diff --git a/src/commands/launchTargetPath.mts b/src/commands/launchTargetPath.mts
index 69951ba..7a4419c 100644
--- a/src/commands/launchTargetPath.mts
+++ b/src/commands/launchTargetPath.mts
@@ -3,6 +3,7 @@ import { CommandWithResult } from "./command.mjs";
 import { commands, window, workspace } from "vscode";
 import { join } from "path";
 import Settings, { SettingsKey } from "../settings.mjs";
+import { cmakeGetPicoVar } from "../utils/cmakeUtil.mjs";
 
 export default class LaunchTargetPathCommand extends CommandWithResult<string> {
   constructor() {
@@ -27,8 +28,8 @@ export default class LaunchTargetPathCommand extends CommandWithResult<string> {
 
     // Extract the project name from the matched result
     if (match && match[1]) {
-      const projectName = match[1].trim();
-
+      let projectName = match[1].trim();
+      
       if (matchBg && matchPoll) {
         // For examples with both background and poll, let user pick which to run
         const quickPickItems = ["Threadsafe Background", "Poll"];
@@ -45,6 +46,16 @@ export default class LaunchTargetPathCommand extends CommandWithResult<string> {
           case quickPickItems[1]:
             return projectName + "_poll";
         }
+      }else{
+        if(workspace.workspaceFolders !== undefined) {
+          let cmakeCacheFile = workspace.workspaceFolders[0].uri.fsPath;
+          cmakeCacheFile = join(cmakeCacheFile,"build","CMakeCache.txt");
+
+          const value = cmakeGetPicoVar(cmakeCacheFile,"CMAKE_PROJECT_NAME");
+          if(value !== null){
+            projectName = value;
+          }
+        }
       }
 
       return projectName;
diff --git a/src/commands/switchBoard.mts b/src/commands/switchBoard.mts
index 18543bc..23ff2d1 100644
--- a/src/commands/switchBoard.mts
+++ b/src/commands/switchBoard.mts
@@ -11,8 +11,11 @@ import {
   cmakeGetSelectedToolchainAndSDKVersions,
   cmakeUpdateBoard,
   cmakeUpdateSDK,
+  cmakeGetPicoVar,
 } from "../utils/cmakeUtil.mjs";
 import { join } from "path";
+import { resolve } from "path";
+import { normalize } from "path";
 import { compareLt } from "../utils/semverUtil.mjs";
 import type UI from "../ui.mjs";
 import { updateVSCodeStaticConfigs } from "../utils/vscodeConfigUtil.mjs";
@@ -32,20 +35,74 @@ export default class SwitchBoardCommand extends Command {
   public static async askBoard(sdkVersion: string):
       Promise<[string, boolean] | undefined> {
     const quickPickItems: string[] = ["pico", "pico_w"];
+    const workspaceFolder = workspace.workspaceFolders?.[0];
 
     if (!compareLt(sdkVersion, "2.0.0")) {
       quickPickItems.push("pico2");
     }
-
     if (!compareLt(sdkVersion, "2.1.0")) {
       quickPickItems.push("pico2_w");
     }
 
-    const sdkPath = buildSDKPath(sdkVersion);
+    const boardHeaderDirList = [];
+
+    if(workspaceFolder !== undefined) {
+      const ws = workspaceFolder.uri.fsPath;
+      const cMakeCachePath = join(ws, "build","CMakeCache.txt");
+
+      let picoBoardHeaderDirs = cmakeGetPicoVar(
+        cMakeCachePath,
+        "PICO_BOARD_HEADER_DIRS");
+
+      if(picoBoardHeaderDirs){
+        if(picoBoardHeaderDirs.startsWith("'")){
+          const substrLen = picoBoardHeaderDirs.length-1;
+          picoBoardHeaderDirs = picoBoardHeaderDirs.substring(1,substrLen);
+        }
+
+        const picoBoardHeaderDirList = picoBoardHeaderDirs.split(";");
+        picoBoardHeaderDirList.forEach(
+          item => {
+            let boardPath = resolve(item);
+            const normalized = normalize(item);
+
+            //If path is not absolute, join workspace path
+            if(boardPath !== normalized){
+              boardPath = join(ws,normalized);
+            }
 
-    readdirSync(join(sdkPath, "src", "boards", "include", "boards")).forEach(
-      file => {
-        quickPickItems.push(file.split(".")[0]);
+            if(existsSync(boardPath)){
+              boardHeaderDirList.push(boardPath);
+            }
+          }
+        );
+      }
+    }
+
+    const sdkPath = buildSDKPath(sdkVersion);
+    const systemBoardHeaderDir = 
+      join(sdkPath,"src", "boards", "include","boards");
+
+      boardHeaderDirList.push(systemBoardHeaderDir);
+
+    interface IBoardFile{
+      [key: string]: string;
+    };
+
+    const boardFiles:IBoardFile = {};
+
+    boardHeaderDirList.forEach(
+      path =>{
+        readdirSync(path).forEach(
+          file => {
+            const fullFilename = join(path, file);
+            if(fullFilename.endsWith(".h")) {
+              const boardName = file.split(".")[0];
+              boardFiles[boardName] = fullFilename;
+              quickPickItems.push(boardName);
+            }
+          }
+        )
       }
     );
 
@@ -58,11 +115,8 @@ export default class SwitchBoardCommand extends Command {
 
       return board;
     }
-
     // Check that board doesn't have an RP2040 on it
-    const data = readFileSync(
-      join(sdkPath, "src", "boards", "include", "boards", `${board}.h`)
-    )
+    const data = readFileSync(boardFiles[board])
 
     if (data.includes("rp2040")) {