diff --git a/docs/1-environment_setup.md b/docs/1-environment_setup.md
index da90fcc7..70829735 100644
--- a/docs/1-environment_setup.md
+++ b/docs/1-environment_setup.md
@@ -1,9 +1,9 @@
 Development Tools Setup
 =======================
 
-Build requirement: `GNU/Linux x86-64` and `python3`
+## Linux
 
-Tested with `Ubuntu 22.04`.
+Recommended distribution: `Ubuntu 22.04`
 
 ### 1. Prerequisites:
 
@@ -41,7 +41,7 @@ make -j $(nproc)
 sudo make install
 ```
 
-### 4. ARM GNU toolchain 12.3:
+### 4. ARM GNU toolchain 12.3 (x86-64):
 
 Download the pre-built ARM GNU toolchain:
 
@@ -59,4 +59,103 @@ PATH=$PATH:${YOUR_PATH}/arm-gnu-toolchain-12.3.rel1-x86_64-arm-none-eabi/bin
 
 Note that `Python 3.8` is a hard requirement for running version `12.3` of `arm-none-eabi-gdb`.
 
-### 5. Restart the terminal
+Execute the following command or restart the terminal:
+
+```
+source ~/.bashrc
+```
+
+---
+
+## macOS
+
+> Caveat: rtplot and Gazebo are not yet fully tested on macOS
+
+### 1. Prerequisites:
+
+```
+brew install git cgdb curl wget python@3.8 texinfo automake pkg-config \
+             libtool libusb pixman glib ncurses ninja flex bison
+```
+
+### 2. OpenOCD:
+
+Install `libjaylink`:
+
+```
+https://repo.or.cz/libjaylink.git
+git clone https://gitlab.zapb.de/libjaylink/libjaylink.git
+cd libjaylink
+./autogen.sh
+./configure
+make
+make install
+```
+
+Install `OpenOCD`:
+
+```
+git clone https://github.com/openocd-org/openocd.git
+cd openocd
+./bootstrap
+./configure --prefix=/usr/local --enable-jlink --enable-buspirate \
+            --enable-stlink --disable-libftdi
+make -j$(sysctl -n hw.ncpu)
+make install
+```
+
+### 3. QEMU:
+
+```
+git clone https://github.com/qemu/qemu.git
+cd qemu
+git submodule update --init --recursive
+mkdir build
+cd build
+../configure
+make -j$(sysctl -n hw.ncpu)
+make install
+```
+
+### 4. ARM GNU toolchain 12.3:
+
+**macOS (AArch64):**
+
+Download the pre-built ARM GNU toolchain:
+
+```
+wget https://developer.arm.com/-/media/Files/downloads/gnu/13.2.rel1/binrel/arm-gnu-toolchain-13.2.rel1-darwin-arm64-arm-none-eabi.tar.xz
+tar xf arm-gnu-toolchain-13.2.rel1-darwin-arm64-arm-none-eabi.tar.xz
+```
+Append the following instruction in the `~/.zshrc`:
+
+```
+PATH=$PATH:${PATH}/arm-gnu-toolchain-13.2.Rel1-darwin-arm64-arm-none-eabi/bin
+```
+
+Execute the following command or restart the terminal:
+
+```
+source ~/.zshrc
+```
+
+**macOS (x86-64):**
+
+Download the pre-built ARM GNU toolchain:
+
+```
+wget https://developer.arm.com/-/media/Files/downloads/gnu/13.2.rel1/binrel/arm-gnu-toolchain-13.2.rel1-darwin-x86_64-arm-none-eabi.tar.xz
+tar xf arm-gnu-toolchain-13.2.rel1-darwin-x86_64-arm-none-eabi.tar.xz
+```
+
+Append the following instruction in the `~/.zshrc`:
+
+```
+PATH=$PATH:${PATH}/arm-gnu-toolchain-13.2.Rel1-darwin-x86_64-arm-none-eabi/bin
+```
+
+Execute the following command or restart the terminal:
+
+```
+source ~/.zshrc
+```