diff --git a/doc/configuration/uml/configuration.plantuml b/doc/configuration/uml/configuration.plantuml
index 90d05317..d8475777 100644
--- a/doc/configuration/uml/configuration.plantuml
+++ b/doc/configuration/uml/configuration.plantuml
@@ -15,7 +15,7 @@ package "platformio.ini" {
         component "app:<APPLICATION-NAME>" <<pio>> as pioAppApp
         component "hal_app:<APPLICATION-NAME>Sim" <<pio>> as pioHalAppSim
 
-        component "hal:Zumo" <<pio>> as pioHalTarget
+        component "hal:Target" <<pio>> as pioHalTarget
         component "hal:Sim" <<pio>> as pioHalSim
     }
 }
diff --git a/platformio.ini b/platformio.ini
index e9a27b66..72261f87 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -47,7 +47,7 @@ check_skip_packages = yes
 ; *****************************************************************************
 ; Target environment for Zumo32U4.
 ; *****************************************************************************
-[target:Zumo32U4]
+[hal:Target]
 platform = atmelavr @ ~4.1.0
 board = a-star32U4
 framework = arduino
@@ -85,7 +85,7 @@ test_port = com9
 ; It is assumed that the environment variable WEBOTS_HOME is set to the
 ; Webots directory, e.g. WEBOTS_HOME=C:\Users\<user>\AppData\Local\Programs\Webots
 ; *****************************************************************************
-[target:Sim]
+[hal:Sim]
 platform = native @ ~1.2.1
 build_flags =
     -std=c++11
@@ -111,7 +111,7 @@ extra_scripts =
 ; *****************************************************************************
 ; PC target environment for tests
 ; *****************************************************************************
-[target:Test]
+[hal:Test]
 platform = native @ ~1.2.1
 build_flags =
     -std=c++11
@@ -172,115 +172,115 @@ lib_ignore =
 ; Convoy leader application on target
 ; *****************************************************************************
 [env:ConvoyLeaderTarget]
-extends = target:Zumo32U4, app:ConvoyLeader, static_check_configuration
+extends = hal:Target, app:ConvoyLeader, static_check_configuration
 build_flags =
-    ${target:Zumo32U4.build_flags}
+    ${hal:Target.build_flags}
     ${app:ConvoyLeader.build_flags}
 lib_deps =
-    ${target:Zumo32U4.lib_deps}
+    ${hal:Target.lib_deps}
     ${app:ConvoyLeader.lib_deps}
 lib_ignore =
-    ${target:Zumo32U4.lib_ignore}
+    ${hal:Target.lib_ignore}
     ${app:ConvoyLeader.lib_ignore}
 extra_scripts =
-    ${target:Zumo32U4.extra_scripts}
+    ${hal:Target.extra_scripts}
 
 ; *****************************************************************************
 ; Convoy leader application on simulation
 ; *****************************************************************************
 [env:ConvoyLeaderSim]
-extends = target:Sim, app:ConvoyLeader, static_check_configuration
+extends = hal:Sim, app:ConvoyLeader, static_check_configuration
 build_flags =
-    ${target:Sim.build_flags}
+    ${hal:Sim.build_flags}
     ${app:ConvoyLeader.build_flags}
 lib_deps =
-    ${target:Sim.lib_deps}
+    ${hal:Sim.lib_deps}
     ${app:ConvoyLeader.lib_deps}
 lib_ignore =
-    ${target:Sim.lib_ignore}
+    ${hal:Sim.lib_ignore}
     ${app:ConvoyLeader.lib_ignore}
 extra_scripts =
-    ${target:Sim.extra_scripts}
+    ${hal:Sim.extra_scripts}
 
 ; *****************************************************************************
 ; Line follower application on target
 ; *****************************************************************************
 [env:LineFollowerTarget]
-extends = target:Zumo32U4, app:LineFollower, static_check_configuration
+extends = hal:Target, app:LineFollower, static_check_configuration
 build_flags =
-    ${target:Zumo32U4.build_flags}
+    ${hal:Target.build_flags}
     ${app:LineFollower.build_flags}
 lib_deps =
-    ${target:Zumo32U4.lib_deps}
+    ${hal:Target.lib_deps}
     ${app:LineFollower.lib_deps}
 lib_ignore =
-    ${target:Zumo32U4.lib_ignore}
+    ${hal:Target.lib_ignore}
     ${app:LineFollower.lib_ignore}
 extra_scripts =
-    ${target:Zumo32U4.extra_scripts}
+    ${hal:Target.extra_scripts}
 
 ; *****************************************************************************
 ; Line follower application on simulation
 ; *****************************************************************************
 [env:LineFollowerSim]
-extends = target:Sim, app:LineFollower, static_check_configuration
+extends = hal:Sim, app:LineFollower, static_check_configuration
 build_flags =
-    ${target:Sim.build_flags}
+    ${hal:Sim.build_flags}
     ${app:LineFollower.build_flags}
 lib_deps =
-    ${target:Sim.lib_deps}
+    ${hal:Sim.lib_deps}
     ${app:LineFollower.lib_deps}
 lib_ignore =
-    ${target:Sim.lib_ignore}
+    ${hal:Sim.lib_ignore}
     ${app:LineFollower.lib_ignore}
 extra_scripts =
-    ${target:Sim.extra_scripts}
+    ${hal:Sim.extra_scripts}
 
 ; *****************************************************************************
 ; Remote control application on target
 ; *****************************************************************************
 [env:RemoteControlTarget]
-extends = target:Zumo32U4, app:RemoteControl, static_check_configuration
+extends = hal:Target, app:RemoteControl, static_check_configuration
 build_flags =
-    ${target:Zumo32U4.build_flags}
+    ${hal:Target.build_flags}
     ${app:RemoteControl.build_flags} 
 lib_deps =
-    ${target:Zumo32U4.lib_deps}
+    ${hal:Target.lib_deps}
     ${app:RemoteControl.lib_deps}
 lib_ignore =
-    ${target:Zumo32U4.lib_ignore}
+    ${hal:Target.lib_ignore}
     ${app:RemoteControl.lib_ignore}
 extra_scripts =
-    ${target:Zumo32U4.extra_scripts}
+    ${hal:Target.extra_scripts}
 
 ; *****************************************************************************
 ; Remote control application on simulation
 ; *****************************************************************************
 [env:RemoteControlSim]
-extends = target:Sim, app:RemoteControl, static_check_configuration
+extends = hal:Sim, app:RemoteControl, static_check_configuration
 build_flags =
-    ${target:Sim.build_flags}
+    ${hal:Sim.build_flags}
     ${app:RemoteControl.build_flags}
 lib_deps =
-    ${target:Sim.lib_deps}
+    ${hal:Sim.lib_deps}
     ${app:RemoteControl.lib_deps}
 lib_ignore =
-    ${target:Sim.lib_ignore}
+    ${hal:Sim.lib_ignore}
     ${app:RemoteControl.lib_ignore}
 extra_scripts =
-    ${target:Sim.extra_scripts}
+    ${hal:Sim.extra_scripts}
 
 ; *****************************************************************************
 ; PC target environment for tests
 ; *****************************************************************************
 [env:Test]
-extends = target:Test, static_check_configuration
+extends = hal:Test, static_check_configuration
 build_flags =
-    ${target:Test.build_flags}
+    ${hal:Test.build_flags}
     ${common.build_flags}
 lib_deps =
-    ${target:Test.lib_deps}
+    ${hal:Test.lib_deps}
 lib_ignore =
-    ${target:Test.lib_ignore}
+    ${hal:Test.lib_ignore}
 extra_scripts =
-    ${target:Test.extra_scripts}
+    ${hal:Test.extra_scripts}