diff --git a/.gitmodules b/.gitmodules
index f49f7022..b05b4be7 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,4 +1,3 @@
-
 [submodule "tools/gvsoc"]
 	path = tools/gvsoc
-	url = https://github.com/gvsoc/gvsoc.git
+	url = git@github.com:Scheremo/gvsoc.git
diff --git a/rtos/pmsis/pmsis_bsp/rules/pulp_sdk.mk b/rtos/pmsis/pmsis_bsp/rules/pulp_sdk.mk
index a18c4d87..c385de55 100644
--- a/rtos/pmsis/pmsis_bsp/rules/pulp_sdk.mk
+++ b/rtos/pmsis/pmsis_bsp/rules/pulp_sdk.mk
@@ -8,7 +8,7 @@ export VEGA_SRC
 all:
 ifdef PULPOS
 	make -f rules/pulpos.mk build install
-endif
+endif		
 
 clean:
 ifdef PULPOS
@@ -21,5 +21,5 @@ ifdef PULPOS
 endif
 ifdef SRC
 	mkdir -p $(TARGET_INSTALL_DIR)/src/pmsis_bsp
-	cp -r bsp camera display flash ram fs include zephyr $(TARGET_INSTALL_DIR)/src/pmsis_bsp
-endif
\ No newline at end of file
+	cp -r bsp partition camera display flash ram fs include zephyr $(TARGET_INSTALL_DIR)/src/pmsis_bsp
+endif
diff --git a/rtos/pmsis/pmsis_bsp/rules/pulpos/src.mk b/rtos/pmsis/pmsis_bsp/rules/pulpos/src.mk
index a44bae5e..b377533b 100644
--- a/rtos/pmsis/pmsis_bsp/rules/pulpos/src.mk
+++ b/rtos/pmsis/pmsis_bsp/rules/pulpos/src.mk
@@ -50,6 +50,7 @@ CONFIG_HYPER = 1
 endif
 
 ifeq '$(CONFIG_READFS)' '1'
+PULP_SRCS += $(BSP_FLASH_SRC)
 PULP_SRCS += $(BSP_READFS_SRC)
 CONFIG_FS = 1
 endif
diff --git a/rtos/pulpos/common/kernel/crt0.S b/rtos/pulpos/common/kernel/crt0.S
index e347be0c..c8ba4429 100644
--- a/rtos/pulpos/common/kernel/crt0.S
+++ b/rtos/pulpos/common/kernel/crt0.S
@@ -20,7 +20,7 @@
 
 #include "archi/pulp.h"
 
-    .section .text_l2
+    .section .text_l2, "ax", %progbits
     .global pos_init_entry
 pos_init_entry:
 
diff --git a/rtos/pulpos/common/kernel/irq_asm.S b/rtos/pulpos/common/kernel/irq_asm.S
index 9631f701..e97e8a04 100644
--- a/rtos/pulpos/common/kernel/irq_asm.S
+++ b/rtos/pulpos/common/kernel/irq_asm.S
@@ -19,7 +19,7 @@
 #
 
 
-  .section .text_l2
+  .section .text_l2, "ax", %progbits
 
   .global pos_irq_call_external_c_function
 pos_irq_call_external_c_function:
diff --git a/rtos/pulpos/common/kernel/soc_event_v2_itc.S b/rtos/pulpos/common/kernel/soc_event_v2_itc.S
index bc22b974..3f853c66 100644
--- a/rtos/pulpos/common/kernel/soc_event_v2_itc.S
+++ b/rtos/pulpos/common/kernel/soc_event_v2_itc.S
@@ -21,7 +21,7 @@
 #include <archi/pulp.h>
 
 
-    .section .text_l2
+    .section .text_l2, "ax", %progbits
 
     #
     # SOC event handler entry
diff --git a/rtos/pulpos/common/kernel/task_asm.S b/rtos/pulpos/common/kernel/task_asm.S
index fde391c3..734a6c2e 100644
--- a/rtos/pulpos/common/kernel/task_asm.S
+++ b/rtos/pulpos/common/kernel/task_asm.S
@@ -20,7 +20,7 @@
 
 #include <pos/data/data.h>
 
-    .section .text_l2
+    .section .text_l2, "ax", %progbits
 
     .global pos_task_push_asm
 pos_task_push_asm:
diff --git a/rtos/pulpos/common/kernel/time_asm.S b/rtos/pulpos/common/kernel/time_asm.S
index 692f3444..12ce39cc 100644
--- a/rtos/pulpos/common/kernel/time_asm.S
+++ b/rtos/pulpos/common/kernel/time_asm.S
@@ -20,7 +20,7 @@
 
 #include <pos/data/data.h>
 
-    .section .text_l2
+    .section .text_l2, "ax", %progbits
 
     .global pos_time_timer_handler_asm
 pos_time_timer_handler_asm:
diff --git a/rtos/pulpos/common/rules/pulpos/default_rules.mk b/rtos/pulpos/common/rules/pulpos/default_rules.mk
index 26e803ef..2988b301 100644
--- a/rtos/pulpos/common/rules/pulpos/default_rules.mk
+++ b/rtos/pulpos/common/rules/pulpos/default_rules.mk
@@ -189,20 +189,40 @@ override config_args += $(foreach file, $(HOSTFS_FILES), --config-opt=flash/cont
 
 define declare_app
 
-$(eval PULP_APP_SRCS_$(1) += $(PULP_APP_SRCS) $(PULP_APP_FC_SRCS) $(PULP_SRCS) $(PULP_APP_CL_SRCS) $(PULP_CL_SRCS))
-$(eval PULP_APP_ASM_SRCS_$(1) += $(PULP_APP_ASM_SRCS) $(PULP_ASM_SRCS) $(PULP_APP_CL_ASM_SRCS) $(PULP_CL_ASM_SRCS))
+$(eval PULP_SDK_SRCS_SDK = $(PULP_CL_SRCS) $(PULP_SRCS))
+$(eval PULP_SDK_ASM_SRCS_SDK = $(PULP_ASM_SRCS) $(PULP_CL_ASM_SRCS))
+$(eval PULP_SDK_OBJS_SDK += $(patsubst %.c,$(TARGET_BUILD_DIR)/SDK/%.o,$(PULP_SDK_SRCS_SDK)))
+$(eval PULP_SDK_OBJS_SDK += $(patsubst %.S,$(TARGET_BUILD_DIR)/SDK/%.o,$(PULP_SDK_ASM_SRCS_SDK)))
+$(eval PULP_APP_CFLAGS_SDK += $(PULP_ARCH_CFLAGS) $(PULP_CFLAGS) $(PULP_APP_CFLAGS) -fno-inline-functions)
+
+$(eval PULP_APP_SRCS_$(1) += $(PULP_APP_SRCS) $(PULP_APP_FC_SRCS) $(PULP_APP_CL_SRCS))
+$(eval PULP_APP_ASM_SRCS_$(1) += $(PULP_APP_ASM_SRCS) $(PULP_APP_CL_ASM_SRCS))
 $(eval PULP_APP_OBJS_$(1) += $(patsubst %.c,$(TARGET_BUILD_DIR)/$(1)/%.o,$(PULP_APP_SRCS_$(1))))
 $(eval PULP_APP_OBJS_$(1) += $(patsubst %.S,$(TARGET_BUILD_DIR)/$(1)/%.o,$(PULP_APP_ASM_SRCS_$(1))))
-
 $(eval PULP_APP_CFLAGS_$(1) += $(PULP_ARCH_CFLAGS) $(PULP_CFLAGS) $(PULP_APP_CFLAGS))
 $(eval PULP_APP_LDFLAGS_$(1) += $(PULP_ARCH_LDFLAGS) $(PULP_LDFLAGS) $(PULP_APP_LDFLAGS))
 
 -include $(PULP_APP_OBJS_$(1):.o=.d)
 
+$(TARGET_BUILD_DIR)/SDK/%.o: %.c
+	@echo "CC  $$<"
+	$(V)mkdir -p `dirname $$@`
+	$(V)$(PULP_CC) -c $$< -o $$@ -MMD -MP  -fno-inline-functions $(PULP_APP_CFLAGS_SDK)
+
+$(TARGET_BUILD_DIR)/SDK/%.o: %.cpp
+	@echo "CXX $$<"
+	$(V)mkdir -p `dirname $$@`
+	$(V)$(PULP_CC) -c $< -o $@ -MMD -MP $(PULP_APP_CFLAGS_SDK)
+
+$(TARGET_BUILD_DIR)/SDK/%.o: %.S
+	@echo "CC  $$<"
+	$(V)mkdir -p `dirname $$@`
+	$(V)$(PULP_CC) -c $$< -o $$@ -MMD -MP -DLANGUAGE_ASSEMBLY $(PULP_APP_CFLAGS_SDK)
+
 $(TARGET_BUILD_DIR)/$(1)/%.o: %.c
 	@echo "CC  $$<"
 	$(V)mkdir -p `dirname $$@`
-	$(V)$(PULP_CC) -c $$< -o $$@ -MMD -MP $(PULP_APP_CFLAGS_$(1))
+	$(V)$(PULP_CC) -c $$< -o $$@ -MMD -MP  -fno-inline-functions $(PULP_APP_CFLAGS_$(1))
 
 $(TARGET_BUILD_DIR)/$(1)/%.o: %.cpp
 	@echo "CXX $$<"
@@ -214,7 +234,7 @@ $(TARGET_BUILD_DIR)/$(1)/%.o: %.S
 	$(V)mkdir -p `dirname $$@`
 	$(V)$(PULP_CC) -c $$< -o $$@ -MMD -MP -DLANGUAGE_ASSEMBLY $(PULP_APP_CFLAGS_$(1))
 
-$(TARGET_BUILD_DIR)/$(1)/$(1): $(PULP_APP_OBJS_$(1))
+$(TARGET_BUILD_DIR)/$(1)/$(1): $(PULP_APP_OBJS_$(1)) $(PULP_SDK_OBJS_SDK)
 	@echo "LD  $$@"
 	$(V)mkdir -p `dirname $$@`
 	$(V)$(PULP_LD) -o $$@ $$^ -MMD -MP $(PULP_APP_LDFLAGS_$(1))
diff --git a/rtos/pulpos/pulp/kernel/chips/pulp/link.ld b/rtos/pulpos/pulp/kernel/chips/pulp/link.ld
index ea407353..e34436ae 100644
--- a/rtos/pulpos/pulp/kernel/chips/pulp/link.ld
+++ b/rtos/pulpos/pulp/kernel/chips/pulp/link.ld
@@ -249,7 +249,7 @@ SECTIONS
     *(.data_tiny_l1.*)
     *(.data_alias_l1)
     *(.data_alias_l1.*)
-  } > L1_aliased AT> L2
+  } > L2_aliased AT> L2
 
   .l1cluster_g (ORIGIN(L1) + SIZEOF(.data_tiny_l1)): {
     . = ALIGN(4);
diff --git a/rtos/pulpos/pulp/rules/pulpos/targets/pulp.mk b/rtos/pulpos/pulp/rules/pulpos/targets/pulp.mk
index f4951b83..e961bc88 100644
--- a/rtos/pulpos/pulp/rules/pulpos/targets/pulp.mk
+++ b/rtos/pulpos/pulp/rules/pulpos/targets/pulp.mk
@@ -11,19 +11,22 @@ ifdef PULP_RISCV_GCC_TOOLCHAIN
 PULP_ARCH_CFLAGS ?=  -march=rv32imcxgap9 -mPE=$(CONFIG_NB_CLUSTER_PE) -mFC=1
 PULP_ARCH_LDFLAGS ?=  -march=rv32imcxgap9 -mPE=$(CONFIG_NB_CLUSTER_PE) -mFC=1
 PULP_ARCH_OBJDFLAGS ?= -Mmarch=rv32imcxgap9
+PULP_LDFLAGS += -nostartfiles -nostdlib -Wl,--gc-sections -L$(PULP_EXT_LIBS) -L$(PULPOS_PULP_HOME)/kernel -Tchips/pulp/link.ld -lgcc
 endif
 
 ifdef PULP_RISCV_LLVM_TOOLCHAIN
-PULP_ARCH_CFLAGS ?=   -target riscv32-unknown-elf -march=rv32imcxpulpv2 --sysroot=${PULP_RISCV_LLVM_TOOLCHAIN}/riscv32-unknown-elf -ffreestanding
+PULP_ARCH_CFLAGS ?=   -target riscv32-unknown-elf -march=rv32imcxpulpv2 --sysroot=${PULP_RISCV_LLVM_TOOLCHAIN}/picolibc/riscv -ffreestanding -ffunction-sections -fdata-sections -mno-relax
 PULP_ARCH_LDFLAGS ?=  -march=rv32imcxpulpv2
 PULP_ARCH_OBJDFLAGS ?= -Mmarch=rv32imcxpulpv2
+PULP_LDFLAGS += -z norelro -target riscv32-unknown-elf -march=rv32imcxpulpv2 --sysroot=${PULP_RISCV_LLVM_TOOLCHAIN}/picolibc/riscv -fuse-ld=lld -nostartfiles  -L$(PULP_EXT_LIBS) -L$(PULPOS_PULP_HOME)/kernel -T$(PULPOS_PULP_HOME)/kernel/chips/pulp/link.ld
+PULP_LD ?= clang
 endif
 
 PULP_CFLAGS    += -fdata-sections -ffunction-sections -include pos/chips/pulp/config.h -I$(PULPOS_PULP_HOME)/include/pos/chips/pulp -I$(PULP_EXT_LIBS)/include
 ifeq '$(CONFIG_OPENMP)' '1'
 PULP_CFLAGS    += -fopenmp -mnativeomp
 endif
-PULP_LDFLAGS += -nostartfiles -nostdlib -Wl,--gc-sections -L$(PULP_EXT_LIBS) -L$(PULPOS_PULP_HOME)/kernel -Tchips/pulp/link.ld -lgcc
+
 
 PULP_CC = riscv32-unknown-elf-gcc 
 PULP_AR ?= riscv32-unknown-elf-ar
diff --git a/tools/dpi-models/models/jtag/proxy/proxy.cpp b/tools/dpi-models/models/jtag/proxy/proxy.cpp
index 5185191e..8d8752de 100644
--- a/tools/dpi-models/models/jtag/proxy/proxy.cpp
+++ b/tools/dpi-models/models/jtag/proxy/proxy.cpp
@@ -21,7 +21,6 @@
 #include <sys/types.h>
 #include <sys/socket.h>
 #include <thread>
-#include <sys/prctl.h>
 #include <netinet/in.h>
 #include <stdint.h>
 #include <unistd.h>
diff --git a/tools/dpi-models/src/dpi.cpp b/tools/dpi-models/src/dpi.cpp
index 88704c46..e3593b95 100644
--- a/tools/dpi-models/src/dpi.cpp
+++ b/tools/dpi-models/src/dpi.cpp
@@ -33,8 +33,6 @@
 #include "dpi/tb_driver.h"
 
 
-
-
 // NOTE for DPI models integration with Questasim.
 //
 // As vsim does not export symbols to dynamically loaded modules, we need
@@ -334,7 +332,11 @@ void *dpi_model_load(void *config, void *handle)
   
   if (periph_api == NULL)
   {
+#if !(__APPLE__)
     void *libperiph = dlopen("libpulpperiph.so", RTLD_NOW | RTLD_GLOBAL | RTLD_DEEPBIND);
+#else
+    void *libperiph = dlopen("libpulpperiph.dylib", RTLD_NOW | RTLD_GLOBAL);
+#endif
     if (libperiph == NULL)
     {
       dpi_print(NULL, "ERROR, Failed to open Pulp periph models library with error:");
diff --git a/tools/dpi-models/src/models.cpp b/tools/dpi-models/src/models.cpp
index 1c59d0a2..26fca7d2 100644
--- a/tools/dpi-models/src/models.cpp
+++ b/tools/dpi-models/src/models.cpp
@@ -329,7 +329,11 @@ extern "C" void *model_load(void *_config, void *handle)
 
   std::string module_name = module_config->get_str();
 
+#if (!__APPLE__)
   void *module = dlopen(module_name.c_str(), RTLD_NOW | RTLD_GLOBAL | RTLD_DEEPBIND);
+#else
+  void *module = dlopen(module_name.c_str(), RTLD_NOW | RTLD_GLOBAL);
+#endif
   if (module == NULL)
   {
     dpi_fatal_stub(handle, "ERROR, Failed to open periph model (%s) with error: %s", module_name.c_str(), dlerror());
diff --git a/tools/dpi-models/src/telnet_proxy.cpp b/tools/dpi-models/src/telnet_proxy.cpp
index a5bb32e7..8bb38d68 100644
--- a/tools/dpi-models/src/telnet_proxy.cpp
+++ b/tools/dpi-models/src/telnet_proxy.cpp
@@ -29,7 +29,6 @@
 #include <mutex>
 #include <sys/types.h>
 #include <sys/socket.h>
-#include <sys/prctl.h>
 #include <netinet/in.h>
 #include <poll.h>
 #include <signal.h>
diff --git a/tools/gvsoc b/tools/gvsoc
index 22a6eb6e..b243d07a 160000
--- a/tools/gvsoc
+++ b/tools/gvsoc
@@ -1 +1 @@
-Subproject commit 22a6eb6e85f681ef1c84070dc4c5a194ffb18a06
+Subproject commit b243d07af47eee3e57cbd7db88bed5ef9d48dc58