Merge branch 'master' into fork/ennebi/mtp

10 files changed, 331 insertions, 196 deletions

diff --git a/.github/ISSUE_TEMPLATE/bug_report.yml b/.github/ISSUE_TEMPLATE/bug_report.yml
index d00ee78bd..34e177984 100644
--- a/.github/ISSUE_TEMPLATE/bug_report.yml
+++ b/.github/ISSUE_TEMPLATE/bug_report.yml
@@ -24,8 +24,15 @@ body:
 
   - type: input
     attributes:
+      label: Commit SHA
+      placeholder: e.g 3a042b37da28d0ba1e5593eb1068ca5645d77b56 or version bundled by esp-idf or pico-sdk
+    validations:
+      required: true
+
+  - type: input
+    attributes:
       label: Board
-      placeholder: e.g Feather nRF52840 Express
+      placeholder: e.g Adafruit Feather nRF52840 Express
     validations:
       required: true
 
@@ -79,8 +86,8 @@ body:
 
   - type: checkboxes
     attributes:
-      label: I have checked existing issues, dicussion and documentation
+      label: I have checked existing issues, discussion and documentation
       description: You agree to check all the resources above before opening a new issue.
       options:
-        - label: I confirm I have checked existing issues, dicussion and documentation.
+        - label: I confirm I have checked existing issues, discussion and documentation.
           required: true
diff --git a/.github/actions/setup_toolchain/action.yml b/.github/actions/setup_toolchain/action.yml
index 8305daa24..6fd5c9d4e 100644
--- a/.github/actions/setup_toolchain/action.yml
+++ b/.github/actions/setup_toolchain/action.yml
@@ -17,7 +17,7 @@ runs:
       if: inputs.toolchain == 'arm-gcc'
       uses: carlosperate/arm-none-eabi-gcc-action@v1
       with:
-        release: '13.2.Rel1'
+        release: '14.2.Rel1'
 
     - name: Pull ESP-IDF docker
       if: inputs.toolchain == 'esp-idf'
@@ -28,18 +28,10 @@ runs:
     - name: Get Toolchain URL
       if: >-
         inputs.toolchain != 'arm-gcc' &&
-        inputs.toolchain != 'arm-iar' &&
         inputs.toolchain != 'esp-idf'
       id: set-toolchain-url
       run: |
-        TOOLCHAIN_JSON='{
-          "aarch64-gcc": "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",
-          "arm-clang": "https://github.com/ARM-software/LLVM-embedded-toolchain-for-Arm/releases/download/release-19.1.1/LLVM-ET-Arm-19.1.1-Linux-x86_64.tar.xz",
-          "msp430-gcc": "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",
-          "riscv-gcc": "https://github.com/xpack-dev-tools/riscv-none-elf-gcc-xpack/releases/download/v13.2.0-2/xpack-riscv-none-elf-gcc-13.2.0-2-linux-x64.tar.gz",
-          "rx-gcc": "https://github.com/hathach/rx_device/releases/download/0.0.1/gcc-8.3.0.202411-GNURX-ELF.run"
-        }'
-        TOOLCHAIN_URL=$(echo $TOOLCHAIN_JSON | jq -r '.["${{ inputs.toolchain }}"]')
+        TOOLCHAIN_URL=$(jq -r '."${{ inputs.toolchain }}"' .github/actions/setup_toolchain/toolchain.json)
         echo "toolchain_url=$TOOLCHAIN_URL"
         echo "toolchain_url=$TOOLCHAIN_URL" >> $GITHUB_OUTPUT
       shell: bash
@@ -47,7 +39,6 @@ runs:
     - name: Download Toolchain
       if: >-
         inputs.toolchain != 'arm-gcc' &&
-        inputs.toolchain != 'arm-iar' &&
         inputs.toolchain != 'esp-idf'
       uses: ./.github/actions/setup_toolchain/download
       with:
diff --git a/.github/actions/setup_toolchain/download/action.yml b/.github/actions/setup_toolchain/download/action.yml
index 813197208..ce9643010 100644
--- a/.github/actions/setup_toolchain/download/action.yml
+++ b/.github/actions/setup_toolchain/download/action.yml
@@ -23,17 +23,25 @@ runs:
       if: steps.cache-toolchain-download.outputs.cache-hit != 'true'
       run: |
         mkdir -p ~/cache/${{ inputs.toolchain }}
-        wget --progress=dot:giga ${{ inputs.toolchain_url }} -O toolchain.tar.gz
+
         if [[ ${{ inputs.toolchain }} == rx-gcc ]]; then
-          mv toolchain.tar.gz toolchain.run
+          wget --progress=dot:giga ${{ inputs.toolchain_url }} -O toolchain.run
           chmod +x toolchain.run
           ./toolchain.run -p ~/cache/${{ inputs.toolchain }}/gnurx -y
+        elif [[ ${{ inputs.toolchain }} == arm-iar ]]; then
+          wget --progress=dot:giga ${{ inputs.toolchain_url }} -O ~/cache/${{ inputs.toolchain }}/cxarm.deb
         else
+          wget --progress=dot:giga ${{ inputs.toolchain_url }} -O toolchain.tar.gz
           tar -C ~/cache/${{ inputs.toolchain }} -xaf toolchain.tar.gz
         fi
       shell: bash
 
-    - name: Set Toolchain Path
+    - name: Setup Toolchain
       run: |
-        echo >> $GITHUB_PATH `echo ~/cache/${{ inputs.toolchain }}/*/bin`
+        if [[ ${{ inputs.toolchain }} == arm-iar ]]; then
+          sudo apt-get install -y ~/cache/${{ inputs.toolchain }}/cxarm.deb
+          echo >> $GITHUB_PATH "/opt/iar/cxarm/arm/bin"
+        else
+          echo >> $GITHUB_PATH `echo ~/cache/${{ inputs.toolchain }}/*/bin`
+        fi
       shell: bash
diff --git a/.github/actions/setup_toolchain/toolchain.json b/.github/actions/setup_toolchain/toolchain.json
new file mode 100644
index 000000000..f7123ef11
--- /dev/null
+++ b/.github/actions/setup_toolchain/toolchain.json
@@ -0,0 +1,9 @@
+{
+  "aarch64-gcc": "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",
+  "arm-clang": "https://github.com/ARM-software/LLVM-embedded-toolchain-for-Arm/releases/download/release-19.1.1/LLVM-ET-Arm-19.1.1-Linux-x86_64.tar.xz",
+  "arm-gcc": "https://github.com/xpack-dev-tools/arm-none-eabi-gcc-xpack/releases/download/v14.2.1-1.1/xpack-arm-none-eabi-gcc-14.2.1-1.1-linux-x64.tar.gz",
+  "msp430-gcc": "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",
+  "riscv-gcc": "https://github.com/xpack-dev-tools/riscv-none-elf-gcc-xpack/releases/download/v13.2.0-2/xpack-riscv-none-elf-gcc-13.2.0-2-linux-x64.tar.gz",
+  "rx-gcc": "https://github.com/hathach/rx_device/releases/download/0.0.1/gcc-8.3.0.202411-GNURX-ELF.run",
+  "arm-iar": "https://netstorage.iar.com/FileStore/STANDARD/001/003/583/cxarm-9.60.4.deb"
+}
diff --git a/.github/copilot-instructions.md b/.github/copilot-instructions.md
new file mode 100644
index 000000000..572b8d6f5
--- /dev/null
+++ b/.github/copilot-instructions.md
@@ -0,0 +1,133 @@
+# TinyUSB
+TinyUSB is an open-source cross-platform USB Host/Device stack for embedded systems, designed to be memory-safe with no dynamic allocation and thread-safe with all interrupt events deferred to non-ISR task functions.
+
+Always reference these instructions first and fallback to search or bash commands only when you encounter unexpected information that does not match the info here.
+
+## Working Effectively
+
+### Bootstrap and Build Setup
+- Install ARM GCC toolchain: `sudo apt-get update && sudo apt-get install -y gcc-arm-none-eabi`
+- Fetch core dependencies: `python3 tools/get_deps.py` -- takes <1 second. NEVER CANCEL.
+- For specific board families: `python3 tools/get_deps.py FAMILY_NAME` (e.g., rp2040, stm32f4)
+- Dependencies are cached in `lib/` and `hw/mcu/` directories
+
+### Build Examples
+Choose ONE of these approaches:
+
+**Option 1: Individual Example with CMake (RECOMMENDED)**
+```bash
+cd examples/device/cdc_msc
+mkdir -p build && cd build
+cmake -DBOARD=stm32f407disco -DCMAKE_BUILD_TYPE=MinSizeRel ..
+cmake --build . -j4
+```
+-- takes 1-2 seconds. NEVER CANCEL. Set timeout to 5+ minutes.
+
+**Option 2: Individual Example with Make**
+```bash
+cd examples/device/cdc_msc
+make BOARD=stm32f407disco all
+```
+-- takes 2-3 seconds. NEVER CANCEL. Set timeout to 5+ minutes.
+
+**Option 3: All Examples for a Board**
+```bash
+python3 tools/build.py -b BOARD_NAME
+```
+-- takes 15-20 seconds, may have some objcopy failures that are non-critical. NEVER CANCEL. Set timeout to 30+ minutes.
+
+### Unit Testing
+- Install Ceedling: `sudo gem install ceedling`
+- Run all unit tests: `cd test/unit-test && ceedling` -- takes 4 seconds. NEVER CANCEL. Set timeout to 10+ minutes.
+- Tests use Unity framework with CMock for mocking
+
+### Documentation
+- Install requirements: `pip install -r docs/requirements.txt`
+- Build docs: `cd docs && sphinx-build -b html . _build` -- takes 2-3 seconds. NEVER CANCEL. Set timeout to 10+ minutes.
+
+### Code Quality and Validation
+- Format code: `clang-format -i path/to/file.c` (uses `.clang-format` config)
+- Check spelling: `pip install codespell && codespell` (uses `.codespellrc` config)
+- Pre-commit hooks validate unit tests and code quality automatically
+
+## Validation
+
+### ALWAYS Run These After Making Changes
+1. **Pre-commit validation** (RECOMMENDED): `pre-commit run --all-files`
+   - Install pre-commit: `pip install pre-commit && pre-commit install`
+   - Runs all quality checks, unit tests, spell checking, and formatting
+   - Takes 10-15 seconds. NEVER CANCEL. Set timeout to 15+ minutes.
+2. **Build validation**: Build at least one example that exercises your changes
+   ```bash
+   cd examples/device/cdc_msc
+   make BOARD=stm32f407disco all
+   ```
+
+### Manual Testing Scenarios
+- **Device examples**: Cannot be fully tested without real hardware, but must build successfully
+- **Unit tests**: Exercise core stack functionality - ALL tests must pass
+- **Build system**: Must be able to build examples for multiple board families
+
+### Board Selection for Testing
+- **STM32F4**: `stm32f407disco` - no external SDK required, good for testing
+- **RP2040**: `pico_sdk` - requires Pico SDK, commonly used
+- **Other families**: Check `hw/bsp/FAMILY/boards/` for available boards
+
+## Common Tasks and Time Expectations
+
+### Repository Structure Quick Reference
+```
+├── src/                  # Core TinyUSB stack
+│   ├── class/            # USB device classes (CDC, HID, MSC, Audio, etc.)
+│   ├── portable/         # MCU-specific drivers (organized by vendor)
+│   ├── device/           # USB device stack core
+│   ├── host/             # USB host stack core
+│   └── common/           # Shared utilities (FIFO, etc.)
+├── examples/             # Example applications
+│   ├── device/           # Device examples (cdc_msc, hid_generic, etc.)
+│   ├── host/             # Host examples
+│   └── dual/             # Dual-role examples
+├── hw/bsp/               # Board Support Packages
+│   └── FAMILY/boards/    # Board-specific configurations
+├── test/unit-test/       # Unit tests using Ceedling
+├── tools/                # Build and utility scripts
+└── docs/                 # Sphinx documentation
+```
+
+### Build Time Reference
+- **Dependency fetch**: <1 second
+- **Single example build**: 1-3 seconds
+- **Unit tests**: ~4 seconds
+- **Documentation build**: ~2.5 seconds
+- **Full board examples**: 15-20 seconds
+- **Toolchain installation**: 2-5 minutes (one-time)
+
+### Key Files to Know
+- `tools/get_deps.py`: Manages dependencies for MCU families
+- `tools/build.py`: Builds multiple examples, supports make/cmake
+- `src/tusb.h`: Main TinyUSB header file
+- `src/tusb_config.h`: Configuration template
+- `examples/device/cdc_msc/`: Most commonly used example for testing
+- `test/unit-test/project.yml`: Ceedling test configuration
+
+### Debugging Build Issues
+- **Missing compiler**: Install `gcc-arm-none-eabi` package
+- **Missing dependencies**: Run `python3 tools/get_deps.py FAMILY`
+- **Board not found**: Check `hw/bsp/FAMILY/boards/` for valid board names
+- **objcopy errors**: Often non-critical in full builds, try individual example builds
+
+### Working with USB Device Classes
+- **CDC (Serial)**: `src/class/cdc/` - Virtual serial port
+- **HID**: `src/class/hid/` - Human Interface Device (keyboard, mouse, etc.)
+- **MSC**: `src/class/msc/` - Mass Storage Class (USB drive)
+- **Audio**: `src/class/audio/` - USB Audio Class
+- Each class has device (`*_device.c`) and host (`*_host.c`) implementations
+
+### MCU Family Support
+- **STM32**: Largest support (F0, F1, F2, F3, F4, F7, G0, G4, H7, L4, U5, etc.)
+- **Raspberry Pi**: RP2040, RP2350 with PIO-USB host support
+- **NXP**: iMXRT, Kinetis, LPC families
+- **Microchip**: SAM D/E/G/L families
+- Check `hw/bsp/` for complete list and `docs/reference/boards.rst` for details
+
+Remember: TinyUSB is designed for embedded systems - builds are fast, tests are focused, and the codebase is optimized for resource-constrained environments.
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 547763bd8..ff59421ce 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -8,8 +8,8 @@ on:
       - 'examples/**'
       - 'lib/**'
       - 'hw/**'
-      - 'tools/get_deps.py'
       - 'tools/build.py'
+      - 'tools/get_deps.py'
       - '.github/actions/**'
       - '.github/workflows/build.yml'
       - '.github/workflows/build_util.yml'
@@ -21,8 +21,9 @@ on:
       - 'examples/**'
       - 'lib/**'
       - 'hw/**'
-      - 'tools/get_deps.py'
+      - 'test/hil/**'
       - 'tools/build.py'
+      - 'tools/get_deps.py'
       - '.github/actions/**'
       - '.github/workflows/build.yml'
       - '.github/workflows/build_util.yml'
@@ -31,11 +32,15 @@ concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
+env:
+  HIL_JSON: test/hil/tinyusb.json
+
 jobs:
   set-matrix:
     runs-on: ubuntu-latest
     outputs:
       json: ${{ steps.set-matrix-json.outputs.matrix }}
+      hil_json: ${{ steps.set-matrix-json.outputs.hil_matrix }}
     steps:
       - name: Checkout TinyUSB
         uses: actions/checkout@v4
@@ -43,33 +48,41 @@ jobs:
       - name: Generate matrix json
         id: set-matrix-json
         run: |
+          # build matrix
           MATRIX_JSON=$(python .github/workflows/ci_set_matrix.py)
           echo "matrix=$MATRIX_JSON"
           echo "matrix=$MATRIX_JSON" >> $GITHUB_OUTPUT
+          # hil matrix
+          HIL_MATRIX_JSON=$(python test/hil/hil_ci_set_matrix.py ${{ env.HIL_JSON }})
+          echo "hil_matrix=$HIL_MATRIX_JSON"
+          echo "hil_matrix=$HIL_MATRIX_JSON" >> $GITHUB_OUTPUT
 
   # ---------------------------------------
-  # Build CMake
+  # Build CMake: only build on push with one-per-family.
+  # Full built is done by CircleCI in PR
   # ---------------------------------------
   cmake:
+    if: github.event_name == 'push'
     needs: set-matrix
     uses: ./.github/workflows/build_util.yml
     strategy:
       fail-fast: false
       matrix:
         toolchain:
-          # - 'arm-clang' is built by circle-ci in PR
           - 'aarch64-gcc'
+          #- 'arm-clang'
           - 'arm-gcc'
+          - 'esp-idf'
           - 'msp430-gcc'
           - 'riscv-gcc'
     with:
       build-system: 'cmake'
       toolchain: ${{ matrix.toolchain }}
       build-args: ${{ toJSON(fromJSON(needs.set-matrix.outputs.json)[matrix.toolchain]) }}
-      one-per-family: ${{ github.event_name == 'push' }}
+      one-per-family: true
 
   # ---------------------------------------
-  # Build Make (built by circle-ci in PR, only build on push here)
+  # Build Make: only build on push with one-per-family
   # ---------------------------------------
   make:
     if: github.event_name == 'push'
@@ -79,13 +92,12 @@ jobs:
       fail-fast: false
       matrix:
         toolchain:
-          # 'arm-clang'
-          - 'arm-gcc'
           - 'aarch64-gcc'
+          #- 'arm-clang'
+          - 'arm-gcc'
           - 'msp430-gcc'
           - 'riscv-gcc'
           - 'rx-gcc'
-          - 'esp-idf' # build-system is ignored
     with:
       build-system: 'make'
       toolchain: ${{ matrix.toolchain }}
@@ -93,6 +105,28 @@ jobs:
       one-per-family: true
 
   # ---------------------------------------
+  # Build IAR
+  # Since IAR Token secret is not passed to forked PR, only build non-forked PR with make.
+  # cmake is built by circle-ci. Due to IAR limit capacity, only build oe per family
+  # ---------------------------------------
+  arm-iar:
+    if: false # disable for now since we got reach capacity limit too often
+    #if: github.event_name == 'push' && github.repository_owner == 'hathach'
+    needs: set-matrix
+    uses: ./.github/workflows/build_util.yml
+    secrets: inherit
+    strategy:
+      fail-fast: false
+      matrix:
+        build-system:
+          - 'make'
+    with:
+      build-system: ${{ matrix.build-system }}
+      toolchain: 'arm-iar'
+      build-args: ${{ toJSON(fromJSON(needs.set-matrix.outputs.json)['arm-iar']) }}
+      one-per-family: true
+
+  # ---------------------------------------
   # Build Make on Windows/MacOS
   # ---------------------------------------
   make-os:
@@ -110,55 +144,132 @@ jobs:
       one-per-family: true
 
   # ---------------------------------------
-  # Build IAR on HFP self-hosted
-  # Since IAR Token secret is not passed to forked PR, only build on PR from the same repo
+  # Zephyr
   # ---------------------------------------
-  arm-iar:
-    if: github.repository_owner == 'hathach' && github.event_name == 'push'
+  zephyr:
+    if: github.event_name == 'push'
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout TinyUSB
+        uses: actions/checkout@v4
+
+      - name: Setup Zephyr project
+        uses: zephyrproject-rtos/action-zephyr-setup@v1
+        with:
+          app-path: examples
+          toolchains: arm-zephyr-eabi
+
+      - name: Build
+        run: |
+          west build -b pca10056 -d examples/device/cdc_msc/build examples/device/cdc_msc -- -DRTOS=zephyr
+          west build -b pca10056 -d examples/device/msc_dual_lun/build examples/device/msc_dual_lun -- -DRTOS=zephyr
+
+  # ---------------------------------------
+  # Hardware in the loop (HIL)
+  # Run on PR only (hil-tinyusb), hil-hfp only run on non-forked PR
+  # ---------------------------------------
+  hil-build:
+    if: |
+      github.repository_owner == 'hathach' &&
+      (github.event_name == 'pull_request' || github.event_name == 'workflow_dispatch')
     needs: set-matrix
+    uses: ./.github/workflows/build_util.yml
+    strategy:
+      fail-fast: false
+      matrix:
+        toolchain:
+          - 'arm-gcc'
+          - 'esp-idf'
+    with:
+      build-system: 'cmake'
+      toolchain: ${{ matrix.toolchain }}
+      build-args: ${{ toJSON(fromJSON(needs.set-matrix.outputs.hil_json)[matrix.toolchain]) }}
+      one-per-family: true
+      upload-artifacts: true
+
+  # ---------------------------------------
+  # Hardware in the loop (HIL)
+  # self-hosted on local VM, for attached hardware checkout HIL_JSON
+  # ---------------------------------------
+  hil-tinyusb:
+    if: |
+      github.repository_owner == 'hathach' &&
+      (github.event_name == 'pull_request' || github.event_name == 'workflow_dispatch')
+    needs: hil-build
+    runs-on: [self-hosted, X64, hathach, hardware-in-the-loop]
+    steps:
+      - name: Clean workspace
+        if: github.run_attempt == '1'
+        run: |
+          echo "Cleaning up for the first run"
+          rm -rf "${{ github.workspace }}"
+          mkdir -p "${{ github.workspace }}"
+
+      - name: Checkout TinyUSB
+        if: github.run_attempt == '1'
+        uses: actions/checkout@v4
+        with:
+          sparse-checkout: test/hil
+
+      - name: Download Artifacts
+        if: github.run_attempt == '1'
+        uses: actions/download-artifact@v4
+        with:
+          path: cmake-build
+          merge-multiple: true
+
+      - name: Test on actual hardware
+        run: |
+          ls cmake-build/
+
+          # Skip boards that passed with previous run, file is generated by hil_test.py
+          SKIP_BOARDS=""
+          if [ -f ${{ env.HIL_JSON }}.skip ]; then
+            SKIP_BOARDS=$(cat "${HIL_JSON}.skip")
+          fi
+          echo "SKIP_BOARDS=$SKIP_BOARDS"
+
+          python3 test/hil/hil_test.py ${{ env.HIL_JSON }} $SKIP_BOARDS
+
+  # ---------------------------------------
+  # Hardware in the loop (HIL)
+  # self-hosted by HFP, build with IAR toolchain, for attached hardware checkout test/hil/hfp.json
+  # Since IAR Token secret is not passed to forked PR, only build non-forked PR
+  # ---------------------------------------
+  hil-hfp:
+    if: |
+      github.repository_owner == 'hathach' &&
+      github.event.pull_request.head.repo.fork == false &&
+      (github.event_name == 'pull_request' || github.event_name == 'workflow_dispatch')
     runs-on: [self-hosted, Linux, X64, hifiphile]
     env:
-      BUILD_ARGS: ${{ join(fromJSON(needs.set-matrix.outputs.json)['arm-iar'], ' ') }}
-      IAR_LMS_CLOUD_URL: ${{ vars.IAR_LMS_CLOUD_URL }}
       IAR_LMS_BEARER_TOKEN: ${{ secrets.IAR_LMS_BEARER_TOKEN }}
     steps:
       - name: Clean workspace
         run: |
           echo "Cleaning up previous run"
-          rm -rf "${{ github.workspace }}"
+          rm -rf "${{ github.workspace }}"3
           mkdir -p "${{ github.workspace }}"
 
       - name: Toolchain version
         run: |
-          echo IAR_LMS_CLOUD_URL=$IAR_LMS_CLOUD_URL
           iccarm --version
 
       - name: Checkout TinyUSB
         uses: actions/checkout@v4
 
+      - name: Get build boards
+        run: |
+          MATRIX_JSON=$(python test/hil/hil_ci_set_matrix.py test/hil/hfp.json)
+          BUILD_ARGS=$(echo $MATRIX_JSON | jq -r '.["arm-gcc"] | join(" ")')
+          echo "BUILD_ARGS=$BUILD_ARGS"
+          echo "BUILD_ARGS=$BUILD_ARGS" >> $GITHUB_ENV
+
       - name: Get Dependencies
         run: python3 tools/get_deps.py $BUILD_ARGS
 
       - name: Build
-        run: python3 tools/build.py --one-per-family --toolchain iar $BUILD_ARGS
-
-  # ---------------------------------------
-  # Zephyr
-  # ---------------------------------------
-  zephyr:
-    if: github.event_name == 'push'
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout TinyUSB
-        uses: actions/checkout@v4
-
-      - name: Setup Zephyr project
-        uses: zephyrproject-rtos/action-zephyr-setup@v1
-        with:
-          app-path: examples
-          toolchains: arm-zephyr-eabi
+        run: python3 tools/build.py -j 4 --toolchain iar $BUILD_ARGS
 
-      - name: Build
-        run: |
-          west build -b pca10056 -d examples/device/cdc_msc/build examples/device/cdc_msc -- -DRTOS=zephyr
-          west build -b pca10056 -d examples/device/msc_dual_lun/build examples/device/msc_dual_lun -- -DRTOS=zephyr
+      - name: Test on actual hardware (hardware in the loop)
+        run: python3 test/hil/hil_test.py hfp.json
diff --git a/.github/workflows/build_util.yml b/.github/workflows/build_util.yml
index 2de68c6f3..a2c96f3c0 100644
--- a/.github/workflows/build_util.yml
+++ b/.github/workflows/build_util.yml
@@ -58,6 +58,8 @@ jobs:
         shell: bash
 
       - name: Build
+        env:
+          IAR_LMS_BEARER_TOKEN: ${{ secrets.IAR_LMS_BEARER_TOKEN }}
         run: |
           if [ "${{ inputs.toolchain }}" == "esp-idf" ]; then
             docker run --rm -v $PWD:/project -w /project espressif/idf:tinyusb python tools/build.py ${{ matrix.arg }}
diff --git a/.github/workflows/ci_set_matrix.py b/.github/workflows/ci_set_matrix.py
index 410508246..3559909ba 100755
--- a/.github/workflows/ci_set_matrix.py
+++ b/.github/workflows/ci_set_matrix.py
@@ -15,16 +15,17 @@ toolchain_list = [
 
 # family: [supported toolchain]
 family_list = {
+    "at32f402_405 at32f403a_407 at32f413 at32f415 at32f423 at32f425 at32f435_437": ["arm-gcc"],
     "broadcom_32bit": ["arm-gcc"],
     "broadcom_64bit": ["aarch64-gcc"],
-    "ch32v10x ch32v20x ch32v307 fomu gd32vf103": ["riscv-gcc"],
+    "ch32v10x ch32v20x ch32v30x fomu gd32vf103": ["riscv-gcc"],
     "da1469x": ["arm-gcc"],
     "imxrt": ["arm-gcc", "arm-clang"],
     "kinetis_k kinetis_kl kinetis_k32l2": ["arm-gcc", "arm-clang"],
     "lpc11 lpc13 lpc15": ["arm-gcc", "arm-clang"],
     "lpc17 lpc18 lpc40 lpc43": ["arm-gcc", "arm-clang"],
     "lpc51 lpc54 lpc55": ["arm-gcc", "arm-clang"],
-    "max32650 max32666 max32690 max78002": ["arm-gcc"],
+    "maxim": ["arm-gcc"],
     "mcx": ["arm-gcc"],
     "mm32": ["arm-gcc"],
     "msp430": ["msp430-gcc"],
@@ -40,13 +41,16 @@ family_list = {
     "stm32f4": ["arm-gcc", "arm-clang", "arm-iar"],
     "stm32f7": ["arm-gcc", "arm-clang", "arm-iar"],
     "stm32g0 stm32g4 stm32h5": ["arm-gcc", "arm-clang", "arm-iar"],
-    "stm32h7": ["arm-gcc", "arm-clang", "arm-iar"],
+    "stm32h7 stm32h7rs": ["arm-gcc", "arm-clang", "arm-iar"],
     "stm32l0 stm32l4": ["arm-gcc", "arm-clang", "arm-iar"],
+    "stm32n6": ["arm-gcc"],
     "stm32u5 stm32wb": ["arm-gcc", "arm-clang", "arm-iar"],
+    "stm32wba": ["arm-gcc", "arm-clang"],
     "xmc4000": ["arm-gcc"],
-    "-bespressif_kaluga_1": ["esp-idf"],
-    "-bespressif_s3_devkitm": ["esp-idf"],
-    "-bespressif_p4_function_ev": ["esp-idf"],
+    "-bespressif_s2_devkitc": ["esp-idf"],
+    # S3, P4 will be built by hil test
+    # "-bespressif_s3_devkitm": ["esp-idf"],
+    # "-bespressif_p4_function_ev": ["esp-idf"],
 }
 
 
diff --git a/.github/workflows/codeql.yml b/.github/workflows/codeql.yml
index be4c2dd87..dfcca6315 100644
--- a/.github/workflows/codeql.yml
+++ b/.github/workflows/codeql.yml
@@ -66,7 +66,7 @@ jobs:
 
     # Initializes the CodeQL tools for scanning.
     - name: Initialize CodeQL
-      uses: github/codeql-action/init@v2
+      uses: github/codeql-action/init@v3
       with:
         languages: ${{ matrix.language }}
         # If you wish to specify custom queries, you can do so here or in a config file.
@@ -93,7 +93,7 @@ jobs:
         ./.github/workflows/codeql-buildscript.sh
 
     - name: Perform CodeQL Analysis
-      uses: github/codeql-action/analyze@v2
+      uses: github/codeql-action/analyze@v3
       with:
         category: "/language:${{matrix.language}}"
         upload: false
@@ -124,12 +124,12 @@ jobs:
         output: ${{ steps.step1.outputs.sarif-output }}/cpp.sarif
 
     - name: Upload SARIF
-      uses: github/codeql-action/upload-sarif@v2
+      uses: github/codeql-action/upload-sarif@v3
       with:
         sarif_file: ${{ steps.step1.outputs.sarif-output }}
         category: "/language:${{matrix.language}}"
 
-    - name: Archive CodeQL results
+    - name: Upload CodeQL results as an artifact
       uses: actions/upload-artifact@v4
       with:
         name: codeql-results
diff --git a/.github/workflows/hil_test.yml b/.github/workflows/hil_test.yml
deleted file mode 100644
index c890933ec..000000000
--- a/.github/workflows/hil_test.yml
+++ /dev/null
@@ -1,130 +0,0 @@
-name: Hardware Test
-
-on:
-  workflow_dispatch:
-  pull_request:
-    branches: [ master ]
-    paths:
-      - 'src/**'
-      - 'examples/**'
-      - 'lib/**'
-      - 'hw/**'
-      - 'test/hil/**'
-      - 'tools/get_deps.py'
-      - '.github/actions/**'
-      - '.github/workflows/hil_test.yml'
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-env:
-  HIL_JSON: test/hil/tinyusb.json
-
-jobs:
-  set-matrix:
-    runs-on: ubuntu-latest
-    outputs:
-      json: ${{ steps.set-matrix-json.outputs.matrix }}
-    steps:
-      - name: Checkout TinyUSB
-        uses: actions/checkout@v4
-
-      - name: Generate matrix json
-        id: set-matrix-json
-        run: |
-          MATRIX_JSON=$(python test/hil/hil_ci_set_matrix.py ${{ env.HIL_JSON }})
-          echo "matrix=$MATRIX_JSON"
-          echo "matrix=$MATRIX_JSON" >> $GITHUB_OUTPUT
-
-  # ---------------------------------------
-  # Build arm-gcc
-  # ---------------------------------------
-  build:
-    if: github.repository_owner == 'hathach'
-    needs: set-matrix
-    uses: ./.github/workflows/build_util.yml
-    strategy:
-      fail-fast: false
-      matrix:
-        toolchain:
-          - 'arm-gcc'
-          - 'esp-idf'
-    with:
-      build-system: 'cmake'
-      toolchain: ${{ matrix.toolchain }}
-      build-args: ${{ toJSON(fromJSON(needs.set-matrix.outputs.json)[matrix.toolchain]) }}
-      one-per-family: true
-      upload-artifacts: true
-
-  # ---------------------------------------
-  # Hardware in the loop (HIL)
-  # self-hosted on local VM, for attached hardware checkout HIL_JSON
-  # ---------------------------------------
-  hil-tinyusb:
-    if: github.repository_owner == 'hathach'
-    needs: build
-    runs-on: [self-hosted, X64, hathach, hardware-in-the-loop]
-    steps:
-      - name: Clean workspace
-        run: |
-          echo "Cleaning up previous run"
-          rm -rf "${{ github.workspace }}"
-          mkdir -p "${{ github.workspace }}"
-
-      - name: Checkout TinyUSB
-        uses: actions/checkout@v4
-        with:
-          sparse-checkout: test/hil
-
-      - name: Download Artifacts
-        uses: actions/download-artifact@v4
-        with:
-          path: cmake-build
-          merge-multiple: true
-
-      - name: Test on actual hardware
-        run: |
-          ls cmake-build/
-          python3 test/hil/hil_test.py ${{ env.HIL_JSON }}
-
-  # ---------------------------------------
-  # Hardware in the loop (HIL)
-  # self-hosted by HFP, build with IAR toolchain, for attached hardware checkout test/hil/hfp.json
-  # Since IAR Token secret is not passed to forked PR, only build on PR from the same repo
-  # ---------------------------------------
-  hil-hfp:
-    if: github.repository_owner == 'hathach' && github.event.pull_request.head.repo.fork == false
-    runs-on: [self-hosted, Linux, X64, hifiphile]
-    env:
-      IAR_LMS_CLOUD_URL: ${{ vars.IAR_LMS_CLOUD_URL }}
-      IAR_LMS_BEARER_TOKEN: ${{ secrets.IAR_LMS_BEARER_TOKEN }}
-    steps:
-      - name: Clean workspace
-        run: |
-          echo "Cleaning up previous run"
-          rm -rf "${{ github.workspace }}"
-          mkdir -p "${{ github.workspace }}"
-
-      - name: Toolchain version
-        run: |
-          echo IAR_LMS_CLOUD_URL=$IAR_LMS_CLOUD_URL
-          iccarm --version
-
-      - name: Checkout TinyUSB
-        uses: actions/checkout@v4
-
-      - name: Get build boards
-        run: |
-          MATRIX_JSON=$(python test/hil/hil_ci_set_matrix.py test/hil/hfp.json)
-          BUILD_ARGS=$(echo $MATRIX_JSON | jq -r '.["arm-gcc"] | join(" ")')
-          echo "BUILD_ARGS=$BUILD_ARGS"
-          echo "BUILD_ARGS=$BUILD_ARGS" >> $GITHUB_ENV
-
-      - name: Get Dependencies
-        run: python3 tools/get_deps.py $BUILD_ARGS
-
-      - name: Build
-        run: python3 tools/build.py --toolchain iar $BUILD_ARGS
-
-      - name: Test on actual hardware (hardware in the loop)
-        run: python3 test/hil/hil_test.py hfp.json