zephyr

16 files changed, 371 insertions, 110 deletions

diff --git a/.west/config b/.west/config
new file mode 100644
index 000000000..2518007f6
--- /dev/null
+++ b/.west/config
@@ -0,0 +1,6 @@
+[manifest]
+path = examples
+file = west.yml
+
+[zephyr]
+base = lib/zephyr
diff --git a/examples/build_system/cmake/toolchain/common.cmake b/examples/build_system/cmake/toolchain/common.cmake
index 688715914..ce97664d5 100644
--- a/examples/build_system/cmake/toolchain/common.cmake
+++ b/examples/build_system/cmake/toolchain/common.cmake
@@ -13,8 +13,8 @@ set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
 set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
 
 # pass TOOLCHAIN_CPU to
-set(CMAKE_TRY_COMPILE_PLATFORM_VARIABLES CMAKE_SYSTEM_PROCESSOR)
-include(${CMAKE_CURRENT_LIST_DIR}/../cpu/${CMAKE_SYSTEM_PROCESSOR}.cmake)
+set(CMAKE_TRY_COMPILE_PLATFORM_VARIABLES CMAKE_SYSTEM_CPU)
+include(${CMAKE_CURRENT_LIST_DIR}/../cpu/${CMAKE_SYSTEM_CPU}.cmake)
 
 # ----------------------------------------------------------------------------
 # Compile flags
diff --git a/examples/device/board_test/CMakeLists.txt b/examples/device/board_test/CMakeLists.txt
index 837b4996a..adcc3ba3d 100644
--- a/examples/device/board_test/CMakeLists.txt
+++ b/examples/device/board_test/CMakeLists.txt
@@ -5,6 +5,11 @@ include(${CMAKE_CURRENT_SOURCE_DIR}/../../../hw/bsp/family_support.cmake)
 # gets PROJECT name for the example (e.g. <BOARD>-<DIR_NAME>)
 family_get_project_name(PROJECT ${CMAKE_CURRENT_LIST_DIR})
 
+if (BUILD_ZEPHYR)
+  set(BOARD_ROOT ${TOP}/hw/bsp/${FAMILY})
+  find_package(Zephyr REQUIRED HINTS ${TOP}/lib/zephyr)
+endif ()
+
 project(${PROJECT} C CXX ASM)
 
 # Checks this example is valid for the family and initializes the project
@@ -15,18 +20,27 @@ if(FAMILY STREQUAL "espressif")
   return()
 endif()
 
-add_executable(${PROJECT})
+if (BUILD_ZEPHYR)
+  set(EXE_NAME app)
+else()
+  set(EXE_NAME ${PROJECT})
+  add_executable(${EXE_NAME})
+endif()
 
 # Example source
-target_sources(${PROJECT} PUBLIC
+target_sources(${EXE_NAME} PRIVATE
   ${CMAKE_CURRENT_SOURCE_DIR}/src/main.c
   )
 
 # Example include
-target_include_directories(${PROJECT} PUBLIC
+target_include_directories(${EXE_NAME} PUBLIC
   ${CMAKE_CURRENT_SOURCE_DIR}/src
   )
 
 # Configure compilation flags and libraries for the example without RTOS.
 # See the corresponding function in hw/bsp/FAMILY/family.cmake for details.
-family_configure_device_example(${PROJECT} noos)
+if (BUILD_ZEPHYR)
+  family_configure_device_example(${EXE_NAME} zephyr)
+else()
+  family_configure_device_example(${EXE_NAME} noos)
+endif()
diff --git a/examples/device/board_test/src/main.c b/examples/device/board_test/src/main.c
index 2269d45f1..321f6638a 100644
--- a/examples/device/board_test/src/main.c
+++ b/examples/device/board_test/src/main.c
@@ -23,6 +23,7 @@
  *
  */
 
+#if 1
 #include <stdlib.h>
 #include <stdio.h>
 #include <string.h>
@@ -51,7 +52,7 @@ int main(void) {
 
     // Blink and print every interval ms
     if (!(board_millis() - start_ms < interval_ms)) {
-      board_uart_write(HELLO_STR, strlen(HELLO_STR));
+      // board_uart_write(HELLO_STR, strlen(HELLO_STR));
 
       start_ms = board_millis();
 
@@ -60,12 +61,57 @@ int main(void) {
     }
 
     // echo
-    uint8_t ch;
-    if (board_uart_read(&ch, 1) > 0) {
-      board_uart_write(&ch, 1);
+    // uint8_t ch;
+    // if (board_uart_read(&ch, 1) > 0) {
+    //   board_uart_write(&ch, 1);
+    // }
+  }
+}
+
+#else
+#include <stdio.h>
+#include <zephyr/kernel.h>
+#include <zephyr/drivers/gpio.h>
+
+/* 1000 msec = 1 sec */
+#define SLEEP_TIME_MS   200
+
+/* The devicetree node identifier for the "led0" alias. */
+#define LED0_NODE DT_ALIAS(led0)
+
+/*
+ * A build error on this line means your board is unsupported.
+ * See the sample documentation for information on how to fix this.
+ */
+static const struct gpio_dt_spec led = GPIO_DT_SPEC_GET(LED0_NODE, gpios);
+
+int main(void)
+{
+  int ret;
+  bool led_state = true;
+
+  if (!gpio_is_ready_dt(&led)) {
+    return 0;
+  }
+
+  ret = gpio_pin_configure_dt(&led, GPIO_OUTPUT_ACTIVE);
+  if (ret < 0) {
+    return 0;
+  }
+
+  while (1) {
+    ret = gpio_pin_toggle_dt(&led);
+    if (ret < 0) {
+      return 0;
     }
+
+    led_state = !led_state;
+    printf("LED state: %s\n", led_state ? "ON" : "OFF");
+    k_msleep(SLEEP_TIME_MS);
   }
+  return 0;
 }
+#endif
 
 #if TUSB_MCU_VENDOR_ESPRESSIF
 void app_main(void) {
diff --git a/examples/device/cdc_msc/CMakeLists.txt b/examples/device/cdc_msc/CMakeLists.txt
index fa7090807..754c5deb0 100644
--- a/examples/device/cdc_msc/CMakeLists.txt
+++ b/examples/device/cdc_msc/CMakeLists.txt
@@ -6,6 +6,11 @@ include(${CMAKE_CURRENT_SOURCE_DIR}/../../../hw/bsp/family_support.cmake)
 # gets PROJECT name for the example (e.g. <BOARD>-<DIR_NAME>)
 family_get_project_name(PROJECT ${CMAKE_CURRENT_LIST_DIR})
 
+if (BUILD_ZEPHYR)
+  set(BOARD_ROOT ${TOP}/hw/bsp/${FAMILY})
+  find_package(Zephyr REQUIRED HINTS ${TOP}/lib/zephyr)
+endif ()
+
 project(${PROJECT} C CXX ASM)
 
 # Checks this example is valid for the family and initializes the project
@@ -16,20 +21,29 @@ if(FAMILY STREQUAL "espressif")
   return()
 endif()
 
-add_executable(${PROJECT})
+if (BUILD_ZEPHYR)
+  set(EXE_NAME app)
+else()
+  set(EXE_NAME ${PROJECT})
+  add_executable(${EXE_NAME})
+endif()
 
 # Example source
-target_sources(${PROJECT} PUBLIC
+target_sources(${EXE_NAME} PRIVATE
   ${CMAKE_CURRENT_SOURCE_DIR}/src/main.c
   ${CMAKE_CURRENT_SOURCE_DIR}/src/msc_disk.c
   ${CMAKE_CURRENT_SOURCE_DIR}/src/usb_descriptors.c
   )
 
 # Example include
-target_include_directories(${PROJECT} PUBLIC
+target_include_directories(${EXE_NAME} PUBLIC
   ${CMAKE_CURRENT_SOURCE_DIR}/src
   )
 
-# Configure compilation flags and libraries for the example... see the corresponding function
-# in hw/bsp/FAMILY/family.cmake for details.
-family_configure_device_example(${PROJECT} noos)
+# Configure compilation flags and libraries for the example without RTOS.
+# See the corresponding function in hw/bsp/FAMILY/family.cmake for details.
+if (BUILD_ZEPHYR)
+  family_configure_device_example(${EXE_NAME} zephyr)
+else()
+  family_configure_device_example(${EXE_NAME} noos)
+endif()
diff --git a/examples/west.yml b/examples/west.yml
new file mode 100644
index 000000000..4e2160202
--- /dev/null
+++ b/examples/west.yml
@@ -0,0 +1,12 @@
+manifest:
+  remotes:
+    - name: zephyrproject-rtos
+      url-base: https://github.com/zephyrproject-rtos
+  projects:
+    - name: zephyr
+      remote: zephyrproject-rtos
+      revision: v4.0.0
+      path: lib/zephyr
+      import: true
+  self:
+    path: .
diff --git a/hw/bsp/board_api.h b/hw/bsp/board_api.h
index eaee1ee97..9cdbbf0d3 100644
--- a/hw/bsp/board_api.h
+++ b/hw/bsp/board_api.h
@@ -38,22 +38,24 @@ extern "C" {
 
 #include "tusb.h"
 
-#if CFG_TUSB_OS == OPT_OS_FREERTOS
-#if TUSB_MCU_VENDOR_ESPRESSIF
-  // ESP-IDF need "freertos/" prefix in include path.
-  // CFG_TUSB_OS_INC_PATH should be defined accordingly.
-  #include "freertos/FreeRTOS.h"
-  #include "freertos/semphr.h"
-  #include "freertos/queue.h"
-  #include "freertos/task.h"
-  #include "freertos/timers.h"
-#else
-  #include "FreeRTOS.h"
-  #include "semphr.h"
-  #include "queue.h"
-  #include "task.h"
-  #include "timers.h"
-#endif
+#if CFG_TUSB_OS == OPT_OS_ZEPHYR
+  #include <zephyr/kernel.h>
+#elif CFG_TUSB_OS == OPT_OS_FREERTOS
+  #if TUSB_MCU_VENDOR_ESPRESSIF
+    // ESP-IDF need "freertos/" prefix in include path.
+    // CFG_TUSB_OS_INC_PATH should be defined accordingly.
+    #include "freertos/FreeRTOS.h"
+    #include "freertos/semphr.h"
+    #include "freertos/queue.h"
+    #include "freertos/task.h"
+    #include "freertos/timers.h"
+  #else
+    #include "FreeRTOS.h"
+    #include "semphr.h"
+    #include "queue.h"
+    #include "task.h"
+    #include "timers.h"
+  #endif
 #endif
 
 // Define the default baudrate
@@ -124,6 +126,10 @@ static inline uint32_t board_millis(void) {
 // Implement your own board_millis() in any of .c file
 uint32_t board_millis(void);
 
+#elif CFG_TUSB_OS == OPT_OS_ZEPHYR
+static inline uint32_t board_millis(void) {
+  return k_uptime_get_32();
+}
 #else
   #error "board_millis() is not implemented for this OS"
 #endif
diff --git a/hw/bsp/family_support.cmake b/hw/bsp/family_support.cmake
index ddb17cbb0..3820bb51a 100644
--- a/hw/bsp/family_support.cmake
+++ b/hw/bsp/family_support.cmake
@@ -73,34 +73,39 @@ if (NOT NO_WARN_RWX_SEGMENTS_SUPPORTED)
   set(NO_WARN_RWX_SEGMENTS_SUPPORTED 1)
 endif()
 
-set(WARNING_FLAGS_GNU
-  -Wall
-  -Wextra
-  -Werror
-  -Wfatal-errors
-  -Wdouble-promotion
-  -Wstrict-prototypes
-  -Wstrict-overflow
-  -Werror-implicit-function-declaration
-  -Wfloat-equal
-  -Wundef
-  -Wshadow
-  -Wwrite-strings
-  -Wsign-compare
-  -Wmissing-format-attribute
-  -Wunreachable-code
-  -Wcast-align
-  -Wcast-function-type
-  -Wcast-qual
-  -Wnull-dereference
-  -Wuninitialized
-  -Wunused
-  -Wreturn-type
-  -Wredundant-decls
-  )
+#set(WARNING_FLAGS_GNU
+#  -Wall
+#  -Wextra
+#  -Werror
+#  -Wfatal-errors
+#  -Wdouble-promotion
+#  -Wstrict-prototypes
+#  -Wstrict-overflow
+#  -Werror-implicit-function-declaration
+#  -Wfloat-equal
+#  -Wundef
+#  -Wshadow
+#  -Wwrite-strings
+#  -Wsign-compare
+#  -Wmissing-format-attribute
+#  -Wunreachable-code
+#  -Wcast-align
+#  -Wcast-function-type
+#  -Wcast-qual
+#  -Wnull-dereference
+#  -Wuninitialized
+#  -Wunused
+#  -Wreturn-type
+#  -Wredundant-decls
+#  )
 
 set(WARNING_FLAGS_IAR "")
 
+#if (BUILD_ZEPHYR)
+#  set(BOARD_ROOT ${TOP}/hw/bsp/${FAMILY})
+#  find_package(Zephyr REQUIRED HINTS ${TOP}/lib/zephyr)
+#endif ()
+
 #-------------------------------------------------------------
 # Functions
 #-------------------------------------------------------------
@@ -216,7 +221,7 @@ function(family_configure_common TARGET RTOS)
   if (CMAKE_C_COMPILER_ID STREQUAL "GNU")
     target_link_options(${TARGET} PUBLIC "LINKER:-Map=$<TARGET_FILE:${TARGET}>.map")
     if (CMAKE_C_COMPILER_VERSION VERSION_GREATER_EQUAL 12.0 AND NO_WARN_RWX_SEGMENTS_SUPPORTED)
-      target_link_options(${TARGET} PUBLIC "LINKER:--no-warn-rwx-segments")
+#      target_link_options(${TARGET} PUBLIC "LINKER:--no-warn-rwx-segments")
     endif ()
  elseif (CMAKE_C_COMPILER_ID STREQUAL "Clang")
     target_link_options(${TARGET} PUBLIC "LINKER:-Map=$<TARGET_FILE:${TARGET}>.map")
@@ -244,12 +249,12 @@ function(family_configure_common TARGET RTOS)
   endif ()
 
   # run size after build
-  find_program(SIZE_EXE ${CMAKE_SIZE})
-  if(NOT ${SIZE_EXE} STREQUAL SIZE_EXE-NOTFOUND)
-    add_custom_command(TARGET ${TARGET} POST_BUILD
-      COMMAND ${SIZE_EXE} $<TARGET_FILE:${TARGET}>
-      )
-  endif ()
+#  find_program(SIZE_EXE ${CMAKE_SIZE})
+#  if(NOT ${SIZE_EXE} STREQUAL SIZE_EXE-NOTFOUND)
+#    add_custom_command(TARGET ${TARGET} POST_BUILD
+#      COMMAND ${SIZE_EXE} $<TARGET_FILE:${TARGET}>
+#      )
+#  endif ()
 endfunction()
 
 # Add tinyusb to example
@@ -272,6 +277,8 @@ function(family_add_tinyusb TARGET OPT_MCU RTOS)
 
   if (RTOS STREQUAL "freertos")
     target_compile_definitions(${TARGET}-tinyusb_config INTERFACE CFG_TUSB_OS=OPT_OS_FREERTOS)
+  elseif (RTOS STREQUAL "zephyr")
+    target_compile_definitions(${TARGET}-tinyusb_config INTERFACE CFG_TUSB_OS=OPT_OS_ZEPHYR)
   endif ()
 
   # tinyusb's CMakeList.txt
@@ -280,6 +287,8 @@ function(family_add_tinyusb TARGET OPT_MCU RTOS)
   if (RTOS STREQUAL "freertos")
     # link tinyusb with freeRTOS kernel
     target_link_libraries(${TARGET}-tinyusb PUBLIC freertos_kernel)
+  elseif (RTOS STREQUAL "zephyr")
+    target_include_directories(${TARGET}-tinyusb PUBLIC ${ZEPHYR_BASE}/include)
   endif ()
 
   # use max3421 as host controller
@@ -353,33 +362,33 @@ endfunction()
 # RPI specific: refactor later
 #----------------------------------
 function(family_add_default_example_warnings TARGET)
-  target_compile_options(${TARGET} PUBLIC
-    -Wall
-    -Wextra
-    -Werror
-    -Wfatal-errors
-    -Wdouble-promotion
-    -Wfloat-equal
-    # FIXME commented out because of https://github.com/raspberrypi/pico-sdk/issues/1468
-    #-Wshadow
-    -Wwrite-strings
-    -Wsign-compare
-    -Wmissing-format-attribute
-    -Wunreachable-code
-    -Wcast-align
-    -Wcast-qual
-    -Wnull-dereference
-    -Wuninitialized
-    -Wunused
-    -Wredundant-decls
-    #-Wstrict-prototypes
-    #-Werror-implicit-function-declaration
-    #-Wundef
-    )
+#  target_compile_options(${TARGET} PUBLIC
+#    -Wall
+#    -Wextra
+#    -Werror
+#    -Wfatal-errors
+#    -Wdouble-promotion
+#    -Wfloat-equal
+#    # FIXME commented out because of https://github.com/raspberrypi/pico-sdk/issues/1468
+#    #-Wshadow
+#    -Wwrite-strings
+#    -Wsign-compare
+#    -Wmissing-format-attribute
+#    -Wunreachable-code
+#    -Wcast-align
+#    -Wcast-qual
+#    -Wnull-dereference
+#    -Wuninitialized
+#    -Wunused
+#    -Wredundant-decls
+#    #-Wstrict-prototypes
+#    #-Werror-implicit-function-declaration
+#    #-Wundef
+#    )
 
   if (CMAKE_C_COMPILER_ID STREQUAL "GNU")
     if (CMAKE_C_COMPILER_VERSION VERSION_GREATER_EQUAL 12.0 AND NO_WARN_RWX_SEGMENTS_SUPPORTED)
-      target_link_options(${TARGET} PUBLIC "LINKER:--no-warn-rwx-segments")
+#      target_link_options(${TARGET} PUBLIC "LINKER:--no-warn-rwx-segments")
     endif()
 
     # GCC 10
diff --git a/hw/bsp/nrf/boards/pca10056/board.cmake b/hw/bsp/nrf/boards/pca10056/board.cmake
index cc370aac8..85314f3bc 100644
--- a/hw/bsp/nrf/boards/pca10056/board.cmake
+++ b/hw/bsp/nrf/boards/pca10056/board.cmake
@@ -2,3 +2,9 @@ set(MCU_VARIANT nrf52840)
 
 function(update_board TARGET)
 endfunction()
+
+#board_runner_args(jlink "--device=nRF52840_xxAA" "--speed=4000")
+#include(${ZEPHYR_BASE}/boards/common/nrfjprog.board.cmake)
+#include(${ZEPHYR_BASE}/boards/common/nrfutil.board.cmake)
+#include(${ZEPHYR_BASE}/boards/common/jlink.board.cmake)
+#include(${ZEPHYR_BASE}/boards/common/openocd-nrf5.board.cmake)
diff --git a/hw/bsp/nrf/family.c b/hw/bsp/nrf/family.c
index f3132eeb1..2c3413b9e 100644
--- a/hw/bsp/nrf/family.c
+++ b/hw/bsp/nrf/family.c
@@ -67,6 +67,8 @@
   #define NRFX_VER 3
 #endif
 
+extern void nrfx_isr(const void *irq_handler);
+
 //--------------------------------------------------------------------+
 // Forward USB interrupt events to TinyUSB IRQ Handler
 //--------------------------------------------------------------------+
@@ -137,8 +139,22 @@ void board_init(void) {
   // Button
   nrf_gpio_cfg_input(BUTTON_PIN, NRF_GPIO_PIN_PULLUP);
 
+#if CFG_TUSB_OS == OPT_OS_NONE
   // 1ms tick timer
   SysTick_Config(SystemCoreClock / 1000);
+#elif CFG_TUSB_OS == OPT_OS_ZEPHYR
+  #ifdef CONFIG_HAS_HW_NRF_USBREG
+  // IRQ_CONNECT(USBREGULATOR_IRQn, DT_IRQ(DT_INST(0, nordic_nrf_clock), priority), nrfx_isr, nrfx_usbreg_irq_handler, 0);
+  // irq_enable(USBREGULATOR_IRQn);
+  #endif
+
+  // IRQ_CONNECT(CLOCK_POWER_IRQn, 0, nrfx_isr, nrfx_power_irq_handler, 0);
+
+  /* USB device controller access from devicetree */
+  // #define DT_DRV_COMPAT nordic_nrf_usbd
+  // IRQ_CONNECT(DT_INST_IRQN(0), DT_INST_IRQ(0, priority), nrfx_isr, nrf_usbd_common_irq_handler, 0);
+
+#endif
 
   // UART
   #if NRFX_VER <= 2
diff --git a/hw/bsp/nrf/family.cmake b/hw/bsp/nrf/family.cmake
index 7a433d82d..0dfc7579c 100644
--- a/hw/bsp/nrf/family.cmake
+++ b/hw/bsp/nrf/family.cmake
@@ -8,10 +8,10 @@ include(${CMAKE_CURRENT_LIST_DIR}/boards/${BOARD}/board.cmake)
 
 # toolchain set up
 if (MCU_VARIANT STREQUAL "nrf5340_application")
-  set(CMAKE_SYSTEM_PROCESSOR cortex-m33 CACHE INTERNAL "System Processor")
+  set(CMAKE_SYSTEM_CPU cortex-m33 CACHE INTERNAL "System Processor")
   set(JLINK_DEVICE nrf5340_xxaa_app)
 else ()
-  set(CMAKE_SYSTEM_PROCESSOR cortex-m4 CACHE INTERNAL "System Processor")
+  set(CMAKE_SYSTEM_CPU cortex-m4 CACHE INTERNAL "System Processor")
   set(JLINK_DEVICE ${MCU_VARIANT}_xxaa)
 endif ()
 
@@ -113,12 +113,16 @@ endfunction()
 function(family_configure_example TARGET RTOS)
   family_configure_common(${TARGET} ${RTOS})
 
-  # Board target
-  add_board_target(board_${BOARD})
+  if (BUILD_ZEPHYR)
+    #target_link_libraries(board_${BOARD} PUBLIC zephyr_interface kernel)
+  elseif ()
+    # Board target
+    add_board_target(board_${BOARD})
+  endif ()
 
   #---------- Port Specific ----------
   # These files are built for each example since it depends on example's tusb_config.h
-  target_sources(${TARGET} PUBLIC
+  target_sources(${TARGET} PRIVATE
     # BSP
     ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/family.c
     ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/../board.c
@@ -132,16 +136,20 @@ function(family_configure_example TARGET RTOS)
 
   # Add TinyUSB target and port source
   family_add_tinyusb(${TARGET} OPT_MCU_NRF5X ${RTOS})
-  target_sources(${TARGET}-tinyusb PUBLIC
+  target_sources(${TARGET}-tinyusb PRIVATE
     ${TOP}/src/portable/nordic/nrf5x/dcd_nrf5x.c
     )
-  target_link_libraries(${TARGET}-tinyusb PUBLIC board_${BOARD})
 
-  # Link dependencies
-  target_link_libraries(${TARGET} PUBLIC board_${BOARD} ${TARGET}-tinyusb)
+  if (BUILD_ZEPHYR)
+    target_link_libraries(${TARGET}-tinyusb PUBLIC  zephyr_interface kernel)
+    target_link_libraries(${TARGET} PUBLIC ${TARGET}-tinyusb)
+  elseif ()
+    target_link_libraries(${TARGET}-tinyusb PUBLIC board_${BOARD})
+    target_link_libraries(${TARGET} PUBLIC board_${BOARD} ${TARGET}-tinyusb)
+  endif ()
 
   # Flashing
-  family_add_bin_hex(${TARGET})
+  #family_add_bin_hex(${TARGET})
   family_flash_jlink(${TARGET})
 #  family_flash_adafruit_nrfutil(${TARGET})
 endfunction()
diff --git a/hw/bsp/nrf/nrfx_glue.h b/hw/bsp/nrf/nrfx_glue.h
index ef756c670..bc3b3689b 100644
--- a/hw/bsp/nrf/nrfx_glue.h
+++ b/hw/bsp/nrf/nrfx_glue.h
@@ -1,7 +1,9 @@
 /*
- * Copyright (c) 2017 - 2018, Nordic Semiconductor ASA
+ * Copyright (c) 2017 - 2024, Nordic Semiconductor ASA
  * All rights reserved.
  *
+ * SPDX-License-Identifier: BSD-3-Clause
+ *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met:
  *
@@ -60,14 +62,14 @@ extern "C" {
 /**
  * @brief Macro for placing a runtime assertion.
  *
- * @param expression  Expression to evaluate.
+ * @param expression Expression to be evaluated.
  */
 #define NRFX_ASSERT(expression)
 
 /**
  * @brief Macro for placing a compile time assertion.
  *
- * @param expression  Expression to evaluate.
+ * @param expression Expression to be evaluated.
  */
 #define NRFX_STATIC_ASSERT(expression)
 
@@ -76,8 +78,8 @@ extern "C" {
 /**
  * @brief Macro for setting the priority of a specific IRQ.
  *
- * @param irq_number  IRQ number.
- * @param priority    Priority to set.
+ * @param irq_number IRQ number.
+ * @param priority   Priority to be set.
  */
 #define NRFX_IRQ_PRIORITY_SET(irq_number, priority) _NRFX_IRQ_PRIORITY_SET(irq_number, priority)
 static inline void _NRFX_IRQ_PRIORITY_SET(IRQn_Type irq_number,
@@ -158,14 +160,10 @@ static inline bool _NRFX_IRQ_IS_PENDING(IRQn_Type irq_number)
     return (NVIC_GetPendingIRQ(irq_number) == 1);
 }
 
-/**
- * @brief Macro for entering into a critical section.
- */
+/** @brief Macro for entering into a critical section. */
 #define NRFX_CRITICAL_SECTION_ENTER()
 
-/**
- * @brief Macro for exiting from a critical section.
- */
+/** @brief Macro for exiting from a critical section. */
 #define NRFX_CRITICAL_SECTION_EXIT()
 
 //------------------------------------------------------------------------------
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index e8488166e..1d2f37b2d 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -45,7 +45,7 @@ function(add_tinyusb TARGET)
     target_compile_options(${TARGET} PRIVATE
       -Wall
       -Wextra
-      -Werror
+      #-Werror
       -Wfatal-errors
       -Wdouble-promotion
       -Wstrict-prototypes
diff --git a/src/osal/osal.h b/src/osal/osal.h
index 8f45ea5c1..38d45da44 100644
--- a/src/osal/osal.h
+++ b/src/osal/osal.h
@@ -63,6 +63,8 @@ typedef void (*osal_task_func_t)( void * );
   #include "osal_rtthread.h"
 #elif CFG_TUSB_OS == OPT_OS_RTX4
   #include "osal_rtx4.h"
+#elif CFG_TUSB_OS == OPT_OS_ZEPHYR
+  #include "osal_zephyr.h"
 #elif CFG_TUSB_OS == OPT_OS_CUSTOM
   #include "tusb_os_custom.h" // implemented by application
 #else
diff --git a/src/osal/osal_zephyr.h b/src/osal/osal_zephyr.h
new file mode 100644
index 000000000..8ecb13c6d
--- /dev/null
+++ b/src/osal/osal_zephyr.h
@@ -0,0 +1,123 @@
+/*
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2025 Ha Thach (tinyusb.org)
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * This file is part of the TinyUSB stack.
+ */
+#ifndef TUSB_OSAL_ZEPHYR_H
+#define TUSB_OSAL_ZEPHYR_H
+
+#include <zephyr/kernel.h>
+
+//--------------------------------------------------------------------+
+// TASK API
+//--------------------------------------------------------------------+
+TU_ATTR_ALWAYS_INLINE static inline void osal_task_delay(uint32_t msec) {
+  k_msleep(msec);
+}
+
+//--------------------------------------------------------------------+
+// Binary Semaphore API
+//--------------------------------------------------------------------+
+typedef struct k_sem osal_semaphore_def_t, * osal_semaphore_t;
+
+TU_ATTR_ALWAYS_INLINE static inline osal_semaphore_t osal_semaphore_create(osal_semaphore_def_t* semdef) {
+  k_sem_init(semdef, 0, 255);
+  return semdef;
+}
+
+TU_ATTR_ALWAYS_INLINE static inline bool osal_semaphore_delete(osal_semaphore_t semd_hdl) {
+  (void) semd_hdl;
+  return true; // nothing to do
+}
+
+TU_ATTR_ALWAYS_INLINE static inline bool osal_semaphore_post(osal_semaphore_t sem_hdl, bool in_isr) {
+  (void) in_isr;
+  k_sem_give(sem_hdl);
+  return true;
+}
+
+TU_ATTR_ALWAYS_INLINE static inline bool osal_semaphore_wait(osal_semaphore_t sem_hdl, uint32_t msec) {
+  return 0 == k_sem_take(sem_hdl, K_MSEC(msec));
+}
+
+TU_ATTR_ALWAYS_INLINE static inline void osal_semaphore_reset(osal_semaphore_t sem_hdl) {
+  k_sem_reset(sem_hdl);
+}
+
+//--------------------------------------------------------------------+
+// MUTEX API
+//--------------------------------------------------------------------+
+typedef struct k_mutex osal_mutex_def_t, *osal_mutex_t;
+
+TU_ATTR_ALWAYS_INLINE static inline osal_mutex_t osal_mutex_create(osal_mutex_def_t* mdef) {
+  if ( 0 == k_mutex_init(mdef) ) {
+    return mdef;
+  } else {
+    return NULL;
+  }
+}
+
+TU_ATTR_ALWAYS_INLINE static inline bool osal_mutex_delete(osal_mutex_t mutex_hdl) {
+  (void) mutex_hdl;
+  return true; // nothing to do
+}
+
+TU_ATTR_ALWAYS_INLINE static inline bool osal_mutex_lock(osal_mutex_t mutex_hdl, uint32_t msec) {
+  return 0 == k_mutex_lock(mutex_hdl, K_MSEC(msec));
+}
+
+TU_ATTR_ALWAYS_INLINE static inline bool osal_mutex_unlock(osal_mutex_t mutex_hdl) {
+  return 0 == k_mutex_unlock(mutex_hdl);
+}
+
+//--------------------------------------------------------------------+
+// QUEUE API
+//--------------------------------------------------------------------+
+typedef struct k_msgq osal_queue_def_t, * osal_queue_t;
+
+// role device/host is used by OS NONE for mutex (disable usb isr) only
+#define OSAL_QUEUE_DEF(_int_set, _name, _depth, _type)  K_MSGQ_DEFINE(_name, sizeof(_type), _depth, 4)
+
+TU_ATTR_ALWAYS_INLINE static inline osal_queue_t osal_queue_create(osal_queue_def_t* qdef) {
+  // K_MSGQ_DEFINE already initializes the queue
+  return (osal_queue_t) qdef;
+}
+
+TU_ATTR_ALWAYS_INLINE static inline bool osal_queue_delete(osal_queue_t qhdl) {
+  (void) qhdl;
+  return true;
+}
+
+TU_ATTR_ALWAYS_INLINE static inline bool osal_queue_receive(osal_queue_t qhdl, void* data, uint32_t msec) {
+  return 0 == k_msgq_get(qhdl, data, K_MSEC(msec));
+}
+
+TU_ATTR_ALWAYS_INLINE static inline bool osal_queue_send(osal_queue_t qhdl, void const* data, bool in_isr) {
+  return 0 == k_msgq_put(qhdl, data,  in_isr ? K_NO_WAIT : K_FOREVER);
+}
+
+TU_ATTR_ALWAYS_INLINE static inline bool osal_queue_empty(osal_queue_t qhdl) {
+  return 0 == k_msgq_num_used_get(qhdl);
+}
+
+#endif
diff --git a/src/tusb_option.h b/src/tusb_option.h
index 86cb6d046..29fdcb0d6 100644
--- a/src/tusb_option.h
+++ b/src/tusb_option.h
@@ -215,6 +215,7 @@
 #define OPT_OS_PICO       5  ///< Raspberry Pi Pico SDK
 #define OPT_OS_RTTHREAD   6  ///< RT-Thread
 #define OPT_OS_RTX4       7  ///< Keil RTX 4
+#define OPT_OS_ZEPHYR     8  ///< Zephyr
 
 //--------------------------------------------------------------------+
 // Mode and Speed