt b/Arduino/Drv/StreamDriver/CMakeLists.txt
new file mode 100644
index 0000000..a1eab19
--- /dev/null
+++ b/Arduino/Drv/StreamDriver/CMakeLists.txt
@@ -0,0 +1,17 @@
+####
+# F prime CMakeLists.txt:
+#
+# SOURCE_FILES: combined list of source and autocoding diles
+# MOD_DEPS: (optional) module dependencies
+#
+####
+set(SOURCE_FILES
+  "${CMAKE_CURRENT_LIST_DIR}/StreamDriver.fpp"
+  "${CMAKE_CURRENT_LIST_DIR}/StreamDriver.cpp"
+)
+if(FPRIME_ARDUINO)
+    list(APPEND SOURCE_FILES "${CMAKE_CURRENT_LIST_DIR}/StreamDriverArduino.cpp")
+else()
+    list(APPEND SOURCE_FILES "${CMAKE_CURRENT_LIST_DIR}/StreamDriverLinux.cpp")
+endif()
+register_fprime_module()
diff --git a/Arduino/Drv/StreamDriver/StreamDriver.cpp b/Arduino/Drv/StreamDriver/StreamDriver.cpp
new file mode 100644
index 0000000..203fc7e
--- /dev/null
+++ b/Arduino/Drv/StreamDriver/StreamDriver.cpp
@@ -0,0 +1,39 @@
+// ======================================================================
+// \title  StreamDriverImpl.cpp
+// \author lestarch
+// \brief  cpp file for StreamDriver component implementation class
+// ======================================================================
+
+#include <Arduino/Drv/StreamDriver/StreamDriver.hpp>
+#include "Fw/Types/BasicTypes.hpp"
+
+namespace Arduino {
+
+// ----------------------------------------------------------------------
+// Construction, initialization, and destruction
+// ----------------------------------------------------------------------
+
+StreamDriver ::StreamDriver(const char* compName)
+    : StreamDriverComponentBase(compName),
+      m_port_number(0),
+      m_port_pointer(static_cast<POINTER_CAST>(NULL)) {}
+
+StreamDriver ::~StreamDriver(void) {}
+
+// ----------------------------------------------------------------------
+// Handler implementations for user-defined typed input ports
+// ----------------------------------------------------------------------
+
+Drv::SendStatus StreamDriver ::send_handler(const NATIVE_INT_TYPE portNum, Fw::Buffer& fwBuffer) {
+    write_data(fwBuffer);
+    deallocate_out(0, fwBuffer);
+    return Drv::SendStatus::SEND_OK;
+}
+
+void StreamDriver ::schedIn_handler(const NATIVE_INT_TYPE portNum, NATIVE_UINT_TYPE context) {
+    Fw::Buffer recv_buffer = this->allocate_out(0, SERIAL_BUFFER_SIZE);
+    read_data(recv_buffer);
+    recv_out(0, recv_buffer, Drv::RecvStatus::RECV_OK);
+}
+
+}  // namespace Arduino
diff --git a/Arduino/Drv/StreamDriver/StreamDriver.fpp b/Arduino/Drv/StreamDriver/StreamDriver.fpp
new file mode 100644
index 0000000..ed82f6f
--- /dev/null
+++ b/Arduino/Drv/StreamDriver/StreamDriver.fpp
@@ -0,0 +1,23 @@
+module Arduino {
+
+  passive component StreamDriver {
+
+    @ Polling for receiving data
+    sync input port schedIn: Svc.Sched
+
+    @ Indicates the driver has connected to the UART device
+    output port ready: Drv.ByteStreamReady
+
+    @Allocate new buffer
+    output port allocate: Fw.BufferGet
+
+    @return the allocated buffer
+    output port deallocate: Fw.BufferSend
+
+    @ Takes data to transmit out the UART device
+    guarded input port send: Drv.ByteStreamSend
+
+    @ Takes data to transmit out the UART device
+    output port $recv: Drv.ByteStreamRecv
+  }
+}
diff --git a/Arduino/Drv/StreamDriver/StreamDriver.hpp b/Arduino/Drv/StreamDriver/StreamDriver.hpp
new file mode 100644
index 0000000..2acb79e
--- /dev/null
+++ b/Arduino/Drv/StreamDriver/StreamDriver.hpp
@@ -0,0 +1,68 @@
+// ======================================================================
+// \title  StreamDriverImpl.hpp
+// \author lestarch
+// \brief  hpp file for StreamDriver component implementation class
+// ======================================================================
+
+#ifndef StreamDriver_HPP
+#define StreamDriver_HPP
+
+#include "Arduino/Drv/StreamDriver/StreamDriverComponentAc.hpp"
+#include "Os/Task.hpp"
+#include <FprimeArduino.hpp>
+
+namespace Arduino {
+// Allow for setting serial ports on linux from the inputs
+#ifndef ARDUINO
+extern char** SERIAL_PORT;
+#endif
+
+class StreamDriver : public StreamDriverComponentBase {
+  public:
+    const static FwSizeType SERIAL_BUFFER_SIZE = 64;  // Maximum Arduino buffer size
+    // ----------------------------------------------------------------------
+    // Construction, initialization, and destruction
+    // ----------------------------------------------------------------------
+
+    //! Construct object StreamDriver
+    //!
+    StreamDriver(const char* compName /*!< The component name*/
+    );
+
+    //! Destroy object StreamDriver
+    //!
+    ~StreamDriver(void);
+
+    //! Configure this port
+    //!
+    void configure(Stream* streamDriver);
+
+  private:
+    //! Read the actual data
+    void read_data(Fw::Buffer& fwBuffer);
+    //! Write the actual data
+    void write_data(Fw::Buffer& fwBuffer);
+    // ----------------------------------------------------------------------
+    // Handler implementations for user-defined typed input ports
+    // ----------------------------------------------------------------------
+
+    //! Handler implementation for send
+    //!
+    Drv::SendStatus send_handler(const NATIVE_INT_TYPE portNum, /*!< The port number*/
+                                 Fw::Buffer& fwBuffer) override;
+
+    //! Handler implementation for schedIn
+    //!
+    void schedIn_handler(const NATIVE_INT_TYPE portNum, /*!< The port number*/
+                         NATIVE_UINT_TYPE context       /*!< The call order*/
+    );
+
+    //! Port number to open
+    NATIVE_UINT_TYPE m_port_number;
+    //! Stores the open stream port, POINTER_CAST so Linux and Ardunio may use different types
+    void* m_port_pointer;
+};
+
+}  // end namespace Arduino
+
+#endif
diff --git a/Arduino/Drv/StreamDriver/StreamDriverArduino.cpp b/Arduino/Drv/StreamDriver/StreamDriverArduino.cpp
new file mode 100644
index 0000000..0d7b4cc
--- /dev/null
+++ b/Arduino/Drv/StreamDriver/StreamDriverArduino.cpp
@@ -0,0 +1,44 @@
+// ======================================================================
+// \title  StreamDriverImpl.cpp
+// \author lestarch
+// \brief  cpp file for StreamDriver component implementation class
+// ======================================================================
+
+#include <Arduino/Drv/StreamDriver/StreamDriver.hpp>
+#include <FprimeArduino.hpp>
+#include <Os/Log.hpp>
+#include "Fw/Types/BasicTypes.hpp"
+#include "Fw/Types/Assert.hpp"
+
+namespace Arduino {
+
+void StreamDriver::configure(Stream* streamDriver) {
+    FW_ASSERT(streamDriver != nullptr);
+    m_port_pointer = streamDriver;
+    if (this->isConnected_ready_OutputPort(0)) {
+        this->ready_out(0);
+    }
+}
+
+// ----------------------------------------------------------------------
+// Handler implementations for user-defined typed input ports
+// ----------------------------------------------------------------------
+
+void StreamDriver ::write_data(Fw::Buffer& fwBuffer) {
+    FW_ASSERT(m_port_pointer != 0);
+    reinterpret_cast<Stream*>(m_port_pointer)
+        ->write(reinterpret_cast<U8*>(fwBuffer.getData()), fwBuffer.getSize());
+}
+
+void StreamDriver ::read_data(Fw::Buffer& fwBuffer) {
+    Stream* stream_ptr = reinterpret_cast<Stream*>(m_port_pointer);
+    int byte = 0;
+    NATIVE_UINT_TYPE count = 0;
+    U8* raw_data = reinterpret_cast<U8*>(fwBuffer.getData());
+    while ((stream_ptr->available() > 0) && (count < fwBuffer.getSize()) && ((byte = stream_ptr->read()) != -1)) {
+        *(raw_data + count) = static_cast<U8>(byte);
+        count++;
+    }
+    fwBuffer.setSize(count);
+}
+}  // namespace Arduino
diff --git a/Arduino/Drv/StreamDriver/StreamDriverLinux.cpp b/Arduino/Drv/StreamDriver/StreamDriverLinux.cpp
new file mode 100644
index 0000000..7856064
--- /dev/null
+++ b/Arduino/Drv/StreamDriver/StreamDriverLinux.cpp
@@ -0,0 +1,50 @@
+// ======================================================================
+// \title  StreamDriverImpl.cpp
+// \author lestarch
+// \brief  cpp file for StreamDriver component implementation class
+// ======================================================================
+
+#include <fcntl.h>
+#include <string.h>
+#include <unistd.h>
+#include <fprime-arduino/ArduinoDrv/StreamDriver/StreamDriver.hpp>
+#include "Fw/Types/BasicTypes.hpp"
+
+#define SERIAL_FILE_LINUX_TMPL "/dev/pts/%d"
+
+namespace Arduino {
+char** SERIAL_PORT = NULL;
+void StreamDriver ::init(const FwIndexType port_number, const PlatformIntType baud) {
+    char name[1024];
+    StreamDriverComponentBase::init(instance);
+    // NULL ports use above template
+    if (SERIAL_PORT == NULL) {
+        snprintf(name, 1024, SERIAL_FILE_LINUX_TMPL, m_port_number + 20);
+        SERIAL_PORT = reinterpret_cast<char**>(&name);
+    }
+    printf("Opening serial port: '%s'\n", *SERIAL_PORT);
+    m_port_pointer = open(*SERIAL_PORT, O_RDWR);
+    int flags = fcntl(m_port_pointer, F_GETFL, 0);
+    fcntl(m_port_pointer, F_SETFL, flags | O_NONBLOCK);
+}
+
+// ----------------------------------------------------------------------
+// Handler implementations for user-defined typed input ports
+// ----------------------------------------------------------------------
+
+void StreamDriver ::write_data(Fw::Buffer& fwBuffer) {
+    if (m_port_pointer != -1) {
+        write(m_port_pointer, reinterpret_cast<U8*>(fwBuffer.getdata()), fwBuffer.getsize());
+    }
+}
+
+void StreamDriver ::read_data(Fw::Buffer& fwBuffer) {
+    NATIVE_INT_TYPE result;
+    if ((m_port_pointer != -1) &&
+        (-1 != (result = read(m_port_pointer, reinterpret_cast<U8*>(fwBuffer.getdata()), fwBuffer.getsize())))) {
+        fwBuffer.setsize(result);
+    } else {
+        fwBuffer.setsize(0);
+    }
+}
+}  // namespace Arduino
diff --git a/cmake/platform/FprimeArduino.hpp b/cmake/platform/FprimeArduino.hpp
index cb9e98e..c622f73 100644
--- a/cmake/platform/FprimeArduino.hpp
+++ b/cmake/platform/FprimeArduino.hpp
@@ -22,7 +22,8 @@ enum ARDUINO_DEFINITION_REMAP {
     DEF_LOW = LOW,
     DEF_INPUT = INPUT,
     DEF_OUTPUT = OUTPUT,
-    DEF_INPUT_PULLUP = INPUT_PULLUP
+    DEF_INPUT_PULLUP = INPUT_PULLUP,
+    DEF_LED_BUILTIN = LED_BUILTIN
 };
 };
 #undef INPUT
@@ -30,6 +31,7 @@ enum ARDUINO_DEFINITION_REMAP {
 #undef INPUT_PULLUP
 #undef HIGH
 #undef LOW
-
+#undef LED_BUILTIN
+#undef SERIAL_BUFFER_SIZE
 
 #endif  // ARDUINOBLINK_FPRIMEARDUINO_HPP
diff --git a/cmake/toolchain/featherM0.cmake b/cmake/toolchain/featherM0.cmake
index 7dfcb22..bfa32f7 100644
--- a/cmake/toolchain/featherM0.cmake
+++ b/cmake/toolchain/featherM0.cmake
@@ -9,7 +9,7 @@
 set(CMAKE_SYSTEM_NAME "ArduinoFw")
 set(CMAKE_SYSTEM_PROCESSOR "arm")
 set(CMAKE_CROSSCOMPILING 1)
-set(FPRIME_USE_BAREMETAL_SCHEDULER OFF)
+set(FPRIME_USE_BAREMETAL_SCHEDULER ON)
 set(ARDUINO_BUILD_PROPERTIES)
 
 set(ARDUINO_FQBN "adafruit:samd:adafruit_feather_m0")
diff --git a/cmake/toolchain/featherrp2040rfm.cmake b/cmake/toolchain/featherrp2040rfm.cmake
new file mode 100644
index 0000000..4c1c4ab
--- /dev/null
+++ b/cmake/toolchain/featherrp2040rfm.cmake
@@ -0,0 +1,15 @@
+####
+# thingplusrp2040.cmake:
+#
+# RP2040 support.
+####
+# System setup for Teensyduino
+set(CMAKE_SYSTEM_NAME "ArduinoFw")
+set(CMAKE_SYSTEM_PROCESSOR "arm")
+set(CMAKE_CROSSCOMPILING 1)
+set(FPRIME_USE_BAREMETAL_SCHEDULER ON)
+
+
+set(ARDUINO_FQBN "rp2040:rp2040:adafruit_feather_rfm")
+# Run the base arduino setup which should detect settings!
+include("${CMAKE_CURRENT_LIST_DIR}/support/arduino-support.cmake")
diff --git a/cmake/toolchain/support/arduino-support.cmake b/cmake/toolchain/support/arduino-support.cmake
index c46a007..5ad633f 100644
--- a/cmake/toolchain/support/arduino-support.cmake
+++ b/cmake/toolchain/support/arduino-support.cmake
@@ -55,6 +55,7 @@ function(set_arduino_build_settings)
     # Flags for each of the tools
     read_json(ARDUINO_AR_FLAGS "${WRAPPER_OUTPUT}" flags AR)
     read_json(CMAKE_EXE_LINKER_FLAGS_INIT "${WRAPPER_OUTPUT}" flags LINKER_EXE)
+    string(REPLACE "<TARGET_PATH>.map" "link.map" CMAKE_EXE_LINKER_FLAGS_INIT "${CMAKE_EXE_LINKER_FLAGS_INIT}")
 
     # Convert lists to the INIT " " separated format
     foreach(LIST_VARIABLE IN ITEMS
@@ -65,12 +66,11 @@ function(set_arduino_build_settings)
 
     read_json(INCLUDES "${WRAPPER_OUTPUT}" includes CXX)
     include_directories(${INCLUDES})
-    if (NOT TARGET fprime_arduino_base_libraries)
-        add_library(fprime_arduino_base_libraries INTERFACE)
-        add_dependencies(fprime_arduino_base_libraries core fprime_arduino_loose_object_library)
-        target_link_libraries(fprime_arduino_base_libraries INTERFACE core fprime_arduino_loose_object_library fprime_arduino_patcher)
+    if (NOT TARGET fprime_arduino_libraries)
+        add_library(fprime_arduino_libraries INTERFACE)
     endif()
-    link_libraries(fprime_arduino_base_libraries)
+    link_libraries(fprime_arduino_libraries)
+    link_libraries(fprime_arduino_patcher)
     # Setup misc commands
     SET(CMAKE_C_ARCHIVE_CREATE "<CMAKE_AR> ${ARDUINO_AR_FLAGS} <TARGET> <OBJECTS>")
     SET(CMAKE_CXX_ARCHIVE_CREATE "<CMAKE_AR> ${ARDUINO_AR_FLAGS} <TARGET> <OBJECTS>")
@@ -101,6 +101,8 @@ function(target_use_arduino_libraries)
     list(APPEND ARDUINO_LIBRARY_LIST_LOCAL ${ARGN})
     list(REMOVE_DUPLICATES ARDUINO_LIBRARY_LIST_LOCAL)
     set_property(GLOBAL PROPERTY ARDUINO_LIBRARY_LIST ${ARDUINO_LIBRARY_LIST_LOCAL})
+    list(APPEND MOD_DEPS fprime_arduino_libraries)
+    set(MOD_DEPS "${MOD_DEPS}" PARENT_SCOPE)
 endfunction(target_use_arduino_libraries)
 
 ####
@@ -111,7 +113,7 @@ endfunction(target_use_arduino_libraries)
 ####
 function(setup_arduino_libraries)
     get_property(ARDUINO_LIBRARY_LIST_LOCAL GLOBAL PROPERTY ARDUINO_LIBRARY_LIST)
-    prevent_prescan(${ARDUINO_LIBRARY_LIST_LOCAL} fprime-arduino-patcher core fprime_arduino_loose_object_library)
+    prevent_prescan(${ARDUINO_LIBRARY_LIST_LOCAL} fprime_arduino_patcher fprime_arduino_loose_object_library)
     run_arduino_wrapper(
         -b "${ARDUINO_FQBN}"
         --properties ${ARDUINO_BUILD_PROPERTIES} -j "${ARDUINO_WRAPPER_JSON_OUTPUT}"
@@ -123,36 +125,45 @@ function(setup_arduino_libraries)
     read_json(LIBRARIES "${WRAPPER_OUTPUT}" libraries)
     read_json(OBJECTS "${WRAPPER_OUTPUT}" objects)
 
-    # Setup an extra arduino libraries
-    add_library(fprime_arduino_patcher ${EXTRA_LIBRARY_SOURCE})
-    add_library(fprime_arduino_loose_object_library OBJECT IMPORTED GLOBAL)
-    set_target_properties(fprime_arduino_loose_object_library PROPERTIES IMPORTED_OBJECTS "${OBJECTS}")
-    target_include_directories(fprime_arduino_loose_object_library INTERFACE ${INCLUDES})
+    # Setup arduino missing C/C++ function patch library
+    if (NOT TARGET fprime_arduino_patcher)
+        add_library(fprime_arduino_patcher ${EXTRA_LIBRARY_SOURCE})
+        get_target_property(TARGET_LIBRARIES fprime_arduino_patcher LINK_LIBRARIES)
+        LIST(REMOVE_ITEM TARGET_LIBRARIES fprime_arduino_libraries)
+        LIST(REMOVE_ITEM TARGET_LIBRARIES fprime_arduino_patcher)
+        set_property(TARGET fprime_arduino_patcher PROPERTY LINK_LIBRARIES ${TARGET_LIBRARIES})
+    endif()
+
+    # Setup  library to capture loose object files from arduino-cli compile
+    if (NOT TARGET fprime_arduino_loose_object_library)
+        add_library(fprime_arduino_loose_object_library OBJECT IMPORTED GLOBAL)
+        set_target_properties(fprime_arduino_loose_object_library PROPERTIES IMPORTED_OBJECTS "${OBJECTS}")
+        target_include_directories(fprime_arduino_loose_object_library INTERFACE ${INCLUDES})
+        target_link_libraries(fprime_arduino_libraries INTERFACE fprime_arduino_loose_object_library)
+    endif()
 
     # Import all of the libraries including core
-    list(APPEND ARDUINO_LIBRARY_LIST_LOCAL core)
-    message(STATUS "${LIBRARIES}")
-    foreach(NEEDED_LIBRARY IN LISTS ARDUINO_LIBRARY_LIST_LOCAL)
-        set(FOUND OFF)
-        foreach(BUILT_LIBRARY IN LISTS LIBRARIES)
-            ends_with(IS_NEEDLE "${BUILT_LIBRARY}" "${NEEDED_LIBRARY}.a")
-            # If a matching library was built, use it
-            if (IS_NEEDLE)
-                message(STATUS "Adding Arduino Library: ${NEEDED_LIBRARY}")
-                add_library(${NEEDED_LIBRARY} STATIC IMPORTED GLOBAL)
-                set_target_properties(${NEEDED_LIBRARY} PROPERTIES IMPORTED_LOCATION "${BUILT_LIBRARY}")
-                set(FOUND ON)
-                break()
+    foreach(BUILT_LIBRARY IN LISTS LIBRARIES)
+        string(SUBSTRING "${BUILT_LIBRARY}" 0 1 MAYBE_DASH)
+        if (MAYBE_DASH STREQUAL "-")
+            message(STATUS "Adding Arduino Library Flag: ${BUILT_LIBRARY}")
+            target_link_libraries(fprime_arduino_libraries INTERFACE ${BUILT_LIBRARY})
+        else()
+            get_filename_component(LIBRARY_BASE "${BUILT_LIBRARY}" NAME_WE)
+
+            # Add new imported library
+            if (NOT TARGET ${LIBRARY_BASE})
+                message(STATUS "Adding Arduino Library: ${LIBRARY_BASE}")
+                add_library(${LIBRARY_BASE} STATIC IMPORTED GLOBAL)
+                set_target_properties(${LIBRARY_BASE} PROPERTIES IMPORTED_LOCATION "${BUILT_LIBRARY}")
+                add_dependencies(${LIBRARY_BASE} fprime_arduino_loose_object_library)
+                target_link_libraries(${LIBRARY_BASE} INTERFACE fprime_arduino_loose_object_library)
+
+                # Setup detected dependencies to the interface library
+                add_dependencies(fprime_arduino_libraries ${LIBRARY_BASE})
+                target_link_libraries(fprime_arduino_libraries INTERFACE ${LIBRARY_BASE})
             endif()
-        endforeach()
-        # If the matching library was not found, create an interface to the object library
-        if (NOT FOUND)
-            message(STATUS "Adding Arduino Interface: ${NEEDED_LIBRARY}")
-            add_library(${NEEDED_LIBRARY} INTERFACE)
         endif()
-        # Add dependencies and header information
-        add_dependencies(${NEEDED_LIBRARY} fprime_arduino_loose_object_library)
-        target_link_libraries(${NEEDED_LIBRARY} INTERFACE fprime_arduino_loose_object_library)
     endforeach()
     set(WRAPPER_OUTPUT "${WRAPPER_OUTPUT}" PARENT_SCOPE)
 endfunction(setup_arduino_libraries)
@@ -162,32 +173,27 @@ endfunction(setup_arduino_libraries)
 #
 # Attach the arduino libraries to a given target (e.g. executable/deployment). Additionally sets up finalization steps
 # for the executable (e.g. building hex files, calculating size, etc).
-#
-# Args:
-#    TARGET_NAME: target name to setup and build a hex file
 ####
-function(finalize_arduino_executable TARGET_NAME)
+function(finalize_arduino_executable)
     setup_arduino_libraries()
     prevent_prescan()
-
     # Add link dependency on
     target_link_libraries(
-        "${TARGET_NAME}"
-        PUBLIC $<TARGET_OBJECTS:fprime_arduino_loose_object_library> fprime_arduino_patcher
+        "${FPRIME_CURRENT_MODULE}"
+        PUBLIC fprime_arduino_libraries $<TARGET_OBJECTS:fprime_arduino_loose_object_library>
     )
     read_json(POST_COMMANDS "${WRAPPER_OUTPUT}" post)
     set(COMMAND_SET_ARGUMENTS)
     foreach(COMMAND IN LISTS POST_COMMANDS)
-        string(REPLACE "<TARGET_PATH>" "$<TARGET_FILE:${TARGET_NAME}>" COMMAND_WITH_INPUT "${COMMAND}")
-        string(REPLACE "<TARGET_NAME>" "$<TARGET_FILE_NAME:${TARGET_NAME}>" COMMAND_WITH_INPUT "${COMMAND_WITH_INPUT}")
-        string(REPLACE "<TARGET_DIRECTORY>" "$<TARGET_FILE_DIR:${TARGET_NAME}>" COMMAND_WITH_INPUT "${COMMAND_WITH_INPUT}")
+        string(REPLACE "<TARGET_PATH>" "$<TARGET_FILE:${FPRIME_CURRENT_MODULE}>" COMMAND_WITH_INPUT "${COMMAND}")
+        string(REPLACE "<TARGET_NAME>" "$<TARGET_FILE_NAME:${FPRIME_CURRENT_MODULE}>" COMMAND_WITH_INPUT "${COMMAND_WITH_INPUT}")
+        string(REPLACE "<TARGET_DIRECTORY>" "$<TARGET_FILE_DIR:${FPRIME_CURRENT_MODULE}>" COMMAND_WITH_INPUT "${COMMAND_WITH_INPUT}")
         string(REPLACE " " ";" COMMAND_WITH_INPUT "${COMMAND_WITH_INPUT}")
-        list(APPEND COMMAND_SET_ARGUMENTS COMMAND ${COMMAND_WITH_INPUT})
+        list(APPEND COMMAND_SET_ARGUMENTS COMMAND ${COMMAND_WITH_INPUT} || true)
     endforeach()
-    message(STATUS ">>>>>${COMMAND_SET_ARGUMENTS}")
-    list(APPEND COMMAND_SET_ARGUMENTS COMMAND "${CMAKE_COMMAND}" "-E" "copy_if_different" "$<TARGET_FILE:${TARGET_NAME}>*" "${CMAKE_INSTALL_PREFIX}/${TOOLCHAIN_NAME}/bin")
+    list(APPEND COMMAND_SET_ARGUMENTS COMMAND "${CMAKE_COMMAND}" "-E" "copy_if_different" "$<TARGET_FILE:${FPRIME_CURRENT_MODULE}>*" "${CMAKE_INSTALL_PREFIX}/${TOOLCHAIN_NAME}/${FPRIME_CURRENT_MODULE}/bin")
     add_custom_command(
-        TARGET "${TARGET_NAME}" POST_BUILD ${COMMAND_SET_ARGUMENTS}
+        TARGET "${FPRIME_CURRENT_MODULE}" POST_BUILD ${COMMAND_SET_ARGUMENTS}
     )
 endfunction(finalize_arduino_executable)
 
diff --git a/cmake/toolchain/support/arduino-wrapper.cmake b/cmake/toolchain/support/arduino-wrapper.cmake
index a5c495c..167091e 100644
--- a/cmake/toolchain/support/arduino-wrapper.cmake
+++ b/cmake/toolchain/support/arduino-wrapper.cmake
@@ -29,7 +29,6 @@ function(ends_with OUTPUT_VAR STRING SUFFIX)
     endif()
 endfunction(ends_with)
 
-
 ####
 # Function `run_arduino_wrapper`:
 #
diff --git a/cmake/toolchain/support/sources/extras.cpp b/cmake/toolchain/support/sources/extras.cpp
index 07b6897..17f9c96 100644
--- a/cmake/toolchain/support/sources/extras.cpp
+++ b/cmake/toolchain/support/sources/extras.cpp
@@ -1,4 +1,6 @@
 #include <Fw/Logger/Logger.hpp>
+
+#ifdef FPRIME_ARUDINO_SYNTHETIC_WRITE
 extern "C" {
 #include <stdlib.h>
 int _write( int handle, char *buf, int count) {
@@ -11,9 +13,13 @@ int _write( int handle, char *buf, int count) {
     return count;
 }
 };
+#endif
+
+#ifdef FPRIME_ARUDINO_SYNTHETIC_NEW_NOTHROW
 #include <new>
 namespace std {
     const std::nothrow_t nothrow;
 }
 void* operator new(unsigned int size, std::nothrow_t const&){ return malloc(size); }
 void* operator new[](unsigned int size, std::nothrow_t const&){ return malloc(size); }
+#endif
diff --git a/cmake/toolchain/teensy32.cmake b/cmake/toolchain/teensy32.cmake
index 86197ea..8aad65a 100644
--- a/cmake/toolchain/teensy32.cmake
+++ b/cmake/toolchain/teensy32.cmake
@@ -1,5 +1,5 @@
 ####
-# Teensyduino.cmake:
+# teensy32.cmake:
 #
 # Toolchain file setup for building F prime for the Teensy hardware platform. This must, by definition, include the
 # Arduino framework in order to ensure that basic functions of the Teensy hardware platform are available. This
@@ -14,5 +14,6 @@ set(ARDUINO_BUILD_PROPERTIES)
 
 # Teensy 31 is used to compile for the teensy 3.2 board
 set(ARDUINO_FQBN "teensy:avr:teensy31")
+add_compile_options(-DFPRIME_ARUDINO_SYNTHETIC_WRITE -DFPRIME_ARUDINO_SYNTHETIC_NEW_NOTHROW)
 # Run the base arduino setup which should detect settings!
 include("${CMAKE_CURRENT_LIST_DIR}/support/arduino-support.cmake")
diff --git a/cmake/toolchain/teensy40.cmake b/cmake/toolchain/teensy40.cmake
index 2346520..89a605d 100644
--- a/cmake/toolchain/teensy40.cmake
+++ b/cmake/toolchain/teensy40.cmake
@@ -14,5 +14,6 @@ set(ARDUINO_BUILD_PROPERTIES)
 
 # Teensy 40 is used to compile for the teensy 4.0 board
 set(ARDUINO_FQBN "teensy:avr:teensy40")
+add_compile_options(-DFPRIME_ARUDINO_SYNTHETIC_WRITE -DFPRIME_ARUDINO_SYNTHETIC_NEW_NOTHROW)
 # Run the base arduino setup which should detect settings!
 include("${CMAKE_CURRENT_LIST_DIR}/support/arduino-support.cmake")
diff --git a/cmake/toolchain/teensy41.cmake b/cmake/toolchain/teensy41.cmake
index 795d8ae..8eff27e 100644
--- a/cmake/toolchain/teensy41.cmake
+++ b/cmake/toolchain/teensy41.cmake
@@ -14,5 +14,6 @@ set(ARDUINO_BUILD_PROPERTIES)
 
 # Teensy 40 is used to compile for the teensy 4.1 board
 set(ARDUINO_FQBN "teensy:avr:teensy41")
+add_compile_options(-DFPRIME_ARUDINO_SYNTHETIC_WRITE -DFPRIME_ARUDINO_SYNTHETIC_NEW_NOTHROW)
 # Run the base arduino setup which should detect settings!
 include("${CMAKE_CURRENT_LIST_DIR}/support/arduino-support.cmake")
diff --git a/cmake/toolchain/thingplusrp2040.cmake b/cmake/toolchain/thingplusrp2040.cmake
new file mode 100644
index 0000000..9c657a8
--- /dev/null
+++ b/cmake/toolchain/thingplusrp2040.cmake
@@ -0,0 +1,15 @@
+####
+# thingplusrp2040.cmake:
+#
+# RP2040 support.
+####
+# System setup for Teensyduino
+set(CMAKE_SYSTEM_NAME "ArduinoFw")
+set(CMAKE_SYSTEM_PROCESSOR "arm")
+set(CMAKE_CROSSCOMPILING 1)
+set(FPRIME_USE_BAREMETAL_SCHEDULER ON)
+
+
+set(ARDUINO_FQBN "rp2040:rp2040:sparkfun_thingplusrp2040")
+# Run the base arduino setup which should detect settings!
+include("${CMAKE_CURRENT_LIST_DIR}/support/arduino-support.cmake")
diff --git a/fprime-arduino.cmake b/fprime-arduino.cmake
index 5a72b6c..01c2a74 100644
--- a/fprime-arduino.cmake
+++ b/fprime-arduino.cmake
@@ -1,3 +1,4 @@
+restrict_platforms(ArduinoFw)
 starts_with(IS_MBED "${ARDUINO_FQBN}" "arduino:mbed")
 if (IS_MBED)
     set(CMAKE_CXX_STANDARD 14)
@@ -6,6 +7,8 @@ endif()
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Arduino/Os")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Arduino/ArduinoTime")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Arduino/Drv/GpioDriver")
-add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Arduino/Drv/SerialDriver")
+add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Arduino/Drv/StreamDriver")
+add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Arduino/Drv/I2cDriver")
 add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Arduino/Drv/HardwareRateDriver")
 
+setup_arduino_libraries()