diff --git a/flake.lock b/flake.lock
index 040983e1ec..45a35ef3bd 100644
--- a/flake.lock
+++ b/flake.lock
@@ -12,6 +12,7 @@
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "dec12fa3f0d790cafa8414a4c2930ea71ab72ffd",
         "repo": "canopennode",
         "type": "github"
       }
@@ -28,6 +29,7 @@
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "3b32c76efee705af146124fb4190f71be5a4e36e",
         "repo": "chre",
         "type": "github"
       }
@@ -44,6 +46,7 @@
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "4b96cbb174678dcd3ca86e11e1f24bc5f8726da0",
         "repo": "cmsis",
         "type": "github"
       }
@@ -51,15 +54,16 @@
     "edtt-src": {
       "flake": false,
       "locked": {
-        "lastModified": 1690194635,
-        "narHash": "sha256-LckP4twBiTUU4emwoTuGszbNRhiFbimOkaScT4P8eaA=",
+        "lastModified": 1677488293,
+        "narHash": "sha256-AK4zYIHn0XnkKDl9YGo1lV/2Ea6wLw0rJbzpMA8JZ9w=",
         "owner": "zephyrproject-rtos",
         "repo": "edtt",
-        "rev": "8d7b543d4d2f2be0f78481e4e1d8d73a88024803",
+        "rev": "64e5105ad82390164fb73fc654be3f73a608209a",
         "type": "github"
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "64e5105ad82390164fb73fc654be3f73a608209a",
         "repo": "edtt",
         "type": "github"
       }
@@ -76,6 +80,7 @@
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "427159bf95ea49b7680facffaa29ad506b42709b",
         "repo": "fatfs",
         "type": "github"
       }
@@ -92,6 +97,7 @@
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "0d225ddd314379b32355a00fb669eacf911e750d",
         "repo": "hal_altera",
         "type": "github"
       }
@@ -99,15 +105,16 @@
     "hal_atmel-src": {
       "flake": false,
       "locked": {
-        "lastModified": 1698080803,
-        "narHash": "sha256-c0d1oswqq/e9j3ivdqQ/oy1mcqIFomNcsBDYfwruJac=",
+        "lastModified": 1697704788,
+        "narHash": "sha256-2ab4pdNBlCTVY3Uyp1xJon17Zla1QlKtAFNzo3gN9kg=",
         "owner": "zephyrproject-rtos",
         "repo": "hal_atmel",
-        "rev": "add80d4bf53c3b2b54261b5a14fc2c02c3833d8e",
+        "rev": "942d664e48f7a2725933a93facc112b87b1de32b",
         "type": "github"
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "942d664e48f7a2725933a93facc112b87b1de32b",
         "repo": "hal_atmel",
         "type": "github"
       }
@@ -115,15 +122,16 @@
     "hal_espressif-src": {
       "flake": false,
       "locked": {
-        "lastModified": 1698671631,
-        "narHash": "sha256-uTaOYZQub9ZWC+e/isQXBzLC9WVHIwuySck2E7FcwYM=",
+        "lastModified": 1698042687,
+        "narHash": "sha256-5Wa1l9f2HklvjXas5HbVhmQ+aJOi3Dob7tyRsE6fVOE=",
         "owner": "zephyrproject-rtos",
         "repo": "hal_espressif",
-        "rev": "be4d0fed7d40dd38ea81075734202eb77a122b75",
+        "rev": "b3cb13f06586543ae1d156dc3e84b2fd3dc2f1fb",
         "type": "github"
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "b3cb13f06586543ae1d156dc3e84b2fd3dc2f1fb",
         "repo": "hal_espressif",
         "type": "github"
       }
@@ -140,6 +148,7 @@
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "2994b7dde8b0b0fa9b9c0ccb13474b6a486cddc3",
         "repo": "hal_gigadevice",
         "type": "github"
       }
@@ -156,6 +165,7 @@
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "69c883d3bd9fac8a18dd8384624b8c472a68d06f",
         "repo": "hal_infineon",
         "type": "github"
       }
@@ -172,6 +182,7 @@
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "5d079f1683a00b801373bbbbf5d181d4e33b30d5",
         "repo": "hal_microchip",
         "type": "github"
       }
@@ -188,6 +199,7 @@
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "56e0b052dff311c2f8eb08c6804e60fc79feb56f",
         "repo": "hal_nordic",
         "type": "github"
       }
@@ -204,6 +216,7 @@
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "584190e131655de1046088bd0d0735d83429ec7c",
         "repo": "hal_nuvoton",
         "type": "github"
       }
@@ -211,15 +224,16 @@
     "hal_nxp-src": {
       "flake": false,
       "locked": {
-        "lastModified": 1700148983,
-        "narHash": "sha256-qWsR9nbWqu/F6GoK45unf1Q9CKQd3DBK7F16UuWM/eY=",
+        "lastModified": 1700065674,
+        "narHash": "sha256-R3rpVfjma9c8O4Ol4Oo9BN+avJ1z488JDXWN9dPW0O4=",
         "owner": "zephyrproject-rtos",
         "repo": "hal_nxp",
-        "rev": "b8d1b69bcb4d676e917436ab2dc19f189f1412d6",
+        "rev": "69046233b7a7fac3138ae4dd5bcf6158e82529bb",
         "type": "github"
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "69046233b7a7fac3138ae4dd5bcf6158e82529bb",
         "repo": "hal_nxp",
         "type": "github"
       }
@@ -227,15 +241,16 @@
     "hal_openisa-src": {
       "flake": false,
       "locked": {
-        "lastModified": 1696961936,
-        "narHash": "sha256-krI/9sr57ZjerDKb9lQvIOD+q6vfiXqRGqV7cbW9Bqs=",
+        "lastModified": 1681828837,
+        "narHash": "sha256-SR0LvwLu4gzK1T/YoAEj/Uvjrbmj1FzRxOFbjSZ4n44=",
         "owner": "zephyrproject-rtos",
         "repo": "hal_openisa",
-        "rev": "eabd530a64d71de91d907bad257cd61aacf607bc",
+        "rev": "d1e61c0c654d8ca9e73d27fca3a7eb3b7881cb6a",
         "type": "github"
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "d1e61c0c654d8ca9e73d27fca3a7eb3b7881cb6a",
         "repo": "hal_openisa",
         "type": "github"
       }
@@ -243,15 +258,16 @@
     "hal_quicklogic-src": {
       "flake": false,
       "locked": {
-        "lastModified": 1648623889,
-        "narHash": "sha256-iWzyRv1rPWVtnoJQCPF6qGZ5tO3JQOTj5MkNoMugpK8=",
+        "lastModified": 1601573149,
+        "narHash": "sha256-XpPROaiZN0KRxQCtEOYaXSEBtxAo+atnH1ytOMXpYUI=",
         "owner": "zephyrproject-rtos",
         "repo": "hal_quicklogic",
-        "rev": "ba7e35f175fcd28199de11f955cb995e1ef20c73",
+        "rev": "b3a66fe6d04d87fd1533a5c8de51d0599fcd08d0",
         "type": "github"
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "b3a66fe6d04d87fd1533a5c8de51d0599fcd08d0",
         "repo": "hal_quicklogic",
         "type": "github"
       }
@@ -259,15 +275,16 @@
     "hal_renesas-src": {
       "flake": false,
       "locked": {
-        "lastModified": 1700037652,
-        "narHash": "sha256-QSkW3Ukdfh9k4bzPaZgqgGBGEKgLlNmIMxI3GcF/liE=",
+        "lastModified": 1698133321,
+        "narHash": "sha256-w2K2geAXvzvknA7g6kd3KW5wttLLxyIbQtr0Kz+Gij0=",
         "owner": "zephyrproject-rtos",
         "repo": "hal_renesas",
-        "rev": "9d27483f5a33869171db7e81397b553fbc5105f7",
+        "rev": "1471ed3cbf501434a5f3df2f9df520c3bd8e0258",
         "type": "github"
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "1471ed3cbf501434a5f3df2f9df520c3bd8e0258",
         "repo": "hal_renesas",
         "type": "github"
       }
@@ -284,6 +301,7 @@
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "fba7162cc7bee06d0149622bbcaac4e41062d368",
         "repo": "hal_rpi_pico",
         "type": "github"
       }
@@ -291,15 +309,16 @@
     "hal_silabs-src": {
       "flake": false,
       "locked": {
-        "lastModified": 1700229993,
-        "narHash": "sha256-I3KE539QSqD0sIt53i0FCGf/e2N3ZtwilSP/bKV4AXA=",
+        "lastModified": 1696404295,
+        "narHash": "sha256-XNZJTmPzD45xBBjL8P7CyEd2EWCmjD9hhZ1UtHvjRps=",
         "owner": "zephyrproject-rtos",
         "repo": "hal_silabs",
-        "rev": "72a67203f0b37dc2c12bfae5ddf05c991c0ab0a4",
+        "rev": "d191d981c4eb20c0c7445a4061fcdbcfa686113a",
         "type": "github"
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "d191d981c4eb20c0c7445a4061fcdbcfa686113a",
         "repo": "hal_silabs",
         "type": "github"
       }
@@ -316,6 +335,7 @@
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "fb8e79d1a261fd02aadff7c142729f1954163cf3",
         "repo": "hal_st",
         "type": "github"
       }
@@ -323,15 +343,16 @@
     "hal_stm32-src": {
       "flake": false,
       "locked": {
-        "lastModified": 1700498761,
-        "narHash": "sha256-mIhYrqfW3clBfef2ic9SSAPssDfmo8yoT1Tzshwwdno=",
+        "lastModified": 1700215089,
+        "narHash": "sha256-wcbkFtMY2cKHLcvz1m965w7keyJi0Pq3j4L05sLPB9A=",
         "owner": "zephyrproject-rtos",
         "repo": "hal_stm32",
-        "rev": "818cef7f16ea0a2cb211ae3de06ea8a1e0d0da1a",
+        "rev": "af2d314b6f7f87cfa8365009497132468ca3a686",
         "type": "github"
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "af2d314b6f7f87cfa8365009497132468ca3a686",
         "repo": "hal_stm32",
         "type": "github"
       }
@@ -339,15 +360,16 @@
     "hal_telink-src": {
       "flake": false,
       "locked": {
-        "lastModified": 1659448978,
-        "narHash": "sha256-42Kk8t0LmP7zjWvB1LHWD5ogvZYWmZkSqABstGDKCNE=",
+        "lastModified": 1655281040,
+        "narHash": "sha256-ioHMx0rpbRppxAoT5yLcIHgLhoO9vyuas9YwaOEyvtQ=",
         "owner": "zephyrproject-rtos",
         "repo": "hal_telink",
-        "rev": "0ccfbaeb167e9ca3a878ffaca9b8ee7d8e844cf7",
+        "rev": "38573af589173259801ae6c2b34b7d4c9e626746",
         "type": "github"
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "38573af589173259801ae6c2b34b7d4c9e626746",
         "repo": "hal_telink",
         "type": "github"
       }
@@ -364,6 +386,7 @@
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "b85f86e51fc4d47c4c383d320d64d52d4d371ae4",
         "repo": "hal_ti",
         "type": "github"
       }
@@ -380,6 +403,7 @@
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "08325d6fb7190a105f5382d35e64ed2812c57cf4",
         "repo": "hal_xtensa",
         "type": "github"
       }
@@ -396,6 +420,7 @@
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "448f3de31f49a838988a162ef1e23a89ddf2d2ed",
         "repo": "liblc3",
         "type": "github"
       }
@@ -412,6 +437,7 @@
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "03140d7f4bd9ba474ebfbb6256e84a9089248e67",
         "repo": "libmetal",
         "type": "github"
       }
@@ -428,6 +454,7 @@
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "ca583fd297ceb48bced3c2548600dc615d67af24",
         "repo": "littlefs",
         "type": "github"
       }
@@ -435,15 +462,16 @@
     "loramac-node-src": {
       "flake": false,
       "locked": {
-        "lastModified": 1623669643,
-        "narHash": "sha256-Y/KOinjYkwsIuq/unZAsLnXHCZ/ksDjZAww4CyuSLME=",
+        "lastModified": 1695624605,
+        "narHash": "sha256-nRtKMPVoSMgjXrIiFEGiwA5o0WvoB/iwBA0goQUmFK0=",
         "owner": "zephyrproject-rtos",
         "repo": "loramac-node",
-        "rev": "12019623bbad9eb54fe51066847a7cbd4b4eac57",
+        "rev": "842413c5fb98707eb5f26e619e8e792453877897",
         "type": "github"
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "842413c5fb98707eb5f26e619e8e792453877897",
         "repo": "loramac-node",
         "type": "github"
       }
@@ -460,6 +488,7 @@
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "7c61a4cec26402d20c845c95dcad0e39dcd319f8",
         "repo": "lvgl",
         "type": "github"
       }
@@ -476,6 +505,7 @@
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "7053083b0cff8462464e3cbb826e87852fc03da6",
         "repo": "mbedtls",
         "type": "github"
       }
@@ -492,6 +522,7 @@
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "0c0470e294dcfb52aab92299356a5f3caa0aa52b",
         "repo": "mcuboot",
         "type": "github"
       }
@@ -499,15 +530,16 @@
     "mipi-sys-t-src": {
       "flake": false,
       "locked": {
-        "lastModified": 1697666646,
-        "narHash": "sha256-q2GzoDkkD9cwq4fHuFNnRtgbNu59IOpAAiFCcd8u3NY=",
+        "lastModified": 1686864407,
+        "narHash": "sha256-IVOOcEJZx/jzTGfm+1WJatzYsw5+URzSeIxq92bjm2w=",
         "owner": "zephyrproject-rtos",
         "repo": "mipi-sys-t",
-        "rev": "71ace1f5caa03e56c8740a09863e685efb4b2360",
+        "rev": "a819419603a2dfcb47f7f39092e1bc112e45d1ef",
         "type": "github"
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "a819419603a2dfcb47f7f39092e1bc112e45d1ef",
         "repo": "mipi-sys-t",
         "type": "github"
       }
@@ -515,26 +547,27 @@
     "net-tools-src": {
       "flake": false,
       "locked": {
-        "lastModified": 1698841837,
-        "narHash": "sha256-N3TibEP99zhCYww0GG8DnyJk76i13QL3pBQykPMqems=",
+        "lastModified": 1696479673,
+        "narHash": "sha256-hm39nDusf04Ry8eo91YiNHDQtQKtiBtNiXBYwT7fmdQ=",
         "owner": "zephyrproject-rtos",
         "repo": "net-tools",
-        "rev": "4350a2b5c0c7a0ae37977794a8f7e81918cc250a",
+        "rev": "d68ee9d17648a1bb3729c2023abfcb735dfe92fa",
         "type": "github"
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "d68ee9d17648a1bb3729c2023abfcb735dfe92fa",
         "repo": "net-tools",
         "type": "github"
       }
     },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1700632855,
-        "narHash": "sha256-ApA3IgQYuEiAWv+Cie0rMo4e301P2mloiCrv4AUAit4=",
+        "lastModified": 1700827275,
+        "narHash": "sha256-2/5n7d7SGgzaEZpxgurP3n71lyEqOakbNMLuHmqvQ0Y=",
         "owner": "nixos",
         "repo": "nixpkgs",
-        "rev": "c2d6f3c177f91e4d55c8b9953cbcdb61b1170784",
+        "rev": "18ffb605d570fc496cceb8793d83f3b530d0bf34",
         "type": "github"
       },
       "original": {
@@ -556,6 +589,7 @@
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "214f9fc1539f8e5937c0474cb6ee29b6dcb2d4b8",
         "repo": "open-amp",
         "type": "github"
       }
@@ -572,6 +606,7 @@
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "193e77e40ec2387d458eaebd1e03902d86f484a5",
         "repo": "openthread",
         "type": "github"
       }
@@ -588,6 +623,7 @@
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "1a5c603b9f8e228f9459bdafedad15ea28efc700",
         "repo": "picolibc",
         "type": "github"
       }
@@ -604,6 +640,7 @@
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "6a17330e0dfb5f319730f974d5b05f7b7f04757b",
         "repo": "psa-arch-tests",
         "type": "github"
       }
@@ -630,6 +667,7 @@
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "9d0191285956cef43daf411edc2f1a7788346def",
         "repo": "segger",
         "type": "github"
       }
@@ -697,6 +735,7 @@
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "a878426da78fbd1486dfc29d6c6b82be4ee79e72",
         "repo": "tf-m-tests",
         "type": "github"
       }
@@ -713,6 +752,7 @@
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "3e9a49d2672ec01435ffbf0d788db6d95ef28de0",
         "repo": "tinycrypt",
         "type": "github"
       }
@@ -729,6 +769,7 @@
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "421dc050278287839f5c70019bd6aec617f2bbdb",
         "repo": "trusted-firmware-a",
         "type": "github"
       }
@@ -745,6 +786,7 @@
       },
       "original": {
         "owner": "zephyrproject-rtos",
+        "ref": "33c0f47bcb19721a5c33e6fe1eee9225d00bb5bc",
         "repo": "trusted-firmware-m",
         "type": "github"
       }
@@ -752,15 +794,16 @@
     "ubxlib-src": {
       "flake": false,
       "locked": {
-        "lastModified": 1700571538,
-        "narHash": "sha256-0wdTwQ5BstnvADB0LpFs4JBTgQdqzWLPs/NmutXYJg8=",
+        "lastModified": 1700582529,
+        "narHash": "sha256-xtr97e6+RnTsn3A610n3TzAK7nATvzq5RomU1MEZiu4=",
         "owner": "tiacsys",
         "repo": "ubxlib",
-        "rev": "731256a47d18423b0819893c62de5678b6256e97",
+        "rev": "a1ba2623c1fcb5b745089f9e161763972c7006ad",
         "type": "github"
       },
       "original": {
         "owner": "tiacsys",
+        "ref": "tiacsys/master",
         "repo": "ubxlib",
         "type": "github"
       }
@@ -817,11 +860,11 @@
       },
       "locked": {
         "dir": "nix-workspace",
-        "lastModified": 1700639082,
-        "narHash": "sha256-BcCduWQg9FBBiUfmXsZ0hSlji6bPguNpPWUXDxtKQ20=",
+        "lastModified": 1700829103,
+        "narHash": "sha256-MfG06+WJmfy32vALeTWPIvGCGqBqQlLzJVbKAdCJKUo=",
         "ref": "HEAD",
-        "rev": "3c317c5bce73a90a4d88ebc88e16d9b12d4467af",
-        "revCount": 781,
+        "rev": "fbfdbf6135ac6db1d9e74703db687c48c64c7993",
+        "revCount": 782,
         "type": "git",
         "url": "file:.?dir=nix-workspace"
       },
@@ -844,11 +887,11 @@
         "zephyr-sdk-src-0-16-3": "zephyr-sdk-src-0-16-3"
       },
       "locked": {
-        "lastModified": 1699958964,
-        "narHash": "sha256-mLUdDYkuDDmN8jQFXeGG/RXJSAzHP8r2mkTRJKyPOP0=",
+        "lastModified": 1700827373,
+        "narHash": "sha256-Jge9Allf9OW5ZbXBtv5VJSpz11TjQdsbFltgKMzx/zc=",
         "owner": "Irockasingranite",
         "repo": "zephyr-sdk-nix",
-        "rev": "b0a70459bb6a1e3ddcc4c7c2804c32bb204c4853",
+        "rev": "56fa3d48a4036746c3a44d65e2439966919379dd",
         "type": "github"
       },
       "original": {
@@ -925,15 +968,16 @@
     "zephyr-src": {
       "flake": false,
       "locked": {
-        "lastModified": 1700625892,
-        "narHash": "sha256-vXiXCiAd1lXt8ySJn5xeoq4GYZWlY1UUtiPPl/PW8Ak=",
+        "lastModified": 1700712424,
+        "narHash": "sha256-z9hEfmE+ZFcB5Yvy4xhd/6477P17NtcEJDzigeN9Gpw=",
         "owner": "tiacsys",
         "repo": "zephyr",
-        "rev": "bf6c2fcde81e0651ca0918820b52bfc2e182412f",
+        "rev": "7452c50d8a9fd97ffc6d9ca27f64729fbc2b584c",
         "type": "github"
       },
       "original": {
         "owner": "tiacsys",
+        "ref": "tiacsys/main",
         "repo": "zephyr",
         "type": "github"
       }
diff --git a/flake.nix b/flake.nix
index 8fe97f441a..1c64950ff1 100644
--- a/flake.nix
+++ b/flake.nix
@@ -79,6 +79,64 @@
         ];
       };
 
+      bridle-deps = [
+        # Zephyr SDK
+        zephyr-sdk-pkg
+
+        # Required build tools
+        pkgs.git
+        pkgs.cmake
+        pkgs.dtc
+        pkgs.ninja
+
+        # Other tools
+        pkgs.openocd
+
+        # Dependencies for building docs
+        pkgs.doxygen
+        pkgs.graphviz
+        pkgs.mscgen
+
+        # Python with packages that need to be available for import
+        (pkgs.python311.withPackages (ps: with ps; [
+
+          # Python dependencies (Zephyr)
+          pypkgs.west
+          pypkgs.pyelftools
+          pypkgs.pyyaml
+          pypkgs.pykwalify
+          pypkgs.canopen
+          pypkgs.packaging
+          pypkgs.progress
+          pypkgs.psutil
+          pypkgs.pylink-square
+          pypkgs.pyserial
+          pypkgs.requests
+          pypkgs.anytree
+          pypkgs.intelhex
+
+          # Python dependencies (Docs)
+          pypkgs.sphinx
+          pypkgs.breathe
+          pypkgs.docutils
+          pypkgs.pygments
+          pypkgs.recommonmark
+          pypkgs.commonmark
+          pypkgs.sphinx-rtd-theme
+          sphinx-tsn-theme # Not in nixpkgs
+          pypkgs.sphinxcontrib-mscgen
+          sphinxcontrib-svg2pdfconverter # Not in nixpkgs
+          pypkgs.sphinx-tabs
+          sphinx-csv-filter # Not in nixpkgs
+          pypkgs.sphinx-copybutton
+          pypkgs.sphinx-togglebutton
+          pypkgs.sphinx-notfound-page
+
+          # Bridle dependencies
+          pypkgs.parse # Needed to regenerate the nix-workspace subflake
+        ]))
+      ];
+
     in
     {
 
@@ -87,63 +145,7 @@
       packages.x86_64-linux.workspace = workspace.packages.x86_64-linux.workspace;
 
       devShells.x86_64-linux.default = pkgs.mkShell {
-        nativeBuildInputs = [
-          # Zephyr SDK
-          zephyr-sdk-pkg
-
-          # Required build tools
-          pkgs.git
-          pkgs.cmake
-          pkgs.dtc
-          pkgs.ninja
-
-          # Other tools
-          pkgs.openocd
-
-          # Dependencies for building docs
-          pkgs.doxygen
-          pkgs.graphviz
-          pkgs.mscgen
-
-          # Python with packages that need to be available for import
-          (pkgs.python311.withPackages (ps: with ps; [
-
-            # Python dependencies (Zephyr)
-            pypkgs.west
-            pypkgs.pyelftools
-            pypkgs.pyyaml
-            pypkgs.pykwalify
-            pypkgs.canopen
-            pypkgs.packaging
-            pypkgs.progress
-            pypkgs.psutil
-            pypkgs.pylink-square
-            pypkgs.pyserial
-            pypkgs.requests
-            pypkgs.anytree
-            pypkgs.intelhex
-
-            # Python dependencies (Docs)
-            pypkgs.sphinx
-            pypkgs.breathe
-            pypkgs.docutils
-            pypkgs.pygments
-            pypkgs.recommonmark
-            pypkgs.commonmark
-            pypkgs.sphinx-rtd-theme
-            sphinx-tsn-theme # Not in nixpkgs
-            pypkgs.sphinxcontrib-mscgen
-            sphinxcontrib-svg2pdfconverter # Not in nixpkgs
-            pypkgs.sphinx-tabs
-            sphinx-csv-filter # Not in nixpkgs
-            pypkgs.sphinx-copybutton
-            pypkgs.sphinx-togglebutton
-            pypkgs.sphinx-notfound-page
-
-            # Bridle dependencies
-            pypkgs.parse # Needed to regenerate the nix-workspace subflake
-          ]))
-        ];
+        nativeBuildInputs = bridle-deps;
 
         ZEPHYR_SDK_INSTALL_DIR = "${zephyr-sdk-pkg}";
         CMAKE_MODULE_PATH = "${zephyr-sdk-pkg}/cmake";
@@ -154,5 +156,36 @@
           export CMAKE_PREFIX_PATH=$(realpath ./share/bridle-package/cmake):$CMAKE_PREFIX_PATH
         '';
       };
+
+      packages.x86_64-linux.bridle-doc = pkgs.stdenv.mkDerivation {
+
+        name = "bridle-doc";
+        src = workspace.packages.x86_64-linux.workspace;
+
+        nativeBuildInputs = bridle-deps;
+
+        ZEPHYR_SDK_INSTALL_DIR = "${zephyr-sdk-pkg}";
+        CMAKE_MODULE_PATH = "${zephyr-sdk-pkg}/cmake";
+        LC_ALL = "C.UTF-8"; # Needed by sphinx
+
+        postUnpack = ''
+          export CMAKE_PREFIX_PATH=$(realpath bridle/share/bridle-package/cmake):$CMAKE_PREFIX_PATH
+          export CMAKE_PREFIX_PATH=$(realpath zephyr/share/zephyr-package/cmake):$CMAKE_PREFIX_PATH
+        '';
+
+        dontConfigure = true;
+
+        buildPhase = ''
+          west build --cmake-only -b none -d build/bridle-doc bridle/doc
+          west build -t zephyr-doxygen -b none -d build/bridle-doc
+          west build -t bridle-doxygen -b none -d build/bridle-doc
+          west build -t build-all -b none -d build/bridle-doc
+        '';
+
+        installPhase = ''
+          mkdir -p $out
+          cp -r build/bridle-doc/html $out/html
+        '';
+      };
     };
 }