diff --git a/Firmware/.gitignore b/Firmware/.gitignore
deleted file mode 100644
index 673b74ec..00000000
--- a/Firmware/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-Generated/
diff --git a/Firmware/CMakeLists.txt b/Firmware/CMakeLists.txt
index b15a82e9..00aa27c2 100644
--- a/Firmware/CMakeLists.txt
+++ b/Firmware/CMakeLists.txt
@@ -14,16 +14,23 @@ endif ()
 
 set(DEVICETREE_LOCATION "${CMAKE_SOURCE_DIR}/Devices/${TACTILITY_DEVICE_ID}")
 
+set(GENERATED_DIR "${CMAKE_CURRENT_BINARY_DIR}/Generated")
+# Ensure the directory is built in the correct CMake build phase
+# If the check is not done, then another directory is created in the root of the build folder.
+if (DEFINED ${CMAKE_CURRENT_BINARY_DIR})
+    file(MAKE_DIRECTORY "${GENERATED_DIR}")
+endif ()
+
 if (DEFINED ENV{ESP_IDF_VERSION})
 
     idf_component_register(
-        SRCS ${SOURCE_FILES} "${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.c"
+        SRCS ${SOURCE_FILES} "${GENERATED_DIR}/devicetree.c"
         REQUIRES Tactility TactilityC TactilityKernel PlatformEsp32 ${TACTILITY_DEVICE_PROJECT}
     )
 
 else ()
 
-    add_executable(FirmwareSim ${SOURCE_FILES} "${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.c")
+    add_executable(FirmwareSim ${SOURCE_FILES} "${GENERATED_DIR}/devicetree.c")
     target_link_libraries(FirmwareSim PRIVATE
         Tactility
         TactilityCore
@@ -38,22 +45,20 @@ else ()
     add_definitions(-D_Nonnull=)
 endif ()
 
-file(MAKE_DIRECTORY "${CMAKE_SOURCE_DIR}/Firmware/Generated")
-
 add_custom_target(AlwaysRun)
 add_custom_command(
-    OUTPUT "${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.c"
-        "${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.h"
+    OUTPUT "${GENERATED_DIR}/devicetree.c"
+        "${GENERATED_DIR}/devicetree.h"
     COMMAND pip install lark pyyaml
     COMMAND python "${CMAKE_SOURCE_DIR}/Buildscripts/DevicetreeCompiler/compile.py"
-    "${DEVICETREE_LOCATION}" "Firmware/Generated"
+    "${DEVICETREE_LOCATION}" "${GENERATED_DIR}"
     WORKING_DIRECTORY "${CMAKE_SOURCE_DIR}"
     DEPENDS AlwaysRun "${DEVICETREE_LOCATION}/devicetree.yaml" # AlwaysRun ensures it always gets built
     COMMENT "Generating devicetree source files..."
 )
-add_custom_target(Generated DEPENDS "${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.c")
-set_source_files_properties("${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.c" PROPERTIES GENERATED TRUE)
-set_source_files_properties("${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.h" PROPERTIES GENERATED TRUE)
+add_custom_target(Generated DEPENDS "${GENERATED_DIR}/devicetree.c")
+set_source_files_properties("${GENERATED_DIR}/devicetree.c" PROPERTIES GENERATED TRUE)
+set_source_files_properties("${GENERATED_DIR}/devicetree.h" PROPERTIES GENERATED TRUE)
 # Update target for generated code
-target_sources(${COMPONENT_LIB} PRIVATE "${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.c")
-target_include_directories(${COMPONENT_LIB} PRIVATE "${CMAKE_SOURCE_DIR}/Firmware/Generated")
+target_sources(${COMPONENT_LIB} PRIVATE "${GENERATED_DIR}/devicetree.c")
+target_include_directories(${COMPONENT_LIB} PRIVATE "${GENERATED_DIR}")