diff --git a/.circleci/build-toolchains.sh b/.circleci/build-toolchains.sh
index 63f47505..b43d2eda 100755
--- a/.circleci/build-toolchains.sh
+++ b/.circleci/build-toolchains.sh
@@ -14,5 +14,5 @@ if [ ! -d "$HOME/$1-install" ]; then
     cd $HOME
 
     # init all submodules including the tools
-    CHIPYARD_DIR=$LOCAL_CHIPYARD_DIR $LOCAL_CHIPYARD_DIR/scripts/build-toolchains.sh $1
+    CHIPYARD_DIR="$LOCAL_CHIPYARD_DIR" NPROC=2 $LOCAL_CHIPYARD_DIR/scripts/build-toolchains.sh $1
 fi
diff --git a/.circleci/config.yml b/.circleci/config.yml
index 88ec3e45..d0453176 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -7,7 +7,7 @@ version: 2
 jobs:
     commit-on-master-check:
         docker:
-            - image: riscvboom/riscvboom-images:0.0.10
+            - image: riscvboom/riscvboom-images:0.0.11
         environment:
             JVM_OPTS: -Xmx3200m # Customize the JVM maximum heap limit
             TERM: dumb
@@ -19,7 +19,7 @@ jobs:
                     .circleci/check-commit.sh
     install-riscv-toolchain:
         docker:
-            - image: riscvboom/riscvboom-images:0.0.10
+            - image: riscvboom/riscvboom-images:0.0.11
         environment:
             JVM_OPTS: -Xmx3200m # Customize the JVM maximum heap limit
             TERM: dumb
@@ -31,19 +31,19 @@ jobs:
                     .circleci/create-hash.sh
             - restore_cache:
                 keys:
-                    - riscv-tools-installed-v1-{{ checksum "../riscv-tools.hash" }}
+                    - riscv-tools-installed-v2-{{ checksum "../riscv-tools.hash" }}
             - run:
                 name: Building riscv-tools toolchain
                 command: |
                     .circleci/build-toolchains.sh riscv-tools
                 no_output_timeout: 120m
             - save_cache:
-                key: riscv-tools-installed-v1-{{ checksum "../riscv-tools.hash" }}
+                key: riscv-tools-installed-v2-{{ checksum "../riscv-tools.hash" }}
                 paths:
                     - "/home/riscvuser/riscv-tools-install"
     install-esp-toolchain:
         docker:
-            - image: riscvboom/riscvboom-images:0.0.10
+            - image: riscvboom/riscvboom-images:0.0.11
         environment:
             JVM_OPTS: -Xmx3200m # Customize the JVM maximum heap limit
             TERM: dumb
@@ -55,19 +55,19 @@ jobs:
                     .circleci/create-hash.sh
             - restore_cache:
                 keys:
-                    - esp-tools-installed-v1-{{ checksum "../esp-tools.hash" }}
+                    - esp-tools-installed-v2-{{ checksum "../esp-tools.hash" }}
             - run:
                 name: Building esp-tools toolchain
                 command: |
                     .circleci/build-toolchains.sh esp-tools
                 no_output_timeout: 120m
             - save_cache:
-                key: esp-tools-installed-v1-{{ checksum "../esp-tools.hash" }}
+                key: esp-tools-installed-v2-{{ checksum "../esp-tools.hash" }}
                 paths:
                     - "/home/riscvuser/esp-tools-install"
     install-verilator:
         docker:
-            - image: riscvboom/riscvboom-images:0.0.10
+            - image: riscvboom/riscvboom-images:0.0.11
         environment:
             JVM_OPTS: -Xmx3200m # Customize the JVM maximum heap limit
             TERM: dumb
@@ -90,7 +90,7 @@ jobs:
                     - "/home/riscvuser/verilator"
     build-extra-tests:
         docker:
-            - image: riscvboom/riscvboom-images:0.0.10
+            - image: riscvboom/riscvboom-images:0.0.11
         environment:
             JVM_OPTS: -Xmx3200m # Customize the JVM maximum heap limit
             TERM: dumb
@@ -105,7 +105,7 @@ jobs:
                     .circleci/create-hash.sh
             - restore_cache:
                 keys:
-                    - riscv-tools-installed-v1-{{ checksum "../riscv-tools.hash" }}
+                    - riscv-tools-installed-v2-{{ checksum "../riscv-tools.hash" }}
             - run:
                 name: Build extra tests
                 command: .circleci/build-extra-tests.sh
@@ -116,7 +116,7 @@ jobs:
                     - "/home/riscvuser/project/tests"
     prepare-example:
         docker:
-            - image: riscvboom/riscvboom-images:0.0.10
+            - image: riscvboom/riscvboom-images:0.0.11
         environment:
             JVM_OPTS: -Xmx3200m # Customize the JVM maximum heap limit
             TERM: dumb
@@ -131,7 +131,7 @@ jobs:
                     .circleci/create-hash.sh
             - restore_cache:
                 keys:
-                    - riscv-tools-installed-v1-{{ checksum "../riscv-tools.hash" }}
+                    - riscv-tools-installed-v2-{{ checksum "../riscv-tools.hash" }}
             - restore_cache:
                 keys:
                     - verilator-installed-v3-{{ checksum "sims/verilator/verilator.mk" }}
@@ -145,7 +145,7 @@ jobs:
                     - "/home/riscvuser/project"
     prepare-boomrocketexample:
         docker:
-            - image: riscvboom/riscvboom-images:0.0.10
+            - image: riscvboom/riscvboom-images:0.0.11
         environment:
             JVM_OPTS: -Xmx3200m # Customize the JVM maximum heap limit
             TERM: dumb
@@ -160,7 +160,7 @@ jobs:
                     .circleci/create-hash.sh
             - restore_cache:
                 keys:
-                    - riscv-tools-installed-v1-{{ checksum "../riscv-tools.hash" }}
+                    - riscv-tools-installed-v2-{{ checksum "../riscv-tools.hash" }}
             - restore_cache:
                 keys:
                     - verilator-installed-v3-{{ checksum "sims/verilator/verilator.mk" }}
@@ -174,7 +174,7 @@ jobs:
                     - "/home/riscvuser/project"
     prepare-boom:
         docker:
-            - image: riscvboom/riscvboom-images:0.0.10
+            - image: riscvboom/riscvboom-images:0.0.11
         environment:
             JVM_OPTS: -Xmx3200m # Customize the JVM maximum heap limit
             TERM: dumb
@@ -189,7 +189,7 @@ jobs:
                     .circleci/create-hash.sh
             - restore_cache:
                 keys:
-                    - riscv-tools-installed-v1-{{ checksum "../riscv-tools.hash" }}
+                    - riscv-tools-installed-v2-{{ checksum "../riscv-tools.hash" }}
             - restore_cache:
                 keys:
                     - verilator-installed-v3-{{ checksum "sims/verilator/verilator.mk" }}
@@ -203,7 +203,7 @@ jobs:
                     - "/home/riscvuser/project"
     prepare-rocketchip:
         docker:
-            - image: riscvboom/riscvboom-images:0.0.10
+            - image: riscvboom/riscvboom-images:0.0.11
         environment:
             JVM_OPTS: -Xmx3200m # Customize the JVM maximum heap limit
             TERM: dumb
@@ -218,7 +218,7 @@ jobs:
                     .circleci/create-hash.sh
             - restore_cache:
                 keys:
-                    - riscv-tools-installed-v1-{{ checksum "../riscv-tools.hash" }}
+                    - riscv-tools-installed-v2-{{ checksum "../riscv-tools.hash" }}
             - restore_cache:
                 keys:
                     - verilator-installed-v3-{{ checksum "sims/verilator/verilator.mk" }}
@@ -232,7 +232,7 @@ jobs:
                     - "/home/riscvuser/project"
     prepare-blockdevrocketchip:
         docker:
-            - image: riscvboom/riscvboom-images:0.0.10
+            - image: riscvboom/riscvboom-images:0.0.11
         environment:
             JVM_OPTS: -Xmx3200m # Customize the JVM maximum heap limit
             TERM: dumb
@@ -247,7 +247,7 @@ jobs:
                     .circleci/create-hash.sh
             - restore_cache:
                 keys:
-                    - riscv-tools-installed-v1-{{ checksum "../riscv-tools.hash" }}
+                    - riscv-tools-installed-v2-{{ checksum "../riscv-tools.hash" }}
             - restore_cache:
                 keys:
                     - verilator-installed-v3-{{ checksum "sims/verilator/verilator.mk" }}
@@ -261,7 +261,7 @@ jobs:
                     - "/home/riscvuser/project"
     prepare-hwacha:
         docker:
-            - image: riscvboom/riscvboom-images:0.0.10
+            - image: riscvboom/riscvboom-images:0.0.11
         environment:
             JVM_OPTS: -Xmx3200m # Customize the JVM maximum heap limit
             TERM: dumb
@@ -276,7 +276,7 @@ jobs:
                     .circleci/create-hash.sh
             - restore_cache:
                 keys:
-                    - esp-tools-installed-v1-{{ checksum "../esp-tools.hash" }}
+                    - esp-tools-installed-v2-{{ checksum "../esp-tools.hash" }}
             - restore_cache:
                 keys:
                     - verilator-installed-v3-{{ checksum "sims/verilator/verilator.mk" }}
@@ -290,7 +290,7 @@ jobs:
                     - "/home/riscvuser/project"
     prepare-firesim:
         docker:
-            - image: riscvboom/riscvboom-images:0.0.10
+            - image: riscvboom/riscvboom-images:0.0.11
         environment:
             JVM_OPTS: -Xmx3200m # Customize the JVM maximum heap limit
             TERM: dumb
@@ -305,7 +305,7 @@ jobs:
                     .circleci/create-hash.sh
             - restore_cache:
                 keys:
-                    - riscv-tools-installed-v1-{{ checksum "../riscv-tools.hash" }}
+                    - riscv-tools-installed-v2-{{ checksum "../riscv-tools.hash" }}
             - restore_cache:
                 keys:
                     - verilator-installed-v3-{{ checksum "sims/verilator/verilator.mk" }}
@@ -319,7 +319,7 @@ jobs:
                     - "/home/riscvuser/project"
     prepare-fireboom:
         docker:
-            - image: riscvboom/riscvboom-images:0.0.10
+            - image: riscvboom/riscvboom-images:0.0.11
         environment:
             JVM_OPTS: -Xmx3200m # Customize the JVM maximum heap limit
             TERM: dumb
@@ -334,7 +334,7 @@ jobs:
                     .circleci/create-hash.sh
             - restore_cache:
                 keys:
-                    - riscv-tools-installed-v1-{{ checksum "../riscv-tools.hash" }}
+                    - riscv-tools-installed-v2-{{ checksum "../riscv-tools.hash" }}
             - restore_cache:
                 keys:
                     - verilator-installed-v3-{{ checksum "sims/verilator/verilator.mk" }}
@@ -348,7 +348,7 @@ jobs:
                     - "/home/riscvuser/project"
     prepare-firesim-clockdiv:
         docker:
-            - image: riscvboom/riscvboom-images:0.0.10
+            - image: riscvboom/riscvboom-images:0.0.11
         environment:
             JVM_OPTS: -Xmx3200m # Customize the JVM maximum heap limit
             TERM: dumb
@@ -363,7 +363,7 @@ jobs:
                     .circleci/create-hash.sh
             - restore_cache:
                 keys:
-                    - riscv-tools-installed-v1-{{ checksum "../riscv-tools.hash" }}
+                    - riscv-tools-installed-v2-{{ checksum "../riscv-tools.hash" }}
             - restore_cache:
                 keys:
                     - verilator-installed-v3-{{ checksum "sims/verilator/verilator.mk" }}
@@ -377,7 +377,7 @@ jobs:
                     - "/home/riscvuser/project"
     midasexamples-run-tests:
         docker:
-            - image: riscvboom/riscvboom-images:0.0.10
+            - image: riscvboom/riscvboom-images:0.0.11
         environment:
             JVM_OPTS: -Xmx3200m # Customize the JVM maximum heap limit
             TERM: dumb
@@ -389,7 +389,7 @@ jobs:
                     .circleci/create-hash.sh
             - restore_cache:
                 keys:
-                    - riscv-tools-installed-v1-{{ checksum "../riscv-tools.hash" }}
+                    - riscv-tools-installed-v2-{{ checksum "../riscv-tools.hash" }}
             - restore_cache:
                 keys:
                     - verilator-installed-v3-{{ checksum "sims/verilator/verilator.mk" }}
@@ -398,7 +398,7 @@ jobs:
                 command: .circleci/run-midasexamples-tests.sh
     example-run-tests:
         docker:
-            - image: riscvboom/riscvboom-images:0.0.10
+            - image: riscvboom/riscvboom-images:0.0.11
         environment:
             JVM_OPTS: -Xmx3200m # Customize the JVM maximum heap limit
             TERM: dumb
@@ -410,7 +410,7 @@ jobs:
                     .circleci/create-hash.sh
             - restore_cache:
                 keys:
-                    - riscv-tools-installed-v1-{{ checksum "../riscv-tools.hash" }}
+                    - riscv-tools-installed-v2-{{ checksum "../riscv-tools.hash" }}
             - restore_cache:
                 keys:
                     - example-{{ .Branch }}-{{ .Revision }}
@@ -422,7 +422,7 @@ jobs:
                 command: .circleci/run-tests.sh example
     boomrocketexample-run-tests:
         docker:
-            - image: riscvboom/riscvboom-images:0.0.10
+            - image: riscvboom/riscvboom-images:0.0.11
         environment:
             JVM_OPTS: -Xmx3200m # Customize the JVM maximum heap limit
             TERM: dumb
@@ -434,7 +434,7 @@ jobs:
                     .circleci/create-hash.sh
             - restore_cache:
                 keys:
-                    - riscv-tools-installed-v1-{{ checksum "../riscv-tools.hash" }}
+                    - riscv-tools-installed-v2-{{ checksum "../riscv-tools.hash" }}
             - restore_cache:
                 keys:
                     - boomrocketexample-{{ .Branch }}-{{ .Revision }}
@@ -446,7 +446,7 @@ jobs:
                 command: .circleci/run-tests.sh boomrocketexample
     boom-run-tests:
         docker:
-            - image: riscvboom/riscvboom-images:0.0.10
+            - image: riscvboom/riscvboom-images:0.0.11
         environment:
             JVM_OPTS: -Xmx3200m # Customize the JVM maximum heap limit
             TERM: dumb
@@ -458,7 +458,7 @@ jobs:
                     .circleci/create-hash.sh
             - restore_cache:
                 keys:
-                    - riscv-tools-installed-v1-{{ checksum "../riscv-tools.hash" }}
+                    - riscv-tools-installed-v2-{{ checksum "../riscv-tools.hash" }}
             - restore_cache:
                 keys:
                     - boom-{{ .Branch }}-{{ .Revision }}
@@ -470,7 +470,7 @@ jobs:
                 command: .circleci/run-tests.sh boom
     rocketchip-run-tests:
         docker:
-            - image: riscvboom/riscvboom-images:0.0.10
+            - image: riscvboom/riscvboom-images:0.0.11
         environment:
             JVM_OPTS: -Xmx3200m # Customize the JVM maximum heap limit
             TERM: dumb
@@ -482,7 +482,7 @@ jobs:
                     .circleci/create-hash.sh
             - restore_cache:
                 keys:
-                    - riscv-tools-installed-v1-{{ checksum "../riscv-tools.hash" }}
+                    - riscv-tools-installed-v2-{{ checksum "../riscv-tools.hash" }}
             - restore_cache:
                 keys:
                     - rocketchip-{{ .Branch }}-{{ .Revision }}
@@ -494,7 +494,7 @@ jobs:
                 command: .circleci/run-tests.sh rocketchip
     hwacha-run-tests:
         docker:
-            - image: riscvboom/riscvboom-images:0.0.10
+            - image: riscvboom/riscvboom-images:0.0.11
         environment:
             JVM_OPTS: -Xmx3200m # Customize the JVM maximum heap limit
             TERM: dumb
@@ -506,7 +506,7 @@ jobs:
                     .circleci/create-hash.sh
             - restore_cache:
                 keys:
-                    - esp-tools-installed-v1-{{ checksum "../esp-tools.hash" }}
+                    - esp-tools-installed-v2-{{ checksum "../esp-tools.hash" }}
             - restore_cache:
                 keys:
                     - hwacha-{{ .Branch }}-{{ .Revision }}
@@ -518,7 +518,7 @@ jobs:
                 command: .circleci/run-tests.sh hwacha
     firesim-run-tests:
         docker:
-            - image: riscvboom/riscvboom-images:0.0.10
+            - image: riscvboom/riscvboom-images:0.0.11
         environment:
             JVM_OPTS: -Xmx3200m # Customize the JVM maximum heap limit
             TERM: dumb
@@ -530,7 +530,7 @@ jobs:
                     .circleci/create-hash.sh
             - restore_cache:
                 keys:
-                    - riscv-tools-installed-v1-{{ checksum "../riscv-tools.hash" }}
+                    - riscv-tools-installed-v2-{{ checksum "../riscv-tools.hash" }}
             - restore_cache:
                 keys:
                     - firesim-{{ .Branch }}-{{ .Revision }}
@@ -545,7 +545,7 @@ jobs:
                 command: .circleci/run-firesim-tests.sh firesim
     fireboom-run-tests:
         docker:
-            - image: riscvboom/riscvboom-images:0.0.10
+            - image: riscvboom/riscvboom-images:0.0.11
         environment:
             JVM_OPTS: -Xmx3200m # Customize the JVM maximum heap limit
             TERM: dumb
@@ -557,7 +557,7 @@ jobs:
                     .circleci/create-hash.sh
             - restore_cache:
                 keys:
-                    - riscv-tools-installed-v1-{{ checksum "../riscv-tools.hash" }}
+                    - riscv-tools-installed-v2-{{ checksum "../riscv-tools.hash" }}
             - restore_cache:
                 keys:
                     - fireboom-{{ .Branch }}-{{ .Revision }}
@@ -573,7 +573,7 @@ jobs:
                 no_output_timeout: 20m
     firesim-clockdiv-run-tests:
         docker:
-            - image: riscvboom/riscvboom-images:0.0.10
+            - image: riscvboom/riscvboom-images:0.0.11
         environment:
             JVM_OPTS: -Xmx3200m # Customize the JVM maximum heap limit
             TERM: dumb
@@ -585,7 +585,7 @@ jobs:
                     .circleci/create-hash.sh
             - restore_cache:
                 keys:
-                    - riscv-tools-installed-v1-{{ checksum "../riscv-tools.hash" }}
+                    - riscv-tools-installed-v2-{{ checksum "../riscv-tools.hash" }}
             - restore_cache:
                 keys:
                     - firesim-clockdiv-{{ .Branch }}-{{ .Revision }}
diff --git a/.circleci/create-hash.sh b/.circleci/create-hash.sh
index 84a75244..63dfa242 100755
--- a/.circleci/create-hash.sh
+++ b/.circleci/create-hash.sh
@@ -4,6 +4,7 @@
 
 # turn echo on and error on earliest command
 set -ex
+set -o pipefail
 
 # get shared variables
 SCRIPT_DIR="$( cd "$( dirname "$0" )" && pwd )"
@@ -12,10 +13,10 @@ source $SCRIPT_DIR/defaults.sh
 # enter bhd repo
 cd $LOCAL_CHIPYARD_DIR
 
-# get the version of riscv-tools from the git submodule hash
-git submodule status | grep "riscv-tools" | awk '{print$1}' | grep -o "[[:alnum:]]*" >> $HOME/riscv-tools.hash
-git submodule status | grep "esp-tools" | awk '{print$1}' | grep -o "[[:alnum:]]*" >> $HOME/esp-tools.hash
-
+# Use normalized output of git-submodule status as hashfile
+for tools in 'riscv-tools' 'esp-tools' ; do
+    git submodule status "toolchains/${tools}" | while read -r line ; do
+        echo "${line#[!0-9a-f]}"
+    done > "${HOME}/${tools}.hash"
+done
 echo "Hashfile for riscv-tools and esp-tools created in $HOME"
-echo "Contents: riscv-tools:$(cat $HOME/riscv-tools.hash)"
-echo "Contents: esp-tools:$(cat $HOME/esp-tools.hash)"
diff --git a/.gitignore b/.gitignore
index fe0f53ff..7c1463a4 100644
--- a/.gitignore
+++ b/.gitignore
@@ -12,5 +12,6 @@ target
 .DS_Store
 env.sh
 riscv-tools-install
+esp-tools-install
 tags
 *~
diff --git a/.gitmodules b/.gitmodules
index 35addf76..4c23765e 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -34,12 +34,37 @@
 [submodule "generators/block-inclusivecache-sifive"]
 	path = generators/sifive-cache
 	url = https://github.com/sifive/block-inclusivecache-sifive.git
-[submodule "toolchains/riscv-tools"]
-	path = toolchains/riscv-tools
-	url = https://github.com/freechipsproject/rocket-tools.git
-[submodule "toolchains/esp-tools"]
-	path = toolchains/esp-tools
-	url = https://github.com/ucb-bar/esp-tools.git
+[submodule "toolchains/riscv-tools/riscv-gnu-toolchain"]
+	path = toolchains/riscv-tools/riscv-gnu-toolchain
+	url = https://github.com/riscv/riscv-gnu-toolchain.git
+[submodule "toolchains/riscv-tools/riscv-gnu-toolchain-prebuilt"]
+	path = toolchains/riscv-tools/riscv-gnu-toolchain-prebuilt
+	url = https://github.com/ucb-bar/chipyard-toolchain-prebuilt.git
+	shallow = true
+[submodule "toolchains/riscv-tools/riscv-isa-sim"]
+	path = toolchains/riscv-tools/riscv-isa-sim
+	url = https://github.com/riscv/riscv-isa-sim.git
+[submodule "toolchains/riscv-tools/riscv-pk"]
+	path = toolchains/riscv-tools/riscv-pk
+	url = https://github.com/riscv/riscv-pk.git
+[submodule "toolchains/riscv-tools/riscv-tests"]
+	path = toolchains/riscv-tools/riscv-tests
+	url = https://github.com/riscv/riscv-tests.git
+[submodule "toolchains/riscv-tools/riscv-openocd"]
+	path = toolchains/riscv-tools/riscv-openocd
+	url = https://github.com/riscv/riscv-openocd.git
+[submodule "toolchains/esp-tools/riscv-gnu-toolchain"]
+	path = toolchains/esp-tools/riscv-gnu-toolchain
+	url = https://github.com/ucb-bar/esp-gnu-toolchain.git
+[submodule "toolchains/esp-tools/riscv-isa-sim"]
+	path = toolchains/esp-tools/riscv-isa-sim
+	url = https://github.com/ucb-bar/esp-isa-sim.git
+[submodule "toolchains/esp-tools/riscv-pk"]
+	path = toolchains/esp-tools/riscv-pk
+	url = https://github.com/riscv/riscv-pk.git
+[submodule "toolchains/esp-tools/riscv-tests"]
+	path = toolchains/esp-tools/riscv-tests
+	url = https://github.com/ucb-bar/esp-tests.git
 [submodule "vlsi/hammer"]
 	path = vlsi/hammer
 	url = https://github.com/ucb-bar/hammer.git
diff --git a/scripts/build-openocd.sh b/scripts/build-openocd.sh
new file mode 100755
index 00000000..0075fdbe
--- /dev/null
+++ b/scripts/build-openocd.sh
@@ -0,0 +1,24 @@
+#!/usr/bin/env bash
+
+# exit script if any command fails
+set -e
+set -o pipefail
+
+RDIR=$(git rev-parse --show-toplevel)
+
+if [ -z "${RISCV}" ] ; then
+    ! [ -r "${RDIR}/env.sh" ] || . "${RDIR}/env.sh"
+    if [ -z "${RISCV}" ] ; then
+        echo "${0}: set the RISCV environment variable to desired install path"
+        exit 1
+    fi
+fi
+
+SRCDIR="${RDIR}/toolchains/riscv-tools"
+. "${RDIR}/scripts/build-util.sh"
+
+git config --unset submodule.toolchains/riscv-tools/riscv-openocd.update || :
+module_prepare riscv-openocd
+module_run riscv-openocd ./bootstrap
+module_build riscv-openocd --prefix="${RISCV}" \
+    --enable-remote-bitbang --enable-jtag_vpi --disable-werror
diff --git a/scripts/build-static-libfesvr.sh b/scripts/build-static-libfesvr.sh
deleted file mode 100755
index d5b7f896..00000000
--- a/scripts/build-static-libfesvr.sh
+++ /dev/null
@@ -1,21 +0,0 @@
-#!/usr/bin/env bash
-
-# This ungodly script surreptitiously builds an archive from existing fesvr objects
-# Invoke from riscv-fesvr/build
-
-if [ "x$RISCV" = "x" ]
-then
-  echo "Please set the RISCV environment variable to your preferred install path."
-  exit 1
-fi
-
-set -e
-
-objs=$(make -n -f <(
-    echo 'include Makefile'
-    echo '$(info $(value fesvr_objs))'
-    ) | head -n 1)
-
-ar rcs -o libfesvr.a $objs
-cp -f libfesvr.a "${RISCV}/lib"
-
diff --git a/scripts/build-toolchains.sh b/scripts/build-toolchains.sh
index 76680f79..738b5ae7 100755
--- a/scripts/build-toolchains.sh
+++ b/scripts/build-toolchains.sh
@@ -6,11 +6,8 @@
 set -e
 set -o pipefail
 
-unamestr=$(uname)
 RDIR=$(pwd)
-: ${CHIPYARD_DIR:=$(pwd)} #default value is the PWD unless overridden
-
-PRECOMPILED_REPO_HASH=56a40961c98db5e8f904f15dc6efd0870bfefd9e
+CHIPYARD_DIR="${CHIPYARD_DIR:-$(git rev-parse --show-toplevel)}"
 
 usage() {
     echo "usage: ${0} [riscv-tools | esp-tools | ec2fast]"
@@ -23,18 +20,13 @@ usage() {
 error() {
     echo "${0##*/}: ${1}" >&2
 }
-
-#taken from riscv-tools to check for open-ocd autoconf versions
-check_version() {
-    "$1" --version | awk "NR==1 {if (\$NF>$2) {exit 0} exit 1}" || {
-        error "${3} requires at least ${1} version ${2}"
-        exit 1
-    }
+die() {
+    error "$1"
+    exit "${2:--1}"
 }
 
 TOOLCHAIN="riscv-tools"
 EC2FASTINSTALL="false"
-FASTINSTALL="false"
 
 while getopts 'hH-:' opt ; do
     case $opt in
@@ -64,33 +56,6 @@ elif [ -n "$1" ] ; then
     TOOLCHAIN="$1"
 fi
 
-
-if [ "$EC2FASTINSTALL" = "true" ]; then
-    if [ "$TOOLCHAIN" = "riscv-tools" ]; then
-      cd "$RDIR"
-      git clone https://github.com/firesim/firesim-riscv-tools-prebuilt.git
-      cd firesim-riscv-tools-prebuilt
-      git checkout "$PRECOMPILED_REPO_HASH"
-      PREBUILTHASH="$(cat HASH)"
-      git -C "${CHIPYARD_DIR}" submodule update --init "toolchains/${TOOLCHAIN}"
-      cd "$CHIPYARD_DIR/toolchains/$TOOLCHAIN"
-      GITHASH="$(git rev-parse HEAD)"
-      cd "$RDIR"
-      echo "prebuilt hash: $PREBUILTHASH"
-      echo "git      hash: $GITHASH"
-      if [[ $PREBUILTHASH == $GITHASH && "$EC2FASTINSTALL" == "true" ]]; then
-          FASTINSTALL=true
-          echo "Using fast pre-compiled install for riscv-tools"
-      else
-          error 'error: hash of precompiled toolchain does not match the riscv-tools submodule hash'
-          exit -1
-      fi
-    else
-          error "error: unsupported precompiled toolchain: ${TOOLCHAIN}"
-          exit -1
-    fi
-fi
-
 INSTALL_DIR="$TOOLCHAIN-install"
 
 RISCV="$(pwd)/$INSTALL_DIR"
@@ -98,52 +63,64 @@ RISCV="$(pwd)/$INSTALL_DIR"
 # install risc-v tools
 export RISCV="$RISCV"
 
-if [ "$FASTINSTALL" = true ]; then
-    cd firesim-riscv-tools-prebuilt
-    ./installrelease.sh
-    mv distrib "$RISCV"
-    # copy HASH in case user wants it later
-    cp HASH "$RISCV"
-    cd "$RDIR"
-    rm -rf firesim-riscv-tools-prebuilt
+cd "${CHIPYARD_DIR}"
+
+SRCDIR="$(pwd)/toolchains/${TOOLCHAIN}"
+[ -d "${SRCDIR}" ] || die "unsupported toolchain: ${TOOLCHAIN}"
+. ./scripts/build-util.sh
+
+
+if [ "${EC2FASTINSTALL}" = true ] ; then
+    [ "${TOOLCHAIN}" = 'riscv-tools' ] ||
+        die "unsupported precompiled toolchain: ${TOOLCHAIN}"
+
+    echo '=>  Fetching pre-built toolchain'
+    module=toolchains/riscv-tools/riscv-gnu-toolchain-prebuilt
+    git config --unset submodule."${module}".update || :
+    git submodule update --init --depth 1 "${module}"
+
+    echo '==>  Verifying toolchain version hash'
+    # Find commit hash without initializing the submodule
+    hashsrc="$(git ls-tree -d HEAD "${SRCDIR}/riscv-gnu-toolchain" | {
+        unset IFS && read -r _ type obj _ &&
+        test -n "${obj}" && test "${type}" = 'commit' && echo "${obj}"
+    }; )" ||
+        die 'failed to obtain riscv-gnu-toolchain submodule hash' "$?"
+
+    read -r hashbin < "${module}/HASH" ||
+        die 'failed to obtain riscv-gnu-toolchain-prebuilt hash' "$?"
+
+    echo "==>  ${hashsrc}"
+    [ "${hashsrc}" = "${hashbin}" ] ||
+        die "pre-built version mismatch: ${hashbin}"
+
+    echo '==>  Installing pre-built toolchain'
+    "${MAKE}" -C "${module}" DESTDIR="${RISCV}" install
+    git submodule deinit "${module}" || :
+
 else
-    mkdir -p "$RISCV"
-    git -C "${CHIPYARD_DIR}" submodule update --init --recursive "toolchains/${TOOLCHAIN}" #--jobs 8
-    cd "$CHIPYARD_DIR/toolchains/$TOOLCHAIN"
-
-    # Scale number of parallel make jobs by hardware thread count
-    ncpu="$(getconf _NPROCESSORS_ONLN || # GNU
-        getconf NPROCESSORS_ONLN || # *BSD, Solaris
-        nproc --all || # Linux
-        sysctl -n hw.ncpu || # *BSD, OS X
-        :)" 2>/dev/null
-    case ${ncpu} in
-    ''|*[^0-9]*) ;; # Ignore non-integer values
-    *) export MAKEFLAGS="-j ${ncpu}" ;;
-    esac
-
-    #build the actual toolchain
-    #./build.sh
-    source build.common
-    echo "Starting RISC-V Toolchain build process"
-    build_project riscv-fesvr --prefix="${RISCV}"
-    build_project riscv-isa-sim --prefix="${RISCV}" --with-fesvr="${RISCV}"
-    build_project riscv-gnu-toolchain --prefix="${RISCV}"
-    CC= CXX= build_project riscv-pk --prefix="${RISCV}" --host=riscv64-unknown-elf
-    build_project riscv-tests --prefix="${RISCV}/riscv64-unknown-elf"
-    echo -e "\\nRISC-V Toolchain installation completed!"
-
-    # build static libfesvr library for linking into firesim driver (or others)
-    cd riscv-fesvr/build
-    "${CHIPYARD_DIR}/scripts/build-static-libfesvr.sh"
-    cd "$RDIR"
-    # build linux toolchain
-    cd "$CHIPYARD_DIR/toolchains/$TOOLCHAIN/riscv-gnu-toolchain/build"
-    make linux
-    echo -e "\\nRISC-V Linux GNU Toolchain installation completed!"
+    "${MAKE}" --version | (
+        read -r makever
+        case ${makever} in
+        'GNU Make '[4-9]\.*|'GNU Make '[1-9][0-9]) ;;
+        *) false ;;
+        esac; ) || die 'obsolete make version; need GNU make 4.x or later'
 
+    module_prepare riscv-gnu-toolchain qemu
+    module_build riscv-gnu-toolchain --prefix="${RISCV}"
+    echo '==>  Building GNU/Linux toolchain'
+    module_make riscv-gnu-toolchain linux
 fi
 
+module_all riscv-isa-sim --prefix="${RISCV}"
+# build static libfesvr library for linking into firesim driver (or others)
+echo '==>  Installing libfesvr static library'
+module_make riscv-isa-sim libfesvr.a
+cp -p "${SRCDIR}/riscv-isa-sim/build/libfesvr.a" "${RISCV}/lib/"
+
+CC= CXX= module_all riscv-pk --prefix="${RISCV}" --host=riscv64-unknown-elf
+module_all riscv-tests --prefix="${RISCV}/riscv64-unknown-elf"
+
 cd "$RDIR"
 
 {
@@ -153,20 +130,3 @@ cd "$RDIR"
     echo "export LD_LIBRARY_PATH=\${RISCV}/lib\${LD_LIBRARY_PATH:+":\${LD_LIBRARY_PATH}"}"
 } > env.sh
 echo "Toolchain Build Complete!"
-
-if [ "$FASTINSTALL" = "false" ]; then
-    # commands that can't run on EC2 (specifically, OpenOCD because of autoconf version_
-    # see if the instance info page exists. if not, we are not on ec2.
-    # this is one of the few methods that works without sudo
-    if wget -T 1 -t 3 -O /dev/null http://169.254.169.254/; then
-        echo "Skipping RISC-V OpenOCD"
-    else
-        echo "Building RISC-V OpenOCD"
-        cd "$CHIPYARD_DIR/toolchains/$TOOLCHAIN"
-        check_version automake 1.14 "OpenOCD build"
-        check_version autoconf 2.64 "OpenOCD build"
-        build_project riscv-openocd --prefix="${RISCV}" --enable-remote-bitbang --enable-jtag_vpi --disable-werror
-        echo -e "\\nRISC-V OpenOCD installation completed!"
-        cd "$RDIR"
-    fi
-fi
diff --git a/scripts/build-util.sh b/scripts/build-util.sh
new file mode 100644
index 00000000..be58a6a1
--- /dev/null
+++ b/scripts/build-util.sh
@@ -0,0 +1,89 @@
+# Derived from
+# https://github.com/riscv/riscv-tools/blob/master/build.common
+
+[ -n "${SRCDIR}" ] || exit 1
+
+# Scale number of parallel make jobs by hardware thread count
+ncpu="${NPROC:-$(getconf _NPROCESSORS_ONLN || # GNU
+    getconf NPROCESSORS_ONLN || # *BSD, Solaris
+    nproc --all || # Linux
+    sysctl -n hw.ncpu || # *BSD, OS X
+    :)}" 2>/dev/null
+case ${ncpu} in
+''|*[!0-9]*) ;; # Ignore non-integer values
+*) export MAKEFLAGS="-j ${ncpu} ${MAKEFLAGS}" ;;
+esac
+
+MAKE=$(command -v gnumake || command -v gmake || command -v make)
+readonly MAKE
+
+
+module_prepare() ( # <submodule> [ignored-submodule..]
+    set -e
+    name=$1
+    shift
+
+    dir="${SRCDIR}/${name}"
+    echo "=>  Starting ${name} build"
+    echo "==>  Initializing ${name} submodule"
+    if [ $# -gt 0 ] ; then
+        git submodule update --init "${dir}"
+        while [ -n "$1" ] ; do
+            git -C "${dir}" config submodule."${1}".update none
+            shift
+        done
+    fi
+    git submodule update --init --recursive "${dir}"
+)
+
+module_run() ( # <submodule> <command..>
+    set -e
+    cd "${SRCDIR}/${1}"
+    shift
+    "$@"
+)
+
+module_make() ( # <submodule> <target..>
+    set -e -o pipefail
+    cd "${SRCDIR}/${1}/build"
+    shift
+    "${MAKE}" "$@" | tee "build-${1:-make}.log"
+)
+
+module_build() ( # <submodule> [configure-arg..]
+    set -e -o pipefail
+    name=$1
+    shift
+
+    cd "${SRCDIR}/${name}"
+
+    if [ -e build ] ; then
+        echo "==>  Removing existing ${name}/build directory"
+        rm -rf build
+    fi
+    if ! [ -e configure ] ; then
+        echo "==>  Updating autoconf files for ${name}"
+        find . -iname configure.ac -type f -print0 |
+        while read -r -d '' file ; do
+            mkdir -p -- "${file%/*}/m4"
+        done
+        autoreconf -i
+    fi
+
+    mkdir -p build
+    cd build
+    {
+        export PATH="${RISCV:+${RISCV}/bin:}${PATH}"
+        echo "==>  Configuring ${name}"
+        ../configure "$@"
+        echo "==>  Building ${name}"
+        "${MAKE}"
+        echo "==>  Installing ${name}"
+        "${MAKE}" install
+    } 2>&1 | tee build.log
+)
+
+module_all() { # <submodule> [configure-arg..]
+    module_prepare "$1"
+    module_build "$@"
+}
diff --git a/scripts/init-submodules-no-riscv-tools.sh b/scripts/init-submodules-no-riscv-tools.sh
index 627c9285..e17b67ef 100755
--- a/scripts/init-submodules-no-riscv-tools.sh
+++ b/scripts/init-submodules-no-riscv-tools.sh
@@ -4,16 +4,13 @@
 set -e
 set -o pipefail
 
-unamestr=$(uname)
-RDIR=$(pwd)
-scripts_dir="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+RDIR=$(git rev-parse --show-toplevel)
 
-# ignore riscv-tools for submodule init recursive
-# you must do this globally (otherwise riscv-tools deep
-# in the submodule tree will get pulled anyway
-git config submodule.toolchains/riscv-tools.update none
-git config submodule.toolchains/esp-tools.update none
-git config --global submodule.experimental-blocks.update none
+# Ignore toolchain submodules
+cd "$RDIR"
+for name in toolchains/*/*/ ; do
+    git config submodule."${name%/}".update none
+done
 # Disable updates to the FireSim submodule until explicitly requested
 git config submodule.sims/firesim.update none
 # Disable updates to the hammer tool plugins repos
@@ -21,10 +18,10 @@ git config submodule.vlsi/hammer-cadence-plugins.update none
 git config submodule.vlsi/hammer-synopsys-plugins.update none
 git config submodule.vlsi/hammer-mentor-plugins.update none
 git submodule update --init --recursive #--jobs 8
-# unignore riscv-tools,catapult-shell2 globally
-git config --unset submodule.toolchains/riscv-tools.update
-git config --unset submodule.toolchains/esp-tools.update
-git config --global --unset submodule.experimental-blocks.update
+# Un-ignore toolchain submodules
+for name in toolchains/*/*/ ; do
+    git config --unset submodule."${name%/}".update
+done
 git config --unset submodule.vlsi/hammer-cadence-plugins.update
 git config --unset submodule.vlsi/hammer-synopsys-plugins.update
 git config --unset submodule.vlsi/hammer-mentor-plugins.update
@@ -32,9 +29,6 @@ git config --unset submodule.vlsi/hammer-mentor-plugins.update
 # Renable firesim and init only the required submodules to provide
 # all required scala deps, without doing a full build-setup
 git config --unset submodule.sims/firesim.update
-cd "${scripts_dir}/../sims"
-git submodule update --init firesim
-cd firesim/sim
-git submodule update --init midas
-cd "$RDIR"
+git submodule update --init sims/firesim
+git -C sims/firesim submodule update --init sim/midas
 git config submodule.sims/firesim.update none
diff --git a/sims/firesim b/sims/firesim
index 4769e5d8..26ffba7c 160000
--- a/sims/firesim
+++ b/sims/firesim
@@ -1 +1 @@
-Subproject commit 4769e5d86acf6a9508d2b5a63141dc80a6ef20a6
+Subproject commit 26ffba7cbca2982fef6b221a7abbc51d5cdc4b62
diff --git a/sims/vcs/Makefile b/sims/vcs/Makefile
index 6a65d0a2..aeda8a1b 100644
--- a/sims/vcs/Makefile
+++ b/sims/vcs/Makefile
@@ -48,8 +48,7 @@ VCS_CC_OPTS = \
 	-CC "-I$(VCS_HOME)/include" \
 	-CC "-I$(RISCV)/include" \
 	-CC "-std=c++11" \
-	-CC "-Wl,-rpath,$(RISCV)/lib" \
-	$(RISCV)/lib/libfesvr.so
+	$(RISCV)/lib/libfesvr.a
 
 VCS_NONCC_OPTS = \
 	+lint=all,noVCDE,noONGS,noUI \
diff --git a/toolchains/esp-tools b/toolchains/esp-tools
deleted file mode 160000
index dcb6012f..00000000
--- a/toolchains/esp-tools
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit dcb6012f77101e793948cc90ac31b3735a9f3f6d
diff --git a/toolchains/esp-tools/riscv-gnu-toolchain b/toolchains/esp-tools/riscv-gnu-toolchain
new file mode 160000
index 00000000..9f532293
--- /dev/null
+++ b/toolchains/esp-tools/riscv-gnu-toolchain
@@ -0,0 +1 @@
+Subproject commit 9f532293985d08b0c176d96c7b650e5f433780e1
diff --git a/toolchains/esp-tools/riscv-isa-sim b/toolchains/esp-tools/riscv-isa-sim
new file mode 160000
index 00000000..92f2f467
--- /dev/null
+++ b/toolchains/esp-tools/riscv-isa-sim
@@ -0,0 +1 @@
+Subproject commit 92f2f467c00caa991379ba55ece7118f068c2218
diff --git a/toolchains/esp-tools/riscv-pk b/toolchains/esp-tools/riscv-pk
new file mode 160000
index 00000000..a3e4ac61
--- /dev/null
+++ b/toolchains/esp-tools/riscv-pk
@@ -0,0 +1 @@
+Subproject commit a3e4ac61d2b1ff37a22b9193b85d3b94273e80cb
diff --git a/toolchains/esp-tools/riscv-tests b/toolchains/esp-tools/riscv-tests
new file mode 160000
index 00000000..f1370d05
--- /dev/null
+++ b/toolchains/esp-tools/riscv-tests
@@ -0,0 +1 @@
+Subproject commit f1370d054389fc83974fc820985b5c51693b8f9d
diff --git a/toolchains/riscv-tools b/toolchains/riscv-tools
deleted file mode 160000
index bce7b5e3..00000000
--- a/toolchains/riscv-tools
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit bce7b5e363957c134f944769e677354467b7e4ed
diff --git a/toolchains/riscv-tools/riscv-gnu-toolchain b/toolchains/riscv-tools/riscv-gnu-toolchain
new file mode 160000
index 00000000..2855d823
--- /dev/null
+++ b/toolchains/riscv-tools/riscv-gnu-toolchain
@@ -0,0 +1 @@
+Subproject commit 2855d823a6e93d50af604264b02ced951e80de67
diff --git a/toolchains/riscv-tools/riscv-gnu-toolchain-prebuilt b/toolchains/riscv-tools/riscv-gnu-toolchain-prebuilt
new file mode 160000
index 00000000..5e32a015
--- /dev/null
+++ b/toolchains/riscv-tools/riscv-gnu-toolchain-prebuilt
@@ -0,0 +1 @@
+Subproject commit 5e32a0157f91ebfb5c7ea7113fce28bf40016fa4
diff --git a/toolchains/riscv-tools/riscv-isa-sim b/toolchains/riscv-tools/riscv-isa-sim
new file mode 160000
index 00000000..9443c1db
--- /dev/null
+++ b/toolchains/riscv-tools/riscv-isa-sim
@@ -0,0 +1 @@
+Subproject commit 9443c1dbac0301faf3a47c5e6914cc7dcb34983e
diff --git a/toolchains/riscv-tools/riscv-openocd b/toolchains/riscv-tools/riscv-openocd
new file mode 160000
index 00000000..7c82a7b9
--- /dev/null
+++ b/toolchains/riscv-tools/riscv-openocd
@@ -0,0 +1 @@
+Subproject commit 7c82a7b9d5b7d8b71e0a66826705ec141db718c3
diff --git a/toolchains/riscv-tools/riscv-pk b/toolchains/riscv-tools/riscv-pk
new file mode 160000
index 00000000..a3e4ac61
--- /dev/null
+++ b/toolchains/riscv-tools/riscv-pk
@@ -0,0 +1 @@
+Subproject commit a3e4ac61d2b1ff37a22b9193b85d3b94273e80cb
diff --git a/toolchains/riscv-tools/riscv-tests b/toolchains/riscv-tools/riscv-tests
new file mode 160000
index 00000000..249796ce
--- /dev/null
+++ b/toolchains/riscv-tools/riscv-tests
@@ -0,0 +1 @@
+Subproject commit 249796cec94d75ff10ca034153e206a319e87158