Merge branch 'master' into dwc2-interrupts

16 files changed, 564 insertions, 312 deletions

diff --git a/.github/workflows/build_aarch64.yml b/.github/workflows/build_aarch64.yml
index cc8ddb070..e5dbf9494 100644
--- a/.github/workflows/build_aarch64.yml
+++ b/.github/workflows/build_aarch64.yml
@@ -1,6 +1,7 @@
 name: Build AArch64
 
 on:
+  workflow_dispatch:
   push:
     paths:
       - 'src/**'
@@ -35,18 +36,12 @@ jobs:
         - 'broadcom_64bit'
     steps:
     - name: Setup Python
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
       with:
         python-version: '3.x'
 
     - name: Checkout TinyUSB
-      uses: actions/checkout@v3
-
-    - name: Checkout hathach/linkermap
-      uses: actions/checkout@v3
-      with:
-         repository: hathach/linkermap
-         path: linkermap
+      uses: actions/checkout@v4
 
     - name: Set Toolchain URL
       run: echo >> $GITHUB_ENV TOOLCHAIN_URL=https://developer.arm.com/-/media/Files/downloads/gnu-a/10.3-2021.07/binrel/gcc-arm-10.3-2021.07-x86_64-aarch64-none-elf.tar.xz
@@ -69,15 +64,7 @@ jobs:
       run: echo >> $GITHUB_PATH `echo ~/cache/toolchain/*/bin`
 
     - name: Get Dependencies
-      run: python3 tools/get_family_deps.py ${{ matrix.family }}
+      run: python3 tools/get_deps.py ${{ matrix.family }}
 
     - name: Build
-      run: python3 tools/build_family.py ${{ matrix.family }}
-
-    - name: Linker Map
-      run: |
-        pip install linkermap/
-        for ex in `ls -d examples/device/*/`; do \
-          find ${ex} -name *.map -print -quit | \
-          xargs -I % sh -c 'echo "::group::%"; linkermap -v %; echo "::endgroup::"'; \
-        done
+      run: python3 tools/build_make.py ${{ matrix.family }}
diff --git a/.github/workflows/build_arm.yml b/.github/workflows/build_arm.yml
index b60d12a98..9f3270c91 100644
--- a/.github/workflows/build_arm.yml
+++ b/.github/workflows/build_arm.yml
@@ -1,12 +1,14 @@
 name: Build ARM
 
 on:
+  workflow_dispatch:
   push:
     paths:
       - 'src/**'
       - 'examples/**'
       - 'lib/**'
       - 'hw/**'
+      - 'tools/get_deps.py'
       - '.github/workflows/build_arm.yml'
   pull_request:
     branches: [ master ]
@@ -15,6 +17,7 @@ on:
       - 'examples/**'
       - 'lib/**'
       - 'hw/**'
+      - 'tools/get_deps.py'
       - '.github/workflows/build_arm.yml'
 
 concurrency:
@@ -33,26 +36,17 @@ jobs:
         family:
         # Alphabetical order
         - 'broadcom_32bit'
-        - 'imxrt'
-        - 'kinetis_k32 kinetis_kl'
-        - 'lpc11 lpc13 lpc15 lpc17 lpc18'
-        - 'lpc51 lpc54 lpc55'
+        - 'kinetis_k32l2'
+        - 'lpc11 lpc13 lpc15'
+        - 'lpc51'
         - 'mm32 msp432e4'
-        - 'nrf'
-        - 'ra'
-        - 'rp2040'
-        - 'samd11 samd21'
-        - 'samd51 same5x'
-        - 'saml2x'
-        - 'stm32f0 stm32f1 stm32f2 stm32f3'
-        - 'stm32f4'
-        - 'stm32f7'
-        - 'stm32g4 stm32h7'
-        - 'stm32l0 stm32l4 stm32u5 stm32wb'
+        - 'samd11 same5x saml2x'
+        - 'stm32f2 stm32f3'
+        - 'stm32l0 stm32wb'
         - 'tm4c123 xmc4000'
     steps:
     - name: Setup Python
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
       with:
         python-version: '3.x'
 
@@ -62,183 +56,10 @@ jobs:
         release: '11.2-2022.02'
 
     - name: Checkout TinyUSB
-      uses: actions/checkout@v3
-
-    - name: Checkout hathach/linkermap
-      uses: actions/checkout@v3
-      with:
-         repository: hathach/linkermap
-         path: linkermap
-
-    - name: Checkout pico-sdk for rp2040
-      if: matrix.family == 'rp2040'
-      run: |
-        git clone --depth 1 -b develop https://github.com/raspberrypi/pico-sdk ~/pico-sdk
-        echo >> $GITHUB_ENV PICO_SDK_PATH=~/pico-sdk
+      uses: actions/checkout@v4
 
     - name: Get Dependencies
-      run: python3 tools/get_family_deps.py ${{ matrix.family }}
+      run: python3 tools/get_deps.py ${{ matrix.family }}
 
     - name: Build
-      run: python3 tools/build_family.py ${{ matrix.family }}
-
-    - name: Linker Map
-      run: |
-        pip install linkermap/
-        # find -quit to only print linkermap of 1 board per example
-        for ex in `ls -d examples/*/*/`
-        do
-          find ${ex} -name *.map -print -quit | xargs -I % sh -c 'echo "::group::%"; linkermap -v %; echo "::endgroup::"'
-        done
-
-    # Upload binaries for rp2040/stm32l412nucleo hardware test with self-hosted
-
-    - name: Prepare rp2040 Artifacts
-      if: contains(matrix.family, 'rp2040') && github.repository_owner == 'hathach'
-      run: find examples/ -name "*.elf" -exec mv {} . \;
-
-    - name: Prepare stm32l412nucleo Artifacts
-      if: contains(matrix.family, 'stm32l4')
-      run: find examples/ -path "*stm32l412nucleo/*.elf" -exec mv {} . \;
-
-    - name: Upload Artifacts for rp2040
-      if: contains(matrix.family,'rp2040') && github.repository_owner == 'hathach'
-      uses: actions/upload-artifact@v3
-      with:
-        name: rp2040
-        path: |
-          *.elf
-
-    - name: Upload Artifacts for stm32l412nucleo
-      if: contains(matrix.family, 'stm32l4') && github.repository_owner == 'hathach'
-      uses: actions/upload-artifact@v3
-      with:
-        name: stm32l4
-        path: |
-          *.elf
-
-  # ---------------------------------------
-  # Hardware in the loop (HIL)
-  # Current self-hosted instance is running on an RPI4 with
-  # - pico + pico-probe connected via USB
-  # - pico-probe is /dev/ttyACM0
-  # ---------------------------------------
-  hw-rp2040-test:
-    # run only with hathach's commit due to limited resource on RPI4
-    if: github.repository_owner == 'hathach'
-    needs: build-arm
-    runs-on: [self-hosted, Linux, ARM64, rp2040]
-
-    steps:
-    - name: Clean workspace
-      run: |
-        echo "Cleaning up previous run"
-        rm -rf "${{ github.workspace }}"
-        mkdir -p "${{ github.workspace }}"
-
-    - name: Download rp2040 Artifacts
-      uses: actions/download-artifact@v3
-      with:
-        name: rp2040
-
-    - name: Create flash.sh
-      run: |
-        #echo > flash.sh 'cmdout=$(openocd -f "interface/picoprobe.cfg" -f "target/rp2040.cfg" -c "program $1 reset exit")'
-        echo > flash.sh 'pyocd flash -t rp2040 $1'
-        echo >> flash.sh 'if (( $? )) ; then echo $cmdout ; fi'
-        chmod +x flash.sh
-
-    - name: Test cdc_dual_ports
-      run: |
-        ./flash.sh cdc_dual_ports.elf
-        while (! ([ -e /dev/ttyACM1 ] && [ -e /dev/ttyACM2 ])) && [ $SECONDS -le 10 ]; do :; done
-        test -e /dev/ttyACM1 && echo "ttyACM1 exists"
-        test -e /dev/ttyACM2 && echo "ttyACM2 exists"
-
-    - name: Test cdc_msc
-      run: |
-        ./flash.sh cdc_msc.elf
-        readme='/media/pi/TinyUSB MSC/README.TXT'
-        while (! ([ -e /dev/ttyACM1 ] && [ -f "$readme" ])) && [ $SECONDS -le 10 ]; do :; done
-        test -e /dev/ttyACM1 && echo "ttyACM1 exists"
-        test -f "$readme" && echo "$readme exists"
-        cat "$readme"
-
-    - name: Test dfu
-      run: |
-        ./flash.sh dfu.elf
-        while (! (dfu-util -l | grep "Found DFU")) && [ $SECONDS -le 10 ]; do :; done
-        dfu-util -d cafe -a 0 -U dfu0
-        dfu-util -d cafe -a 1 -U dfu1
-        grep "TinyUSB DFU! - Partition 0" dfu0
-        grep "TinyUSB DFU! - Partition 1" dfu1
-
-    - name: Test dfu_runtime
-      run: |
-        ./flash.sh dfu_runtime.elf
-        while (! (dfu-util -l | grep "Found Runtime")) && [ $SECONDS -le 10 ]; do :; done
-
-  # ---------------------------------------
-  # Hardware in the loop (HIL)
-  # Current self-hosted instance is running on an EPYC 7232 server hosted by HiFiPhile user
-  # - STM32L412 Nucleo with on-board jlink as ttyACM0
-  # ---------------------------------------
-  hw-stm32l412nucleo-test:
-    needs: build-arm
-    runs-on: [self-hosted, Linux, X64, hifiphile]
-
-    steps:
-    - name: Clean workspace
-      run: |
-        echo "Cleaning up previous run"
-        rm -rf "${{ github.workspace }}"
-        mkdir -p "${{ github.workspace }}"
-
-    - name: Download stm32l4 Artifacts
-      uses: actions/download-artifact@v3
-      with:
-        name: stm32l4
-
-    - name: Create flash.sh
-      run: |
-        echo > flash.sh 'echo halt > flash.jlink'
-        echo >> flash.sh 'echo r >> flash.jlink'
-        echo >> flash.sh 'echo loadfile $1 >> flash.jlink'
-        echo >> flash.sh 'echo r >> flash.jlink'
-        echo >> flash.sh 'echo go >> flash.jlink'
-        echo >> flash.sh 'echo exit >> flash.jlink'
-        echo >> flash.sh 'cmdout=$(JLinkExe -device stm32l412kb -if swd -JTAGConf -1,-1 -speed auto -NoGui 1 -ExitOnError 1 -CommandFile flash.jlink)'
-        echo >> flash.sh 'if (( $? )) ; then echo $cmdout ; fi'
-        chmod +x flash.sh
-
-    - name: Test cdc_dual_ports
-      run: |
-        ./flash.sh cdc_dual_ports.elf
-        while (! ([ -e /dev/ttyACM1 ] && [ -e /dev/ttyACM2 ])) && [ $SECONDS -le 10 ]; do :; done
-        test -e /dev/ttyACM1 && echo "ttyACM1 exists"
-        test -e /dev/ttyACM2 && echo "ttyACM2 exists"
-
-      # Debian does not auto mount usb drive. skip this test for now
-    - name: Test cdc_msc
-      if: false
-      run: |
-        ./flash.sh cdc_msc.elf
-        readme='/media/pi/TinyUSB MSC/README.TXT'
-        while (! ([ -e /dev/ttyACM1 ] && [ -f "$readme" ])) && [ $SECONDS -le 10 ]; do :; done
-        test -e /dev/ttyACM1 && echo "ttyACM1 exists"
-        test -f "$readme" && echo "$readme exists"
-        cat "$readme"
-
-    - name: Test dfu
-      run: |
-        ./flash.sh dfu.elf
-        while (! (dfu-util -l | grep "Found DFU")) && [ $SECONDS -le 10 ]; do :; done
-        dfu-util -d cafe -a 0 -U dfu0
-        dfu-util -d cafe -a 1 -U dfu1
-        grep "TinyUSB DFU! - Partition 0" dfu0
-        grep "TinyUSB DFU! - Partition 1" dfu1
-
-    - name: Test dfu_runtime
-      run: |
-        ./flash.sh dfu_runtime.elf
-        while (! (dfu-util -l | grep "Found Runtime")) && [ $SECONDS -le 10 ]; do :; done
+      run: python3 tools/build_make.py ${{ matrix.family }}
diff --git a/.github/workflows/build_esp.yml b/.github/workflows/build_esp.yml
index 0a6815ea2..d283c6535 100644
--- a/.github/workflows/build_esp.yml
+++ b/.github/workflows/build_esp.yml
@@ -1,12 +1,14 @@
 name: Build ESP
 
 on:
+  workflow_dispatch:
   push:
     paths:
       - 'src/**'
       - 'examples/**'
       - 'lib/**'
       - 'hw/**'
+      - 'test/hil/**'
       - '.github/workflows/build_esp.yml'
   pull_request:
     branches: [ master ]
@@ -15,6 +17,7 @@ on:
       - 'examples/**'
       - 'lib/**'
       - 'hw/**'
+      - 'test/hil/**'
       - '.github/workflows/build_esp.yml'
 
 concurrency:
@@ -28,16 +31,13 @@ jobs:
       fail-fast: false
       matrix:
         board:
-        # Alphabetical order
         # ESP32-S2
-        - 'espressif_saola_1'
+        - 'espressif_kaluga_1'
         # ESP32-S3
-        #- 'espressif_s3_devkitm'
-        # S3 compile error with "dangerous relocation: call8: call target out of range: memcpy"
-
+        - 'espressif_s3_devkitc'
     steps:
     - name: Setup Python
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
       with:
         python-version: '3.x'
 
@@ -45,22 +45,70 @@ jobs:
       run: docker pull espressif/idf:latest
 
     - name: Checkout TinyUSB
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
+
+    - name: Build
+      run: docker run --rm -v $PWD:/project -w /project espressif/idf:v5.1.1 python3 tools/build_esp32.py ${{ matrix.board }}
 
-    - name: Checkout hathach/linkermap
-      uses: actions/checkout@v3
+    - name: Upload Artifacts for Hardware Testing
+      if: matrix.board == 'espressif_s3_devkitc' && github.repository_owner == 'hathach'
+      uses: actions/upload-artifact@v4
       with:
-         repository: hathach/linkermap
-         path: linkermap
+        name: ${{ matrix.board }}
+        path: |
+          cmake-build/cmake-build-${{ matrix.board }}/*/*/bootloader/bootloader.bin
+          cmake-build/cmake-build-${{ matrix.board }}/*/*/*.bin
+          cmake-build/cmake-build-${{ matrix.board }}/*/*/partition_table/partition-table.bin
+          cmake-build/cmake-build-${{ matrix.board }}/*/*/config.env
+          cmake-build/cmake-build-${{ matrix.board }}/*/*/flash_args
 
-    - name: Build
-      run: docker run --rm -v $PWD:/project -w /project espressif/idf:latest python3 tools/build_esp32.py ${{ matrix.board }}
+  # ---------------------------------------
+  # Hardware in the loop (HIL)
+  # Current self-hosted instance is running on an RPI4. For attached hardware checkout hil_pi4.json
+  # ---------------------------------------
+  hil-test:
+    # run only with hathach's commit due to limited resource on RPI4
+    if: github.repository_owner == 'hathach'
+    needs: build-esp
+    runs-on: [self-hosted, esp32s3, hardware-in-the-loop]
+    strategy:
+      fail-fast: false
+      matrix:
+        board:
+          - 'espressif_s3_devkitc'
+    steps:
+      - name: Clean workspace
+        run: |
+          echo "Cleaning up previous run"
+          rm -rf "${{ github.workspace }}"
+          mkdir -p "${{ github.workspace }}"
+
+        # USB bus on rpi4 is not stable, reset it before testing
+      - name: Reset USB bus
+        run: |
+          lsusb
+          lsusb -t
+          # reset VIA Labs 2.0 hub
+          sudo usbreset 001/002
+
+          # legacy code
+          #for port in $(lspci | grep USB | cut -d' ' -f1); do
+          #    echo -n "0000:${port}"| sudo tee /sys/bus/pci/drivers/xhci_hcd/unbind;
+          #    sleep 0.1;
+          #    echo -n "0000:${port}" | sudo tee /sys/bus/pci/drivers/xhci_hcd/bind;
+          #done
+
+      - name: Checkout test/hil
+        uses: actions/checkout@v4
+        with:
+          sparse-checkout: test/hil
+
+      - name: Download Artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: ${{ matrix.board }}
+          path: cmake-build/cmake-build-${{ matrix.board }}
 
-    - name: Linker Map
-      run: |
-        pip install linkermap/
-        # find -quit to only print linkermap of 1 board per example
-        for ex in `ls -d examples/device/*/`
-        do
-          find ${ex} -maxdepth 3 -name *.map -print -quit | xargs -I % sh -c 'echo "::group::%"; linkermap -v %; echo "::endgroup::"'
-        done
+      - name: Test on actual hardware
+        run: |
+          python3 test/hil/hil_test.py --board ${{ matrix.board }} hil_pi4.json
diff --git a/.github/workflows/build_iar.yml b/.github/workflows/build_iar.yml
index a5d24892f..499349904 100644
--- a/.github/workflows/build_iar.yml
+++ b/.github/workflows/build_iar.yml
@@ -1,12 +1,15 @@
 name: Build IAR
 
 on:
+  workflow_dispatch:
   push:
     paths:
       - 'src/**'
       - 'examples/**'
       - 'lib/**'
       - 'hw/**'
+      - 'tools/get_deps.py'
+      - 'test/hil/**'
       - '.github/workflows/build_iar.yml'
   pull_request:
     branches: [ master ]
@@ -15,6 +18,8 @@ on:
       - 'examples/**'
       - 'lib/**'
       - 'hw/**'
+      - 'tools/get_deps.py'
+      - 'test/hil/**'
       - '.github/workflows/build_iar.yml'
 
 concurrency:
@@ -22,28 +27,33 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  build-arm:
+  cmake:
+    if: github.repository_owner == 'hathach'
     runs-on: [self-hosted, Linux, X64, hifiphile]
     strategy:
       fail-fast: false
       matrix:
         family:
-        # Alphabetical order
-        # Note: bundle multiple families into a matrix since there is only one self-hosted instance can
-        # run IAR build. Too many matrix can hurt due to setup/teardown overhead.
-        - 'stm32f0 stm32f1 stm32f4 stm32f7 stm32g4 stm32h7 stm32l4'
+          # Alphabetical order
+          # Note: bundle multiple families into a matrix since there is only one self-hosted instance can
+          # run IAR build. Too many matrix can hurt due to setup/teardown overhead.
+          - 'lpc43 stm32f0 stm32f1 stm32f7 stm32g0 stm32g4 stm32l4'
     steps:
-    - name: Clean workspace
-      run: |
-        echo "Cleaning up previous run"
-        rm -rf "${{ github.workspace }}"
-        mkdir -p "${{ github.workspace }}"
+      - name: Clean workspace
+        run: |
+          echo "Cleaning up previous run"
+          rm -rf "${{ github.workspace }}"
+          mkdir -p "${{ github.workspace }}"
 
-    - name: Checkout TinyUSB
-      uses: actions/checkout@v3
+      - name: Checkout TinyUSB
+        uses: actions/checkout@v4
 
-    - name: Get Dependencies
-      run: python3 tools/get_family_deps.py ${{ matrix.family }}
+      - name: Get Dependencies
+        run: python3 tools/get_deps.py ${{ matrix.family }}
 
-    - name: Build
-      run: python3 tools/build_family.py ${{ matrix.family }} CC=iccarm
+      - name: Build
+        run: python3 tools/build_cmake.py ${{ matrix.family }} -DTOOLCHAIN=iar -DCMAKE_BUILD_TYPE=MinSizeRel
+
+      - name: Test on actual hardware (hardware in the loop)
+        run: |
+          python3 test/hil/hil_test.py hil_hfp.json
diff --git a/.github/workflows/build_msp430.yml b/.github/workflows/build_msp430.yml
index 7cb60dceb..f913df913 100644
--- a/.github/workflows/build_msp430.yml
+++ b/.github/workflows/build_msp430.yml
@@ -1,12 +1,14 @@
 name: Build MSP430
 
 on:
+  workflow_dispatch:
   push:
     paths:
       - 'src/**'
       - 'examples/**'
       - 'lib/**'
       - 'hw/**'
+      - 'tools/get_deps.py'
       - '.github/workflows/build_msp430.yml'
   pull_request:
     branches: [ master ]
@@ -15,6 +17,7 @@ on:
       - 'examples/**'
       - 'lib/**'
       - 'hw/**'
+      - 'tools/get_deps.py'
       - '.github/workflows/build_msp430.yml'
 
 concurrency:
@@ -33,18 +36,12 @@ jobs:
 
     steps:
     - name: Setup Python
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
       with:
         python-version: '3.x'
 
     - name: Checkout TinyUSB
-      uses: actions/checkout@v3
-
-    - name: Checkout hathach/linkermap
-      uses: actions/checkout@v3
-      with:
-         repository: hathach/linkermap
-         path: linkermap
+      uses: actions/checkout@v4
 
     - name: Set Toolchain URL
       run: echo >> $GITHUB_ENV TOOLCHAIN_URL=http://software-dl.ti.com/msp430/msp430_public_sw/mcu/msp430/MSPGCC/9_2_0_0/export/msp430-gcc-9.2.0.50_linux64.tar.bz2
@@ -67,16 +64,7 @@ jobs:
       run: echo >> $GITHUB_PATH `echo ~/cache/toolchain/*/bin`
 
     - name: Get Dependencies
-      run: python3 tools/get_family_deps.py ${{ matrix.family }}
+      run: python3 tools/get_deps.py ${{ matrix.family }}
 
     - name: Build
-      run: python3 tools/build_family.py ${{ matrix.family }}
-
-    - name: Linker Map
-      run: |
-        pip install linkermap/
-        # find -quit to only print linkermap of 1 board per example
-        for ex in `ls -d examples/device/*/`
-        do
-          find ${ex} -name *.map -print -quit | xargs -I % sh -c 'echo "::group::%"; linkermap -v %; echo "::endgroup::"'
-        done
+      run: python3 tools/build_make.py ${{ matrix.family }}
diff --git a/.github/workflows/build_renesas.yml b/.github/workflows/build_renesas.yml
index ffdeedb71..ec06c9426 100644
--- a/.github/workflows/build_renesas.yml
+++ b/.github/workflows/build_renesas.yml
@@ -1,12 +1,14 @@
 name: Build Renesas
 
 on:
+  workflow_dispatch:
   push:
     paths:
       - 'src/**'
       - 'examples/**'
       - 'lib/**'
       - 'hw/**'
+      - 'tools/get_deps.py'
       - '.github/workflows/build_renesas.yml'
   pull_request:
     branches: [ master ]
@@ -15,6 +17,7 @@ on:
       - 'examples/**'
       - 'lib/**'
       - 'hw/**'
+      - 'tools/get_deps.py'
       - '.github/workflows/build_renesas.yml'
 
 concurrency:
@@ -32,18 +35,12 @@ jobs:
         - 'rx'
     steps:
     - name: Setup Python
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
       with:
         python-version: '3.x'
 
     - name: Checkout TinyUSB
-      uses: actions/checkout@v3
-
-    - name: Checkout hathach/linkermap
-      uses: actions/checkout@v3
-      with:
-         repository: hathach/linkermap
-         path: linkermap
+      uses: actions/checkout@v4
 
     - name: Set Toolchain URL
       run: echo >> $GITHUB_ENV TOOLCHAIN_URL=http://gcc-renesas.com/downloads/get.php?f=rx/8.3.0.202004-gnurx/gcc-8.3.0.202004-GNURX-ELF.run
@@ -67,16 +64,7 @@ jobs:
       run: echo >> $GITHUB_PATH `echo ~/cache/toolchain/*/bin`
 
     - name: Get Dependencies
-      run: python3 tools/get_family_deps.py ${{ matrix.family }}
+      run: python3 tools/get_deps.py ${{ matrix.family }}
 
     - name: Build
-      run: python3 tools/build_family.py ${{ matrix.family }}
-
-    - name: Linker Map
-      run: |
-        pip install linkermap/
-        # find -quit to only print linkermap of 1 board per example
-        for ex in `ls -d examples/device/*/`
-        do
-          find ${ex} -name *.map -print -quit | xargs -I % sh -c 'echo "::group::%"; linkermap -v %; echo "::endgroup::"'
-        done
+      run: python3 tools/build_make.py ${{ matrix.family }}
diff --git a/.github/workflows/build_riscv.yml b/.github/workflows/build_riscv.yml
index 87c7b522e..e891a3a51 100644
--- a/.github/workflows/build_riscv.yml
+++ b/.github/workflows/build_riscv.yml
@@ -1,12 +1,14 @@
 name: Build RISC-V
 
 on:
+  workflow_dispatch:
   push:
     paths:
       - 'src/**'
       - 'examples/**'
       - 'lib/**'
       - 'hw/**'
+      - 'tools/get_deps.py'
       - '.github/workflows/build_riscv.yml'
   pull_request:
     branches: [ master ]
@@ -15,6 +17,7 @@ on:
       - 'examples/**'
       - 'lib/**'
       - 'hw/**'
+      - 'tools/get_deps.py'
       - '.github/workflows/build_riscv.yml'
 
 concurrency:
@@ -34,18 +37,12 @@ jobs:
         - 'gd32vf103'
     steps:
     - name: Setup Python
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
       with:
         python-version: '3.x'
 
     - name: Checkout TinyUSB
-      uses: actions/checkout@v3
-
-    - name: Checkout hathach/linkermap
-      uses: actions/checkout@v3
-      with:
-         repository: hathach/linkermap
-         path: linkermap
+      uses: actions/checkout@v4
 
     - name: Set Toolchain URL
       run: echo >> $GITHUB_ENV TOOLCHAIN_URL=https://github.com/xpack-dev-tools/riscv-none-embed-gcc-xpack/releases/download/v10.1.0-1.1/xpack-riscv-none-embed-gcc-10.1.0-1.1-linux-x64.tar.gz
@@ -68,16 +65,7 @@ jobs:
       run: echo >> $GITHUB_PATH `echo ~/cache/toolchain/*/bin`
 
     - name: Get Dependencies
-      run: python3 tools/get_family_deps.py ${{ matrix.family }}
+      run: python3 tools/get_deps.py ${{ matrix.family }}
 
     - name: Build
-      run: python3 tools/build_family.py ${{ matrix.family }}
-
-    - name: Linker Map
-      run: |
-        pip install linkermap/
-        # find -quit to only print linkermap of 1 board per example
-        for ex in `ls -d examples/device/*/`
-        do
-          find ${ex} -name *.map -print -quit | xargs -I % sh -c 'echo "::group::%"; linkermap -v %; echo "::endgroup::"'
-        done
+      run: python3 tools/build_make.py ${{ matrix.family }}
diff --git a/.github/workflows/build_win_mac.yml b/.github/workflows/build_win_mac.yml
index 4b743a686..b33b5b593 100644
--- a/.github/workflows/build_win_mac.yml
+++ b/.github/workflows/build_win_mac.yml
@@ -1,6 +1,7 @@
 name: Build Windows/MacOS
 
 on:
+  workflow_dispatch:
   push:
     paths:
       - 'src/**'
@@ -34,7 +35,7 @@ jobs:
 
     steps:
     - name: Setup Python
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
       with:
         python-version: '3.x'
 
@@ -44,10 +45,10 @@ jobs:
         release: '10.3-2021.10'
 
     - name: Checkout TinyUSB
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
 
     - name: Get Dependencies
-      run: python3 tools/get_family_deps.py stm32f4
+      run: python3 tools/get_deps.py stm32f4
 
     - name: Build
-      run: python3 tools/build_family.py stm32f4 stm32f411disco
+      run: python3 tools/build_make.py stm32f4 stm32f411disco
diff --git a/.github/workflows/cifuzz.yml b/.github/workflows/cifuzz.yml
index 7314fd9e6..5dc0f2764 100644
--- a/.github/workflows/cifuzz.yml
+++ b/.github/workflows/cifuzz.yml
@@ -1,5 +1,6 @@
 name: CIFuzz
 on:
+  workflow_dispatch:
   pull_request:
     branches:
       - master
@@ -26,7 +27,7 @@ jobs:
        language: c++
        fuzz-seconds: 600
    - name: Upload Crash
-     uses: actions/upload-artifact@v3
+     uses: actions/upload-artifact@v4
      if: failure() && steps.build.outcome == 'success'
      with:
        name: artifacts
diff --git a/.github/workflows/cmake_arm.yml b/.github/workflows/cmake_arm.yml
new file mode 100644
index 000000000..1e5f61e0e
--- /dev/null
+++ b/.github/workflows/cmake_arm.yml
@@ -0,0 +1,169 @@
+name: CMake ARM
+
+on:
+  workflow_dispatch:
+  push:
+    paths:
+      - 'src/**'
+      - 'examples/**'
+      - 'lib/**'
+      - 'hw/**'
+      - 'test/hil/**'
+      - 'tools/get_deps.py'
+      - '.github/workflows/cmake_arm.yml'
+  pull_request:
+    branches: [ master ]
+    paths:
+      - 'src/**'
+      - 'examples/**'
+      - 'lib/**'
+      - 'hw/**'
+      - 'test/hil/**'
+      - 'tools/get_deps.py'
+      - '.github/workflows/cmake_arm.yml'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
+jobs:
+  # ---------------------------------------
+  # Build ARM family
+  # ---------------------------------------
+  build-arm:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        family:
+          # Alphabetical order
+          - 'imxrt'
+          - 'kinetis_k kinetis_kl'
+          - 'lpc17 lpc18 lpc40 lpc43'
+          - 'lpc54 lpc55'
+          - 'mcx'
+          - 'nrf'
+          - 'ra'
+          - 'rp2040'
+          - 'samd21'
+          - 'samd51'
+          - 'stm32f0'
+          - 'stm32f1'
+          - 'stm32f4'
+          - 'stm32f7'
+          - 'stm32g0'
+          - 'stm32g4'
+          - 'stm32h5'
+          - 'stm32h7'
+          - 'stm32l4'
+          - 'stm32u5'
+    steps:
+    - name: Setup Python
+      uses: actions/setup-python@v5
+      with:
+        python-version: '3.x'
+
+    - name: Install ARM GCC
+      uses: carlosperate/arm-none-eabi-gcc-action@v1
+      with:
+        release: '11.2-2022.02'
+
+    - name: Install Ninja
+      run: sudo apt install -y ninja-build
+
+    - name: Checkout TinyUSB
+      uses: actions/checkout@v4
+
+    - name: Checkout pico-sdk for rp2040
+      if: matrix.family == 'rp2040'
+      uses: actions/checkout@v4
+      with:
+        repository: raspberrypi/pico-sdk
+        ref: develop
+        path: pico-sdk
+
+    - name: Get Dependencies
+      run: python3 tools/get_deps.py ${{ matrix.family }}
+
+    - name: Build
+      run: python tools/build_cmake.py ${{ matrix.family }} -DCMAKE_BUILD_TYPE=MinSizeRel
+      env:
+        # for rp2040, there is no harm if defined for other families
+        PICO_SDK_PATH: ${{ github.workspace }}/pico-sdk
+
+    - name: Upload Artifacts for Hardware Testing (rp2040)
+      if: matrix.family == 'rp2040' && github.repository_owner == 'hathach'
+      uses: actions/upload-artifact@v4
+      with:
+        name: raspberry_pi_pico
+        path: |
+          cmake-build/cmake-build-raspberry_pi_pico/*/*/*.elf
+
+    - name: Upload Artifacts for Hardware Testing (nRF)
+      if: matrix.family == 'nrf' && github.repository_owner == 'hathach'
+      uses: actions/upload-artifact@v4
+      with:
+        name: feather_nrf52840_express
+        path: |
+          cmake-build/cmake-build-feather_nrf52840_express/*/*/*.elf
+
+    - name: Upload Artifacts for Hardware Testing (samd51)
+      if: matrix.family == 'samd51' && github.repository_owner == 'hathach'
+      uses: actions/upload-artifact@v4
+      with:
+        name: itsybitsy_m4
+        path: |
+          cmake-build/cmake-build-itsybitsy_m4/*/*/*.bin
+
+  # ---------------------------------------
+  # Hardware in the loop (HIL)
+  # Current self-hosted instance is running on an RPI4. For attached hardware checkout hil_pi4.json
+  # ---------------------------------------
+  hil-test:
+    # run only with hathach's commit due to limited resource on RPI4
+    if: github.repository_owner == 'hathach'
+    needs: build-arm
+    runs-on: [self-hosted, rp2040, nrf52840, hardware-in-the-loop]
+    strategy:
+      fail-fast: false
+      matrix:
+        board:
+          - 'feather_nrf52840_express'
+          - 'itsybitsy_m4'
+          - 'raspberry_pi_pico'
+    steps:
+      - name: Clean workspace
+        run: |
+          echo "Cleaning up previous run"
+          rm -rf "${{ github.workspace }}"
+          mkdir -p "${{ github.workspace }}"
+
+        # USB bus on rpi4 is not stable, reset it before testing
+      - name: Reset USB bus
+        run: |
+          lsusb
+          lsusb -t
+          # reset VIA Labs 2.0 hub
+          sudo usbreset 001/002
+
+          # legacy code
+          #for port in $(lspci | grep USB | cut -d' ' -f1); do
+          #    echo -n "0000:${port}"| sudo tee /sys/bus/pci/drivers/xhci_hcd/unbind;
+          #    sleep 0.1;
+          #    echo -n "0000:${port}" | sudo tee /sys/bus/pci/drivers/xhci_hcd/bind;
+          #done
+
+      - name: Checkout test/hil
+        uses: actions/checkout@v4
+        with:
+          sparse-checkout: test/hil
+
+      - name: Download Artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: ${{ matrix.board }}
+          path: cmake-build/cmake-build-${{ matrix.board }}
+
+      - name: Test on actual hardware
+        run: |
+          python3 test/hil/hil_test.py --board ${{ matrix.board }} hil_pi4.json
diff --git a/.github/workflows/codeql-buildscript.sh b/.github/workflows/codeql-buildscript.sh
new file mode 100644
index 000000000..35e029922
--- /dev/null
+++ b/.github/workflows/codeql-buildscript.sh
@@ -0,0 +1,5 @@
+#!/usr/bin/env bash
+
+FAMILY=stm32l4
+python3 tools/get_deps.py $FAMILY
+python3 tools/build_make.py $FAMILY
diff --git a/.github/workflows/codeql.yml b/.github/workflows/codeql.yml
new file mode 100644
index 000000000..1f7b60b9c
--- /dev/null
+++ b/.github/workflows/codeql.yml
@@ -0,0 +1,137 @@
+# For most projects, this workflow file will not need changing; you simply need
+# to commit it to your repository.
+#
+# You may wish to alter this file to override the set of languages analyzed,
+# or to provide custom queries or build logic.
+#
+# ******** NOTE ********
+# We have attempted to detect the languages in your repository. Please check
+# the `language` matrix defined below to confirm you have the correct set of
+# supported CodeQL languages.
+#
+name: "CodeQL"
+
+on:
+  push:
+    branches: [ 'master' ]
+    paths:
+      - 'src/**'
+      - 'examples/**'
+      - 'lib/**'
+      - 'hw/**'
+      - '.github/workflows/codeql.yml'
+  pull_request:
+    branches: [ 'master' ]
+    paths:
+      - 'src/**'
+      - 'examples/**'
+      - 'lib/**'
+      - 'hw/**'
+      - '.github/workflows/codeql.yml'
+  schedule:
+    - cron: '0 0 * * *'
+
+jobs:
+  analyze:
+    name: Analyze
+    # Runner size impacts CodeQL analysis time. To learn more, please see:
+    #   - https://gh.io/recommended-hardware-resources-for-running-codeql
+    #   - https://gh.io/supported-runners-and-hardware-resources
+    #   - https://gh.io/using-larger-runners
+    # Consider using larger runners for possible analysis time improvements.
+    runs-on: ubuntu-latest
+    timeout-minutes: 360
+    permissions:
+      actions: read
+      contents: read
+      security-events: write
+
+    strategy:
+      fail-fast: false
+      matrix:
+        language: [ 'c-cpp' ]
+        # CodeQL supports [ 'c-cpp', 'csharp', 'go', 'java-kotlin', 'javascript-typescript', 'python', 'ruby', 'swift' ]
+        # Use only 'java-kotlin' to analyze code written in Java, Kotlin or both
+        # Use only 'javascript-typescript' to analyze code written in JavaScript, TypeScript or both
+        # Learn more about CodeQL language support at https://aka.ms/codeql-docs/language-support
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v4
+
+    - name: Install ARM GCC
+      uses: carlosperate/arm-none-eabi-gcc-action@v1
+      with:
+        release: '11.2-2022.02'
+
+    # Initializes the CodeQL tools for scanning.
+    - name: Initialize CodeQL
+      uses: github/codeql-action/init@v2
+      with:
+        languages: ${{ matrix.language }}
+        # If you wish to specify custom queries, you can do so here or in a config file.
+        # By default, queries listed here will override any specified in a config file.
+        # Prefix the list here with "+" to use these queries and those in the config file.
+
+        # For more details on CodeQL's query packs, refer to: https://docs.github.com/en/code-security/code-scanning/automatically-scanning-your-code-for-vulnerabilities-and-errors/configuring-code-scanning#using-queries-in-ql-packs
+        # queries: security-extended,security-and-quality
+        queries: security-and-quality
+
+
+    # Autobuild attempts to build any compiled languages (C/C++, C#, Go, Java, or Swift).
+    # If this step fails, then you should remove it and run the build manually (see below)
+    #- name: Autobuild
+    #  uses: github/codeql-action/autobuild@v2
+
+    # ℹ️ Command-line programs to run using the OS shell.
+    # 📚 See https://docs.github.com/en/actions/using-workflows/workflow-syntax-for-github-actions#jobsjob_idstepsrun
+
+    #   If the Autobuild fails above, remove it and uncomment the following three lines.
+    #   modify them (or add more) to build your code if your project, please refer to the EXAMPLE below for guidance.
+
+    - run: |
+        ./.github/workflows/codeql-buildscript.sh
+
+    - name: Perform CodeQL Analysis
+      uses: github/codeql-action/analyze@v2
+      with:
+        category: "/language:${{matrix.language}}"
+        upload: false
+      id: step1
+
+    # Filter out rules with low severity or high false positive rate
+    # Also filter out warnings in third-party code
+    - name: Filter out unwanted errors and warnings
+      uses: advanced-security/filter-sarif@v1
+      with:
+        patterns: |
+          -**:cpp/path-injection
+          -**:cpp/world-writable-file-creation
+          -**:cpp/poorly-documented-function
+          -**:cpp/potentially-dangerous-function
+          -**:cpp/use-of-goto
+          -**:cpp/integer-multiplication-cast-to-long
+          -**:cpp/comparison-with-wider-type
+          -**:cpp/leap-year/*
+          -**:cpp/ambiguously-signed-bit-field
+          -**:cpp/suspicious-pointer-scaling
+          -**:cpp/suspicious-pointer-scaling-void
+          -**:cpp/unsigned-comparison-zero
+          -**/third*party/**
+          -**/3rd*party/**
+          -**/external/**
+        input: ${{ steps.step1.outputs.sarif-output }}/cpp.sarif
+        output: ${{ steps.step1.outputs.sarif-output }}/cpp.sarif
+
+    - name: Upload SARIF
+      uses: github/codeql-action/upload-sarif@v2
+      with:
+        sarif_file: ${{ steps.step1.outputs.sarif-output }}
+        category: "/language:${{matrix.language}}"
+
+    - name: Archive CodeQL results
+      uses: actions/upload-artifact@v4
+      with:
+        name: codeql-results
+        path: ${{ steps.step1.outputs.sarif-output }}
+        retention-days: 5
diff --git a/.github/workflows/fail_on_error.py b/.github/workflows/fail_on_error.py
new file mode 100755
index 000000000..29791742b
--- /dev/null
+++ b/.github/workflows/fail_on_error.py
@@ -0,0 +1,34 @@
+#!/usr/bin/env python3
+
+import json
+import sys
+
+# Return whether SARIF file contains error-level results
+def codeql_sarif_contain_error(filename):
+    with open(filename, 'r') as f:
+        s = json.load(f)
+
+    for run in s.get('runs', []):
+        rules_metadata = run['tool']['driver']['rules']
+        if not rules_metadata:
+            rules_metadata = run['tool']['extensions'][0]['rules']
+
+        for res in run.get('results', []):
+            if 'ruleIndex' in res:
+                rule_index = res['ruleIndex']
+            elif 'rule' in res and 'index' in res['rule']:
+                rule_index = res['rule']['index']
+            else:
+                continue
+            try:
+                rule_level = rules_metadata[rule_index]['defaultConfiguration']['level']
+            except IndexError as e:
+                print(e, rule_index, len(rules_metadata))
+            else:
+                if rule_level == 'error':
+                    return True
+    return False
+
+if __name__ == "__main__":
+    if codeql_sarif_contain_error(sys.argv[1]):
+        sys.exit(1)
diff --git a/.github/workflows/labeler.yml b/.github/workflows/labeler.yml
new file mode 100644
index 000000000..5b22d977e
--- /dev/null
+++ b/.github/workflows/labeler.yml
@@ -0,0 +1,73 @@
+name: Labeler
+
+on:
+  issues:
+    types: [opened]
+  pull_request:
+    types: [opened]
+
+jobs:
+  label-priority:
+    runs-on: ubuntu-latest
+    permissions:
+      issues: write
+      pull-requests: write
+    steps:
+      - name: Label New Issue or PR
+        uses: actions/github-script@v7
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          script: |
+            let label = '';
+            let username = '';
+            let issueOrPrNumber = 0;
+
+            if (context.eventName === 'issues') {
+              username = context.payload.issue.user.login;
+              issueOrPrNumber = context.payload.issue.number;
+            } else if (context.eventName === 'pull_request') {
+              username = context.payload.pull_request.user.login;
+              issueOrPrNumber = context.payload.pull_request.number;
+            }
+
+            // Check if an Adafruit member
+            try {
+              const adafruitResponse = await github.rest.orgs.checkMembershipForUser({
+                org: 'adafruit',
+                username: username
+              });
+
+              if (adafruitResponse.status === 204) {
+                console.log('Adafruit Member');
+                label = 'Prio Urgent';
+              }
+            } catch (error) {
+              console.log('Not an Adafruit member');
+            }
+
+            // Check if a contributor
+            if (label == '') {
+              try {
+                const collaboratorResponse = await github.rest.repos.checkCollaborator({
+                  owner: context.repo.owner,
+                  repo: context.repo.repo,
+                  username: username
+                });
+
+                if (collaboratorResponse.status === 204) {
+                  console.log('Contributor');
+                  label = 'Prio Higher';
+                }
+              } catch (error) {
+                console.log('Not a contributor');
+              }
+            }
+
+            if (label !== '') {
+              await github.rest.issues.addLabels({
+                owner: context.repo.owner,
+                repo: context.repo.repo,
+                issue_number: issueOrPrNumber,
+                labels: [label]
+              });
+            }
diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml
index ab416bc52..e36259daa 100644
--- a/.github/workflows/pre-commit.yml
+++ b/.github/workflows/pre-commit.yml
@@ -1,6 +1,7 @@
 name: pre-commit
 
 on:
+  workflow_dispatch:
   push:
   pull_request:
     branches: [ master ]
@@ -14,7 +15,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
     - name: Setup Python
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
       with:
         python-version: '3.x'
 
@@ -24,7 +25,7 @@ jobs:
         ruby-version: '3.0'
 
     - name: Checkout TinyUSB
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
 
     - name: Get Dependencies
       run: |
diff --git a/.github/workflows/trigger.yml b/.github/workflows/trigger.yml
index 86c699dac..cf40ac955 100644
--- a/.github/workflows/trigger.yml
+++ b/.github/workflows/trigger.yml
@@ -1,6 +1,7 @@
 name: Trigger Repos
 
 on:
+  workflow_dispatch:
   push:
     branches: master
   release:
@@ -22,7 +23,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
     - name: Checkout code
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
 
     - name: Push to tinyusb_src
       run: |