Merge branch 'hathach:master' into nxp_k64

14 files changed, 338 insertions, 183 deletions

diff --git a/.github/workflows/build_aarch64.yml b/.github/workflows/build_aarch64.yml
index 6ac7ad015..e5dbf9494 100644
--- a/.github/workflows/build_aarch64.yml
+++ b/.github/workflows/build_aarch64.yml
@@ -36,18 +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
@@ -73,12 +67,4 @@ jobs:
       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 2621e7372..9f3270c91 100644
--- a/.github/workflows/build_arm.yml
+++ b/.github/workflows/build_arm.yml
@@ -8,6 +8,7 @@ on:
       - 'examples/**'
       - 'lib/**'
       - 'hw/**'
+      - 'tools/get_deps.py'
       - '.github/workflows/build_arm.yml'
   pull_request:
     branches: [ master ]
@@ -16,6 +17,7 @@ on:
       - 'examples/**'
       - 'lib/**'
       - 'hw/**'
+      - 'tools/get_deps.py'
       - '.github/workflows/build_arm.yml'
 
 concurrency:
@@ -35,19 +37,16 @@ jobs:
         # Alphabetical order
         - 'broadcom_32bit'
         - 'kinetis_k32l2'
-        - 'lpc11 lpc13 lpc15 lpc17'
-        - 'lpc51 lpc54'
+        - 'lpc11 lpc13 lpc15'
+        - 'lpc51'
         - 'mm32 msp432e4'
-        - 'nrf'
-        - 'samd11 samd21'
-        - 'samd51 same5x'
-        - 'saml2x'
+        - 'samd11 same5x saml2x'
         - 'stm32f2 stm32f3'
-        - 'stm32l0 stm32u5 stm32wb'
+        - 'stm32l0 stm32wb'
         - 'tm4c123 xmc4000'
     steps:
     - name: Setup Python
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
       with:
         python-version: '3.x'
 
@@ -57,25 +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
+      uses: actions/checkout@v4
 
     - name: Get Dependencies
       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
+      run: python3 tools/build_make.py ${{ matrix.family }}
diff --git a/.github/workflows/build_esp.yml b/.github/workflows/build_esp.yml
index 29585cb36..8fbdb31ff 100644
--- a/.github/workflows/build_esp.yml
+++ b/.github/workflows/build_esp.yml
@@ -8,6 +8,7 @@ on:
       - 'examples/**'
       - 'lib/**'
       - 'hw/**'
+      - 'test/hil/**'
       - '.github/workflows/build_esp.yml'
   pull_request:
     branches: [ master ]
@@ -16,6 +17,7 @@ on:
       - 'examples/**'
       - 'lib/**'
       - 'hw/**'
+      - 'test/hil/**'
       - '.github/workflows/build_esp.yml'
 
 concurrency:
@@ -29,16 +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'
 
@@ -46,22 +45,64 @@ 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@v3
       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: |
+          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@v3
+        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 1eacf90c9..a0a022ecc 100644
--- a/.github/workflows/build_iar.yml
+++ b/.github/workflows/build_iar.yml
@@ -8,6 +8,8 @@ on:
       - 'examples/**'
       - 'lib/**'
       - 'hw/**'
+      - 'tools/get_deps.py'
+      - 'test/hil/**'
       - '.github/workflows/build_iar.yml'
   pull_request:
     branches: [ master ]
@@ -16,6 +18,8 @@ on:
       - 'examples/**'
       - 'lib/**'
       - 'hw/**'
+      - 'tools/get_deps.py'
+      - 'test/hil/**'
       - '.github/workflows/build_iar.yml'
 
 concurrency:
@@ -32,7 +36,7 @@ jobs:
           # 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 stm32f4 stm32f7 stm32g0 stm32g4 stm32h7 stm32l4'
+          - 'lpc43 stm32f0 stm32f1 stm32f7 stm32g0 stm32g4 stm32l4'
     steps:
       - name: Clean workspace
         run: |
@@ -41,7 +45,7 @@ jobs:
           mkdir -p "${{ github.workspace }}"
 
       - name: Checkout TinyUSB
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Get Dependencies
         run: python3 tools/get_deps.py ${{ matrix.family }}
diff --git a/.github/workflows/build_msp430.yml b/.github/workflows/build_msp430.yml
index c62056940..f913df913 100644
--- a/.github/workflows/build_msp430.yml
+++ b/.github/workflows/build_msp430.yml
@@ -8,6 +8,7 @@ on:
       - 'examples/**'
       - 'lib/**'
       - 'hw/**'
+      - 'tools/get_deps.py'
       - '.github/workflows/build_msp430.yml'
   pull_request:
     branches: [ master ]
@@ -16,6 +17,7 @@ on:
       - 'examples/**'
       - 'lib/**'
       - 'hw/**'
+      - 'tools/get_deps.py'
       - '.github/workflows/build_msp430.yml'
 
 concurrency:
@@ -34,18 +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
@@ -71,13 +67,4 @@ jobs:
       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 66b98a71b..ec06c9426 100644
--- a/.github/workflows/build_renesas.yml
+++ b/.github/workflows/build_renesas.yml
@@ -8,6 +8,7 @@ on:
       - 'examples/**'
       - 'lib/**'
       - 'hw/**'
+      - 'tools/get_deps.py'
       - '.github/workflows/build_renesas.yml'
   pull_request:
     branches: [ master ]
@@ -16,6 +17,7 @@ on:
       - 'examples/**'
       - 'lib/**'
       - 'hw/**'
+      - 'tools/get_deps.py'
       - '.github/workflows/build_renesas.yml'
 
 concurrency:
@@ -33,18 +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
@@ -71,13 +67,4 @@ jobs:
       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 8ec549072..e891a3a51 100644
--- a/.github/workflows/build_riscv.yml
+++ b/.github/workflows/build_riscv.yml
@@ -8,6 +8,7 @@ on:
       - 'examples/**'
       - 'lib/**'
       - 'hw/**'
+      - 'tools/get_deps.py'
       - '.github/workflows/build_riscv.yml'
   pull_request:
     branches: [ master ]
@@ -16,6 +17,7 @@ on:
       - 'examples/**'
       - 'lib/**'
       - 'hw/**'
+      - 'tools/get_deps.py'
       - '.github/workflows/build_riscv.yml'
 
 concurrency:
@@ -35,18 +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
@@ -72,13 +68,4 @@ jobs:
       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 cb879a705..b33b5b593 100644
--- a/.github/workflows/build_win_mac.yml
+++ b/.github/workflows/build_win_mac.yml
@@ -35,7 +35,7 @@ jobs:
 
     steps:
     - name: Setup Python
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
       with:
         python-version: '3.x'
 
@@ -45,10 +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_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/cmake_arm.yml b/.github/workflows/cmake_arm.yml
index 8eeae928c..f97645ad1 100644
--- a/.github/workflows/cmake_arm.yml
+++ b/.github/workflows/cmake_arm.yml
@@ -8,6 +8,8 @@ on:
       - 'examples/**'
       - 'lib/**'
       - 'hw/**'
+      - 'test/hil/**'
+      - 'tools/get_deps.py'
       - '.github/workflows/cmake_arm.yml'
   pull_request:
     branches: [ master ]
@@ -16,6 +18,8 @@ on:
       - 'examples/**'
       - 'lib/**'
       - 'hw/**'
+      - 'test/hil/**'
+      - 'tools/get_deps.py'
       - '.github/workflows/cmake_arm.yml'
 
 concurrency:
@@ -35,22 +39,27 @@ jobs:
           # Alphabetical order
           - 'imxrt'
           - 'kinetis_kl'
-          - 'lpc18 lpc40 lpc43'
-          - 'lpc55'
+          - '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@v4
+      uses: actions/setup-python@v5
       with:
         python-version: '3.x'
 
@@ -63,11 +72,11 @@ jobs:
       run: sudo apt install -y ninja-build
 
     - name: Checkout TinyUSB
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
 
     - name: Checkout pico-sdk for rp2040
       if: matrix.family == 'rp2040'
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
       with:
         repository: raspberrypi/pico-sdk
         ref: develop
@@ -82,35 +91,46 @@ jobs:
         # for rp2040, there is no harm if defined for other families
         PICO_SDK_PATH: ${{ github.workspace }}/pico-sdk
 
-    # Upload binaries for hardware test with self-hosted
-    - name: Prepare rp2040 Artifacts
-      if: contains(matrix.family, 'rp2040') && github.repository_owner == 'hathach'
-      working-directory: ${{github.workspace}}/cmake-build/cmake-build-raspberry_pi_pico
-      run: |
-        find device/ -name "*.elf" -exec mv {} ../../ \;
-        # find host/ -name "*.elf" -exec mv {} ../../ \;
-        # find dual/ -name "*.elf" -exec mv {} ../../ \;
+    - name: Upload Artifacts for Hardware Testing (rp2040)
+      if: matrix.family == 'rp2040' && github.repository_owner == 'hathach'
+      uses: actions/upload-artifact@v3
+      with:
+        name: raspberry_pi_pico
+        path: |
+          cmake-build/cmake-build-raspberry_pi_pico/*/*/*.elf
 
-    - name: Upload Artifacts for rp2040
-      if: contains(matrix.family,'rp2040') && github.repository_owner == 'hathach'
+    - name: Upload Artifacts for Hardware Testing (nRF)
+      if: matrix.family == 'nrf' && github.repository_owner == 'hathach'
       uses: actions/upload-artifact@v3
       with:
-        name: rp2040
+        name: feather_nrf52840_express
         path: |
-          *.elf
+          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@v3
+      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 with
-  # - pico + pico-probe connected via USB
-  # - pico-probe is /dev/ttyACM0
+  # Current self-hosted instance is running on an RPI4. For attached hardware checkout hil_pi4.json
   # ---------------------------------------
-  hw-rp2040-test:
+  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, Linux, ARM64, rp2040]
-
+    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: |
@@ -118,43 +138,26 @@ jobs:
           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/cmsis-dap.cfg" -f "target/rp2040.cfg" -c "adapter speed 5000" -c "program $1 reset exit")'
-          echo >> flash.sh 'if (( $? )) ; then echo $cmdout ; fi'
-          chmod +x flash.sh
-
-      - name: Test cdc_dual_ports
+        # USB bus on rpi4 is not stable, reset it before testing
+      - name: Reset USB bus
         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"
+          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: 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: Checkout test/hil
+        uses: actions/checkout@v4
+        with:
+          sparse-checkout: test/hil
 
-      - 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: Download Artifacts
+        uses: actions/download-artifact@v3
+        with:
+          name: ${{ matrix.board }}
+          path: cmake-build/cmake-build-${{ matrix.board }}
 
-      - name: Test dfu_runtime
+      - name: Test on actual hardware
         run: |
-          ./flash.sh dfu_runtime.elf
-          while (! (dfu-util -l | grep "Found Runtime")) && [ $SECONDS -le 10 ]; do :; done
+          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..3d51fc5b7
--- /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@v3
+      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/pre-commit.yml b/.github/workflows/pre-commit.yml
index f984954d9..e36259daa 100644
--- a/.github/workflows/pre-commit.yml
+++ b/.github/workflows/pre-commit.yml
@@ -15,7 +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'
 
@@ -25,7 +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 33e3db859..cf40ac955 100644
--- a/.github/workflows/trigger.yml
+++ b/.github/workflows/trigger.yml
@@ -23,7 +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: |