Merge remote-tracking branch 'origin/master' into musb_ep0_race

# Conflicts:
#	test/hil/hil_test.py

102 files changed, 3815 insertions, 721 deletions

diff --git a/.claude/skills/hil/SKILL.md b/.claude/skills/hil/SKILL.md
index 1f3d7d072..a7a916907 100644
--- a/.claude/skills/hil/SKILL.md
+++ b/.claude/skills/hil/SKILL.md
@@ -1,66 +1,64 @@
 ---
 name: hil
-description: Use when running TinyUSB Hardware-in-the-Loop (HIL) tests on physical boards, debugging HIL failures, or copying firmware to the ci.lan test rig. Covers local execution and remote execution over SSH, config selection, and debugging tips.
+description: Use when running TinyUSB Hardware-in-the-Loop (HIL) tests on physical boards, debugging HIL failures, or copying firmware to the ci.lan test rig. Covers per-host config selection (htpc uses local.json, ci uses tinyusb.json), local execution on either htpc or ci, remote execution over SSH from htpc, and debugging tips.
 ---
 
 # Hardware-in-the-Loop (HIL) Testing
 
-Run TinyUSB HIL tests against real boards. Two execution modes — **local** (boards attached to this machine) and **remote** (boards attached to `ci.lan`, reached over SSH). Default to **local** unless the user specifies `remote`. Do not auto-detect.
+Run TinyUSB HIL tests on real boards. **Run `hostname` first** — it tells you which host you are on, which determines the default config and whether remote mode is possible.
 
-## Prerequisites
+| Host | Local config | Remote (SSH → ci.lan)? |
+|------|--------------|------------------------|
+| `htpc` (dev PC) | `test/hil/local.json` | yes (large pool, `test/hil/tinyusb.json`) |
+| `ci` (the rig) | `test/hil/tinyusb.json` (large pool) | no — can't SSH to htpc, and boards are already local |
 
-- Examples must already be built for the target board(s). See AGENTS.md "Build" → "All examples for a board", which produces `examples/cmake-build-<board>/`.
-- `-B examples` tells `hil_test.py` that `examples/` is the parent folder containing the per-board build outputs.
+Default to **local**. Use **remote** only when on `htpc` and the user says `remote`/`ci.lan`. Never attempt remote on `ci`.
 
-## Choosing arguments
+## Prerequisites
 
-Infer from the user's request:
+Examples must be built for the target board(s) — see AGENTS.md "Build" → "All examples for a board" (produces `examples/cmake-build-<board>/`). `-B examples` points `hil_test.py` at that parent folder.
 
-- **Mode:** `local` (default) or `remote`. Only switch to `remote` if the user explicitly says so or names `ci.lan`.
-- **Board:** if the user names a specific board, pass `-b BOARD_NAME`. Otherwise omit `-b` to run all boards in the config.
-- **Pass-through flags:** `-v` (verbose), `-r N` (retry count), etc. — pass through unchanged.
+## Arguments
 
-Config file follows from mode:
-- **Local** → `test/hil/local.json` (user-supplied; not tracked in repo — describes boards attached locally)
-- **Remote** → `test/hil/tinyusb.json` (tracked; describes the `ci.lan` test rig)
+- **Board:** `-b BOARD_NAME` for one board; omit to run all boards in the config.
+- **Pass-through:** `-v`, `-r N`, etc. forwarded unchanged.
 
-If `local.json` is missing, fall back to `tinyusb.json` only when explicitly told to; otherwise stop and ask the user to supply one.
+If `local.json` is missing on `htpc`, ask the user to supply one (only fall back to `tinyusb.json` if told to).
 
 ## Local execution
 
-Boards attached to this machine:
+Set `CONFIG` from `hostname` first (`test/hil/local.json` on htpc, `test/hil/tinyusb.json` on ci):
 
 ```bash
-# Specific board:
-python3 test/hil/hil_test.py -b BOARD_NAME -B examples test/hil/local.json $EXTRA_ARGS
-# All boards in the config (no -b):
-python3 test/hil/hil_test.py -B examples test/hil/local.json $EXTRA_ARGS
+CONFIG=test/hil/local.json      # on ci use: CONFIG=test/hil/tinyusb.json
+
+# All boards in the config:
+python3 test/hil/hil_test.py -B examples "$CONFIG"
+
+# A single board (replace stm32f723disco):
+python3 test/hil/hil_test.py -b stm32f723disco -B examples "$CONFIG"
 ```
 
-## Remote execution (ci.lan)
+Append pass-through flags (`-v`, `-r 1`, …) to either command as needed.
 
-Use `test/hil/hil_ci.sh` — it handles dir setup, scp of test scripts, rsync of firmware artifacts (`.elf` / `.bin` / `.hex` only), and running `hil_test.py` on `ci.lan`:
+## Remote execution (htpc → ci.lan only)
+
+`test/hil/hil_ci.sh` handles dir setup, scp of test scripts, rsync of firmware (`.elf`/`.bin`/`.hex`), and runs `hil_test.py` on `ci.lan` with `tinyusb.json`:
 
 ```bash
-# Specific board:
-bash test/hil/hil_ci.sh -b raspberry_pi_pico2
-# All boards in tinyusb.json:
+# All boards:
 bash test/hil/hil_ci.sh
-# Pass-through extra args (any non -b flag is forwarded to hil_test.py):
+
+# A single board, with pass-through flags:
 bash test/hil/hil_ci.sh -b raspberry_pi_pico2 -t host/cdc_msc_hid -r 1
 ```
 
-Overrides via env vars: `REMOTE=ci.lan`, `REMOTE_DIR=/tmp/tinyusb-hil`, `CONFIG=test/hil/tinyusb.json`.
-
-The script fails fast if the build dir or repo layout is missing.
+Env overrides: `REMOTE`, `REMOTE_DIR`, `CONFIG`. Fails fast if the build dir/repo layout is missing.
 
 ## Timing
 
-HIL runs take 2-5 minutes. Use a timeout of at least 20 minutes (600000 ms). NEVER cancel early.
+Runs take 2-5 min. Use a timeout ≥ 20 min (1200000 ms). NEVER cancel early.
 
-## Reporting results
+## Reporting
 
-After the test completes:
-- Show the test output to the user.
-- Summarize pass/fail per board.
-- On failure, suggest re-running with `-v` for verbose output. If `-v` isn't enough, temporarily add debug prints to `test/hil/hil_test.py` to pinpoint the issue.
+Show the output, summarize pass/fail per board. On failure, retry with `-v`; if that's not enough, add temporary debug prints to `hil_test.py`.
diff --git a/.gitattributes b/.gitattributes
index 140ae8929..723f48277 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -19,6 +19,9 @@
 
 Makefile text
 
+# Shell scripts must stay LF even when core.autocrlf=true (CRLF breaks bash)
+*.sh text eol=lf
+
 # Windows-only Visual Studio things
 
 *.sln        text eol=crlf
diff --git a/.github/labeler.yml b/.github/labeler.yml
new file mode 100644
index 000000000..6c7aa7e7d
--- /dev/null
+++ b/.github/labeler.yml
@@ -0,0 +1,77 @@
+# Path-based auto-labeling for USB IP / port drivers.
+# Maps changed dcd/hcd files under src/portable/ to their "Port <ip>" label.
+# Consumed by actions/labeler (see .github/workflows/labeler.yml -> label-port job).
+
+"Port DWC2":
+  - changed-files:
+      - any-glob-to-any-file: 'src/portable/synopsys/dwc2/**'
+
+"Port EHCI":
+  - changed-files:
+      - any-glob-to-any-file: 'src/portable/ehci/**'
+
+"Port OHCI":
+  - changed-files:
+      - any-glob-to-any-file: 'src/portable/ohci/**'
+
+"Port FSDev":
+  - changed-files:
+      - any-glob-to-any-file: 'src/portable/st/stm32_fsdev/**'
+
+"Port ChipIdea":
+  - changed-files:
+      - any-glob-to-any-file: 'src/portable/chipidea/**'
+
+"Port NXP IP3511":
+  - changed-files:
+      - any-glob-to-any-file: 'src/portable/nxp/lpc_ip3511/**'
+
+"Port NXP IP3516":
+  - changed-files:
+      - any-glob-to-any-file: 'src/portable/nxp/lpc_ip3516/**'
+
+"Port MUSB":
+  - changed-files:
+      - any-glob-to-any-file:
+          - 'src/portable/mentor/musb/**'
+          - 'src/portable/sunxi/**'
+
+"Port RUSB2":
+  - changed-files:
+      - any-glob-to-any-file: 'src/portable/renesas/rusb2/**'
+
+"Port WCH USBFS":
+  - changed-files:
+      - any-glob-to-any-file: 'src/portable/wch/*usbfs*'
+
+"Port WCH USBHS":
+  - changed-files:
+      - any-glob-to-any-file: 'src/portable/wch/*usbhs*'
+
+"Port MAX3421":
+  - changed-files:
+      - any-glob-to-any-file: 'src/portable/analog/max3421/**'
+
+"Port SAMD":
+  - changed-files:
+      - any-glob-to-any-file: 'src/portable/microchip/samd/**'
+
+"Port SAMG":
+  - changed-files:
+      - any-glob-to-any-file: 'src/portable/microchip/samg/**'
+
+"Port nRF":
+  - changed-files:
+      - any-glob-to-any-file: 'src/portable/nordic/nrf5x/**'
+
+"Port Nuvoton":
+  - changed-files:
+      - any-glob-to-any-file: 'src/portable/nuvoton/**'
+
+"Port RP2":
+  - changed-files:
+      - any-glob-to-any-file: 'src/portable/raspberrypi/**'
+
+"Port MSP430":
+  - changed-files:
+      - any-glob-to-any-file: 'src/portable/ti/msp430x5xx/**'
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index af0191149..a7c7cf99a 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -193,6 +193,36 @@ jobs:
           path: metrics_compare.md
 
   # ---------------------------------------
+  # Keep the metrics baseline available on no-code-change pushes
+  # The code-metrics job only runs (and uploads metrics-tinyusb) when code changed, so a
+  # workflow/docs-only push to master would leave the latest run without a baseline for PRs
+  # to compare against. Carry the previous artifact forward so the baseline is never missing.
+  # ---------------------------------------
+  metrics-carry-forward:
+    needs: [ check-paths ]
+    if: github.event_name == 'push' && needs.check-paths.outputs.code_changed != 'true'
+    runs-on: ubuntu-latest
+    steps:
+      - name: Download previous metrics baseline from this branch
+        uses: dawidd6/action-download-artifact@v11
+        with:
+          workflow: build.yml
+          workflow_conclusion: ''      # any conclusion, matching the PR-side baseline download
+          search_artifacts: true       # scan back past runs that lack the artifact (e.g. earlier no-code pushes)
+          branch: ${{ github.ref_name }}
+          name: metrics-tinyusb
+          path: .
+          if_no_artifact_found: warn
+        continue-on-error: true        # best-effort: never make a no-code push red
+
+      - name: Re-publish baseline so the latest run keeps it
+        if: hashFiles('metrics.json') != ''
+        uses: actions/upload-artifact@v7
+        with:
+          name: metrics-tinyusb
+          path: metrics.json
+
+  # ---------------------------------------
   # Build Make/CMake on Windows/MacOS
   # ---------------------------------------
   build-os:
@@ -276,6 +306,9 @@ jobs:
     env:
       HIL_JSON: ${{ matrix.hil_json }}
     steps:
+      - name: Set HIL report dir (sibling of workspace; persists across run attempts)
+        run: echo "HIL_REPORT_DIR=$(dirname "$GITHUB_WORKSPACE")/hil-report" >> "$GITHUB_ENV"
+
       - name: Get Skip Boards from previous run
         if: github.run_attempt != '1'
         run: |
@@ -314,6 +347,15 @@ jobs:
             exit 1
           fi)
 
+      - name: Upload HIL report
+        if: always() && github.event_name == 'pull_request'
+        uses: actions/upload-artifact@v7
+        with:
+          name: hil-report-${{ matrix.display }}
+          path: ${{ env.HIL_REPORT_DIR }}/hil_report.md
+          if-no-files-found: ignore
+          overwrite: true
+
   # ---------------------------------------
   # Hardware in the loop (HIL)
   # self-hosted by HFP, build with IAR toolchain, for attached hardware checkout test/hil/hfp.json
@@ -355,8 +397,67 @@ jobs:
         run: python3 tools/get_deps.py $BUILD_ARGS
 
       - name: Build
-        run: python3 tools/build.py --toolchain iar $BUILD_ARGS
+        run: |
+          # Each variant carries its own --build-name/--cflag, which are global to a
+          # single build.py invocation — so build one matrix entry at a time rather
+          # than joining them (joining would leak a variant's flags onto every board).
+          readarray -t ENTRIES < <(python test/hil/hil_ci_set_matrix.py test/hil/hfp.json | jq -r '.["arm-gcc"][]')
+          for entry in "${ENTRIES[@]}"; do
+            echo "+ tools/build.py --toolchain iar $entry"
+            python3 tools/build.py --toolchain iar $entry
+          done
 
       - name: Test on actual hardware (hardware in the loop)
         run: |
           python3 test/hil/hil_test.py hfp.json
+
+      - name: Upload HIL report
+        if: always() && github.event_name == 'pull_request'
+        uses: actions/upload-artifact@v7
+        with:
+          name: hil-report-hfp-iar
+          path: hil_report.md
+          if-no-files-found: ignore
+          overwrite: true
+
+  # ---------------------------------------
+  # Combine HIL results from the rigs into a single sticky PR comment (one table per rig)
+  # ---------------------------------------
+  hil-report:
+    needs: [ hil-tinyusb, hil-hfp-iar ]
+    if: |
+      always() &&
+      (needs.hil-tinyusb.result != 'skipped' || needs.hil-hfp-iar.result != 'skipped') &&
+      github.event_name == 'pull_request' &&
+      github.repository_owner == 'hathach' &&
+      github.event.pull_request.head.repo.fork == false
+    runs-on: ubuntu-latest
+    permissions:
+      pull-requests: write
+    steps:
+      - name: Download HIL reports
+        uses: actions/download-artifact@v5
+        with:
+          pattern: hil-report-*
+          path: hil-reports
+
+      - name: Combine rig reports (one table per rig)
+        run: |
+          {
+            echo "## Hardware-in-the-loop (HIL) Test Report"
+            echo
+            for d in hil-reports/hil-report-*; do
+              [ -d "$d" ] || continue
+              echo "### ${d#hil-reports/hil-report-}"
+              echo
+              cat "$d/hil_report.md" 2>/dev/null || echo "_no report produced_"
+              echo
+            done
+          } > hil_combined.md
+          cat hil_combined.md
+
+      - name: Post HIL report as sticky PR comment
+        uses: marocchino/sticky-pull-request-comment@v2
+        with:
+          header: hil-report
+          path: hil_combined.md
diff --git a/.github/workflows/build_util.yml b/.github/workflows/build_util.yml
index 69b6f28d5..2532caebe 100644
--- a/.github/workflows/build_util.yml
+++ b/.github/workflows/build_util.yml
@@ -67,7 +67,7 @@ jobs:
           IAR_LMS_BEARER_TOKEN: ${{ secrets.IAR_LMS_BEARER_TOKEN }}
         run: |
           if [ "${{ inputs.toolchain }}" == "esp-idf" ]; then
-            docker run --rm -e MEMBROWSE_API_KEY="$MEMBROWSE_API_KEY" -v $PWD:/project -w /project espressif/idf:tinyusb python tools/build.py --target all ${{ matrix.arg }}
+            docker run --rm -e MEMBROWSE_API_KEY="$MEMBROWSE_API_KEY" -e CI="$CI" -v $PWD:/project -w /project espressif/idf:tinyusb python tools/build.py --target all ${{ matrix.arg }}
           else
             BUILD_PY_ARGS="-s ${{ inputs.build-system }} ${{ steps.setup-toolchain.outputs.build_option }} ${{ inputs.build-options }} --target all"
             if [ "${{ inputs.upload-metrics }}" = "true" ]; then
diff --git a/.github/workflows/ci_set_matrix.py b/.github/workflows/ci_set_matrix.py
index 1d35f15dd..f4d25fd37 100755
--- a/.github/workflows/ci_set_matrix.py
+++ b/.github/workflows/ci_set_matrix.py
@@ -68,6 +68,7 @@ family_list = {
     "samd5x_e5x": ["arm-gcc", "arm-clang"],
     "samg": ["arm-gcc", "arm-clang"],
     "stm32c0": ["arm-gcc", "arm-clang", "arm-iar"],
+    "stm32c5": ["arm-gcc", "arm-clang", "arm-iar"],
     "stm32f0": ["arm-gcc", "arm-clang", "arm-iar"],
     "stm32f1": ["arm-gcc", "arm-clang", "arm-iar"],
     "stm32f2": ["arm-gcc", "arm-clang", "arm-iar"],
diff --git a/.github/workflows/claude-code-review.yml b/.github/workflows/claude-code-review.yml
index 43144bb5e..94001dd8a 100644
--- a/.github/workflows/claude-code-review.yml
+++ b/.github/workflows/claude-code-review.yml
@@ -1,18 +1,29 @@
 name: Claude Code Review
 
 on:
-  pull_request_target:
-    types: [opened, synchronize, ready_for_review, reopened]
+  pull_request:
+    # opened/reopened/ready_for_review -> first auto review
+    # synchronize                      -> auto re-review on new pushes
+    #
+    # NOTE: pull_request (not _target) means fork PRs get a read-only GITHUB_TOKEN
+    # and NO repository secrets (CLAUDE_CODE_OAUTH_TOKEN), so they cannot be
+    # auto-reviewed. The job condition below skips them cleanly -> use @claude on
+    # those. Same-repo branches (yours or write-access contributors) auto-review.
+    types: [opened, synchronize, reopened, ready_for_review]
 
 jobs:
   claude-review:
-    if: false
+    # Skip drafts, and skip fork PRs (no secrets -> would only fail noisily)
+    if: >
+      github.event.pull_request.draft == false &&
+      github.event.pull_request.head.repo.full_name == github.repository
     runs-on: ubuntu-latest
     permissions:
       contents: read
       pull-requests: write
-      issues: read
+      issues: write # Claude posts the review comment via the issues API
       id-token: write
+      actions: read # Required for Claude to read CI results on PRs
 
     steps:
       - name: Checkout repository
@@ -25,8 +36,22 @@ jobs:
         uses: anthropics/claude-code-action@v1
         with:
           claude_code_oauth_token: ${{ secrets.CLAUDE_CODE_OAUTH_TOKEN }}
+          # Allow claude[bot]'s own pushes to be handled gracefully (skip) instead
+          # of erroring out the workflow
+          allowed_bots: 'claude'
+          # Pairs with the actions: read permission so Claude can read CI results
+          additional_permissions: |
+            actions: read
           plugin_marketplaces: 'https://github.com/anthropics/claude-code.git'
           plugins: 'code-review@claude-code-plugins'
-          prompt: '/code-review:code-review ${{ github.repository }}/pull/${{ github.event.pull_request.number }}'
+          # Post/update a single summary comment every run, so a clean review
+          # ("no issues found") is still visible instead of posting nothing.
+          use_sticky_comment: true
+          # --comment makes the code-review command post its findings to the PR.
+          # Without it the command only prints the review to the Actions log.
+          prompt: '/code-review:code-review ${{ github.repository }}/pull/${{ github.event.pull_request.number }} --comment'
+          # TEMPORARY: expose the full Claude transcript in the Actions log for
+          # debugging. Revert to remove once done.
+          show_full_output: true
+          claude_args: '--max-turns 50'
           # See https://github.com/anthropics/claude-code-action/blob/main/docs/usage.md
-          # or https://code.claude.com/docs/en/cli-reference for available options
diff --git a/.github/workflows/claude.yml b/.github/workflows/claude.yml
index 50f449949..66e36897c 100644
--- a/.github/workflows/claude.yml
+++ b/.github/workflows/claude.yml
@@ -6,22 +6,32 @@ on:
   pull_request_review_comment:
     types: [created]
   issues:
-    types: [opened, assigned]
+    # only "opened" — an issue's author_association gates the summon below;
+    # "assigned" would gate on the issue author, not the assigner, so a
+    # maintainer assigning an outsider's issue would be wrongly skipped.
+    types: [opened]
   pull_request_review:
     types: [submitted]
 
 jobs:
   claude:
+    # Only trusted actors (repo owner/member/collaborator) may summon @claude, so the
+    # write-scoped token and OAuth secret are never issued for an outside contributor's
+    # comment on this public repo. Defense-in-depth on top of the action's own check.
     if: |
-      (github.event_name == 'issue_comment' && contains(github.event.comment.body, '@claude')) ||
-      (github.event_name == 'pull_request_review_comment' && contains(github.event.comment.body, '@claude')) ||
-      (github.event_name == 'pull_request_review' && contains(github.event.review.body, '@claude')) ||
-      (github.event_name == 'issues' && (contains(github.event.issue.body, '@claude') || contains(github.event.issue.title, '@claude')))
+      (github.event_name == 'issue_comment' && contains(github.event.comment.body, '@claude') &&
+        contains(fromJSON('["OWNER", "MEMBER", "COLLABORATOR"]'), github.event.comment.author_association)) ||
+      (github.event_name == 'pull_request_review_comment' && contains(github.event.comment.body, '@claude') &&
+        contains(fromJSON('["OWNER", "MEMBER", "COLLABORATOR"]'), github.event.comment.author_association)) ||
+      (github.event_name == 'pull_request_review' && contains(github.event.review.body, '@claude') &&
+        contains(fromJSON('["OWNER", "MEMBER", "COLLABORATOR"]'), github.event.review.author_association)) ||
+      (github.event_name == 'issues' && (contains(github.event.issue.body, '@claude') || contains(github.event.issue.title, '@claude')) &&
+        contains(fromJSON('["OWNER", "MEMBER", "COLLABORATOR"]'), github.event.issue.author_association))
     runs-on: ubuntu-latest
     permissions:
-      contents: read
-      pull-requests: read
-      issues: read
+      contents: write       # allow Claude to push commits/branches when asked
+      pull-requests: write  # allow Claude to comment on / update PRs
+      issues: write         # allow Claude to comment on / update issues
       id-token: write
       actions: read # Required for Claude to read CI results on PRs
     steps:
@@ -40,10 +50,19 @@ jobs:
           additional_permissions: |
             actions: read
 
-          # Optional: Give a custom prompt to Claude. If this is not specified, Claude will perform the instructions specified in the comment that tagged it.
-          # prompt: 'Update the pull request description to include a summary of changes.'
+          # Sign the bot's commits so they show as "Verified". The action commits
+          # automatically — on a PR comment it pushes to that PR's branch; on an
+          # issue comment it opens a new claude/* branch + PR with the fix.
+          use_commit_signing: true
 
-          # Optional: Add claude_args to customize behavior and configuration
-          # See https://github.com/anthropics/claude-code-action/blob/main/docs/usage.md
-          # or https://code.claude.com/docs/en/cli-reference for available options
-          # claude_args: '--allowed-tools Bash(gh pr:*)'
+          # No custom prompt: Claude performs the instructions in the @claude comment.
+
+          # Deliberately NO Bash in the tool allowlist. @claude can be summoned on a
+          # fork PR (claude-code-review.yml even directs fork PRs here), and this job
+          # holds the OAuth secret + a write token. Any build/interpreter command
+          # (python -c, cmake/make custom targets, etc.) run against attacker-
+          # controlled PR content is arbitrary code + network execution, so no
+          # command allowlist can safely contain it. Claude still edits files and
+          # the action commits/opens the PR; the resulting commit is verified by the
+          # repo's CircleCI matrix. --max-turns gives room to investigate + fix.
+          claude_args: '--max-turns 30'
diff --git a/.github/workflows/labeler.yml b/.github/workflows/labeler.yml
index c3cc59d0d..fe09413f1 100644
--- a/.github/workflows/labeler.yml
+++ b/.github/workflows/labeler.yml
@@ -4,23 +4,29 @@ on:
   issues:
     types: [opened]
   pull_request_target:
-    types: [opened]
+    types: [opened, synchronize, reopened]
+  discussion:
+    types: [created]
 
 jobs:
   label-priority:
+    # Author-based priority labels: only on issue/PR/discussion creation, not on PR updates.
+    if: github.event_name != 'pull_request_target' || github.event.action == 'opened'
     runs-on: ubuntu-latest
     permissions:
       issues: write
       pull-requests: write
+      discussions: write
     steps:
-      - name: Label New Issue or PR
-        uses: actions/github-script@v7
+      - name: Label New Issue, PR or Discussion
+        uses: actions/github-script@v8
         with:
           github-token: ${{ secrets.GITHUB_TOKEN }}
           script: |
-            let label = '';
+            let labels = [];
             let username = '';
             let issueOrPrNumber = 0;
+            let discussionNodeId = '';
 
             if (context.eventName === 'issues') {
               username = context.payload.issue.user.login;
@@ -28,25 +34,85 @@ jobs:
             } else if (context.eventName === 'pull_request_target') {
               username = context.payload.pull_request.user.login;
               issueOrPrNumber = context.payload.pull_request.number;
+            } else if (context.eventName === 'discussion') {
+              username = context.payload.discussion.user.login;
+              discussionNodeId = context.payload.discussion.node_id;
             }
 
-            // Check if an Adafruit member
-            try {
-              const adafruitResponse = await github.rest.orgs.checkMembershipForUser({
-                org: 'adafruit',
-                username: username
-              });
+            // Maintainer is an Adafruit member; skip the Adafruit perks for their own
+            // issues/PRs and treat them as a plain contributor (Prio only).
+            const isOwner = username.toLowerCase() === 'hathach';
 
-              if (adafruitResponse.status === 204) {
-                console.log('Adafruit Member');
-                label = 'Prio Urgent';
+            // Check if an Adafruit member: Adafruit + Sponsor + top priority
+            if (!isOwner) {
+              try {
+                const adafruitResponse = await github.rest.orgs.checkMembershipForUser({
+                  org: 'adafruit',
+                  username: username
+                });
+
+                if (adafruitResponse.status === 204) {
+                  console.log('Adafruit Member');
+                  labels = ['Adafruit 🌸', 'Sponsor 💖', 'Prio Top 🚨'];
+                }
+              } catch (error) {
+                console.log('Not an Adafruit member');
               }
-            } catch (error) {
-              console.log('Not an Adafruit member');
             }
 
-            // Check if a contributor
-            if (label == '') {
+            // Check if a public GitHub Sponsor of the repo owner.
+            // Word ($32) tier and up get triage priority; DWORD/QWORD ($128+) go to the top.
+            // Private sponsorships are not visible to GITHUB_TOKEN, so only public sponsors are detected.
+            if (labels.length === 0) {
+              try {
+                const result = await github.graphql(`
+                  query($sponsorable: String!, $sponsor: String!) {
+                    user(login: $sponsorable) {
+                      isSponsoredBy(accountLogin: $sponsor)
+                      sponsorshipsAsMaintainer(includePrivate: false, first: 100) {
+                        nodes {
+                          sponsorEntity {
+                            ... on User { login }
+                            ... on Organization { login }
+                          }
+                          tier { monthlyPriceInDollars }
+                        }
+                      }
+                    }
+                  }`, { sponsorable: context.repo.owner, sponsor: username });
+
+                const owner = result.user;
+                if (owner && owner.isSponsoredBy) {
+                  let monthly = 0;
+                  const nodes = (owner.sponsorshipsAsMaintainer && owner.sponsorshipsAsMaintainer.nodes) || [];
+                  for (const node of nodes) {
+                    const login = node.sponsorEntity && node.sponsorEntity.login;
+                    if (login && login.toLowerCase() === username.toLowerCase()) {
+                      monthly = (node.tier && node.tier.monthlyPriceInDollars) || 0;
+                      break;
+                    }
+                  }
+
+                  if (monthly >= 128) {
+                    console.log('Sponsor (DWORD/QWORD tier)');
+                    labels = ['Sponsor 💖', 'Prio Top 🚨'];
+                  } else if (monthly >= 32) {
+                    console.log('Sponsor (Word tier)');
+                    labels = ['Sponsor 💖', 'Prio 📌'];
+                  } else {
+                    console.log('Sponsor (below Word tier or tier not visible)');
+                    labels = ['Sponsor 💖'];
+                  }
+                } else {
+                  console.log('Not a public sponsor');
+                }
+              } catch (error) {
+                console.log('Sponsor lookup failed: ' + error.message);
+              }
+            }
+
+            // Check if a contributor: prioritized in triage queue
+            if (labels.length === 0) {
               try {
                 const collaboratorResponse = await github.rest.repos.checkCollaborator({
                   owner: context.repo.owner,
@@ -56,18 +122,61 @@ jobs:
 
                 if (collaboratorResponse.status === 204) {
                   console.log('Contributor');
-                  label = 'Prio Higher';
+                  labels = ['Prio 📌'];
                 }
               } 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]
-              });
+            if (labels.length !== 0) {
+              if (context.eventName === 'discussion') {
+                // Discussions are not covered by the REST issues API; resolve the label
+                // names to node IDs and attach them with the GraphQL labelable mutation.
+                const labelIds = [];
+                for (const name of labels) {
+                  const res = await github.graphql(`
+                    query($owner: String!, $repo: String!, $name: String!) {
+                      repository(owner: $owner, name: $repo) {
+                        label(name: $name) { id }
+                      }
+                    }`, { owner: context.repo.owner, repo: context.repo.repo, name: name });
+                  if (res.repository.label) {
+                    labelIds.push(res.repository.label.id);
+                  }
+                }
+                if (labelIds.length !== 0) {
+                  await github.graphql(`
+                    mutation($labelableId: ID!, $labelIds: [ID!]!) {
+                      addLabelsToLabelable(input: { labelableId: $labelableId, labelIds: $labelIds }) {
+                        clientMutationId
+                      }
+                    }`, { labelableId: discussionNodeId, labelIds: labelIds });
+                }
+              } else {
+                await github.rest.issues.addLabels({
+                  owner: context.repo.owner,
+                  repo: context.repo.repo,
+                  issue_number: issueOrPrNumber,
+                  labels: labels
+                });
+              }
             }
+
+  # Path-based Port labels: attach "Port <ip>" when a PR touches the matching
+  # dcd/hcd driver under src/portable/. Mapping lives in .github/labeler.yml.
+  label-port:
+    if: github.event_name == 'pull_request_target'
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      pull-requests: write
+      issues: write # allow auto-creating a Port label that doesn't exist yet
+    steps:
+      - uses: actions/labeler@v5
+        with:
+          configuration-path: .github/labeler.yml
+          # sync-labels so a Port label is removed once a PR no longer touches
+          # that driver (job reruns on synchronize). Only labels listed in
+          # labeler.yml are managed, so author-based Prio/Sponsor labels are untouched.
+          sync-labels: true
diff --git a/.gitignore b/.gitignore
index c11e51bb9..0f3c9ce49 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,5 +1,7 @@
 html
 latex
+hil_report.md
+hil_report.json
 *.a
 *.d
 *.o
diff --git a/AGENTS.md b/AGENTS.md
index 5c9908d19..93faa6332 100644
--- a/AGENTS.md
+++ b/AGENTS.md
@@ -18,7 +18,7 @@ Bias toward caution over speed. For trivial tasks, use judgment.
 - **Language/style:** C99, 2-space indent (no tabs), snake_case helpers, `UPPER_CASE` macros. Public APIs use `tud_`/`tuh_`; macros use `TU_`. Headers self-contained with `#if CFG_TUSB_MCU` guards.
 - **Safety:** no dynamic allocation; defer ISR work to task context; use `TU_ASSERT()` for error checks; always check return values; include order: C stdlib → tusb common → drivers → classes.
 - **Layout:** `src/` core, `hw/{mcu,bsp}/` MCU+BSP, `examples/{device,host,dual}/`, `test/{unit-test,fuzz,hil}/`, `docs/`, `tools/`.
-- **Commits/PRs:** imperative mood, scoped changes, link issues, include test/build evidence.
+- **Commits/PRs:** imperative mood, scoped changes, link issues, include test/build evidence. After opening a PR, monitor it and drive it to green: address automated review comments (Copilot/Codex/Claude) and fix any failing CI builds, pushing follow-up commits until checks pass and review threads are resolved. Useful: `gh pr checks <num> --watch`, `gh pr view <num> --comments`.
 - **Formatting/lint:** `clang-format` (`.clang-format`), `codespell` (`.codespellrc`), run `pre-commit run --all-files` before submitting.
 
 ## Bootstrap
@@ -204,7 +204,7 @@ Device examples need real hardware to validate runtime behavior; must at least b
 
 ## References
 
-- MCU reference manuals, datasheets, schematics: `$HOME/Documents/Calibre Library`.
+- MCU reference manuals, datasheets, schematics: `$HOME/Documents/calibre-library`.
 - Supported MCUs/boards: `hw/bsp/` and `docs/reference/boards.rst`.
 - USB classes: `src/class/{cdc,hid,msc,audio,…}/` — each has `*_device.c` and `*_host.c`.
 - Key files: `src/tusb.h`, `src/tusb_config.h`, `tools/get_deps.py`, `tools/build.py`, `test/unit-test/project.yml`.
diff --git a/README.rst b/README.rst
index 04998abaa..38a77f8f6 100644
--- a/README.rst
+++ b/README.rst
@@ -1,12 +1,32 @@
 TinyUSB
 =======
 
-|Build Status| |CircleCI Status| |Documentation Status| |Static Analysis| |Fuzzing Status| |Membrowse| |License|
+|Sponsor| |Build Status| |CircleCI Status| |Documentation Status| |Static Analysis| |Fuzzing Status| |Membrowse| |License|
+
+Overview
+--------
+
+.. figure:: docs/assets/logo.svg
+   :alt: TinyUSB
+   :align: left
+
+.. raw:: html
+
+   <div class="clear-both"></div>
+
+TinyUSB is an open-source cross-platform USB Host/Device stack for embedded systems. It’s designed for memory safety
+(no dynamic allocation) and thread safety (all interrupts deferred to non-ISR task functions). The stack emphasizes portability,
+small footprint, and real-time performance across 50+ MCU families.
 
 Sponsors
 --------
 
-TinyUSB is funded by: Adafruit. Purchasing products from them helps to support this project.
+TinyUSB's continued development is made possible by its sponsors. If TinyUSB helps your products or projects, consider funding its development on `GitHub Sponsors`_.
+
+Platinum
+^^^^^^^^
+
+`Adafruit`_ has backed TinyUSB since day one as its founding and sole Platinum sponsor. Buying their products directly funds the project's development.
 
 .. figure:: docs/assets/adafruit_logo.svg
    :alt: Adafruit Logo
@@ -17,20 +37,44 @@ TinyUSB is funded by: Adafruit. Purchasing products from them helps to support t
 
    <div class="clear-both"></div>
 
-Overview
---------
+Sponsors (QWORD)
+^^^^^^^^^^^^^^^^
 
-.. figure:: docs/assets/logo.svg
-   :alt: TinyUSB
-   :align: left
+.. QWORD-SPONSORS-START
 
-.. raw:: html
+*No QWORD sponsors yet — be the first!*
 
-   <div class="clear-both"></div>
+.. QWORD-SPONSORS-END
 
-TinyUSB is an open-source cross-platform USB Host/Device stack for embedded systems. It’s designed for memory safety
-(no dynamic allocation) and thread safety (all interrupts deferred to non-ISR task functions). The stack emphasizes portability,
-small footprint, and real-time performance across 50+ MCU families.
+Backers (DWORD)
+^^^^^^^^^^^^^^^
+
+.. DWORD-BACKERS-START
+
+*No backers yet — be the first!*
+
+.. DWORD-BACKERS-END
+
+Supporters (Word)
+^^^^^^^^^^^^^^^^^
+
+.. WORD-SUPPORTERS-START
+
+*No supporters yet — be the first!*
+
+.. WORD-SUPPORTERS-END
+
+Thanks (Byte)
+^^^^^^^^^^^^^
+
+.. BYTE-THANKS-START
+
+*No names listed yet — be the first!*
+
+.. BYTE-THANKS-END
+
+.. _GitHub Sponsors: https://github.com/sponsors/hathach
+.. _Adafruit: https://www.adafruit.com
 
 Key Features
 ------------
@@ -130,155 +174,157 @@ TinyUSB is completely thread-safe by pushing all Interrupt Service Request (ISR)
 
 Supported CPUs
 --------------
-
 +--------------+-----------------------------+--------+------+-----------+------------------------+--------------------+
 | Manufacturer | Family                      | Device | Host | Highspeed | Driver                 | Note               |
 +==============+=============================+========+======+===========+========================+====================+
-| Allwinner    | F1C100s/F1C200s             | ✔      |      | ✔         | sunxi                  | musb variant       |
+| Allwinner    | F1C100s/F1C200s             | ✅     |      | ✅        | sunxi                  | musb variant       |
 +--------------+-----------------------------+--------+------+-----------+------------------------+--------------------+
-| Analog       | MAX3421E                    |        | ✔    | ✖         | max3421                | via SPI            |
+| Analog       | MAX3421E                    |        | ✅   | ❌        | max3421                | via SPI            |
 |              +-----------------------------+--------+------+-----------+------------------------+--------------------+
-|              | MAX32 650, 666, 690,        | ✔      |      | ✔         | musb                   | 1-dir ep           |
+|              | MAX32 650, 666, 690,        | ✅     |      | ✅        | musb                   | 1-dir ep           |
 |              | MAX78002                    |        |      |           |                        |                    |
 +--------------+-----------------------------+--------+------+-----------+------------------------+--------------------+
-| Artery AT32  | F403a_407, F413             | ✔      |      |           | fsdev                  | 512 USB RAM        |
+| Artery AT32  | F403a_407, F413             | ✅     |      |           | fsdev                  | 512 USB RAM        |
 |              +-----------------------------+--------+------+-----------+------------------------+--------------------+
-|              | F415, F435_437, F423,       | ✔      | ✔    |           | dwc2                   |                    |
+|              | F415, F435_437, F423,       | ✅     | ✅   |           | dwc2                   |                    |
 |              | F425, F45x                  |        |      |           |                        |                    |
 |              +-----------------------------+--------+------+-----------+------------------------+--------------------+
-|              | F402_F405                   | ✔      | ✔    | ✔         | dwc2                   | F405 is HS         |
+|              | F402_F405                   | ✅     | ✅   | ✅        | dwc2                   | F405 is HS         |
 +--------------+-----------------------------+--------+------+-----------+------------------------+--------------------+
-| Bridgetek    | FT90x                       | ✔      |      | ✔         | ft9xx                  | 1-dir ep           |
+| Bridgetek    | FT90x                       | ✅     |      | ✅        | ft9xx                  | 1-dir ep           |
 +--------------+-----------------------------+--------+------+-----------+------------------------+--------------------+
-| Broadcom     | BCM2711, BCM2837            | ✔      |      | ✔         | dwc2                   |                    |
+| Broadcom     | BCM2711, BCM2837            | ✅     |      | ✅        | dwc2                   |                    |
 +--------------+-----------------------------+--------+------+-----------+------------------------+--------------------+
-| Dialog       | DA1469x                     | ✔      | ✖    | ✖         | da146xx                |                    |
+| Dialog       | DA1469x                     | ✅     | ❌   | ❌        | da146xx                |                    |
 +--------------+-----------------------------+--------+------+-----------+------------------------+--------------------+
-| Espressif    | S2, S3, H4                  | ✔      | ✔    | ✖         | dwc2                   |                    |
+| Espressif    | S2, S3, H4                  | ✅     | ✅   | ❌        | dwc2                   |                    |
 | ESP32        +-----------------------------+--------+------+-----------+------------------------+--------------------+
-|              | P4                          | ✔      | ✔    | ✔         | dwc2                   |                    |
+|              | P4                          | ✅     | ✅   | ✅        | dwc2                   |                    |
 |              +-----------------------------+--------+------+-----------+------------------------+--------------------+
-|              | S31                         | ✔      | ✔    | ✔         | dwc2                   |                    |
+|              | S31                         | ✅     | ✅   | ✅        | dwc2                   |                    |
 +--------------+-----------------------------+--------+------+-----------+------------------------+--------------------+
-| GigaDevice   | GD32VF103                   | ✔      |      | ✖         | dwc2                   |                    |
+| GigaDevice   | GD32VF103                   | ✅     |      | ❌        | dwc2                   |                    |
 +--------------+-----------------------------+--------+------+-----------+------------------------+--------------------+
-| HPMicro      | HPM6750                     | ✔      | ✔    | ✔         | ci_hs, ehci            |                    |
+| HPMicro      | HPM6750                     | ✅     | ✅   | ✅        | ci_hs, ehci            |                    |
 +--------------+-----------------------------+--------+------+-----------+------------------------+--------------------+
-| Infineon     | XMC4500                     | ✔      | ✔    | ✖         | dwc2                   |                    |
+| Infineon     | XMC4500                     | ✅     | ✅   | ❌        | dwc2                   |                    |
 +--------------+-----+-----------------------+--------+------+-----------+------------------------+--------------------+
-| MicroChip    | SAM | D11, D21, L21, L22    | ✔      |      | ✖         | samd                   |                    |
+| MicroChip    | SAM | D11, D21, L21, L22    | ✅     |      | ❌        | samd                   |                    |
 |              |     +-----------------------+--------+------+-----------+------------------------+--------------------+
-|              |     | D51, E5x              | ✔      |      | ✖         | samd                   |                    |
+|              |     | D51, E5x              | ✅     |      | ❌        | samd                   |                    |
 |              |     +-----------------------+--------+------+-----------+------------------------+--------------------+
-|              |     | G55                   | ✔      |      | ✖         | samg                   | 1-dir ep           |
+|              |     | G55                   | ✅     |      | ❌        | samg                   | 1-dir ep           |
 |              |     +-----------------------+--------+------+-----------+------------------------+--------------------+
-|              |     | E70,S70,V70,V71       | ✔      |      | ✔         | samx7x                 | 1-dir ep           |
+|              |     | E70,S70,V70,V71       | ✅     |      | ✅        | samx7x                 | 1-dir ep           |
 |              +-----+-----------------------+--------+------+-----------+------------------------+--------------------+
-|              | PIC | 24                    | ✔      |      |           | pic                    | ci_fs variant      |
+|              | PIC | 24                    | ✅     |      |           | pic                    | ci_fs variant      |
 |              |     +-----------------------+--------+------+-----------+------------------------+--------------------+
-|              |     | 32 mm, mk, mx         | ✔      |      |           | pic                    | ci_fs variant      |
+|              |     | 32 mm, mk, mx         | ✅     |      |           | pic                    | ci_fs variant      |
 |              |     +-----------------------+--------+------+-----------+------------------------+--------------------+
-|              |     | dsPIC33               | ✔      |      |           | pic                    | ci_fs variant      |
+|              |     | dsPIC33               | ✅     |      |           | pic                    | ci_fs variant      |
 |              |     +-----------------------+--------+------+-----------+------------------------+--------------------+
-|              |     | 32mz                  | ✔      |      |           | pic32mz                | musb variant       |
+|              |     | 32mz                  | ✅     |      |           | pic32mz                | musb variant       |
 +--------------+-----+-----------------------+--------+------+-----------+------------------------+--------------------+
-| MindMotion   | mm32                        | ✔      |      | ✖         | mm32f327x_otg          | ci_fs variant      |
+| MindMotion   | mm32                        | ✅     |      | ❌        | mm32f327x_otg          | ci_fs variant      |
 +--------------+-----+-----------------------+--------+------+-----------+------------------------+--------------------+
-| NordicSemi   | nRF52, nRF53                | ✔      | ✖    | ✖         | nrf5x                  | only ep8 is ISO    |
+| NordicSemi   | nRF52, nRF53                | ✅     | ❌   | ❌        | nrf5x                  | only ep8 is ISO    |
 |              +-----------------------------+--------+------+-----------+------------------------+--------------------+
-|              | nRF54                       | ✔      | ✖    | ✔         | dwc2                   |                    |
+|              | nRF54                       | ✅     | ❌   | ✅        | dwc2                   |                    |
 +--------------+-----------------------------+--------+------+-----------+------------------------+--------------------+
-| Nuvoton      | NUC120                      | ✔      | ✖    | ✖         | nuc120                 |                    |
+| Nuvoton      | NUC120                      | ✅     | ❌   | ❌        | nuc120                 |                    |
 |              +-----------------------------+--------+------+-----------+------------------------+--------------------+
-|              | NUC121/NUC125, NUC126       | ✔      | ✖    | ✖         | nuc121                 |                    |
+|              | NUC121/NUC125, NUC126       | ✅     | ❌   | ❌        | nuc121                 |                    |
 |              +-----------------------------+--------+------+-----------+------------------------+--------------------+
-|              | NUC505                      | ✔      |      | ✔         | nuc505                 |                    |
+|              | NUC505                      | ✅     |      | ✅        | nuc505                 |                    |
 +--------------+---------+-------------------+--------+------+-----------+------------------------+--------------------+
-| NXP          | iMXRT   | RT 10xx, 11xx     | ✔      | ✔    | ✔         | ci_hs, ehci            |                    |
+| NXP          | iMXRT   | RT 10xx, 11xx     | ✅     | ✅   | ✅        | ci_hs, ehci            |                    |
 |              +---------+-------------------+--------+------+-----------+------------------------+--------------------+
-|              | Kinetis | KL                | ✔      | ⚠    | ✖         | ci_fs, khci            |                    |
+|              | Kinetis | KL                | ✅     | 🟡   | ❌        | ci_fs, khci            |                    |
 |              |         +-------------------+--------+------+-----------+------------------------+--------------------+
-|              |         | K32L2             | ✔      |      | ✖         | khci                   | ci_fs variant      |
+|              |         | K32L2             | ✅     |      | ❌        | khci                   | ci_fs variant      |
 |              +---------+-------------------+--------+------+-----------+------------------------+--------------------+
-|              | LPC     | 11u, 13, 15       | ✔      | ✖    | ✖         | lpc_ip3511             |                    |
+|              | LPC     | 11u, 13, 15       | ✅     | ❌   | ❌        | lpc_ip3511             |                    |
 |              |         +-------------------+--------+------+-----------+------------------------+--------------------+
-|              |         | 17, 40            | ✔      | ⚠    | ✖         | lpc17_40, ohci         |                    |
+|              |         | 17, 40            | ✅     | 🟡   | ❌        | lpc17_40, ohci         |                    |
 |              |         +-------------------+--------+------+-----------+------------------------+--------------------+
-|              |         | 18, 43            | ✔      | ✔    | ✔         | ci_hs, ehci            |                    |
+|              |         | 18, 43            | ✅     | ✅   | ✅        | ci_hs, ehci            |                    |
 |              |         +-------------------+--------+------+-----------+------------------------+--------------------+
-|              |         | 51u               | ✔      | ✖    | ✖         | lpc_ip3511             |                    |
+|              |         | 51u               | ✅     | ❌   | ❌        | lpc_ip3511             |                    |
 |              |         +-------------------+--------+------+-----------+------------------------+--------------------+
-|              |         | 54                | ⚠      | ⚠    | ✔         | lpc_ip3511, lpc_ip3516 | NRND, read errata  |
+|              |         | 54                | 🟡     | 🟡   | ✅        | lpc_ip3511, lpc_ip3516 | NRND [1]_          |
 |              |         +-------------------+--------+------+-----------+------------------------+--------------------+
-|              |         | 55                | ✔      | ✔    | ✔         | lpc_ip3511, lpc_ip3516 |                    |
+|              |         | 55                | ✅     | ✅   | ✅        | lpc_ip3511, lpc_ip3516 |                    |
 |              +---------+-------------------+--------+------+-----------+------------------------+--------------------+
-|              | MCX     | N9                | ✔      |      | ✔         | ci_fs, ci_hs, ehci     |                    |
+|              | MCX     | N9                | ✅     |      | ✅        | ci_fs, ci_hs, ehci     |                    |
 |              |         +-------------------+--------+------+-----------+------------------------+--------------------+
-|              |         | A15               | ✔      |      |           | ci_fs                  |                    |
+|              |         | A15               | ✅     |      |           | ci_fs                  |                    |
 |              +---------+-------------------+--------+------+-----------+------------------------+--------------------+
-|              | RW61x                       | ✔      | ✔    | ✔         | ci_hs, ehci            |                    |
+|              | RW61x                       | ✅     | ✅   | ✅        | ci_hs, ehci            |                    |
 +--------------+-----------------------------+--------+------+-----------+------------------------+--------------------+
-| Raspberry Pi | RP2040, RP2350              | ✔      | ✔    | ✖         | rp2040, pio_usb        |                    |
+| Raspberry Pi | RP2040, RP2350              | ✅     | ✅   | ❌        | rp2040, pio_usb        |                    |
 +--------------+-----+-----------------------+--------+------+-----------+------------------------+--------------------+
-| Renesas      | RX  | 63N, 65N, 72N         | ✔      | ✔    | ✖         | rusb2                  |                    |
+| Renesas      | RX  | 63N, 65N, 72N         | ✅     | ✅   | ❌        | rusb2                  |                    |
 |              +-----+-----------------------+--------+------+-----------+------------------------+--------------------+
-|              | RA  | 4M1, 4M3, 6M1         | ✔      | ✔    | ✖         | rusb2                  |                    |
+|              | RA  | 4M1, 4M3, 6M1         | ✅     | ✅   | ❌        | rusb2                  |                    |
 |              |     +-----------------------+--------+------+-----------+------------------------+--------------------+
-|              |     | 6M5                   | ✔      | ✔    | ✔         | rusb2                  |                    |
+|              |     | 6M5                   | ✅     | ✅   | ✅        | rusb2                  |                    |
 +--------------+-----+-----------------------+--------+------+-----------+------------------------+--------------------+
-| Silabs       | EFM32GG12                   | ✔      |      | ✖         | dwc2                   |                    |
+| Silabs       | EFM32GG12                   | ✅     |      | ❌        | dwc2                   |                    |
 +--------------+-----------------------------+--------+------+-----------+------------------------+--------------------+
-| Sony         | CXD56                       | ✔      | ✖    | ✔         | cxd56                  |                    |
+| Sony         | CXD56                       | ✅     | ❌   | ✅        | cxd56                  |                    |
 +--------------+-----------------------------+--------+------+-----------+------------------------+--------------------+
-| ST STM32     | F0, F3, L0, L1, L5, WBx5    | ✔      | ✖    | ✖         | stm32_fsdev            |                    |
+| ST STM32     | F0, F3, L0, L1, L5, WBx5    | ✅     | ❌   | ❌        | stm32_fsdev            |                    |
 |              +----+------------------------+--------+------+-----------+------------------------+--------------------+
-|              | F1 | 102, 103               | ✔      | ✖    | ✖         | stm32_fsdev            | 512 USB RAM        |
+|              | F1 | 102, 103               | ✅     | ❌   | ❌        | stm32_fsdev            | 512 USB RAM        |
 |              |    +------------------------+--------+------+-----------+------------------------+--------------------+
-|              |    | 105, 107               | ✔      | ✔    | ✖         | dwc2                   |                    |
+|              |    | 105, 107               | ✅     | ✅   | ❌        | dwc2                   |                    |
 |              +----+------------------------+--------+------+-----------+------------------------+--------------------+
-|              | F2, F4, F7, H7, H7RS        | ✔      | ✔    | ✔         | dwc2                   |                    |
+|              | F2, F4, F7, H7, H7RS        | ✅     | ✅   | ✅        | dwc2                   |                    |
 |              +-----------------------------+--------+------+-----------+------------------------+--------------------+
-|              | C0, G0, H5, U3              | ✔      | ✔    | ✖         | stm32_fsdev            | 2KB USB RAM        |
+|              | C0, C5, G0, H5, U3          | ✅     | ✅   | ❌        | stm32_fsdev            | 2KB USB RAM        |
 |              +-----------------------------+--------+------+-----------+------------------------+--------------------+
-|              | G4                          | ✔      | ✖    | ✖         | stm32_fsdev            | 1KB USB RAM        |
+|              | G4                          | ✅     | ❌   | ❌        | stm32_fsdev            | 1KB USB RAM        |
 |              +----+------------------------+--------+------+-----------+------------------------+--------------------+
-|              | L4 | 4x2, 4x3               | ✔      | ✖    | ✖         | stm32_fsdev            | 1KB USB RAM        |
+|              | L4 | 4x2, 4x3               | ✅     | ❌   | ❌        | stm32_fsdev            | 1KB USB RAM        |
 |              |    +------------------------+--------+------+-----------+------------------------+--------------------+
-|              |    | 4x5, 4x6, 4+           | ✔      | ✔    | ✖         | dwc2                   |                    |
+|              |    | 4x5, 4x6, 4+           | ✅     | ✅   | ❌        | dwc2                   |                    |
 |              +----+------------------------+--------+------+-----------+------------------------+--------------------+
-|              | N6                          | ✔      | ✔    | ✔         | dwc2                   |                    |
+|              | N6                          | ✅     | ✅   | ✅        | dwc2                   |                    |
 |              +-----------------------------+--------+------+-----------+------------------------+--------------------+
-|              | U0                          | ✔      | ✖    | ✖         | stm32_fsdev            | 1KB USB RAM        |
+|              | U0                          | ✅     | ❌   | ❌        | stm32_fsdev            | 1KB USB RAM        |
 |              +----+------------------------+--------+------+-----------+------------------------+--------------------+
-|              | U5 | 535, 545               | ✔      | ✔    | ✖         | stm32_fsdev            | 2KB USB RAM        |
+|              | U5 | 535, 545               | ✅     | ✅   | ❌        | stm32_fsdev            | 2KB USB RAM        |
 |              |    +------------------------+--------+------+-----------+------------------------+--------------------+
-|              |    | 575, 585               | ✔      | ✔    | ✖         | dwc2                   |                    |
+|              |    | 575, 585               | ✅     | ✅   | ❌        | dwc2                   |                    |
 |              |    +------------------------+--------+------+-----------+------------------------+--------------------+
-|              |    | 59x,5Ax,5Fx,5Gx        | ✔      | ✔    | ✔         | dwc2                   |                    |
+|              |    | 59x,5Ax,5Fx,5Gx        | ✅     | ✅   | ✅        | dwc2                   |                    |
 +--------------+----+------------------------+--------+------+-----------+------------------------+--------------------+
-| TI           | MSP430                      | ✔      | ✖    | ✖         | msp430x5xx             |                    |
+| TI           | MSP430                      | ✅     | ❌   | ❌        | msp430x5xx             |                    |
 |              +-----------------------------+--------+------+-----------+------------------------+--------------------+
-|              | MSP432E4, TM4C123           | ✔      |      | ✖         | musb                   |                    |
+|              | MSP432E4, TM4C123           | ✅     |      | ❌        | musb                   |                    |
 +--------------+-----------------------------+--------+------+-----------+------------------------+--------------------+
-| ValentyUSB   | eptri                       | ✔      | ✖    | ✖         | eptri                  |                    |
+| ValentyUSB   | eptri                       | ✅     | ❌   | ❌        | eptri                  |                    |
 +--------------+-----------------------------+--------+------+-----------+------------------------+--------------------+
-| WCH          | CH32F20x                    | ✔      |      | ✔         | ch32_usbhs             |                    |
+| WCH          | CH32F20x                    | 🟡     |      | ✅        | ch32_usbhs             | ISO data loss [2]_ |
 |              +-----------------------------+--------+------+-----------+------------------------+--------------------+
-|              | CH32V20x                    | ✔      |      | ✖         | stm32_fsdev/ch32_usbfs |                    |
+|              | CH32V20x                    | 🟡     |      | ❌        | stm32_fsdev/ch32_usbfs | ISO data loss [2]_ |
 |              +-----------------------------+--------+------+-----------+------------------------+--------------------+
-|              | CH32V305, CH32V307          | ✔      |      | ✔         | ch32_usbfs/hs          |                    |
+|              | CH32V305, CH32V307          | 🟡     |      | ✅        | ch32_usbfs/hs          | ISO data loss [2]_ |
 +--------------+-----------------------------+--------+------+-----------+------------------------+--------------------+
 
 Table Legend
 ^^^^^^^^^^^^
 
 ========= =========================
-✔         Supported
-⚠         Partial support
-✖         Not supported by hardware
+✅         Supported
+🟡         Partial support
+❌         Not supported by hardware
 \[empty\] Unknown
 ========= =========================
 
+.. [1] NRND (Not Recommended for New Design), see `NXP LPC54600 issues <docs/reference/device_issues.rst#nxp-lpc54600>`_
+.. [2] ISO data loss, see `WCH CH32F20x/CH32V20x/CH32V30x issues <docs/reference/device_issues.rst#wch-ch32f20x-ch32v20x-ch32v30x>`_
+
 Development Tools
 -----------------
 
@@ -303,6 +349,8 @@ The following tools are provided freely to support the development of the TinyUS
    :target: https://membrowse.com/public/hathach/tinyusb
 .. |License| image:: https://img.shields.io/badge/license-MIT-brightgreen.svg
    :target: https://opensource.org/licenses/MIT
+.. |Sponsor| image:: https://img.shields.io/badge/sponsor-%E2%9D%A4-ec6cb9.svg
+   :target: https://github.com/sponsors/hathach
 
 
 .. _Changelog: docs/info/changelog.rst
diff --git a/docs/assets/adafruit_logo.svg b/docs/assets/adafruit_logo.svg
index cafd5a10e..e978f2c6e 100644
--- a/docs/assets/adafruit_logo.svg
+++ b/docs/assets/adafruit_logo.svg
@@ -1,8 +1,8 @@
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+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" id="Layer_1" x="0px" y="0px" style="enable-background:new 0 0 1382 768;" xml:space="preserve" width="224" height="89.6" viewBox="-56 -57.19 1490 595.81">
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+	.st0{fill:#000;}
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index ed46c8649..113c92b60 100644
--- a/docs/assets/stack.svg
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diff --git a/docs/conf.py b/docs/conf.py
index 9e9784fb7..86ddcf672 100755
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -53,6 +53,25 @@ def preprocess_readme():
     tgt = Path(__file__).parent.parent / "README_processed.rst"
     if src.exists():
         content = src.read_text(encoding='utf-8')
+        # if the matching is inside a table, keep the table cell width by adding the same number of spaces in the end of the line
+        # match pattern: | ... `... <docs/...>`_ ... |
+        # change into:   | ... `... <...>`_ ...      |
+        def _rewrite_table_line(line):
+            if not (line.startswith('|') and line.rstrip().endswith('|')):
+                return line
+
+            rewritten = re.sub(r"<docs/([^>]+)>", r"<\1>", line)
+            delta = len(line) - len(rewritten) - 1  # -1 for rst->html
+
+            if delta > 0:
+                last_pipe = rewritten.rfind('|')
+                if last_pipe >= 0:
+                    rewritten = rewritten[:last_pipe] + (' ' * delta) + rewritten[last_pipe:]
+
+            return rewritten
+
+        content = ''.join(_rewrite_table_line(line) for line in content.splitlines(keepends=True))
+
         content = re.sub(r"docs/", r"", content)
         content = re.sub(r"\.rst\b", r".html", content)
         if not content.endswith("\n"):
diff --git a/docs/reference/boards.rst b/docs/reference/boards.rst
index e61c4f98b..b0e8bffaa 100644
--- a/docs/reference/boards.rst
+++ b/docs/reference/boards.rst
@@ -266,6 +266,7 @@ STMicroelectronics
 Board                Name                               Family     URL                                                                Note
 ===================  =================================  =========  =================================================================  ======
 stm32c071nucleo      STM32C071 Nucleo                   stm32c0    https://www.st.com/en/evaluation-tools/nucleo-c071rb.html
+stm32c542nucleo      STM32C542 Nucleo                   stm32c5    https://www.st.com/en/evaluation-tools/nucleo-c542rc.html
 stm32f070rbnucleo    STM32 F070 Nucleo                  stm32f0    https://www.st.com/en/evaluation-tools/nucleo-f070rb.html
 stm32f072disco       STM32 F072 Discovery               stm32f0    https://www.st.com/en/evaluation-tools/32f072bdiscovery.html
 stm32f072eval        STM32 F072 Eval                    stm32f0    https://www.st.com/en/evaluation-tools/stm32072b-eval.html
diff --git a/docs/reference/dependencies.rst b/docs/reference/dependencies.rst
index c5b755577..d281e912a 100644
--- a/docs/reference/dependencies.rst
+++ b/docs/reference/dependencies.rst
@@ -59,6 +59,7 @@ hw/mcu/st/cmsis_device_l5                 https://github.com/STMicroelectronics/
 hw/mcu/st/cmsis_device_n6                 https://github.com/STMicroelectronics/cmsis-device-n6.git         7bcdc944fbf7cf5928d3c1d14054ca13261d33ec  stm32n6
 hw/mcu/st/cmsis_device_u5                 https://github.com/STMicroelectronics/cmsis_device_u5.git         6e67187dec98035893692ab2923914cb5f4e0117  stm32u5
 hw/mcu/st/cmsis_device_wb                 https://github.com/STMicroelectronics/cmsis_device_wb.git         cda2cb9fc4a5232ab18efece0bb06b0b60910083  stm32wb
+hw/mcu/st/stm32c5xx-dfp                   https://github.com/STMicroelectronics/stm32c5xx-dfp.git           6d0940882511d9430f83af9bd3da6bcb77f79239  stm32c5
 hw/mcu/st/stm32-mfxstm32l152              https://github.com/STMicroelectronics/stm32-mfxstm32l152.git      7f4389efee9c6a655b55e5df3fceef5586b35f9b  stm32h7
 hw/mcu/st/stm32-tcpp0203                  https://github.com/STMicroelectronics/stm32-tcpp0203.git          9918655bff176ac3046ccf378b5c7bbbc6a38d15  stm32h5 stm32h7rs stm32n6
 hw/mcu/st/stm32c0xx_hal_driver            https://github.com/STMicroelectronics/stm32c0xx_hal_driver.git    c283b143bef6bdaacf64240ee6f15eb61dad6125  stm32c0
@@ -82,13 +83,14 @@ hw/mcu/st/stm32u0xx_hal_driver            https://github.com/STMicroelectronics/
 hw/mcu/st/stm32u5xx_hal_driver            https://github.com/STMicroelectronics/stm32u5xx_hal_driver.git    2c5e2568fbdb1900a13ca3b2901fdd302cac3444  stm32u5
 hw/mcu/st/stm32wbaxx_hal_driver           https://github.com/STMicroelectronics/stm32wbaxx_hal_driver.git   9442fbb71f855ff2e64fbf662b7726beba511a24  stm32wba
 hw/mcu/st/stm32wbxx_hal_driver            https://github.com/STMicroelectronics/stm32wbxx_hal_driver.git    d60dd46996876506f1d2e9abd6b1cc110c8004cd  stm32wb
+hw/mcu/st/stm32c5xx-drivers               https://github.com/STMicroelectronics/stm32c5xx-drivers.git       79b901285a7efeaf87c4c25db81d24cb5d8c9465  stm32c5
 hw/mcu/ti                                 https://github.com/hathach/ti_driver.git                          083944907e7d08fcb1f614b47598ce45935b8da1  msp430 msp432e4 tm4c
 hw/mcu/wch/ch32f20x                       https://github.com/openwch/ch32f20x.git                           77c4095087e5ed2c548ec9058e655d0b8757663b  ch32f20x
 hw/mcu/wch/ch32v103                       https://github.com/openwch/ch32v103.git                           7578cae0b21f86dd053a1f781b2fc6ab99d0ec17  ch32v10x
 hw/mcu/wch/ch32v20x                       https://github.com/openwch/ch32v20x.git                           c4c38f507e258a4e69b059ccc2dc27dde33cea1b  ch32v20x
 hw/mcu/wch/ch32v307                       https://github.com/openwch/ch32v307.git                           184f21b852cb95eed58e86e901837bc9fff68775  ch32v30x
 lib/CMSIS_5                               https://github.com/ARM-software/CMSIS_5.git                       2b7495b8535bdcb306dac29b9ded4cfb679d7e5c  kinetis_k kinetis_kl lpc54 rw61x mm32 msp432e4 nrf samd2x_l2x lpc11 lpc13 lpc15 lpc17 lpc18 lpc40 lpc43 stm32c0 stm32f0 stm32f1 stm32f2 stm32f3 stm32f4 stm32f7 stm32g0 stm32g4 stm32h5 stm32h7 stm32h7rs stm32l0 stm32l1 stm32l4 stm32l5 stm32u0 stm32u5 stm32wb stm32wba sam3x samd11 samd21 samd51 samd5x_e5x same5x same7x samg tm4c
-lib/CMSIS_6                               https://github.com/ARM-software/CMSIS_6.git                       6f0a58d01aa9bd2feba212097f9afe7acd991d52  imxrt kinetis_k32l ra stm32n6 lpc51 lpc55 mcx
+lib/CMSIS_6                               https://github.com/ARM-software/CMSIS_6.git                       6f0a58d01aa9bd2feba212097f9afe7acd991d52  imxrt kinetis_k32l ra stm32n6 lpc51 lpc55 mcx stm32c5
 lib/FreeRTOS-Kernel                       https://github.com/FreeRTOS/FreeRTOS-Kernel.git                   cc0e0707c0c748713485b870bb980852b210877f  all
 lib/lwip                                  https://github.com/lwip-tcpip/lwip.git                            159e31b689577dbf69cf0683bbaffbd71fa5ee10  all
 lib/sct_neopixel                          https://github.com/gsteiert/sct_neopixel.git                      e73e04ca63495672d955f9268e003cffe168fcd8  lpc55
diff --git a/docs/reference/device_issues.rst b/docs/reference/device_issues.rst
new file mode 100644
index 000000000..ae9cd55f1
--- /dev/null
+++ b/docs/reference/device_issues.rst
@@ -0,0 +1,35 @@
+Device specific known issues and workarounds
+===============================================
+This page lists known issues and workarounds for specific devices.
+
+NXP LPC54600
+----------------
+**Severity: High**
+
+**Not recommended for USB device applications (except high-speed host controller)**
+
+Reference: `LPC54600 Errata Sheet`_
+
+.. _LPC54600 Errata Sheet: https://www.nxp.com/docs/en/errata/ES_LPC546XX.pdf
+
+The LPC54600 series have a very buggy USB controller, with 17 issues listed in the errata which is more than half of the total issues.
+
+Most severe issues are:
+
+- USB.2: In USB high-speed device mode, the NBytes field is not correct after BULK IN transfer
+- USB.5: In USB full-speed host mode, linked list on done queue is broken.
+- USB.15: USB high-speed device in endpoint TX data corruption
+
+WCH CH32F20x/CH32V20x/CH32V30x
+---------------------------------
+**Severity: Medium**
+
+**Not recommended for USB audio applications**
+
+Reference: `CH32V30X Reference Manual`_ USBFS/USBHS controller chapter
+
+.. _CH32V30X Reference Manual: https://www.wch-ic.com/downloads/CH32FV2x_V3xRM_PDF.html
+
+Data corruption may occur on isochronous endpoints. Due to the lacking of FIFO for interrupt status registers, later completed transfer will overwrite `INT_ST` and `RX_LEN` register if previous transfer processing is not completed.
+
+Other types of transfers are not affected.
diff --git a/docs/reference/index.rst b/docs/reference/index.rst
index 148e8a63b..c66ce618f 100644
--- a/docs/reference/index.rst
+++ b/docs/reference/index.rst
@@ -13,4 +13,5 @@ Complete reference documentation for TinyUSB APIs, configuration, and supported
    boards
    dependencies
    concurrency
+   device_issues
    glossary
diff --git a/docs/troubleshooting.rst b/docs/troubleshooting.rst
index bb9f15166..613c7fcef 100644
--- a/docs/troubleshooting.rst
+++ b/docs/troubleshooting.rst
@@ -76,6 +76,8 @@ Invalid board name in build command.
 Runtime Issues
 ==============
 
+Check :doc:`reference/device_issues` for known hardware-specific issues that may affect USB functionality on your device.
+
 Device Mode Problems
 --------------------
 
diff --git a/examples/device/audio_4_channel_mic_freertos/CMakeLists.txt b/examples/device/audio_4_channel_mic_freertos/CMakeLists.txt
index d43a72e58..66ef19fbc 100644
--- a/examples/device/audio_4_channel_mic_freertos/CMakeLists.txt
+++ b/examples/device/audio_4_channel_mic_freertos/CMakeLists.txt
@@ -2,6 +2,11 @@ cmake_minimum_required(VERSION 3.20)
 
 include(${CMAKE_CURRENT_SOURCE_DIR}/../../../hw/bsp/family_support.cmake)
 
+# Need to set Espressif defaults before project() is called
+if(FAMILY STREQUAL "espressif")
+  list(APPEND SDKCONFIG_DEFAULTS "${CMAKE_CURRENT_LIST_DIR}/sdkconfig.defaults")
+endif()
+
 project(audio_4_channel_mic_freertos C CXX ASM)
 
 # Checks this example is valid for the family and initializes the project
diff --git a/examples/device/audio_test_freertos/CMakeLists.txt b/examples/device/audio_test_freertos/CMakeLists.txt
index 71d65eccc..a39e56822 100644
--- a/examples/device/audio_test_freertos/CMakeLists.txt
+++ b/examples/device/audio_test_freertos/CMakeLists.txt
@@ -2,6 +2,11 @@ cmake_minimum_required(VERSION 3.20)
 
 include(${CMAKE_CURRENT_SOURCE_DIR}/../../../hw/bsp/family_support.cmake)
 
+# Need to set Espressif defaults before project() is called
+if(FAMILY STREQUAL "espressif")
+  list(APPEND SDKCONFIG_DEFAULTS "${CMAKE_CURRENT_LIST_DIR}/sdkconfig.defaults")
+endif()
+
 project(audio_test_freertos C CXX ASM)
 
 # Checks this example is valid for the family and initializes the project
diff --git a/examples/device/board_test/CMakeLists.txt b/examples/device/board_test/CMakeLists.txt
index bd7b8e0ca..f14d72c08 100644
--- a/examples/device/board_test/CMakeLists.txt
+++ b/examples/device/board_test/CMakeLists.txt
@@ -2,6 +2,11 @@ cmake_minimum_required(VERSION 3.20)
 
 include(${CMAKE_CURRENT_SOURCE_DIR}/../../../hw/bsp/family_support.cmake)
 
+# Need to set Espressif defaults before project() is called
+if(FAMILY STREQUAL "espressif")
+  list(APPEND SDKCONFIG_DEFAULTS "${CMAKE_CURRENT_LIST_DIR}/sdkconfig.defaults")
+endif()
+
 project(board_test C CXX ASM)
 
 # Checks this example is valid for the family and initializes the project
diff --git a/examples/device/board_test/src/main.c b/examples/device/board_test/src/main.c
index 71e7e1da7..96dc1bd30 100644
--- a/examples/device/board_test/src/main.c
+++ b/examples/device/board_test/src/main.c
@@ -54,6 +54,19 @@ void tusb_time_delay_ms_api(uint32_t ms) {
 //
 //--------------------------------------------------------------------+
 
+// CI_BUILD (defined for all CI builds, see hw/bsp/family_support.cmake) skips the
+// blink/echo loop below: after HIL tests, this firmware is flashed to park the
+// board in a quiet, low-power idle state (no USB, LED, or UART activity).
+#ifdef CI_BUILD
+int main(void) {
+  while (1) {
+    #if defined(ESP_PLATFORM)
+    vTaskDelay(portMAX_DELAY);
+    #endif
+  }
+}
+
+#else
 // Task parameter type: ULONG for ThreadX, void* for FreeRTOS and noos
 #if CFG_TUSB_OS == OPT_OS_THREADX
   #define RTOS_PARAM ULONG
@@ -122,12 +135,6 @@ int main(void) {
   return 0;
 }
 
-#ifdef ESP_PLATFORM
-void app_main(void) {
-  main();
-}
-#endif
-
 //--------------------------------------------------------------------+
 // FreeRTOS
 //--------------------------------------------------------------------+
@@ -173,3 +180,10 @@ void tx_application_define(void *first_unused_memory) {
                    1, 1, TX_NO_TIME_SLICE, TX_AUTO_START);
 }
 #endif
+#endif // CI_BUILD
+
+#ifdef ESP_PLATFORM
+void app_main(void) {
+  main();
+}
+#endif
diff --git a/examples/device/cdc_msc_freertos/CMakeLists.txt b/examples/device/cdc_msc_freertos/CMakeLists.txt
index 429000427..1eafd529a 100644
--- a/examples/device/cdc_msc_freertos/CMakeLists.txt
+++ b/examples/device/cdc_msc_freertos/CMakeLists.txt
@@ -2,6 +2,11 @@ cmake_minimum_required(VERSION 3.20)
 
 include(${CMAKE_CURRENT_SOURCE_DIR}/../../../hw/bsp/family_support.cmake)
 
+# Need to set Espressif defaults before project() is called
+if(FAMILY STREQUAL "espressif")
+  list(APPEND SDKCONFIG_DEFAULTS "${CMAKE_CURRENT_LIST_DIR}/sdkconfig.defaults")
+endif()
+
 project(cdc_msc_freertos C CXX ASM)
 
 # Checks this example is valid for the family and initializes the project
diff --git a/examples/device/cdc_msc_freertos/src/main.c b/examples/device/cdc_msc_freertos/src/main.c
index f2f71d089..4a920c90b 100644
--- a/examples/device/cdc_msc_freertos/src/main.c
+++ b/examples/device/cdc_msc_freertos/src/main.c
@@ -88,7 +88,7 @@ int main(void) {
 #else
   xTaskCreate(led_blinking_task, "blinky", BLINKY_STACK_SIZE, NULL, 1, NULL);
   xTaskCreate(usb_device_task, "usbd", USBD_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL);
-  xTaskCreate(cdc_task, "cdc", CDC_STACK_SZIE, NULL, configMAX_PRIORITIES - 2, NULL);
+  xTaskCreate(cdc_task, "cdc", CDC_STACK_SIZE, NULL, configMAX_PRIORITIES - 2, NULL);
 #endif
 
 #ifndef ESP_PLATFORM
diff --git a/examples/device/hid_composite_freertos/CMakeLists.txt b/examples/device/hid_composite_freertos/CMakeLists.txt
index b52373011..2081a7782 100644
--- a/examples/device/hid_composite_freertos/CMakeLists.txt
+++ b/examples/device/hid_composite_freertos/CMakeLists.txt
@@ -2,6 +2,11 @@ cmake_minimum_required(VERSION 3.20)
 
 include(${CMAKE_CURRENT_SOURCE_DIR}/../../../hw/bsp/family_support.cmake)
 
+# Need to set Espressif defaults before project() is called
+if(FAMILY STREQUAL "espressif")
+  list(APPEND SDKCONFIG_DEFAULTS "${CMAKE_CURRENT_LIST_DIR}/sdkconfig.defaults")
+endif()
+
 project(hid_composite_freertos C CXX ASM)
 
 # Checks this example is valid for the family and initializes the project
diff --git a/examples/device/midi2_device/CMakeLists.txt b/examples/device/midi2_device/CMakeLists.txt
index 295af6550..f1fe09db2 100644
--- a/examples/device/midi2_device/CMakeLists.txt
+++ b/examples/device/midi2_device/CMakeLists.txt
@@ -30,4 +30,6 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 family_configure_device_example(${PROJECT_NAME} noos)
 
 # Suppress pre-existing warning in usbd.c (uint8_t comparison always true/false)
-target_compile_options(${PROJECT_NAME} PRIVATE -Wno-type-limits)
+if (CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_C_COMPILER_ID STREQUAL "Clang")
+  target_compile_options(${PROJECT_NAME} PRIVATE -Wno-type-limits)
+endif()
diff --git a/examples/device/midi2_device/src/main.c b/examples/device/midi2_device/src/main.c
index 62741ac41..ce052a20b 100644
--- a/examples/device/midi2_device/src/main.c
+++ b/examples/device/midi2_device/src/main.c
@@ -715,6 +715,4 @@ int main(void) {
       }
     }
   }
-
-  return 0;
 }
diff --git a/examples/device/msc_dual_lun/src/main.c b/examples/device/msc_dual_lun/src/main.c
index a4ade6f9b..1d764f12c 100644
--- a/examples/device/msc_dual_lun/src/main.c
+++ b/examples/device/msc_dual_lun/src/main.c
@@ -71,7 +71,7 @@ static void usb_device_init(void) {
   board_init_after_tusb();
 }
 
-#if CFG_TUSB_OS != OPT_OS_NONE && CFG_TUSB_OS != OPT_OS_PICO
+#if CFG_TUSB_OS_HAS_SCHEDULER
 static void usb_device_task(RTOS_PARAM param) {
   (void) param;
   usb_device_init();
diff --git a/examples/device/net_lwip_webserver/src/tusb_config.h b/examples/device/net_lwip_webserver/src/tusb_config.h
index c594d1ebd..d94a87c99 100644
--- a/examples/device/net_lwip_webserver/src/tusb_config.h
+++ b/examples/device/net_lwip_webserver/src/tusb_config.h
@@ -102,7 +102,7 @@ extern "C" {
   #if TU_CHECK_MCU(OPT_MCU_MAX32650, OPT_MCU_MAX32666, OPT_MCU_MAX32690, OPT_MCU_MAX78002) || \
       TU_CHECK_MCU(OPT_MCU_STM32F2,  OPT_MCU_STM32F4,  OPT_MCU_STM32F7) || \
       TU_CHECK_MCU(OPT_MCU_STM32H5,  OPT_MCU_STM32H7,  OPT_MCU_STM32H7RS) || \
-      TU_CHECK_MCU(OPT_MCU_STM32U5,  OPT_MCU_STM32N6) || \
+      TU_CHECK_MCU(OPT_MCU_STM32C5,  OPT_MCU_STM32U5,  OPT_MCU_STM32N6) || \
       TU_CHECK_MCU(OPT_MCU_RP2040,   OPT_MCU_CH32V307) || \
       TU_CHECK_MCU(OPT_MCU_MIMXRT1XXX) || \
       TU_CHECK_MCU(OPT_MCU_NRF5X)
diff --git a/examples/device/printer_to_cdc/CMakePresets.json b/examples/device/printer_to_cdc/CMakePresets.json
new file mode 100644
index 000000000..5cd8971e9
--- /dev/null
+++ b/examples/device/printer_to_cdc/CMakePresets.json
@@ -0,0 +1,6 @@
+{
+  "version": 6,
+  "include": [
+    "../../../hw/bsp/BoardPresets.json"
+  ]
+}
diff --git a/examples/dual/dynamic_switch/only.txt b/examples/dual/dynamic_switch/only.txt
index 70be49b28..e1038f9d4 100644
--- a/examples/dual/dynamic_switch/only.txt
+++ b/examples/dual/dynamic_switch/only.txt
@@ -2,6 +2,7 @@ family:espressif
 mcu:LPC43XX
 mcu:MIMXRT1XXX
 mcu:STM32C0
+mcu:STM32C5
 mcu:STM32G0
 mcu:STM32H5
 mcu:STM32F2
diff --git a/examples/dual/dynamic_switch/src/main.c b/examples/dual/dynamic_switch/src/main.c
index c9ad2a835..f67cd885c 100644
--- a/examples/dual/dynamic_switch/src/main.c
+++ b/examples/dual/dynamic_switch/src/main.c
@@ -79,6 +79,9 @@ StaticTask_t usb_taskdef;
 
 StackType_t cdc_stack[CDC_STACK_SIZE];
 StaticTask_t cdc_taskdef;
+
+StackType_t devinfo_stack[USBH_STACK_SIZE];
+StaticTask_t devinfo_taskdef;
 #endif
 #endif
 
@@ -87,14 +90,13 @@ static tusb_role_t current_role = TUSB_ROLE_DEVICE;
 
 #if CFG_TUSB_OS == OPT_OS_FREERTOS
 static void usb_task(void *param);
-void led_blinking_task(void *param);
-void cdc_task(void *params);
-#else
-void led_blinking_task(void);
-void cdc_task(void);
 #endif
+void led_blinking_task(void *param);
+void cdc_task(void *param);
+void print_devinfo_task(void *param);
+
 void usb_mode_switch(void);
-static void print_device_info(uint8_t daddr);
+static void print_one_device(uint8_t daddr);
 static void print_utf16(uint16_t* temp_buf, size_t buf_len);
 
 // Declare buffer for USB transfer
@@ -124,11 +126,13 @@ int main(void) {
   xTaskCreateStatic(usb_task, "usb", USBD_STACK_SIZE > USBH_STACK_SIZE ? USBD_STACK_SIZE : USBH_STACK_SIZE,
                     NULL, configMAX_PRIORITIES-1, usb_stack, &usb_taskdef);
   xTaskCreateStatic(cdc_task, "cdc", CDC_STACK_SIZE, NULL, configMAX_PRIORITIES - 2, cdc_stack, &cdc_taskdef);
+  xTaskCreateStatic(print_devinfo_task, "devinfo", USBH_STACK_SIZE, NULL, configMAX_PRIORITIES - 2, devinfo_stack, &devinfo_taskdef);
 #else
   xTaskCreate(led_blinking_task, "blinky", BLINKY_STACK_SIZE, NULL, 1, NULL);
   xTaskCreate(usb_task, "usb", USBD_STACK_SIZE > USBH_STACK_SIZE ? USBD_STACK_SIZE : USBH_STACK_SIZE,
               NULL, configMAX_PRIORITIES - 1, NULL);
   xTaskCreate(cdc_task, "cdc", CDC_STACK_SIZE, NULL, configMAX_PRIORITIES - 2, NULL);
+  xTaskCreate(print_devinfo_task, "devinfo", USBH_STACK_SIZE, NULL, configMAX_PRIORITIES - 2, NULL);
 #endif
 
 #ifndef ESP_PLATFORM
@@ -162,12 +166,13 @@ int main(void) {
     // Process USB tasks based on current mode
     if (current_role == TUSB_ROLE_DEVICE) {
       tud_task();
-      cdc_task();
+      cdc_task(NULL);
     } else {
       tuh_task();
+      print_devinfo_task(NULL);
     }
 
-    led_blinking_task();
+    led_blinking_task(NULL);
   }
 #endif
 }
@@ -227,21 +232,28 @@ static void usb_task(void *param) {
 void usb_mode_switch(void) {
   printf("\r\n--- Switching USB mode ---\r\n");
 
-  // Deinitialize current mode
-  if (current_role == TUSB_ROLE_DEVICE) {
+  // Snapshot then clear current_role BEFORE tusb_deinit() so concurrent
+  // tasks (cdc_task / print_devinfo_task on RTOS) see the role-change
+  // boundary and exit cleanly instead of calling host/device APIs against
+  // a deinitialised stack.
+  const tusb_role_t prev_role = current_role;
+  current_role = TUSB_ROLE_INVALID;
+
+  if (prev_role == TUSB_ROLE_DEVICE) {
     printf("Stopping DEVICE mode...\r\n");
-    tusb_deinit(BOARD_RHPORT);
   } else {
     printf("Stopping HOST mode...\r\n");
-    tusb_deinit(BOARD_RHPORT);
   }
+  tusb_deinit(BOARD_RHPORT);
 
 #if CFG_TUSB_OS == OPT_OS_FREERTOS
   vTaskDelay(pdMS_TO_TICKS(100)); // Small delay for clean transition
 #else
-  tusb_time_delay_ms_api(100); // Small delay for clean transition
-#endif  // Switch to the other mode
-  if (current_role == TUSB_ROLE_DEVICE) {
+  tusb_time_delay_ms_api(100);
+#endif
+
+  // Switch to the other mode
+  if (prev_role == TUSB_ROLE_DEVICE) {
     printf("Starting HOST mode...\r\n");
     tusb_rhport_init_t host_init = {
       .role = TUSB_ROLE_HOST,
@@ -267,61 +279,29 @@ void usb_mode_switch(void) {
 // Device Mode: CDC Task
 //--------------------------------------------------------------------+
 
+void cdc_task(void *param) {
+  (void) param;
 #if CFG_TUSB_OS == OPT_OS_FREERTOS
-void cdc_task(void *params) {
-  (void) params;
-
-  // RTOS forever loop
   while (1) {
-    // Only process CDC when in device mode
+#endif
+    // Only touch device-CDC APIs while we're in device mode. After
+    // usb_mode_switch() sets current_role to INVALID and tusb_deinit() runs,
+    // calling tud_cdc_write_flush() here would hit a deinit'd device stack.
     if (current_role == TUSB_ROLE_DEVICE) {
-      // Connected and there are data available
-      while (tud_cdc_available()) {
+      if (tud_cdc_available()) {
         uint8_t buf[64];
-
-        // Read data
-        uint32_t count = tud_cdc_read(buf, sizeof(buf));
-
-        // Echo back
-        tud_cdc_write(buf, count);
-
-        // Add newline for carriage return
-        for (uint32_t i = 0; i < count; i++) {
-          if (buf[i] == '\r') {
-            tud_cdc_write_char('\n');
-            break;
-          }
+        const uint32_t count = tud_cdc_read(buf, sizeof(buf));
+        if (count) {
+          tud_cdc_write(buf, count);
         }
       }
-
       tud_cdc_write_flush();
     }
-
+#if CFG_TUSB_OS == OPT_OS_FREERTOS
     vTaskDelay(pdMS_TO_TICKS(10));
   }
-}
-#else
-void cdc_task(void) {
-  // Connected and there are data available
-  if (tud_cdc_available()) {
-    uint8_t buf[64];
-
-    // Read data
-    uint32_t count = tud_cdc_read(buf, sizeof(buf));
-
-    // Echo back
-    for (uint32_t i = 0; i < count; i++) {
-      tud_cdc_write_char(buf[i]);
-
-      if (buf[i] == '\r') {
-        tud_cdc_write_char('\n');
-      }
-    }
-
-    tud_cdc_write_flush();
-  }
-}
 #endif
+}
 
 //--------------------------------------------------------------------+
 // Device Callbacks
@@ -356,24 +336,56 @@ void tud_resume_cb(void) {
 // Host Callbacks
 //--------------------------------------------------------------------+
 
-// Invoked when device is mounted (configured)
+// One flag per possible device address — set by tuh_mount_cb (host task) and
+// cleared by print_devinfo_task once the device's descriptors are printed.
+static volatile bool need_devinfo[CFG_TUH_DEVICE_MAX + 1];
+
+// Invoked when device is mounted (configured). Runs in the host task — keep
+// minimal; descriptor fetching happens in print_devinfo_task (different
+// context so sync helpers are safe).
 void tuh_mount_cb(uint8_t daddr) {
   printf("[HOST] Device attached, address = %d\r\n", daddr);
   blink_interval_ms = BLINK_MOUNTED;
-  print_device_info(daddr);
+  if (daddr < TU_ARRAY_SIZE(need_devinfo)) {
+    need_devinfo[daddr] = true;
+  }
 }
 
 // Invoked when device is unmounted (unplugged)
 void tuh_umount_cb(uint8_t daddr) {
   printf("[HOST] Device removed, address = %d\r\n", daddr);
   blink_interval_ms = BLINK_NOT_MOUNTED;
+  if (daddr < TU_ARRAY_SIZE(need_devinfo)) {
+    need_devinfo[daddr] = false;
+  }
 }
 
 //--------------------------------------------------------------------+
-// Host Device Info
+// Host Device Info — serialises descriptor fetching across all mounted
+// devices using sync helpers. Safe to call from main loop (OS_NONE) or a
+// dedicated task (FreeRTOS) — but NOT from a host-stack callback.
 //--------------------------------------------------------------------+
 
-static void print_device_info(uint8_t daddr) {
+void print_devinfo_task(void *param) {
+  (void) param;
+#if CFG_TUSB_OS == OPT_OS_FREERTOS
+  while (1) {
+#endif
+    if (current_role == TUSB_ROLE_HOST) {
+      for (uint8_t daddr = 1; daddr < TU_ARRAY_SIZE(need_devinfo); daddr++) {
+        if (need_devinfo[daddr]) {
+          need_devinfo[daddr] = false;
+          print_one_device(daddr);
+        }
+      }
+    }
+#if CFG_TUSB_OS == OPT_OS_FREERTOS
+    vTaskDelay(pdMS_TO_TICKS(10));
+  }
+#endif
+}
+
+static void print_one_device(uint8_t daddr) {
   // Get Device Descriptor
   uint8_t xfer_result = tuh_descriptor_get_device_sync(daddr, &desc.device, 18);
   if (XFER_RESULT_SUCCESS != xfer_result) {
@@ -467,30 +479,23 @@ static void print_utf16(uint16_t* temp_buf, size_t buf_len) {
 // Blinking Task
 //--------------------------------------------------------------------+
 
-#if CFG_TUSB_OS == OPT_OS_FREERTOS
 void led_blinking_task(void *param) {
   (void) param;
+  static uint32_t start_ms = 0;
   static bool led_state = false;
-
-  // RTOS forever loop
+#if CFG_TUSB_OS == OPT_OS_FREERTOS
   while (1) {
-    board_led_write(led_state);
-    led_state = 1 - led_state; // toggle
     vTaskDelay(pdMS_TO_TICKS(blink_interval_ms));
+    start_ms += blink_interval_ms;
+    board_led_write(led_state);
+    led_state = 1 - led_state;
   }
-}
 #else
-void led_blinking_task(void) {
-  static uint32_t start_ms = 0;
-  static bool led_state = false;
-
-  // Blink every interval ms
   if (tusb_time_millis_api() - start_ms < blink_interval_ms) {
     return; // not enough time
   }
   start_ms += blink_interval_ms;
-
   board_led_write(led_state);
-  led_state = 1 - led_state; // toggle
-}
+  led_state = 1 - led_state;
 #endif
+}
diff --git a/examples/dual/host_info_to_device_cdc/src/main.c b/examples/dual/host_info_to_device_cdc/src/main.c
index cf3430464..5186f91dc 100644
--- a/examples/dual/host_info_to_device_cdc/src/main.c
+++ b/examples/dual/host_info_to_device_cdc/src/main.c
@@ -130,7 +130,7 @@ static void main_task(void* param) {
     led_blinking_task();
 
     // preempted RTOS run device/host stack in its own task
-#if CFG_TUSB_OS == OPT_OS_NONE || CFG_TUSB_OS == OPT_OS_PICO
+#if CFG_TUSB_OS_HAS_SCHEDULER == 0
     tud_task(); // tinyusb device task
     tuh_task(); // tinyusb host task
 #endif
@@ -140,7 +140,7 @@ static void main_task(void* param) {
 int main(void) {
   board_init();
 
-#if CFG_TUSB_OS == OPT_OS_NONE || CFG_TUSB_OS == OPT_OS_PICO
+#if CFG_TUSB_OS_HAS_SCHEDULER == 0
   printf("TinyUSB Host Information -> Device CDC Example\r\n");
 
   usb_device_init();
@@ -156,7 +156,7 @@ int main(void) {
   return 0;
 }
 
-#if CFG_TUSB_OS != OPT_OS_NONE && CFG_TUSB_OS != OPT_OS_PICO
+#if CFG_TUSB_OS_HAS_SCHEDULER
 // USB Device Driver task for RTOS
 static void usb_device_task(void *param) {
   (void) param;
diff --git a/examples/host/bare_api/only.txt b/examples/host/bare_api/only.txt
index 1ddfc2b5c..a2ff93be5 100644
--- a/examples/host/bare_api/only.txt
+++ b/examples/host/bare_api/only.txt
@@ -20,6 +20,7 @@ mcu:RP2040
 mcu:RW61X
 mcu:RX65X
 mcu:STM32C0
+mcu:STM32C5
 mcu:STM32F4
 mcu:STM32F7
 mcu:STM32G0
diff --git a/examples/host/bare_api/src/main.c b/examples/host/bare_api/src/main.c
index 544f38102..679ce6f43 100644
--- a/examples/host/bare_api/src/main.c
+++ b/examples/host/bare_api/src/main.c
@@ -48,14 +48,19 @@ CFG_TUH_MEM_SECTION uint16_t temp_buf[128]; // temp buffer for string descriptor
 // MACRO CONSTANT TYPEDEF PROTYPES
 //--------------------------------------------------------------------+
 void led_blinking_task(void);
+void print_devinfo_task(void);
 
 static void print_utf16(uint16_t *temp_buf, size_t buf_len);
-void print_device_descriptor(tuh_xfer_t* xfer);
+static void print_one_device(uint8_t daddr);
 void parse_config_descriptor(uint8_t dev_addr, tusb_desc_configuration_t const* desc_cfg);
 
 uint8_t* get_hid_buf(uint8_t daddr);
 void free_hid_buf(uint8_t daddr);
 
+// One flag per possible device address — set in tuh_mount_cb (host task) and
+// cleared by print_devinfo_task (main loop) once the descriptors are printed.
+static volatile bool need_devinfo[CFG_TUH_DEVICE_MAX + 1];
+
 /*------------- MAIN -------------*/
 int main(void) {
   board_init();
@@ -74,38 +79,53 @@ int main(void) {
   while (1) {
     // tinyusb host task
     tuh_task();
+    print_devinfo_task();
     led_blinking_task();
   }
 }
 
 /*------------- TinyUSB Callbacks -------------*/
 
-// Invoked when device is mounted (configured)
+// Invoked when device is mounted (configured). Runs in the host task — keep
+// it minimal. The descriptor fetching/printing happens in print_devinfo_task()
+// below where the sync helpers are safe (different context).
 void tuh_mount_cb(uint8_t daddr) {
   printf("Device attached, address = %d\r\n", daddr);
-
-  // Get Device Descriptor
-  // TODO: invoking control transfer now has issue with mounting hub with multiple devices attached, fix later
-  tuh_descriptor_get_device(daddr, &desc_device, 18, print_device_descriptor, 0);
+  if (daddr < TU_ARRAY_SIZE(need_devinfo)) {
+    need_devinfo[daddr] = true;
+  }
 }
 
 /// Invoked when device is unmounted (bus reset/unplugged)
 void tuh_umount_cb(uint8_t daddr) {
   printf("Device removed, address = %d\r\n", daddr);
+  if (daddr < TU_ARRAY_SIZE(need_devinfo)) {
+    need_devinfo[daddr] = false;
+  }
   free_hid_buf(daddr);
 }
 
 //--------------------------------------------------------------------+
-// Device Descriptor
+// Print device info task — serialises descriptor fetching across all
+// mounted devices via sync helpers. Sync calls are safe here because this
+// runs in the main loop (outside any host-stack callback context).
 //--------------------------------------------------------------------+
-void print_device_descriptor(tuh_xfer_t *xfer) {
-  if (XFER_RESULT_SUCCESS != xfer->result) {
+void print_devinfo_task(void) {
+  for (uint8_t daddr = 1; daddr < TU_ARRAY_SIZE(need_devinfo); daddr++) {
+    if (need_devinfo[daddr]) {
+      need_devinfo[daddr] = false;
+      print_one_device(daddr);
+    }
+  }
+}
+
+static void print_one_device(uint8_t daddr) {
+  // Get Device Descriptor
+  if (XFER_RESULT_SUCCESS != tuh_descriptor_get_device_sync(daddr, &desc_device, 18)) {
     printf("Failed to get device descriptor\r\n");
     return;
   }
 
-  uint8_t const daddr = xfer->daddr;
-
   printf("Device %u: ID %04x:%04x\r\n", daddr, desc_device.idVendor, desc_device.idProduct);
   printf("Device Descriptor:\r\n");
   printf("  bLength             %u\r\n"     , desc_device.bLength);
@@ -119,7 +139,6 @@ void print_device_descriptor(tuh_xfer_t *xfer) {
   printf("  idProduct           0x%04x\r\n" , desc_device.idProduct);
   printf("  bcdDevice           %04x\r\n"   , desc_device.bcdDevice);
 
-  // Get String descriptor using Sync API
   printf("  iManufacturer       %u     ", desc_device.iManufacturer);
   if (XFER_RESULT_SUCCESS == tuh_descriptor_get_manufacturer_string_sync(daddr, LANGUAGE_ID, temp_buf, sizeof(temp_buf))) {
     print_utf16(temp_buf, TU_ARRAY_SIZE(temp_buf));
diff --git a/examples/host/cdc_msc_hid/only.txt b/examples/host/cdc_msc_hid/only.txt
index 1ddfc2b5c..a2ff93be5 100644
--- a/examples/host/cdc_msc_hid/only.txt
+++ b/examples/host/cdc_msc_hid/only.txt
@@ -20,6 +20,7 @@ mcu:RP2040
 mcu:RW61X
 mcu:RX65X
 mcu:STM32C0
+mcu:STM32C5
 mcu:STM32F4
 mcu:STM32F7
 mcu:STM32G0
diff --git a/examples/host/cdc_msc_hid/src/cdc_app.c b/examples/host/cdc_msc_hid/src/cdc_app.c
index 20033981e..e6c190715 100644
--- a/examples/host/cdc_msc_hid/src/cdc_app.c
+++ b/examples/host/cdc_msc_hid/src/cdc_app.c
@@ -95,7 +95,6 @@ void tuh_cdc_mount_cb(uint8_t idx) {
   printf("CDC Interface is mounted: address = %u, itf_num = %u\r\n", itf_info.daddr,
          itf_info.desc.bInterfaceNumber);
 
-#ifdef CFG_TUH_CDC_LINE_CODING_ON_ENUM
   // If CFG_TUH_CDC_LINE_CODING_ON_ENUM is defined, line coding will be set by tinyusb stack
   // while eneumerating new cdc device
   cdc_line_coding_t line_coding = {0};
@@ -103,11 +102,6 @@ void tuh_cdc_mount_cb(uint8_t idx) {
     printf("  Baudrate: %" PRIu32 ", Stop Bits : %u\r\n", line_coding.bit_rate, line_coding.stop_bits);
     printf("  Parity  : %u, Data Width: %u\r\n", line_coding.parity, line_coding.data_bits);
   }
-#else
-  // Set Line Coding upon mounted
-  cdc_line_coding_t new_line_coding = { 115200, CDC_LINE_CODING_STOP_BITS_1, CDC_LINE_CODING_PARITY_NONE, 8 };
-  tuh_cdc_set_line_coding(idx, &new_line_coding, NULL, 0);
-#endif
 }
 
 // Invoked when a device with CDC interface is unmounted
diff --git a/examples/host/cdc_msc_hid_freertos/only.txt b/examples/host/cdc_msc_hid_freertos/only.txt
index 753fa7cd3..4ab8a906e 100644
--- a/examples/host/cdc_msc_hid_freertos/only.txt
+++ b/examples/host/cdc_msc_hid_freertos/only.txt
@@ -16,6 +16,7 @@ mcu:MSP432E4
 mcu:RW61X
 mcu:RX65X
 mcu:STM32C0
+mcu:STM32C5
 mcu:STM32F4
 mcu:STM32F7
 mcu:STM32G0
diff --git a/examples/host/cdc_msc_hid_freertos/src/cdc_app.c b/examples/host/cdc_msc_hid_freertos/src/cdc_app.c
index 30baacaac..9fad775e9 100644
--- a/examples/host/cdc_msc_hid_freertos/src/cdc_app.c
+++ b/examples/host/cdc_msc_hid_freertos/src/cdc_app.c
@@ -29,16 +29,16 @@
 #include "app.h"
 
 #ifdef ESP_PLATFORM
-  #define CDC_STACK_SZIE      2048
+  #define CDC_STACK_SIZE      2048
 #else
-  #define CDC_STACK_SZIE     (3*configMINIMAL_STACK_SIZE/2)
+  #define CDC_STACK_SIZE     (3*configMINIMAL_STACK_SIZE/2)
 #endif
 
 //--------------------------------------------------------------------+
 // MACRO TYPEDEF CONSTANT ENUM DECLARATION
 //--------------------------------------------------------------------+
 #if configSUPPORT_STATIC_ALLOCATION
-StackType_t  cdc_stack[CDC_STACK_SZIE];
+StackType_t  cdc_stack[CDC_STACK_SIZE];
 StaticTask_t cdc_taskdef;
 #endif
 
@@ -46,9 +46,9 @@ static void cdc_app_task(void* param);
 
 void cdc_app_init(void) {
   #if configSUPPORT_STATIC_ALLOCATION
-  (void) xTaskCreateStatic(cdc_app_task, "cdc", CDC_STACK_SZIE, NULL, configMAX_PRIORITIES-2, cdc_stack, &cdc_taskdef);
+  (void) xTaskCreateStatic(cdc_app_task, "cdc", CDC_STACK_SIZE, NULL, configMAX_PRIORITIES-2, cdc_stack, &cdc_taskdef);
   #else
-  (void) xTaskCreate(cdc_app_task, "cdc", CDC_STACK_SZIE, NULL, configMAX_PRIORITIES-2, NULL);
+  (void) xTaskCreate(cdc_app_task, "cdc", CDC_STACK_SIZE, NULL, configMAX_PRIORITIES-2, NULL);
   #endif
 }
 
diff --git a/examples/host/device_info/only.txt b/examples/host/device_info/only.txt
index 742935dcf..4c2cb0f35 100644
--- a/examples/host/device_info/only.txt
+++ b/examples/host/device_info/only.txt
@@ -21,6 +21,7 @@ mcu:RP2040
 mcu:RW61X
 mcu:RX65X
 mcu:STM32C0
+mcu:STM32C5
 mcu:STM32F4
 mcu:STM32F7
 mcu:STM32G0
diff --git a/examples/host/device_info/src/main.c b/examples/host/device_info/src/main.c
index b0e38dd6b..f32ed1a3e 100644
--- a/examples/host/device_info/src/main.c
+++ b/examples/host/device_info/src/main.c
@@ -72,8 +72,14 @@ CFG_TUH_MEM_SECTION struct {
 } desc;
 
 void led_blinking_task(void* param);
+void print_devinfo_task(void* param);
 static void print_utf16(uint16_t* temp_buf, size_t buf_len);
 
+// One flag per possible device address — set by tuh_mount_cb (host task) and
+// cleared by print_devinfo_task (separate task / main loop) once the device's
+// descriptor info has been printed.
+static volatile bool need_devinfo[CFG_TUH_DEVICE_MAX + 1];
+
 #if CFG_TUSB_OS == OPT_OS_FREERTOS
 void init_freertos_task(void);
 #endif
@@ -103,6 +109,7 @@ int main(void) {
   init_tinyusb();
   while (1) {
     tuh_task();     // tinyusb host task
+    print_devinfo_task(NULL);
     led_blinking_task(NULL);
   }
 #endif
@@ -110,10 +117,34 @@ int main(void) {
 
 /*------------- TinyUSB Callbacks -------------*/
 
-// Invoked when device is mounted (configured)
+// Invoked when device is mounted (configured). Runs in the host task — keep
+// it minimal. The actual descriptor fetching/printing happens in
+// print_devinfo_task() below, which runs in a different context (main loop
+// on OS_NONE / dedicated task on RTOS) where the sync helpers are safe.
 void tuh_mount_cb(uint8_t daddr) {
   blink_interval_ms = BLINK_MOUNTED;
+  if (daddr < TU_ARRAY_SIZE(need_devinfo)) {
+    need_devinfo[daddr] = true;
+  }
+}
 
+// Invoked when device is unmounted (bus reset/unplugged)
+void tuh_umount_cb(uint8_t daddr) {
+  blink_interval_ms = BLINK_NOT_MOUNTED;
+  if (daddr < TU_ARRAY_SIZE(need_devinfo)) {
+    need_devinfo[daddr] = false;
+  }
+  printf("Device removed, address = %d\r\n", daddr);
+}
+
+//--------------------------------------------------------------------+
+// Print device info task — serialises descriptor fetching across all
+// mounted devices using the sync helpers. Sync calls are safe here because
+// this task runs outside the host-task callback context (main loop on
+// OS_NONE / dedicated FreeRTOS task on RTOS).
+//--------------------------------------------------------------------+
+
+static void print_one_device(uint8_t daddr) {
   // Get Device Descriptor
   uint8_t xfer_result = tuh_descriptor_get_device_sync(daddr, &desc.device, 18);
   if (XFER_RESULT_SUCCESS != xfer_result) {
@@ -129,9 +160,8 @@ void tuh_mount_cb(uint8_t daddr) {
   }
   if (XFER_RESULT_SUCCESS != xfer_result) {
     uint16_t* serial = (uint16_t*)(uintptr_t) desc.serial;
-
     serial[0] = (uint16_t)((TUSB_DESC_STRING << 8) | (2 * 1 + 2));
-    serial[1] = '0'; // simply 0
+    serial[1] = '0';
     serial[2] = 0;
   }
   print_utf16((uint16_t*)(uintptr_t) desc.serial, sizeof(desc.serial)/2);
@@ -149,12 +179,9 @@ void tuh_mount_cb(uint8_t daddr) {
   printf("  idProduct           0x%04x\r\n", desc.device.idProduct);
   printf("  bcdDevice           %04x\r\n", desc.device.bcdDevice);
 
-  // Get String descriptor using Sync API
-
   printf("  iManufacturer       %u     ", desc.device.iManufacturer);
   if (desc.device.iManufacturer != 0) {
-    xfer_result = tuh_descriptor_get_manufacturer_string_sync(daddr, LANGUAGE_ID, desc.buf, sizeof(desc.buf));
-    if (XFER_RESULT_SUCCESS == xfer_result) {
+    if (XFER_RESULT_SUCCESS == tuh_descriptor_get_manufacturer_string_sync(daddr, LANGUAGE_ID, desc.buf, sizeof(desc.buf))) {
       print_utf16((uint16_t*)(uintptr_t) desc.buf, sizeof(desc.buf)/2);
     }
   }
@@ -162,22 +189,33 @@ void tuh_mount_cb(uint8_t daddr) {
 
   printf("  iProduct            %u     ", desc.device.iProduct);
   if (desc.device.iProduct != 0) {
-    xfer_result = tuh_descriptor_get_product_string_sync(daddr, LANGUAGE_ID, desc.buf, sizeof(desc.buf));
-    if (XFER_RESULT_SUCCESS == xfer_result) {
+    if (XFER_RESULT_SUCCESS == tuh_descriptor_get_product_string_sync(daddr, LANGUAGE_ID, desc.buf, sizeof(desc.buf))) {
       print_utf16((uint16_t*)(uintptr_t) desc.buf, sizeof(desc.buf)/2);
     }
   }
   printf("\r\n");
 
   printf("  iSerialNumber       %u     ", desc.device.iSerialNumber);
-  printf("%s\r\n", (char*)desc.serial); // serial is already to UTF-8
+  printf("%s\r\n", (char*)desc.serial); // serial is already UTF-8
   printf("  bNumConfigurations  %u\r\n", desc.device.bNumConfigurations);
 }
 
-// Invoked when device is unmounted (bus reset/unplugged)
-void tuh_umount_cb(uint8_t daddr) {
-  blink_interval_ms = BLINK_NOT_MOUNTED;
-  printf("Device removed, address = %d\r\n", daddr);
+void print_devinfo_task(void* param) {
+  (void) param;
+
+#if CFG_TUSB_OS == OPT_OS_FREERTOS
+  while (1) {
+#endif
+    for (uint8_t daddr = 1; daddr < TU_ARRAY_SIZE(need_devinfo); daddr++) {
+      if (need_devinfo[daddr]) {
+        need_devinfo[daddr] = false;
+        print_one_device(daddr);
+      }
+    }
+#if CFG_TUSB_OS == OPT_OS_FREERTOS
+    vTaskDelay(pdMS_TO_TICKS(10));
+  }
+#endif
 }
 
 //--------------------------------------------------------------------+
@@ -278,6 +316,9 @@ StaticTask_t blinky_taskdef;
 
 StackType_t  usb_stack[USB_STACK_SIZE];
 StaticTask_t usb_taskdef;
+
+StackType_t  devinfo_stack[USB_STACK_SIZE];
+StaticTask_t devinfo_taskdef;
 #endif
 
 #ifdef ESP_PLATFORM
@@ -299,9 +340,11 @@ void init_freertos_task(void) {
 #if configSUPPORT_STATIC_ALLOCATION
   xTaskCreateStatic(led_blinking_task, "blinky", BLINKY_STACK_SIZE, NULL, 1, blinky_stack, &blinky_taskdef);
   xTaskCreateStatic(usb_host_task, "usbh", USB_STACK_SIZE, NULL, configMAX_PRIORITIES-1, usb_stack, &usb_taskdef);
+  xTaskCreateStatic(print_devinfo_task, "devinfo", USB_STACK_SIZE, NULL, configMAX_PRIORITIES-2, devinfo_stack, &devinfo_taskdef);
 #else
   xTaskCreate(led_blinking_task, "blinky", BLINKY_STACK_SIZE, NULL, 1, NULL);
   xTaskCreate(usb_host_task, "usbh", USB_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL);
+  xTaskCreate(print_devinfo_task, "devinfo", USB_STACK_SIZE, NULL, configMAX_PRIORITIES - 2, NULL);
 #endif
 
   // only start scheduler for non-espressif mcu
diff --git a/examples/host/midi2_host/src/main.c b/examples/host/midi2_host/src/main.c
index 63b08318c..d81e77a33 100644
--- a/examples/host/midi2_host/src/main.c
+++ b/examples/host/midi2_host/src/main.c
@@ -35,7 +35,7 @@
 // State
 //--------------------------------------------------------------------+
 
-static uint8_t midi2_idx = 0xFF;
+TU_ATTR_UNUSED static uint8_t midi2_idx = 0xFF;
 
 //--------------------------------------------------------------------+
 // UMP printer - shows MT and word(s) in hex; decodes Channel Voice
@@ -160,6 +160,4 @@ int main(void) {
   while (1) {
     tuh_task();
   }
-
-  return 0;
 }
diff --git a/examples/host/midi_rx/only.txt b/examples/host/midi_rx/only.txt
index c71aacd87..65ef8fac9 100644
--- a/examples/host/midi_rx/only.txt
+++ b/examples/host/midi_rx/only.txt
@@ -23,6 +23,7 @@ mcu:RP2040
 mcu:RW61X
 mcu:RX65X
 mcu:STM32C0
+mcu:STM32C5
 mcu:STM32F4
 mcu:STM32F7
 mcu:STM32G0
diff --git a/examples/host/msc_file_explorer/only.txt b/examples/host/msc_file_explorer/only.txt
index 1ddfc2b5c..a2ff93be5 100644
--- a/examples/host/msc_file_explorer/only.txt
+++ b/examples/host/msc_file_explorer/only.txt
@@ -20,6 +20,7 @@ mcu:RP2040
 mcu:RW61X
 mcu:RX65X
 mcu:STM32C0
+mcu:STM32C5
 mcu:STM32F4
 mcu:STM32F7
 mcu:STM32G0
diff --git a/examples/host/msc_file_explorer_freertos/skip.txt b/examples/host/msc_file_explorer_freertos/skip.txt
index f0be07d25..a8c9bea2a 100644
--- a/examples/host/msc_file_explorer_freertos/skip.txt
+++ b/examples/host/msc_file_explorer_freertos/skip.txt
@@ -1,3 +1,4 @@
 mcu:CH32F20X
 board:lpcxpresso54114
 mcu:FT90X
+board:stm32h7s3nucleo
diff --git a/hw/bsp/BoardPresets.json b/hw/bsp/BoardPresets.json
index 86609d075..2ad940caf 100644
--- a/hw/bsp/BoardPresets.json
+++ b/hw/bsp/BoardPresets.json
@@ -6,7 +6,7 @@
       "hidden": true,
       "description": "Configure preset for the ${presetName} board",
       "generator": "Ninja Multi-Config",
-      "binaryDir": "${sourceDir}/build/${presetName}",
+      "binaryDir": "${sourceDir}/cmake-build-${presetName}",
       "cacheVariables": {
         "CMAKE_DEFAULT_BUILD_TYPE": "RelWithDebInfo",
         "BOARD": "${presetName}"
@@ -17,7 +17,7 @@
       "hidden": true,
       "description": "Configure preset for the ${presetName} board",
       "generator": "Ninja",
-      "binaryDir": "${sourceDir}/build/${presetName}",
+      "binaryDir": "${sourceDir}/cmake-build-${presetName}",
       "cacheVariables": {
         "BOARD": "${presetName}"
       }
@@ -123,6 +123,10 @@
       "inherits": "default"
     },
     {
+      "name": "ch32v103c_bluepill",
+      "inherits": "default"
+    },
+    {
       "name": "ch32v103r_r1_1v0",
       "inherits": "default"
     },
@@ -627,6 +631,10 @@
       "inherits": "default"
     },
     {
+      "name": "stm32c542nucleo",
+      "inherits": "default"
+    },
+    {
       "name": "stm32f070rbnucleo",
       "inherits": "default"
     },
@@ -1088,6 +1096,11 @@
       "configurePreset": "ch32f205r-r0"
     },
     {
+      "name": "ch32v103c_bluepill",
+      "description": "Build preset for the ch32v103c_bluepill board",
+      "configurePreset": "ch32v103c_bluepill"
+    },
+    {
       "name": "ch32v103r_r1_1v0",
       "description": "Build preset for the ch32v103r_r1_1v0 board",
       "configurePreset": "ch32v103r_r1_1v0"
@@ -1763,6 +1776,11 @@
       "configurePreset": "stm32c071nucleo"
     },
     {
+      "name": "stm32c542nucleo",
+      "description": "Build preset for the stm32c542nucleo board",
+      "configurePreset": "stm32c542nucleo"
+    },
+    {
       "name": "stm32f070rbnucleo",
       "description": "Build preset for the stm32f070rbnucleo board",
       "configurePreset": "stm32f070rbnucleo"
@@ -2473,6 +2491,19 @@
       ]
     },
     {
+      "name": "ch32v103c_bluepill",
+      "steps": [
+        {
+          "type": "configure",
+          "name": "ch32v103c_bluepill"
+        },
+        {
+          "type": "build",
+          "name": "ch32v103c_bluepill"
+        }
+      ]
+    },
+    {
       "name": "ch32v103r_r1_1v0",
       "steps": [
         {
@@ -4228,6 +4259,19 @@
       ]
     },
     {
+      "name": "stm32c542nucleo",
+      "steps": [
+        {
+          "type": "configure",
+          "name": "stm32c542nucleo"
+        },
+        {
+          "type": "build",
+          "name": "stm32c542nucleo"
+        }
+      ]
+    },
+    {
       "name": "stm32f070rbnucleo",
       "steps": [
         {
diff --git a/hw/bsp/ch32v10x/boards/ch32v103c_bluepill/board.cmake b/hw/bsp/ch32v10x/boards/ch32v103c_bluepill/board.cmake
new file mode 100644
index 000000000..f6e47ba30
--- /dev/null
+++ b/hw/bsp/ch32v10x/boards/ch32v103c_bluepill/board.cmake
@@ -0,0 +1,8 @@
+set(LD_FLASH_SIZE 64K)
+set(LD_RAM_SIZE 20K)
+
+function(update_board TARGET)
+  target_compile_definitions(${TARGET} PUBLIC
+    CFG_EXAMPLE_MSC_DUAL_READONLY
+    )
+endfunction()
diff --git a/hw/bsp/ch32v10x/boards/ch32v103c_bluepill/board.h b/hw/bsp/ch32v10x/boards/ch32v103c_bluepill/board.h
new file mode 100644
index 000000000..3a97b44d6
--- /dev/null
+++ b/hw/bsp/ch32v10x/boards/ch32v103c_bluepill/board.h
@@ -0,0 +1,27 @@
+/* Some Chinese manufacturers use CH32V103C8T6 to make Bluepill boards
+ */
+/* metadata:
+   name: CH32V103C8T6-Bluepill
+   url: https://stm32-base.org/boards/STM32F103C8T6-Blue-Pill
+*/
+
+#ifndef BOARD_H_
+#define BOARD_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define LED_PORT            GPIOC
+#define LED_PIN             GPIO_Pin_13
+#define LED_STATE_ON        0
+
+#define BUTTON_PORT         GPIOA
+#define BUTTON_PIN          GPIO_Pin_1
+#define BUTTON_STATE_ACTIVE 1
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/hw/bsp/ch32v10x/boards/ch32v103c_bluepill/board.mk b/hw/bsp/ch32v10x/boards/ch32v103c_bluepill/board.mk
new file mode 100644
index 000000000..e594f42a7
--- /dev/null
+++ b/hw/bsp/ch32v10x/boards/ch32v103c_bluepill/board.mk
@@ -0,0 +1,5 @@
+CFLAGS += -DCFG_EXAMPLE_MSC_DUAL_READONLY
+
+LDFLAGS += \
+  -Wl,--defsym=__FLASH_SIZE=64K \
+  -Wl,--defsym=__RAM_SIZE=20K \
diff --git a/hw/bsp/ch32v10x/family.c b/hw/bsp/ch32v10x/family.c
index 72dae7086..9f5dc5572 100644
--- a/hw/bsp/ch32v10x/family.c
+++ b/hw/bsp/ch32v10x/family.c
@@ -66,14 +66,33 @@ uint32_t tusb_time_millis_api(void) {
 }
 #endif
 
+// 0x800 CSR register is writable in U-mode
+// according to manual: https://www.wch-ic.com/downloads/QingKeV3_Processor_Manual_PDF.html
+__attribute__((always_inline)) RV_STATIC_INLINE
+void __wch_vendor_enable_irq(void)
+{
+  __asm volatile ("csrs 0x800, %0" : : "r" (0x88) );
+}
+
+__attribute__((always_inline)) RV_STATIC_INLINE
+void __wch_vendor_disable_irq(void)
+{
+  __asm volatile ("csrc 0x800, %0" : : "r" (0x88) );
+  __asm volatile ("fence.i");
+}
+
 void board_init(void) {
-  __disable_irq();
+  /* __disable_irq() in CH32V103 EVT attempts to call
+   * `csrc mstatus, 0x88` in U-mode, which is allowed ONLY in M-mode.
+   * Replace this with CSR 0x800 to avoid hard-fault. */
+  __wch_vendor_disable_irq();
 
 #if CFG_TUSB_OS == OPT_OS_NONE
   SysTick_Config(SystemCoreClock / 1000);
 #endif
 
   RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
+  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
 
   EXTEN->EXTEN_CTR |= EXTEN_USBFS_IO_EN;
   uint8_t usb_div;
@@ -123,7 +142,7 @@ void board_init(void) {
   USART_Init(USART1, &usart);
   USART_Cmd(USART1, ENABLE);
 
-  __enable_irq();
+  __wch_vendor_enable_irq();
 
   board_led_write(true);
 }
diff --git a/hw/bsp/espressif/family.cmake b/hw/bsp/espressif/family.cmake
index 30d5a6ac9..b3bda4ad8 100644
--- a/hw/bsp/espressif/family.cmake
+++ b/hw/bsp/espressif/family.cmake
@@ -44,3 +44,10 @@ set(EXTRA_COMPONENT_DIRS "src" "${CMAKE_CURRENT_LIST_DIR}/boards" "${CMAKE_CURRE
 set(SDKCONFIG ${CMAKE_BINARY_DIR}/sdkconfig)
 
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+
+# CI_BUILD marks firmware built in CI (GitHub Actions sets CI). Mirrors the
+# non-espressif define added in family_configure_common(); applied build-wide
+# here since espressif examples return before that function runs.
+if(DEFINED ENV{CI})
+  idf_build_set_property(COMPILE_DEFINITIONS "CI_BUILD=1" APPEND)
+endif()
diff --git a/hw/bsp/family_support.cmake b/hw/bsp/family_support.cmake
index 2468ac43c..1f3952205 100644
--- a/hw/bsp/family_support.cmake
+++ b/hw/bsp/family_support.cmake
@@ -244,7 +244,7 @@ function(family_add_bloaty TARGET)
     COMMAND ${BLOATY_EXE} ${OPTION_LIST} $<TARGET_FILE:${TARGET}>
     VERBATIM)
 
-  set_property(TARGET ${TARGET}-bloaty PROPERTY FOLDER ${TARGET}-group)
+  #set_property(TARGET ${TARGET}-bloaty PROPERTY FOLDER ${TARGET}-group)
   # post build
   #  add_custom_command(TARGET ${TARGET} POST_BUILD
   #    COMMAND ${BLOATY_EXE} --csv ${OPTION_LIST} $<TARGET_FILE:${TARGET}> > ${CMAKE_CURRENT_BINARY_DIR}/${TARGET}_bloaty.csv
@@ -265,7 +265,7 @@ function(family_add_linkermap TARGET)
     VERBATIM
     )
 
-  set_property(TARGET ${TARGET}-linkermap PROPERTY FOLDER ${TARGET}-group)
+  #set_property(TARGET ${TARGET}-linkermap PROPERTY FOLDER ${TARGET}-group)
 
   # post build
   add_custom_command(TARGET ${TARGET} POST_BUILD
@@ -347,7 +347,7 @@ echo \"$MEMBROWSE_CMD\"")
       COMMAND ${CMAKE_COMMAND} -E env MEMBROWSE_UPLOAD=0 bash -lc "${MEMBROWSE_PREPARE_CMD}; eval \"$MEMBROWSE_CMD\""
       VERBATIM
       )
-    set_property(TARGET ${TARGET}-membrowse PROPERTY FOLDER ${TARGET}-group)
+    #set_property(TARGET ${TARGET}-membrowse PROPERTY FOLDER ${TARGET}-group)
 
     add_custom_target(${TARGET}-membrowse-upload
       COMMAND ${CMAKE_COMMAND} -E env MEMBROWSE_UPLOAD=1 bash -lc "${MEMBROWSE_PREPARE_CMD}; eval \"$MEMBROWSE_CMD\""
@@ -359,7 +359,7 @@ echo \"$MEMBROWSE_CMD\"")
     endif ()
     add_dependencies(examples-membrowse-upload ${TARGET}-membrowse-upload)
 
-    set_property(TARGET ${TARGET}-membrowse-upload PROPERTY FOLDER ${TARGET}-group)
+    #set_property(TARGET ${TARGET}-membrowse-upload PROPERTY FOLDER ${TARGET}-group)
   endif ()
 endfunction()
 
@@ -454,6 +454,12 @@ function(family_configure_common TARGET RTOS)
     BOARD_${BOARD_UPPER}
   )
 
+  # CI_BUILD marks firmware built in CI (GitHub Actions sets CI). Examples can use
+  # it to alter behavior under test, e.g. board_test idles to park HIL boards.
+  if(DEFINED ENV{CI})
+    target_compile_definitions(${TARGET} PUBLIC CI_BUILD=1)
+  endif()
+
   # compile define from command line
   if(DEFINED CFLAGS_CLI)
     separate_arguments(CFLAGS_CLI)
@@ -648,7 +654,7 @@ exit"
     VERBATIM
     )
 
-  set_property(TARGET ${NAME_TARGET}-jlink PROPERTY FOLDER ${TARGET}-group)
+#  set_property(TARGET ${NAME_TARGET}-jlink PROPERTY FOLDER ${NAME_TARGET}-group)
 endfunction()
 
 
@@ -663,7 +669,7 @@ function(family_flash_stlink TARGET)
     COMMAND ${STM32_PROGRAMMER_CLI} --connect port=swd --write $<TARGET_FILE:${TARGET}> --go
     )
 
-  set_property(TARGET ${TARGET}-stlink PROPERTY FOLDER ${TARGET}-group)
+  #set_property(TARGET ${TARGET}-stlink PROPERTY FOLDER ${TARGET}-group)
 endfunction()
 
 
@@ -678,7 +684,7 @@ function(family_flash_stflash TARGET)
     COMMAND ${ST_FLASH} write $<TARGET_FILE_DIR:${TARGET}>/${TARGET}.bin 0x8000000
     )
 
-  set_property(TARGET ${TARGET}-stflash PROPERTY FOLDER ${TARGET}-group)
+  #set_property(TARGET ${TARGET}-stflash PROPERTY FOLDER ${TARGET}-group)
 endfunction()
 
 
@@ -706,7 +712,7 @@ function(family_flash_openocd TARGET)
     VERBATIM
     )
 
-  set_property(TARGET ${TARGET}-openocd PROPERTY FOLDER ${TARGET}-group)
+  #set_property(TARGET ${TARGET}-openocd PROPERTY FOLDER ${TARGET}-group)
 endfunction()
 
 
@@ -769,7 +775,7 @@ function(family_flash_wlink_rs TARGET)
     COMMAND ${WLINK_RS} flash $<TARGET_FILE:${TARGET}>
     )
 
-  set_property(TARGET ${TARGET}-wlink-rs PROPERTY FOLDER ${TARGET}-group)
+  #set_property(TARGET ${TARGET}-wlink-rs PROPERTY FOLDER ${TARGET}-group)
 endfunction()
 
 
@@ -784,7 +790,7 @@ function(family_flash_pyocd TARGET)
     COMMAND ${PYOCD} flash -t ${PYOCD_TARGET} $<TARGET_FILE:${TARGET}>
     )
 
-  set_property(TARGET ${TARGET}-pyocd PROPERTY FOLDER ${TARGET}-group)
+  #set_property(TARGET ${TARGET}-pyocd PROPERTY FOLDER ${TARGET}-group)
 endfunction()
 
 
@@ -794,7 +800,7 @@ function(family_flash_uf2 TARGET FAMILY_ID)
     DEPENDS ${TARGET}
     COMMAND python ${UF2CONV_PY} -f ${FAMILY_ID} --deploy $<TARGET_FILE_DIR:${TARGET}>/${TARGET}.uf2
     )
-  set_property(TARGET ${TARGET}-uf2 PROPERTY FOLDER ${TARGET}-group)
+  #set_property(TARGET ${TARGET}-uf2 PROPERTY FOLDER ${TARGET}-group)
 endfunction()
 
 
@@ -810,7 +816,7 @@ function(family_flash_teensy TARGET)
     COMMAND ${TEENSY_CLI} --mcu=${TEENSY_MCU} -w -s $<TARGET_FILE_DIR:${TARGET}>/${TARGET}.hex
     )
 
-  set_property(TARGET ${TARGET}-teensy PROPERTY FOLDER ${TARGET}-group)
+  #set_property(TARGET ${TARGET}-teensy PROPERTY FOLDER ${TARGET}-group)
 endfunction()
 
 
@@ -830,7 +836,7 @@ function(family_flash_nxplink TARGET)
     COMMAND ${LINKSERVER_PATH} flash ${NXPLINK_DEVICE} load $<TARGET_FILE:${TARGET}>
     )
 
-  set_property(TARGET ${TARGET}-nxplink PROPERTY FOLDER ${TARGET}-group)
+  #set_property(TARGET ${TARGET}-nxplink PROPERTY FOLDER ${TARGET}-group)
 endfunction()
 
 
@@ -845,7 +851,7 @@ function(family_flash_dfu_util TARGET OPTION)
     VERBATIM
     )
 
-  set_property(TARGET ${TARGET}-dfu-util PROPERTY FOLDER ${TARGET}-group)
+  #set_property(TARGET ${TARGET}-dfu-util PROPERTY FOLDER ${TARGET}-group)
 endfunction()
 
 function(family_flash_msp430flasher TARGET)
@@ -862,7 +868,7 @@ function(family_flash_msp430flasher TARGET)
             ${MSP430FLASHER} -w $<TARGET_FILE_DIR:${TARGET}>/${TARGET}.hex -z [VCC]
     )
 
-  set_property(TARGET ${TARGET}-msp430flasher PROPERTY FOLDER ${TARGET}-group)
+  #set_property(TARGET ${TARGET}-msp430flasher PROPERTY FOLDER ${TARGET}-group)
 endfunction()
 
 function(family_flash_rfp TARGET)
@@ -880,7 +886,7 @@ function(family_flash_rfp TARGET)
     VERBATIM
     )
 
-  set_property(TARGET ${TARGET}-rfp PROPERTY FOLDER ${TARGET}-group)
+  #set_property(TARGET ${TARGET}-rfp PROPERTY FOLDER ${TARGET}-group)
 endfunction()
 
 
@@ -897,7 +903,27 @@ function(family_flash_uniflash TARGET)
     VERBATIM
     )
 
-  set_property(TARGET ${TARGET}-uniflash PROPERTY FOLDER ${TARGET}-group)
+  #set_property(TARGET ${TARGET}-uniflash PROPERTY FOLDER ${TARGET}-group)
+endfunction()
+
+# Add flash lm4flash target (lightweight flasher for TI Tiva-C/Stellaris ICDI boards)
+function(family_flash_lm4flash TARGET)
+  if (NOT DEFINED LM4FLASH)
+    set(LM4FLASH lm4flash)
+  endif ()
+
+  if (NOT DEFINED LM4FLASH_OPTION)
+    set(LM4FLASH_OPTION "")
+  endif ()
+  separate_arguments(OPTION_LIST UNIX_COMMAND ${LM4FLASH_OPTION})
+
+  add_custom_target(${TARGET}-lm4flash
+    DEPENDS ${TARGET}
+    COMMAND ${LM4FLASH} ${OPTION_LIST} $<TARGET_FILE_DIR:${TARGET}>/${TARGET}.bin
+    VERBATIM
+    )
+
+  #set_property(TARGET ${TARGET}-lm4flash PROPERTY FOLDER ${TARGET}-group)
 endfunction()
 
 # Add flash ft9xx target need to remove kernal's ftdi_sio and bind D2XX drivers
@@ -912,7 +938,7 @@ function(family_flash_ft9xx TARGET)
     COMMAND ${FT9XXPROG} -f $<TARGET_FILE_DIR:${TARGET}>/${TARGET}.bin
     )
 
-  set_property(TARGET ${TARGET}-ft9xx PROPERTY FOLDER ${TARGET}-group)
+  #set_property(TARGET ${TARGET}-ft9xx PROPERTY FOLDER ${TARGET}-group)
 endfunction()
 
 #----------------------------------
diff --git a/hw/bsp/stm32c5/FreeRTOSConfig/FreeRTOSConfig.h b/hw/bsp/stm32c5/FreeRTOSConfig/FreeRTOSConfig.h
new file mode 100644
index 000000000..732d9a5cf
--- /dev/null
+++ b/hw/bsp/stm32c5/FreeRTOSConfig/FreeRTOSConfig.h
@@ -0,0 +1,165 @@
+/*
+ * FreeRTOS Kernel V10.0.0
+ * Copyright (C) 2017 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * 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. If you wish to use our Amazon
+ * FreeRTOS name, please do so in a fair use way that does not cause confusion.
+ *
+ * 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.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+/*-----------------------------------------------------------
+ * Application specific definitions.
+ *
+ * These definitions should be adjusted for your particular hardware and
+ * application requirements.
+ *
+ * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
+ * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
+ *
+ * See http://www.freertos.org/a00110.html.
+ *----------------------------------------------------------*/
+
+// skip if included from IAR assembler
+#ifndef __IASMARM__
+  #include "stm32c5xx.h"
+#endif
+
+/* Cortex M23/M33 port configuration. */
+#define configENABLE_MPU                        0
+#define configENABLE_FPU                        1
+#define configENABLE_TRUSTZONE                  0
+#define configMINIMAL_SECURE_STACK_SIZE         (1024)
+
+#define configUSE_PREEMPTION                    1
+#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
+#define configCPU_CLOCK_HZ                      SystemCoreClock
+#define configTICK_RATE_HZ                      ( 1000 )
+#define configMAX_PRIORITIES                    ( 5 )
+#define configMINIMAL_STACK_SIZE                ( 200 )
+#define configTOTAL_HEAP_SIZE                   ( configSUPPORT_DYNAMIC_ALLOCATION*4*1024 )
+#define configMAX_TASK_NAME_LEN                 16
+#define configUSE_16_BIT_TICKS                  0
+#define configIDLE_SHOULD_YIELD                 1
+#define configUSE_MUTEXES                       1
+#define configUSE_RECURSIVE_MUTEXES             1
+#define configUSE_COUNTING_SEMAPHORES           1
+#define configQUEUE_REGISTRY_SIZE               4
+#define configUSE_QUEUE_SETS                    0
+#define configUSE_TIME_SLICING                  0
+#define configUSE_NEWLIB_REENTRANT              0
+#define configENABLE_BACKWARD_COMPATIBILITY     1
+#define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP   0
+
+#define configSUPPORT_STATIC_ALLOCATION         1
+#define configSUPPORT_DYNAMIC_ALLOCATION        0
+
+/* Hook function related definitions. */
+#define configUSE_IDLE_HOOK                    0
+#define configUSE_TICK_HOOK                    0
+#define configUSE_MALLOC_FAILED_HOOK           0 // cause nested extern warning
+#define configCHECK_FOR_STACK_OVERFLOW         2
+#define configCHECK_HANDLER_INSTALLATION       0
+
+/* Run time and task stats gathering related definitions. */
+#define configGENERATE_RUN_TIME_STATS          0
+#define configRECORD_STACK_HIGH_ADDRESS        1
+#define configUSE_TRACE_FACILITY               1 // legacy trace
+#define configUSE_STATS_FORMATTING_FUNCTIONS   0
+
+/* Co-routine definitions. */
+#define configUSE_CO_ROUTINES                  0
+#define configMAX_CO_ROUTINE_PRIORITIES        2
+
+/* Software timer related definitions. */
+#define configUSE_TIMERS                       1
+#define configTIMER_TASK_PRIORITY              (configMAX_PRIORITIES-2)
+#define configTIMER_QUEUE_LENGTH               32
+#define configTIMER_TASK_STACK_DEPTH           configMINIMAL_STACK_SIZE
+
+/* Optional functions - most linkers will remove unused functions anyway. */
+#define INCLUDE_vTaskPrioritySet               0
+#define INCLUDE_uxTaskPriorityGet              0
+#define INCLUDE_vTaskDelete                    0
+#define INCLUDE_vTaskSuspend                   1 // required for queue, semaphore, mutex to be blocked indefinitely with portMAX_DELAY
+#define INCLUDE_xResumeFromISR                 0
+#define INCLUDE_vTaskDelayUntil                1
+#define INCLUDE_vTaskDelay                     1
+#define INCLUDE_xTaskGetSchedulerState         0
+#define INCLUDE_xTaskGetCurrentTaskHandle      1
+#define INCLUDE_uxTaskGetStackHighWaterMark    0
+#define INCLUDE_xTaskGetIdleTaskHandle         0
+#define INCLUDE_xTimerGetTimerDaemonTaskHandle 0
+#define INCLUDE_pcTaskGetTaskName              0
+#define INCLUDE_eTaskGetState                  0
+#define INCLUDE_xEventGroupSetBitFromISR       0
+#define INCLUDE_xTimerPendFunctionCall         0
+
+/* Define to trap errors during development. */
+// Halt CPU (breakpoint) when hitting error, only apply for Cortex M3, M4, M7
+#if defined(__ARM_ARCH_7M__) || defined (__ARM_ARCH_7EM__) || defined(__ARM_ARCH_8M_MAIN__) || defined(__ARM_ARCH_8_1M_MAIN__) || \
+    defined(__ARM7M__) || defined (__ARM7EM__) || defined(__ARM8M_MAINLINE__) || defined(__ARM8EM_MAINLINE__)
+  #define configASSERT(_exp) \
+    do {\
+      if ( !(_exp) ) { \
+        volatile uint32_t* ARM_CM_DHCSR =  ((volatile uint32_t*) 0xE000EDF0UL); /* Cortex M CoreDebug->DHCSR */ \
+        if ( (*ARM_CM_DHCSR) & 1UL ) {  /* Only halt mcu if debugger is attached */ \
+          taskDISABLE_INTERRUPTS(); \
+           __asm("BKPT #0\n"); \
+        }\
+      }\
+    } while(0)
+#endif
+
+/* FreeRTOS hooks to NVIC vectors */
+#define xPortPendSVHandler    PendSV_Handler
+#define xPortSysTickHandler   SysTick_Handler
+#define vPortSVCHandler       SVC_Handler
+
+//--------------------------------------------------------------------+
+// Interrupt nesting behavior configuration.
+//--------------------------------------------------------------------+
+
+// For Cortex-M specific: __NVIC_PRIO_BITS is defined in mcu header
+#define configPRIO_BITS       4
+
+/* The lowest interrupt priority that can be used in a call to a "set priority" function. */
+#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY       ((1<<configPRIO_BITS) - 1)
+
+/* The highest interrupt priority that can be used by any interrupt service
+routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT CALL
+INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
+PRIORITY THAN THIS! (higher priorities are lower numeric values. */
+#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY  2
+
+/* Interrupt priorities used by the kernel port layer itself.  These are generic
+to all Cortex-M ports, and do not rely on any particular library functions. */
+#define configKERNEL_INTERRUPT_PRIORITY               ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+
+/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
+See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY          ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+
+#endif
diff --git a/hw/bsp/stm32c5/boards/stm32c542nucleo/board.cmake b/hw/bsp/stm32c5/boards/stm32c542nucleo/board.cmake
new file mode 100644
index 000000000..563a47ba2
--- /dev/null
+++ b/hw/bsp/stm32c5/boards/stm32c542nucleo/board.cmake
@@ -0,0 +1,13 @@
+set(MCU_VARIANT stm32c542xx)
+set(JLINK_DEVICE stm32c542rc)
+
+set(LD_FILE_GNU ${CMAKE_CURRENT_LIST_DIR}/../../linker/stm32c542xc_flash.ld)
+set(LD_FILE_IAR ${CMAKE_CURRENT_LIST_DIR}/../../linker/stm32c542xc_flash.icf)
+
+function(update_board TARGET)
+  target_compile_definitions(${TARGET} PUBLIC
+    STM32C542xx
+    HSE_VALUE=24000000
+    HSE_STARTUP_TIMEOUT=100
+    )
+endfunction()
diff --git a/hw/bsp/stm32c5/boards/stm32c542nucleo/board.h b/hw/bsp/stm32c5/boards/stm32c542nucleo/board.h
new file mode 100644
index 000000000..b64fad243
--- /dev/null
+++ b/hw/bsp/stm32c5/boards/stm32c542nucleo/board.h
@@ -0,0 +1,83 @@
+/*
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2026, HiFiPhile
+ *
+ * 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.
+ */
+
+/* metadata:
+   name: STM32C542 Nucleo
+   url: https://www.st.com/en/evaluation-tools/nucleo-c542rc.html
+*/
+
+#ifndef BOARD_H_
+#define BOARD_H_
+
+// LED
+#define LED_PORT         HAL_GPIOA
+#define LED_PIN          HAL_GPIO_PIN_5
+
+// Button
+#define BUTTON_PORT           HAL_GPIOC
+#define BUTTON_PIN            HAL_GPIO_PIN_13
+#define BUTTON_STATE_ACTIVE   1
+
+// Enable UART serial communication with the ST-Link
+#define UART_ID               2
+#define UART_GPIO_PORT        HAL_GPIOA
+#define UART_GPIO_AF          HAL_GPIO_AF_7
+#define UART_TX_PIN           HAL_GPIO_PIN_2
+#define UART_RX_PIN           HAL_GPIO_PIN_3
+
+static inline void board_clock_init(void) {
+  HAL_RCC_HSE_Enable(HAL_RCC_HSE_ON);
+
+  hal_rcc_psi_config_t config_psi;
+  config_psi.psi_source = HAL_RCC_PSI_SRC_HSE;
+  config_psi.psi_ref = HAL_RCC_PSI_REF_24MHZ;
+  config_psi.psi_out = HAL_RCC_PSI_OUT_144MHZ;
+  HAL_RCC_PSI_SetConfig(&config_psi);
+  HAL_RCC_PSIS_Enable();
+
+  /** Initializes the CPU, AHB and APB busses clocks */
+  hal_rcc_bus_clk_config_t config_bus;
+  config_bus.hclk_prescaler  = HAL_RCC_HCLK_PRESCALER1;
+  config_bus.pclk1_prescaler = HAL_RCC_PCLK_PRESCALER1;
+  config_bus.pclk2_prescaler = HAL_RCC_PCLK_PRESCALER1;
+  config_bus.pclk3_prescaler = HAL_RCC_PCLK_PRESCALER1;
+  HAL_RCC_SetBusClockConfig(&config_bus);
+
+  /** Frequency will be increased */
+  HAL_FLASH_ITF_SetLatency(HAL_FLASH, HAL_FLASH_ITF_LATENCY_4);
+
+  HAL_RCC_SetSYSCLKSource(HAL_RCC_SYSCLK_SRC_PSIS);
+
+  HAL_FLASH_ITF_SetProgrammingDelay(HAL_FLASH, HAL_FLASH_ITF_PROGRAM_DELAY_2);
+
+  HAL_UpdateCoreClock();
+
+  HAL_RCC_USART2_SetKernelClkSource(HAL_RCC_USART2_CLK_SRC_PCLK1);
+
+  HAL_RCC_PSIDIV3_Enable();
+  HAL_RCC_CK48_SetKernelClkSource(HAL_RCC_CK48_CLK_SRC_PSIDIV3);
+}
+#endif /* BOARD_H_ */
diff --git a/hw/bsp/stm32c5/boards/stm32c542nucleo/board.mk b/hw/bsp/stm32c5/boards/stm32c542nucleo/board.mk
new file mode 100644
index 000000000..b3da64713
--- /dev/null
+++ b/hw/bsp/stm32c5/boards/stm32c542nucleo/board.mk
@@ -0,0 +1,13 @@
+MCU_VARIANT = stm32c542xx
+
+CFLAGS += \
+	-DSTM32C542xx \
+	-DHSE_VALUE=24000000 \
+	-DHSE_STARTUP_TIMEOUT=100
+
+# GCC
+LD_FILE = $(FAMILY_PATH)/linker/stm32c542xc_flash.ld
+
+
+# For flash-jlink target
+JLINK_DEVICE = stm32c542rc
diff --git a/hw/bsp/stm32c5/family.c b/hw/bsp/stm32c5/family.c
new file mode 100644
index 000000000..40b86fc55
--- /dev/null
+++ b/hw/bsp/stm32c5/family.c
@@ -0,0 +1,250 @@
+/*
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2019 Ha Thach (tinyusb.org)
+ * Copyright (c) 2023 HiFiPhile
+ *
+ * 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.
+ */
+
+/* metadata:
+   manufacturer: STMicroelectronics
+*/
+
+#include "stm32_hal.h"
+#include "bsp/board_api.h"
+#include "board.h"
+
+#ifdef UART_ID
+  #if UART_ID == 1
+    #define UARTn              USART1
+    #define UARTn_CLK_ENABLE   HAL_RCC_USART1_EnableClock
+  #elif UART_ID == 2
+    #define UARTn              USART2
+    #define UARTn_CLK_ENABLE   HAL_RCC_USART2_EnableClock
+  #endif
+#endif
+
+//--------------------------------------------------------------------+
+// Forward USB interrupt events to TinyUSB IRQ Handler
+//--------------------------------------------------------------------+
+void USB_DRD_FS_IRQHandler(void) {
+  tusb_int_handler(0, true);
+}
+
+//--------------------------------------------------------------------+
+// MACRO TYPEDEF CONSTANT ENUM
+//--------------------------------------------------------------------+
+static void mpu_init(void);
+
+void board_init(void) {
+  mpu_init();
+  LL_ICACHE_Enable(ICACHE);
+
+  HAL_Init();
+  board_clock_init();
+
+  // Enable peripheral clocks.
+  HAL_RCC_GPIOA_EnableClock();
+  HAL_RCC_GPIOB_EnableClock();
+  HAL_RCC_GPIOC_EnableClock();
+  HAL_RCC_GPIOD_EnableClock();
+  HAL_RCC_USB_EnableClock();
+
+#if CFG_TUSB_OS == OPT_OS_NONE
+  // 1ms tick timer
+  SysTick_Config(SystemCoreClock / 1000);
+#elif CFG_TUSB_OS == OPT_OS_FREERTOS
+  // Explicitly disable systick to prevent its ISR from running before scheduler start
+  SysTick->CTRL &= ~1U;
+
+  // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
+  NVIC_SetPriority(USB_DRD_FS_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
+#endif
+
+  // LED
+  {
+    hal_gpio_config_t gpio_config;
+    gpio_config.mode = HAL_GPIO_MODE_OUTPUT;
+    gpio_config.speed = HAL_GPIO_SPEED_FREQ_LOW;
+    gpio_config.pull = HAL_GPIO_PULL_NO;
+    gpio_config.output_type = HAL_GPIO_OUTPUT_PUSHPULL;
+    gpio_config.init_state = HAL_GPIO_PIN_RESET;
+
+    HAL_GPIO_Init(LED_PORT, LED_PIN, &gpio_config);
+  }
+
+  // Button
+  {
+    hal_gpio_config_t gpio_config;
+    gpio_config.mode = HAL_GPIO_MODE_INPUT;
+    gpio_config.speed = HAL_GPIO_SPEED_FREQ_LOW;
+    gpio_config.pull = BUTTON_STATE_ACTIVE ? HAL_GPIO_PULL_DOWN : HAL_GPIO_PULL_UP;
+    HAL_GPIO_Init(BUTTON_PORT, BUTTON_PIN, &gpio_config);
+  }
+
+#ifdef UART_ID
+  UARTn_CLK_ENABLE();
+  // UART
+  {
+    hal_gpio_config_t  gpio_config;
+    gpio_config.mode = HAL_GPIO_MODE_ALTERNATE;
+    gpio_config.output_type = HAL_GPIO_OUTPUT_PUSHPULL;
+    gpio_config.pull = HAL_GPIO_PULL_NO;
+    gpio_config.speed = HAL_GPIO_SPEED_FREQ_LOW;
+    gpio_config.alternate = UART_GPIO_AF;
+    HAL_GPIO_Init(UART_GPIO_PORT, UART_TX_PIN | UART_RX_PIN, &gpio_config);
+  }
+
+  LL_USART_ConfigAsyncMode(UARTn);
+  uint32_t reg_temp = (LL_USART_DATAWIDTH_8_BIT | LL_USART_PARITY_NONE
+                     | LL_USART_DIRECTION_TX_RX | LL_USART_OVERSAMPLING_16);
+  LL_USART_ConfigXfer(UARTn, reg_temp, LL_USART_STOP_BIT_1);
+  LL_USART_SetBaudRate(UARTn, SystemCoreClock, LL_USART_PRESCALER_DIV1, LL_USART_OVERSAMPLING_16,
+                       115200);
+  LL_USART_EnableFIFO(UARTn);
+  LL_USART_Enable(UARTn);
+#endif
+}
+
+static void mpu_init(void)
+{
+  /* Disables the MPU */
+  HAL_CORTEX_MPU_Disable();
+
+  /*
+     Initializes and configures the MPU attributes
+  */
+  HAL_CORTEX_MPU_SetCacheMemAttr(HAL_CORTEX_MPU_MEM_ATTR_0, HAL_CORTEX_MPU_NORMAL_MEM_NCACHEABLE);
+
+  /*
+     Initializes and configures the MPU Region
+  */
+  hal_cortex_mpu_region_config_t p_region_config = {0};
+
+  p_region_config.base_addr = 0x8FFE000;
+  p_region_config.limit_addr = 0x8FFFFFF;
+  p_region_config.access_attr = HAL_CORTEX_MPU_REGION_ALL_RO;
+  p_region_config.exec_attr = HAL_CORTEX_MPU_EXECUTION_ATTR_DISABLE;
+  p_region_config.attr_idx = HAL_CORTEX_MPU_MEM_ATTR_0;
+  HAL_CORTEX_MPU_SetConfigRegion(HAL_CORTEX_MPU_REGION_0, &p_region_config);
+
+  HAL_CORTEX_MPU_EnableRegion(HAL_CORTEX_MPU_REGION_0);
+
+  /* Enables the MPU */
+  HAL_CORTEX_MPU_Enable(HAL_CORTEX_MPU_HARDFAULT_NMI_DISABLE, HAL_CORTEX_MPU_ACCESS_FAULT_ONLY_PRIV);
+}
+
+//--------------------------------------------------------------------+
+// Board porting API
+//--------------------------------------------------------------------+
+
+void board_led_write(bool state) {
+  hal_gpio_pin_state_t pin_state = state ? HAL_GPIO_PIN_SET : HAL_GPIO_PIN_RESET;
+  HAL_GPIO_WritePin(LED_PORT, LED_PIN, pin_state);
+}
+
+uint32_t board_button_read(void) {
+  return BUTTON_STATE_ACTIVE == HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN);
+}
+
+size_t board_get_unique_id(uint8_t id[], size_t max_len) {
+  (void) max_len;
+  volatile uint32_t * stm32_uuid = (volatile uint32_t *) UID_BASE;
+  uint32_t* id32 = (uint32_t*) (uintptr_t) id;
+  uint8_t const len = 12;
+
+  id32[0] = stm32_uuid[0];
+  id32[1] = stm32_uuid[1];
+  id32[2] = stm32_uuid[2];
+
+  return len;
+}
+
+int board_uart_read(uint8_t *buf, int len) {
+#ifdef UART_ID
+  int count = 0;
+  while (count < len) {
+    if (LL_USART_IsActiveFlag_RXNE_RXFNE(UARTn)) {
+      buf[count] = LL_USART_ReceiveData8(UARTn);
+      count++;
+    } else {
+      break;
+    }
+  }
+  return count;
+#else
+  (void) buf; (void) len;
+  return -1;
+#endif
+}
+
+int board_uart_write(void const *buf, int len) {
+#ifdef UART_ID
+  const uint8_t *p = (const uint8_t *) buf;
+  int count = 0;
+  while (count < len) {
+    if (LL_USART_IsActiveFlag_TXE_TXFNF(UARTn)) {
+      LL_USART_TransmitData8(UARTn, p[count]);
+      count++;
+    } else {
+      break;
+    }
+  }
+  return count;
+#else
+  (void) buf; (void) len;
+  return 0;
+#endif
+}
+
+#if CFG_TUSB_OS == OPT_OS_NONE
+volatile uint32_t system_ticks = 0;
+
+void SysTick_Handler(void) {
+  system_ticks++;
+  HAL_IncTick();
+}
+
+uint32_t tusb_time_millis_api(void) {
+  return system_ticks;
+}
+#endif
+
+void HardFault_Handler(void) {
+  __asm("BKPT #0\n");
+}
+
+#ifndef __ICCARM__
+// Implement _start() since we use linker flag '-nostartfiles'.
+extern int main(void);
+TU_ATTR_UNUSED void _start(void) {
+  // called by startup code
+  main();
+  while (1) {}
+}
+#endif
+
+// Required by __libc_init_array in startup code if we are compiling using
+// -nostdlib/-nostartfiles.
+void _init(void) {
+
+}
diff --git a/hw/bsp/stm32c5/family.cmake b/hw/bsp/stm32c5/family.cmake
new file mode 100644
index 000000000..5b63b1ce4
--- /dev/null
+++ b/hw/bsp/stm32c5/family.cmake
@@ -0,0 +1,111 @@
+include_guard()
+
+set(ST_FAMILY c5)
+set(ST_PREFIX stm32${ST_FAMILY}xx)
+
+set(ST_DRIVER ${TOP}/hw/mcu/st/stm32${ST_FAMILY}xx-drivers)
+set(ST_CMSIS ${TOP}/hw/mcu/st/stm32${ST_FAMILY}xx-dfp)
+set(CMSIS_6 ${TOP}/lib/CMSIS_6)
+
+# include board specific
+include(${CMAKE_CURRENT_LIST_DIR}/boards/${BOARD}/board.cmake)
+
+# toolchain set up
+set(CMAKE_SYSTEM_CPU cortex-m33 CACHE INTERNAL "System Processor")
+set(CMAKE_TOOLCHAIN_FILE ${TOP}/examples/build_system/cmake/toolchain/arm_${TOOLCHAIN}.cmake)
+
+set(FAMILY_MCUS STM32C5 CACHE INTERNAL "")
+set(OPENOCD_OPTION "-f interface/stlink.cfg -f target/stm32c5x.cfg")
+
+#------------------------------------
+# Startup & Linker script
+#------------------------------------
+set(STARTUP_FILE ${ST_CMSIS}/Source/startup_${MCU_VARIANT}.c)
+set(LD_FILE_Clang ${LD_FILE_GNU})
+
+#------------------------------------
+# BOARD_TARGET
+#------------------------------------
+function(family_add_board BOARD_TARGET)
+  add_library(${BOARD_TARGET} STATIC
+    ${ST_CMSIS}/Source/Templates/system_${ST_PREFIX}.c
+    ${ST_DRIVER}/hal/${ST_PREFIX}_hal.c
+    ${ST_DRIVER}/hal/${ST_PREFIX}_hal_cortex.c
+    ${ST_DRIVER}/hal/${ST_PREFIX}_hal_flash_itf.c
+    ${ST_DRIVER}/hal/${ST_PREFIX}_hal_pwr.c
+    ${ST_DRIVER}/hal/${ST_PREFIX}_hal_rcc.c
+    ${ST_DRIVER}/hal/${ST_PREFIX}_hal_gpio.c
+    ${ST_DRIVER}/hal/${ST_PREFIX}_hal_uart.c
+    ${ST_DRIVER}/hal/${ST_PREFIX}_hal_dma.c
+    )
+  target_include_directories(${BOARD_TARGET} PUBLIC
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}
+    ${CMSIS_6}/CMSIS/Core/Include
+    ${ST_CMSIS}/Include
+    ${ST_DRIVER}/hal
+    ${ST_DRIVER}/ll
+    )
+  target_compile_definitions(${BOARD_TARGET} PUBLIC
+    )
+
+  if (CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_C_COMPILER_ID STREQUAL "Clang")
+    target_compile_options(${BOARD_TARGET} PUBLIC -Wno-redundant-decls)
+  endif ()
+
+  if(CMAKE_C_COMPILER_ID STREQUAL "Clang")
+    target_compile_definitions(${BOARD_TARGET} PUBLIC
+      __STACK_LIMIT=__StackLimit
+      __INITIAL_SP=__StackTop
+    )
+  endif ()
+
+  update_board(${BOARD_TARGET})
+endfunction()
+
+#------------------------------------
+# Functions
+#------------------------------------
+function(family_configure_example TARGET RTOS)
+  family_configure_common(${TARGET} ${RTOS})
+  family_add_tinyusb(${TARGET} OPT_MCU_STM32C5)
+
+  target_sources(${TARGET} PUBLIC
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/family.c
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/../board.c
+    ${TOP}/src/portable/st/stm32_fsdev/dcd_stm32_fsdev.c
+    ${TOP}/src/portable/st/stm32_fsdev/hcd_stm32_fsdev.c
+    ${TOP}/src/portable/st/stm32_fsdev/fsdev_common.c
+    ${STARTUP_FILE}
+    )
+  target_include_directories(${TARGET} PUBLIC
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/../../
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/boards/${BOARD}
+    )
+
+  if (CMAKE_C_COMPILER_ID STREQUAL "GNU")
+    target_link_options(${TARGET} PUBLIC
+      "LINKER:--script=${LD_FILE_GNU}"
+      -nostartfiles
+      --specs=nosys.specs --specs=nano.specs
+      )
+  elseif (CMAKE_C_COMPILER_ID STREQUAL "Clang")
+    target_link_options(${TARGET} PUBLIC
+      "LINKER:--script=${LD_FILE_Clang}"
+      )
+  elseif (CMAKE_C_COMPILER_ID STREQUAL "IAR")
+    target_link_options(${TARGET} PUBLIC
+      "LINKER:--config=${LD_FILE_IAR}"
+      )
+  endif ()
+
+  if (CMAKE_C_COMPILER_ID STREQUAL "GNU" OR CMAKE_C_COMPILER_ID STREQUAL "Clang")
+    set_source_files_properties(${CMAKE_CURRENT_FUNCTION_LIST_DIR}/family.c PROPERTIES COMPILE_FLAGS "-Wno-missing-prototypes")
+  endif ()
+
+  # Flashing
+  family_add_bin_hex(${TARGET})
+  family_flash_jlink(${TARGET})
+  family_flash_stlink(${TARGET})
+  #family_flash_openocd(${TARGET})
+endfunction()
diff --git a/hw/bsp/stm32c5/family.mk b/hw/bsp/stm32c5/family.mk
new file mode 100644
index 000000000..165ad4ad5
--- /dev/null
+++ b/hw/bsp/stm32c5/family.mk
@@ -0,0 +1,52 @@
+ST_FAMILY = c5
+ST_CMSIS = hw/mcu/st/stm32$(ST_FAMILY)xx-dfp
+ST_DRIVER = hw/mcu/st/stm32$(ST_FAMILY)xx-drivers
+
+include $(TOP)/$(BOARD_PATH)/board.mk
+CPU_CORE ?= cortex-m33
+
+# --------------
+# Compiler Flags
+# --------------
+CFLAGS += \
+	-DCFG_TUSB_MCU=OPT_MCU_STM32C5 \
+
+# GCC Flags
+CFLAGS += \
+  -flto \
+
+# suppress warnings caused by vendor mcu driver
+CFLAGS += -Wno-error=cast-align -Wno-error=unused-parameter -Wno-error=redundant-decls
+
+LDFLAGS += \
+  -nostdlib -nostartfiles \
+  --specs=nosys.specs --specs=nano.specs
+
+# -----------------
+# Sources & Include
+# -----------------
+
+SRC_C += \
+	src/portable/st/stm32_fsdev/dcd_stm32_fsdev.c \
+	src/portable/st/stm32_fsdev/hcd_stm32_fsdev.c \
+	src/portable/st/stm32_fsdev/fsdev_common.c \
+	$(ST_CMSIS)/Source/Templates/system_stm32$(ST_FAMILY)xx.c \
+	$(ST_CMSIS)/Source/startup_$(MCU_VARIANT).c \
+	$(ST_DRIVER)/hal/stm32$(ST_FAMILY)xx_hal.c \
+	$(ST_DRIVER)/hal/stm32$(ST_FAMILY)xx_hal_cortex.c \
+	$(ST_DRIVER)/hal/stm32$(ST_FAMILY)xx_hal_flash_itf.c \
+	$(ST_DRIVER)/hal/stm32$(ST_FAMILY)xx_hal_pwr.c \
+	$(ST_DRIVER)/hal/stm32$(ST_FAMILY)xx_hal_rcc.c \
+	$(ST_DRIVER)/hal/stm32$(ST_FAMILY)xx_hal_gpio.c \
+	$(ST_DRIVER)/hal/stm32$(ST_FAMILY)xx_hal_uart.c \
+	$(ST_DRIVER)/hal/stm32$(ST_FAMILY)xx_hal_dma.c
+
+INC += \
+	$(TOP)/$(BOARD_PATH) \
+	$(TOP)/lib/CMSIS_6/CMSIS/Core/Include \
+	$(TOP)/$(ST_CMSIS)/Include \
+	$(TOP)/$(ST_DRIVER)/hal \
+	$(TOP)/$(ST_DRIVER)/ll
+
+# flash target using on-board stlink
+flash: flash-stlink
diff --git a/hw/bsp/stm32c5/linker/stm32c542xc_flash.icf b/hw/bsp/stm32c5/linker/stm32c542xc_flash.icf
new file mode 100644
index 000000000..ea826ba8e
--- /dev/null
+++ b/hw/bsp/stm32c5/linker/stm32c542xc_flash.icf
@@ -0,0 +1,46 @@
+/**
+******************************************************************************
+* @file    stm32c542xc_flash.icf
+* @brief   Linker File
+******************************************************************************
+* @attention
+*
+* Copyright (c) 2026 STMicroelectronics.
+* All rights reserved.
+*
+* This software is licensed under terms that can be found in the LICENSE file
+* in the root directory of this software component.
+* If no LICENSE file comes with this software, it is provided AS-IS.
+*
+******************************************************************************
+*/
+
+define memory mem with size = 4G;
+define region ROM = mem:[from 0x8000000 size 0x40000];
+define region RAM = mem:[from 0x20000000 size 0x10000];
+
+/* define blocks */
+define block HEAP with alignment = 8, size = 0x200 { };
+define block CSTACK with alignment = 8, size = 0x1000 { };
+
+/* setup initialization strategies */
+initialize by copy {
+  readwrite
+};
+
+do not initialize {
+  section .noinit
+};
+
+place at start of ROM { readonly section .intvec } ;
+
+/* sections placements */
+place in ROM {
+  readonly
+};
+
+place in RAM {
+  readwrite,
+  block HEAP,
+  block CSTACK
+};
diff --git a/hw/bsp/stm32c5/linker/stm32c542xc_flash.ld b/hw/bsp/stm32c5/linker/stm32c542xc_flash.ld
new file mode 100644
index 000000000..34e2bf660
--- /dev/null
+++ b/hw/bsp/stm32c5/linker/stm32c542xc_flash.ld
@@ -0,0 +1,185 @@
+/**
+******************************************************************************
+* @file    stm32c542xc_flash.ld
+* @brief   Linker File
+******************************************************************************
+* @attention
+*
+* Copyright (c) 2026 STMicroelectronics.
+* All rights reserved.
+*
+* This software is licensed under terms that can be found in the LICENSE file
+* in the root directory of this software component.
+* If no LICENSE file comes with this software, it is provided AS-IS.
+*
+******************************************************************************
+*/
+
+/* Entry Point */
+ENTRY(Reset_Handler)
+
+HEAP_SIZE = 0x200;
+STACK_SIZE = 0x1000;
+
+
+MEMORY
+{
+  ROM (rx) : org = 0x8000000, len = 0x40000
+  RAM (xrw) : org = 0x20000000, len = 0x10000
+}
+
+SECTIONS
+{
+  .vectors :
+  {
+    . = ALIGN(8);
+    KEEP(*(.vectors));
+    . = ALIGN(8);
+  } > ROM
+
+  .text :
+  {
+    . = ALIGN(8);
+    *(.text);
+    *(.text*);
+    *(.glue_7);
+    *(.glue_7t);
+    *(.eh_frame);
+    KEEP (*(.init));
+    KEEP (*(.fini));
+    . = ALIGN(8);
+    _etext = .;
+  } > ROM
+
+  .rodata :
+  {
+    . = ALIGN(8);
+    *(.rodata);
+    *(.rodata*);
+    . = ALIGN(8);
+  } > ROM
+
+  .ARM.extab : /* The READONLY keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
+  {
+    . = ALIGN(8);
+    *(.ARM.extab* .gnu.linkonce.armextab.*)
+    . = ALIGN(8);
+  } > ROM
+
+  .ARM : /* The READONLY keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
+  {
+    . = ALIGN(8);
+    __exidx_start = .;
+    *(.ARM.exidx*);
+    __exidx_end = .;
+    . = ALIGN(8);
+  } > ROM
+
+  .preinit_array : /* The READONLY keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
+  {
+    . = ALIGN(8);
+    PROVIDE_HIDDEN (__preinit_array_start = .);
+    KEEP (*(.preinit_array*));
+    PROVIDE_HIDDEN (__preinit_array_end = .);
+    . = ALIGN(8);
+  } > ROM
+
+  .init_array : /* The READONLY keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
+  {
+    . = ALIGN(8);
+    PROVIDE_HIDDEN (__init_array_start = .);
+    KEEP (*(SORT(.init_array.*)));
+    KEEP (*(.init_array*));
+    PROVIDE_HIDDEN (__init_array_end = .);
+    . = ALIGN(8);
+  } > ROM
+
+  .fini_array : /* The READONLY keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
+  {
+    . = ALIGN(8);
+    PROVIDE_HIDDEN (__fini_array_start = .);
+    KEEP (*(SORT(.fini_array.*)));
+    KEEP (*(.fini_array*));
+    PROVIDE_HIDDEN (__fini_array_end = .);
+    . = ALIGN(8);
+  } > ROM
+
+  .copy.table : /* The READONLY keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
+  {
+    . = ALIGN(8);
+    __copy_table_start__ = .;
+    LONG(LOADADDR(.data));
+    LONG (ADDR(.data));
+    LONG (SIZEOF(.data) / 4);
+    __copy_table_end__ = .;
+  } > ROM
+
+  .zero.table : /* The READONLY keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */
+  {
+    . = ALIGN(8);
+    __zero_table_start__ = .;
+    LONG (ADDR(.bss));
+    LONG (SIZEOF(.bss) / 4);
+    __zero_table_end__ = .;
+  } > ROM
+
+  .data :
+  {
+    . = ALIGN(8);
+    _sidata = LOADADDR(.data);
+    __data_start__ = .;
+    _sdata = .;
+    *(.data);
+    *(.data*);
+    . = ALIGN(8);
+    _edata = .;
+  } > RAM AT> ROM
+
+  .bss :
+  {
+    . = ALIGN(8);
+    _sbss = .;
+    __bss_start__ = _sbss;
+    *(.bss);
+    *(.bss*);
+    *(COMMON);
+    . = ALIGN(8);
+    _ebss = .;
+    __bss_end__ = _ebss;
+  } > RAM
+
+  .heap (NOLOAD) :
+  {
+    . = ALIGN(8);
+    __end__ = .;
+    PROVIDE (end = .);
+    _heap_start = .;
+    . += HEAP_SIZE;
+    . = ALIGN(8);
+    _heap_end = .;
+    __HeapLimit = .;
+  } > RAM
+
+  .stack (NOLOAD) :
+  {
+    . = ALIGN(8);
+    __StackLimit = .;
+    . += STACK_SIZE;
+    . = ALIGN(8);
+    __StackTop = .;
+    _estack = .;
+    __stack = .;
+  } > RAM
+
+  /DISCARD/ :
+  {
+    libc.a ( * )
+    libm.a ( * )
+    libgcc.a ( * )
+  }
+
+  .ARM.attributes 0 :
+  {
+    *(.ARM.attributes)
+  }
+}
diff --git a/hw/bsp/stm32c5/stm32c5xx_hal_conf.h b/hw/bsp/stm32c5/stm32c5xx_hal_conf.h
new file mode 100644
index 000000000..0833fa3dd
--- /dev/null
+++ b/hw/bsp/stm32c5/stm32c5xx_hal_conf.h
@@ -0,0 +1,684 @@
+/**
+  ******************************************************************************
+  * @file    stm32c5xx_hal_conf.h
+  * @brief   HAL configuration file.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2026 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the mx_stm32c5xx_hal_drivers_license.md file
+  * in the same directory as the generated code.
+  * If no mx_stm32c5xx_hal_drivers_license.md file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef  STM32C5XX_HAL_CONF_H
+#define  STM32C5XX_HAL_CONF_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+/* Exported types ------------------------------------------------------------*/
+/* Exported constants --------------------------------------------------------*/
+
+/** @defgroup HAL_Conf_How_To_Use HAL Conf How to Use
+  * @{
+  - The STM32 HAL configuration file, stm32tnxx_hal_conf.h, is designed to customize the behaviour of the HAL modules.
+  - The users can utilize the provided file as-is, where all HAL modules are enabled with their default settings.
+  - Alternatively, users have the flexibility to customize the file based on their application's requirements.
+  - For example, they can enable only the necessary HAL modules or modify the predefined settings to achieve
+    the desired functionality.
+  */
+
+/**
+  * @}
+  */
+
+/** @defgroup HAL_Conf_Exported_Constants HAL Conf Constants
+  * @{
+  */
+
+/** @defgroup HAL_System_Configuration HAL System Configuration
+  * @{
+  */
+
+/* ########################### System Configuration ############################# */
+/**
+  * @brief This is the HAL system configuration section
+  */
+#define  USE_HAL_TICK_INT_PRIORITY              15U     /*!< tick interrupt priority */
+#define  USE_HAL_FLASH_PREFETCH                 1U     /*!< Enable FLASH prefetch */
+/**
+  * @}
+  */
+
+/** @defgroup HAL_MUTEX_Usage_Activation HAL MUTEX Usage Activation
+  * @{
+  */
+/* ########################## HAL MUTEX usage activation  ####################### */
+/**
+  * @brief Used by the HAL PPP Acquire/Release APIs when the define USE_HAL_MUTEX is set to 1
+  */
+#define USE_HAL_MUTEX                           0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_API_Parameters_Check HAL API Parameters Check
+  * @{
+  */
+/* ########################## HAL API parameters check  ##################### */
+/**
+  * @brief Run time parameter check activation
+  */
+#define USE_HAL_CHECK_PARAM                     0U
+#define USE_HAL_SECURE_CHECK_PARAM              0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_State_Transition HAL State Transition
+  * @{
+  */
+/* ########################## State transition   ################################ */
+/**
+  * @brief Enable protection of state transition in thread safe
+  */
+#define USE_HAL_CHECK_PROCESS_STATE             0U
+/**
+  * @}
+  */
+
+/* ########################## Peripheral configuration  ######################### */
+
+/** @defgroup HAL_ADC_Config HAL ADC Configuration
+  * @{
+  */
+/* ########################## HAL_ADC Config #################################### */
+#define USE_HAL_ADC_MODULE                      0U
+#define USE_HAL_ADC_CLK_ENABLE_MODEL            HAL_CLK_ENABLE_NO
+#define USE_HAL_ADC_REGISTER_CALLBACKS          0U
+#define USE_HAL_ADC_USER_DATA                   0U
+#define USE_HAL_ADC_GET_LAST_ERRORS             0U
+#define USE_HAL_ADC_DMA                         0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_AES_Config HAL AES Configuration
+  * @{
+  */
+/* ########################## HAL_AES Config #################################### */
+#define USE_HAL_AES_MODULE                      0U
+#define USE_HAL_AES_CLK_ENABLE_MODEL            HAL_CLK_ENABLE_NO
+#define USE_HAL_AES_REGISTER_CALLBACKS          0U
+#define USE_HAL_AES_USER_DATA                   0U
+#define USE_HAL_AES_GET_LAST_ERRORS             0U
+#define USE_HAL_AES_DMA                         0U
+#define USE_HAL_AES_ECB_CBC_ALGO                0U
+#define USE_HAL_AES_CTR_ALGO                    0U
+#define USE_HAL_AES_GCM_GMAC_ALGO               0U
+#define USE_HAL_AES_CCM_ALGO                    0U
+#define USE_HAL_AES_SUSPEND_RESUME              0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_CCB_Config HAL CCB Configuration
+  * @{
+  */
+/* ########################## HAL_CCB Config #################################### */
+#define USE_HAL_CCB_MODULE                      0U
+#define USE_HAL_CCB_CLK_ENABLE_MODEL            HAL_CLK_ENABLE_NO
+#define USE_HAL_CCB_USER_DATA                   0U
+#define USE_HAL_CCB_GET_LAST_ERRORS             0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_COMP_Config HAL COMP Configuration
+  * @{
+  */
+/* ########################## HAL_COMP Config ################################### */
+#define USE_HAL_COMP_MODULE                     0U
+#define USE_HAL_COMP_CLK_ENABLE_MODEL           HAL_CLK_ENABLE_NO
+#define USE_HAL_COMP_REGISTER_CALLBACKS         0U
+#define USE_HAL_COMP_USER_DATA                  0U
+/* Use comparator with EXTI (needed to generate system wake-up event and CPU event) */
+#define USE_HAL_COMP_EXTI                       0U
+/* Use comparators window mode feature */
+#define USE_HAL_COMP_WINDOW_MODE                0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_CORDIC_Config HAL CORDIC Configuration
+  * @{
+  */
+/* ########################## HAL_CORDIC Config ################################# */
+#define USE_HAL_CORDIC_MODULE                   0U
+#define USE_HAL_CORDIC_CLK_ENABLE_MODEL         HAL_CLK_ENABLE_NO
+#define USE_HAL_CORDIC_REGISTER_CALLBACKS       0U
+#define USE_HAL_CORDIC_USER_DATA                0U
+#define USE_HAL_CORDIC_GET_LAST_ERRORS          0U
+#define USE_HAL_CORDIC_DMA                      0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_CORTEX_Config HAL CORTEX Configuration
+  * @{
+  */
+/* ########################## HAL_CORTEX Config ################################# */
+#define USE_HAL_CORTEX_MODULE                   1U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_CRC_Config HAL CRC Configuration
+  * @{
+  */
+/* ########################## HAL_CRC Config #################################### */
+#define USE_HAL_CRC_MODULE                      0U
+#define USE_HAL_CRC_CLK_ENABLE_MODEL            HAL_CLK_ENABLE_NO
+#define USE_HAL_CRC_USER_DATA                   0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_CRS_Config HAL CRS Configuration
+  * @{
+  */
+/* ########################## HAL_CRS Config #################################### */
+#define USE_HAL_CRS_MODULE                      0U
+#define USE_HAL_CRS_CLK_ENABLE_MODEL            HAL_CLK_ENABLE_NO
+#define USE_HAL_CRS_REGISTER_CALLBACKS          0U
+#define USE_HAL_CRS_USER_DATA                   0U
+#define USE_HAL_CRS_GET_LAST_ERRORS             0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_DAC_Config HAL DAC Configuration
+  * @{
+  */
+/* ########################## HAL_DAC Config #################################### */
+#define USE_HAL_DAC_MODULE                      0U
+#define USE_HAL_DAC_CLK_ENABLE_MODEL            HAL_CLK_ENABLE_NO
+#define USE_HAL_DAC_REGISTER_CALLBACKS          0U
+#define USE_HAL_DAC_USER_DATA                   0U
+#define USE_HAL_DAC_GET_LAST_ERRORS             0U
+#define USE_HAL_DAC_DMA                         0U
+#define USE_HAL_DAC_DUAL_CHANNEL                0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_DBGMCU_Config HAL DBGMCU Configuration
+  * @{
+  */
+/* ########################## HAL_DBGMCU Config ################################# */
+#define USE_HAL_DBGMCU_MODULE                   0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_DMA_Config HAL DMA Configuration
+  * @{
+  */
+/* ########################## HAL_DMA Config #################################### */
+#define USE_HAL_DMA_MODULE                      1U
+#define USE_HAL_DMA_CLK_ENABLE_MODEL            HAL_CLK_ENABLE_NO
+#define USE_HAL_DMA_USER_DATA                   0U
+#define USE_HAL_DMA_GET_LAST_ERRORS             0U
+#define USE_HAL_DMA_LINKEDLIST                  0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_ETH_Config HAL ETH Configuration
+  * @{
+  */
+/* ########################## HAL_ETH Config #################################### */
+#define USE_HAL_ETH_MODULE                      0U
+#define USE_HAL_ETH_REGISTER_CALLBACKS          0U
+#define USE_HAL_ETH_CLK_ENABLE_MODEL            HAL_CLK_ENABLE_NO
+#define USE_HAL_ETH_USER_DATA                   0U
+#define USE_HAL_ETH_GET_LAST_ERRORS             0U
+#define USE_HAL_ETH_ATOMIC_CHANNEL_LOCK         0U
+#define USE_HAL_ETH_MAX_TX_CH_NB                1U
+#define USE_HAL_ETH_MAX_RX_CH_NB                1U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_EXTI_Config HAL EXTI Configuration
+  * @{
+  */
+/* ########################## HAL_EXTI Config ################################### */
+#define USE_HAL_EXTI_MODULE                     0U
+#define USE_HAL_EXTI_REGISTER_CALLBACKS         0U
+#define USE_HAL_EXTI_USER_DATA                  0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_FDCAN_Config HAL FDCAN Configuration
+  * @{
+  */
+/* ########################## HAL_FDCAN Config ################################## */
+#define USE_HAL_FDCAN_MODULE                    0U
+#define USE_HAL_FDCAN_CLK_ENABLE_MODEL          HAL_CLK_ENABLE_NO
+#define USE_HAL_FDCAN_REGISTER_CALLBACKS        0U
+#define USE_HAL_FDCAN_USER_DATA                 0U
+#define USE_HAL_FDCAN_GET_LAST_ERRORS           0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_FLASH_Config HAL FLASH Configuration
+  * @{
+  */
+/* ########################## HAL_FLASH Config ################################## */
+#define USE_HAL_FLASH_MODULE                    1U
+#define USE_HAL_FLASH_CLK_ENABLE_MODEL          HAL_CLK_ENABLE_NO
+#define USE_HAL_FLASH_REGISTER_CALLBACKS        0U
+#define USE_HAL_FLASH_USER_DATA                 0U
+#define USE_HAL_FLASH_GET_LAST_ERRORS           0U
+/* Use the FLASH program by address feature */
+#define USE_HAL_FLASH_PROGRAM_BY_ADDR           0U
+/* Use the FLASH erase by address feature */
+#define USE_HAL_FLASH_ERASE_BY_ADDR             0U
+/* Use the FLASH erase by PAGE feature */
+#define USE_HAL_FLASH_ERASE_PAGE                0U
+/* Use the FLASH bank erase feature */
+#define USE_HAL_FLASH_ERASE_BANK                0U
+/* Use the FLASH mass erase feature */
+#define USE_HAL_FLASH_MASS_ERASE                0U
+/* Use ECC errors handling APIs */
+#define USE_HAL_FLASH_ECC                       0U
+/* Use FLASH HAL API for EDATA */
+#define USE_HAL_FLASH_OB_EDATA                  0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_GPIO_Config HAL GPIO Configuration
+  * @{
+  */
+/* ########################## HAL_GPIO Config ################################### */
+#define USE_HAL_GPIO_MODULE                     1U
+#define USE_HAL_GPIO_CLK_ENABLE_MODEL           HAL_CLK_ENABLE_NO
+/**
+  * @}
+  */
+
+/** @defgroup HAL_HASH_Config HAL HASH Configuration
+  * @{
+  */
+/* ########################## HAL_HASH Config ################################### */
+#define USE_HAL_HASH_MODULE                     0U
+#define USE_HAL_HASH_CLK_ENABLE_MODEL           HAL_CLK_ENABLE_NO
+#define USE_HAL_HASH_REGISTER_CALLBACKS         0U
+#define USE_HAL_HASH_USER_DATA                  0U
+#define USE_HAL_HASH_GET_LAST_ERRORS            0U
+#define USE_HAL_HASH_DMA                        0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_HCD_Config HAL HCD Configuration
+  * @{
+  */
+/* ########################## HAL_HCD Config #################################### */
+#define USE_HAL_HCD_MODULE                      0U
+#define USE_HAL_HCD_REGISTER_CALLBACKS          0U
+#define USE_HAL_HCD_USER_DATA                   0U
+#define USE_HAL_HCD_GET_LAST_ERRORS             0U
+#define USE_HAL_HCD_USB_DOUBLE_BUFFER           0U
+#define USE_HAL_HCD_USB_EP_TYPE_ISOC            0U
+#define USE_HAL_HCD_MAX_CHANNEL_NB              16U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_I2C_Config HAL I2C Configuration
+  * @{
+  */
+/* ########################## HAL_I2C Config #################################### */
+#define USE_HAL_I2C_MODULE                      0U
+#define USE_HAL_I2C_CLK_ENABLE_MODEL            HAL_CLK_ENABLE_NO
+#define USE_HAL_I2C_REGISTER_CALLBACKS          0U
+#define USE_HAL_I2C_USER_DATA                   0U
+#define USE_HAL_I2C_GET_LAST_ERRORS             0U
+#define USE_HAL_I2C_DMA                         0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_I3C_Config HAL I3C Configuration
+  * @{
+  */
+/* ########################## HAL_I3C Config #################################### */
+#define USE_HAL_I3C_MODULE                      0U
+#define USE_HAL_I3C_CLK_ENABLE_MODEL            HAL_CLK_ENABLE_NO
+#define USE_HAL_I3C_REGISTER_CALLBACKS          0U
+#define USE_HAL_I3C_USER_DATA                   0U
+#define USE_HAL_I3C_GET_LAST_ERRORS             0U
+#define USE_HAL_I3C_DMA                         0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_I2S_Config HAL I2S Configuration
+  * @{
+  */
+/* ########################## HAL_I2S Config #################################### */
+#define USE_HAL_I2S_MODULE                      0U
+#define USE_HAL_I2S_CLK_ENABLE_MODEL            HAL_CLK_ENABLE_NO
+#define USE_HAL_I2S_REGISTER_CALLBACKS          0U
+#define USE_HAL_I2S_USER_DATA                   0U
+#define USE_HAL_I2S_GET_LAST_ERRORS             0U
+#define USE_HAL_I2S_OVR_UDR_ERRORS              0U
+#define USE_HAL_I2S_DMA                         0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_ICACHE_Config HAL ICACHE Configuration
+  * @{
+  */
+/* ########################## HAL_ICACHE Config ################################# */
+#define USE_HAL_ICACHE_MODULE                   1U
+#define USE_HAL_ICACHE_REGISTER_CALLBACKS       0U
+#define USE_HAL_ICACHE_USER_DATA                0U
+#define USE_HAL_ICACHE_GET_LAST_ERRORS          0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_IWDG_Config HAL IWDG Configuration
+  * @{
+  */
+/* ########################## HAL_IWDG Config ################################### */
+#define USE_HAL_IWDG_MODULE                     0U
+#define USE_HAL_IWDG_REGISTER_CALLBACKS         0U
+#define USE_HAL_IWDG_USER_DATA                  0U
+/* IWDG time unit configuration */
+#define USE_HAL_IWDG_TIME_UNIT                  HAL_IWDG_TIME_UNIT_MS
+/* IWDG hardware start configuration
+   warning: In case of starting IWDG in Hardware mode, make sure that
+   USE_HAL_IWDG_HARDWARE_START is aligned with OB activated set for IWDG */
+#define USE_HAL_IWDG_HARDWARE_START             0U
+/* User can choose the value of the LSI frequency with the USE_HAL_IWDG_LSI_FREQ define:
+  - 0U : Dynamic LSI to be computed and set by the user.
+  - LSI_VALUE : LSI value of 32KHz.
+  - (LSI_VALUE / 128U): LSI value of 250Hz */
+#define USE_HAL_IWDG_LSI_FREQ                      LSI_VALUE
+/**
+  * @}
+  */
+
+/** @defgroup HAL_LPTIM_Config HAL LPTIM Configuration
+  * @{
+  */
+/* ########################## HAL_LPTIM Config ################################## */
+#define USE_HAL_LPTIM_MODULE                    0U
+#define USE_HAL_LPTIM_CLK_ENABLE_MODEL          HAL_CLK_ENABLE_NO
+#define USE_HAL_LPTIM_REGISTER_CALLBACKS        0U
+#define USE_HAL_LPTIM_USER_DATA                 0U
+#define USE_HAL_LPTIM_GET_LAST_ERRORS           0U
+#define USE_HAL_LPTIM_DMA                       0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_OPAMP_Config HAL OPAMP Configuration
+  * @{
+  */
+/* ########################## HAL_OPAMP Config ################################## */
+#define USE_HAL_OPAMP_MODULE                    0U
+#define USE_HAL_OPAMP_CLK_ENABLE_MODEL          HAL_CLK_ENABLE_NO
+#define USE_HAL_OPAMP_USER_DATA                 0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_PCD_Config HAL PCD Configuration
+  * @{
+  */
+/* ########################## HAL_PCD Config #################################### */
+#define USE_HAL_PCD_MODULE                      1U
+#define USE_HAL_PCD_REGISTER_CALLBACKS          0U
+#define USE_HAL_PCD_USER_DATA                   0U
+#define USE_HAL_PCD_GET_LAST_ERRORS             0U
+#define USE_HAL_PCD_USB_DOUBLE_BUFFER           0U
+#define USE_HAL_PCD_USB_LPM                     0U
+#define USE_HAL_PCD_USB_BCD                     0U
+#define USE_HAL_PCD_USB_EP_TYPE_ISOC            0U
+#define USE_HAL_PCD_MAX_ENDPOINT_NB             8U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_PKA_Config HAL PKA Configuration
+  * @{
+  */
+/* ########################## HAL_PKA Config #################################### */
+#define USE_HAL_PKA_MODULE                      0U
+#define USE_HAL_PKA_CLK_ENABLE_MODEL            HAL_CLK_ENABLE_NO
+#define USE_HAL_PKA_REGISTER_CALLBACKS          0U
+#define USE_HAL_PKA_USER_DATA                   0U
+#define USE_HAL_PKA_GET_LAST_ERRORS             0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_PWR_Config HAL PWR Configuration
+  * @{
+  */
+/* ########################## HAL_PWR Config #################################### */
+#define USE_HAL_PWR_MODULE                      1U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_RAMCFG_Config HAL RAMCFG Configuration
+  * @{
+  */
+/* ########################## HAL_RAMCFG Config ################################# */
+#define USE_HAL_RAMCFG_MODULE                   0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_RCC_Config HAL RCC Configuration
+  * @{
+  */
+/* ########################## HAL_RCC Config #################################### */
+#define USE_HAL_RCC_MODULE                      1U
+/* Use RCC HAL API for Reset function */
+#define USE_HAL_RCC_RESET_PERIPH_CLOCK_MANAGEMENT 0U
+#define USE_HAL_RCC_RESET_RTC_DOMAIN              0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_RNG_Config HAL RNG Configuration
+  * @{
+  */
+/* ########################## HAL_RNG Config #################################### */
+#define USE_HAL_RNG_MODULE                      0U
+#define USE_HAL_RNG_CLK_ENABLE_MODEL            HAL_CLK_ENABLE_NO
+#define USE_HAL_RNG_REGISTER_CALLBACKS          0U
+#define USE_HAL_RNG_USER_DATA                   0U
+#define USE_HAL_RNG_GET_LAST_ERRORS             0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_RTC_Config HAL RTC Configuration
+  * @{
+  */
+/* ########################## HAL_RTC Config #################################### */
+#define USE_HAL_RTC_MODULE                      0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_SBS_Config HAL SBS Configuration
+  * @{
+  */
+/* ########################## HAL_SBS Config #################################### */
+#define USE_HAL_SBS_MODULE                      0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_SMARTCARD_Config HAL SMARTCARD Configuration
+  * @{
+  */
+/* ########################## HAL_SMARTCARD Config ############################## */
+#define USE_HAL_SMARTCARD_MODULE                0U
+#define USE_HAL_SMARTCARD_CLK_ENABLE_MODEL      HAL_CLK_ENABLE_NO
+#define USE_HAL_SMARTCARD_REGISTER_CALLBACKS    0U
+#define USE_HAL_SMARTCARD_USER_DATA             0U
+#define USE_HAL_SMARTCARD_GET_LAST_ERRORS       0U
+#define USE_HAL_SMARTCARD_DMA                   0U
+/* #################### SMARTCARD FIFO configuration ######################## */
+#define USE_HAL_SMARTCARD_FIFO                  0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_SMBUS_Config HAL SMBUS Configuration
+  * @{
+  */
+/* ########################## HAL_SMBUS Config ################################## */
+#define USE_HAL_SMBUS_MODULE                    0U
+#define USE_HAL_SMBUS_CLK_ENABLE_MODEL          HAL_CLK_ENABLE_NO
+#define USE_HAL_SMBUS_REGISTER_CALLBACKS        0U
+#define USE_HAL_SMBUS_USER_DATA                 0U
+#define USE_HAL_SMBUS_GET_LAST_ERRORS           0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_SPI_Config HAL SPI Configuration
+  * @{
+  */
+/* ########################## HAL_SPI Config #################################### */
+#define USE_HAL_SPI_MODULE                      0U
+#define USE_HAL_SPI_CLK_ENABLE_MODEL            HAL_CLK_ENABLE_NO
+#define USE_HAL_SPI_REGISTER_CALLBACKS          0U
+#define USE_HAL_SPI_USER_DATA                   0U
+#define USE_HAL_SPI_GET_LAST_ERRORS             0U
+#define USE_HAL_SPI_DMA                         0U
+/* CRC FEATURE: Use to activate CRC feature inside HAL SPI Driver
+ * Activated: CRC code is present inside driver
+ * Deactivated: CRC code cleaned from driver
+ */
+#define USE_HAL_SPI_CRC                         0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_TAMP_Config HAL TAMP Configuration
+  * @{
+  */
+/* ########################## HAL_TAMP Config ################################### */
+#define USE_HAL_TAMP_MODULE                     0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_TIM_Config HAL TIM Configuration
+  * @{
+  */
+/* ########################## HAL_TIM Config #################################### */
+#define USE_HAL_TIM_MODULE                      0U
+#define USE_HAL_TIM_CLK_ENABLE_MODEL            HAL_CLK_ENABLE_NO
+#define USE_HAL_TIM_REGISTER_CALLBACKS          0U
+#define USE_HAL_TIM_USER_DATA                   0U
+#define USE_HAL_TIM_GET_LAST_ERRORS             0U
+#define USE_HAL_TIM_DMA                         0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_UART_Config HAL UART Configuration
+  * @{
+  */
+/* ########################## HAL_UART Config ################################### */
+#define USE_HAL_UART_MODULE                     1U
+#define USE_HAL_UART_CLK_ENABLE_MODEL           HAL_CLK_ENABLE_NO
+#define USE_HAL_UART_REGISTER_CALLBACKS         0U
+#define USE_HAL_UART_USER_DATA                  0U
+#define USE_HAL_UART_GET_LAST_ERRORS            0U
+#define USE_HAL_UART_DMA                        0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_USART_Config HAL USART Configuration
+  * @{
+  */
+/* ########################## HAL_USART Config ################################## */
+#define USE_HAL_USART_MODULE                    0U
+#define USE_HAL_USART_CLK_ENABLE_MODEL          HAL_CLK_ENABLE_NO
+#define USE_HAL_USART_REGISTER_CALLBACKS        0U
+#define USE_HAL_USART_USER_DATA                 0U
+#define USE_HAL_USART_GET_LAST_ERRORS           0U
+#define USE_HAL_USART_DMA                       0U
+#define USE_HAL_USART_FIFO                      0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_WWDG_Config HAL WWDG Configuration
+  * @{
+  */
+/* ########################## HAL_WWDG Config ################################### */
+#define USE_HAL_WWDG_MODULE                     0U
+#define USE_HAL_WWDG_CLK_ENABLE_MODEL           HAL_CLK_ENABLE_NO
+#define USE_HAL_WWDG_REGISTER_CALLBACKS         0U
+#define USE_HAL_WWDG_USER_DATA                  0U
+/* WWDG time unit configuration */
+#define USE_HAL_WWDG_TIME_UNIT                  HAL_WWDG_TIME_UNIT_MS
+/* WWDG hardware start configuration
+   warning: In case of starting WWDG in Hardware mode, make sure that
+   USE_HAL_WWDG_HARDWARE_START is aligned with OB activated set for WWDG */
+#define USE_HAL_WWDG_HARDWARE_START             0U
+/**
+  * @}
+  */
+
+/** @defgroup HAL_XSPI_Config HAL XSPI Configuration
+  * @{
+  */
+/* ########################## HAL_XSPI Config ################################### */
+#define USE_HAL_XSPI_MODULE                     0U
+#define USE_HAL_XSPI_CLK_ENABLE_MODEL           HAL_CLK_ENABLE_NO
+#define USE_HAL_XSPI_REGISTER_CALLBACKS         0U
+#define USE_HAL_XSPI_USER_DATA                  0U
+#define USE_HAL_XSPI_GET_LAST_ERRORS            0U
+#define USE_HAL_XSPI_DMA                        0U
+#define USE_HAL_XSPI_HYPERBUS                   0U
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+#endif /*  STM32C5XX_HAL_CONF_H */
diff --git a/hw/bsp/stm32f4/family.c b/hw/bsp/stm32f4/family.c
index 4eea5c7a8..3a323e673 100644
--- a/hw/bsp/stm32f4/family.c
+++ b/hw/bsp/stm32f4/family.c
@@ -109,6 +109,11 @@ void USARTn_IRQHandler(void) {
 
 void board_init(void) {
   board_clock_init();
+
+  __HAL_FLASH_INSTRUCTION_CACHE_ENABLE();
+  __HAL_FLASH_DATA_CACHE_ENABLE();
+  __HAL_FLASH_PREFETCH_BUFFER_ENABLE();
+
   //SystemCoreClockUpdate();
 
   // Enable All GPIOs clocks
diff --git a/hw/bsp/stm32f7/boards/stm32f746disco/board.cmake b/hw/bsp/stm32f7/boards/stm32f746disco/board.cmake
index bc26c6ef4..5f46365f4 100644
--- a/hw/bsp/stm32f7/boards/stm32f746disco/board.cmake
+++ b/hw/bsp/stm32f7/boards/stm32f746disco/board.cmake
@@ -1,5 +1,5 @@
 set(MCU_VARIANT stm32f746xx)
-set(JLINK_DEVICE stm32f746xx)
+set(JLINK_DEVICE stm32f746ng)
 
 set(LD_FILE_GNU ${CMAKE_CURRENT_LIST_DIR}/STM32F746ZGTx_FLASH.ld)
 
diff --git a/hw/bsp/stm32f7/boards/stm32f769disco/board.cmake b/hw/bsp/stm32f7/boards/stm32f769disco/board.cmake
index 2335b869e..dbdd07e4d 100644
--- a/hw/bsp/stm32f7/boards/stm32f769disco/board.cmake
+++ b/hw/bsp/stm32f7/boards/stm32f769disco/board.cmake
@@ -1,5 +1,6 @@
 set(MCU_VARIANT stm32f769xx)
 set(JLINK_DEVICE stm32f769ni)
+#set(JLINK_OPTION "-USB 000778170924")
 
 set(LD_FILE_GNU ${CMAKE_CURRENT_LIST_DIR}/STM32F769ZITx_FLASH.ld)
 
diff --git a/hw/bsp/stm32f7/family.c b/hw/bsp/stm32f7/family.c
index 7a322591b..9427ac4a6 100644
--- a/hw/bsp/stm32f7/family.c
+++ b/hw/bsp/stm32f7/family.c
@@ -82,8 +82,9 @@ static UART_HandleTypeDef UartHandle = {.Instance = USARTn,
                                               .OverSampling = UART_OVERSAMPLING_16,
                                         }};
 
-// RX ring buffer via RXNE interrupt — no HAL IT functions used (avoid HAL state conflicts)
-static uint8_t   uart_rx_ff_buf[32];
+// RX ring buffer via RXNE interrupt — no HAL IT functions used (avoid HAL state conflicts).
+// Sized to absorb a full host-forwarding burst (>64B) when the main loop briefly stalls.
+static uint8_t   uart_rx_ff_buf[256];
 static tu_fifo_t uart_rx_ff;
 
 void USARTn_IRQHandler(void) {
@@ -142,13 +143,24 @@ void board_init(void) {
   // 1ms tick timer
   SysTick_Config(SystemCoreClock / 1000);
 
+  // Set UART interrupt higher priority than USB OTG since the F7 USART has no hardware RX FIFO, so a host example's
+  // UART RX must not be starved by the frequent USB host interrupts or incoming bytes overrun (ORE) and dropped.
+  NVIC_SetPriority(OTG_FS_IRQn, 1);
+  NVIC_SetPriority(OTG_HS_IRQn, 1);
+  #ifdef UART_ID
+  NVIC_SetPriority(USARTn_IRQn, 0);
+  #endif
+
 #elif CFG_TUSB_OS == OPT_OS_FREERTOS
   // Explicitly disable systick to prevent its ISR from running before scheduler start
   SysTick->CTRL &= ~1U;
 
   // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
-  NVIC_SetPriority(OTG_FS_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
-  NVIC_SetPriority(OTG_HS_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
+  NVIC_SetPriority(OTG_FS_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY + 1);
+  NVIC_SetPriority(OTG_HS_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY + 1);
+  #ifdef UART_ID
+  NVIC_SetPriority(USARTn_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
+  #endif
 #endif
 
 #ifdef UART_ID
@@ -156,7 +168,6 @@ void board_init(void) {
   HAL_UART_Init(&UartHandle);
   tu_fifo_config(&uart_rx_ff, uart_rx_ff_buf, sizeof(uart_rx_ff_buf), false);
   USARTn->CR1 |= USART_CR1_RXNEIE;
-  NVIC_SetPriority(USARTn_IRQn, (1 << __NVIC_PRIO_BITS) - 1);
   NVIC_EnableIRQ(USARTn_IRQn);
 #endif
 
diff --git a/hw/bsp/stm32u0/family.c b/hw/bsp/stm32u0/family.c
index 7bd99fba6..0d20ba43f 100644
--- a/hw/bsp/stm32u0/family.c
+++ b/hw/bsp/stm32u0/family.c
@@ -166,6 +166,19 @@ uint32_t board_button_read(void) {
   return BUTTON_STATE_ACTIVE == HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN);
 }
 
+size_t board_get_unique_id(uint8_t id[], size_t max_len) {
+  (void) max_len;
+  volatile uint32_t *stm32_uuid = (volatile uint32_t *) UID_BASE;
+  uint32_t *id32 = (uint32_t *) (uintptr_t) id;
+  uint8_t const len = 12;
+
+  id32[0] = stm32_uuid[0];
+  id32[1] = stm32_uuid[1];
+  id32[2] = stm32_uuid[2];
+
+  return len;
+}
+
 int board_uart_read(uint8_t* buf, int len) {
 #ifdef UART_ID
   int count = 0;
diff --git a/hw/bsp/tm4c/family.cmake b/hw/bsp/tm4c/family.cmake
index 41b8a597a..ce7c62409 100644
--- a/hw/bsp/tm4c/family.cmake
+++ b/hw/bsp/tm4c/family.cmake
@@ -79,6 +79,6 @@ function(family_configure_example TARGET RTOS)
   # Flashing
   family_add_bin_hex(${TARGET})
   family_flash_jlink(${TARGET})
-  family_flash_openocd(${TARGET})
-  family_flash_uniflash(${TARGET})
+  family_flash_lm4flash(${TARGET})
+  # family_flash_uniflash(${TARGET})
 endfunction()
diff --git a/src/class/cdc/cdc_host.c b/src/class/cdc/cdc_host.c
index 62c313b83..4441222c8 100644
--- a/src/class/cdc/cdc_host.c
+++ b/src/class/cdc/cdc_host.c
@@ -99,6 +99,7 @@ typedef struct {
 typedef struct {
   TUH_EPBUF_DEF(tx, CFG_TUH_CDC_TX_EPSIZE);
   TUH_EPBUF_DEF(rx, CFG_TUH_CDC_RX_EPSIZE);
+  TUH_EPBUF_DEF(ctrl, 8);
 } cdch_epbuf_t;
 
 static cdch_interface_t cdch_data[CFG_TUH_CDC];
@@ -1003,15 +1004,16 @@ static bool acm_set_line_coding(cdch_interface_t *p_cdc, tuh_xfer_cb_t complete_
     .wLength  = tu_htole16((uint16_t) sizeof(cdc_line_coding_t))
   };
 
-  // use usbh enum buf to hold line coding since user line_coding variable does not live long enough
-  uint8_t *enum_buf = usbh_get_enum_buf();
-  memcpy(enum_buf, &p_cdc->requested_line.coding, sizeof(cdc_line_coding_t));
+  // use local ctrl buf to hold line coding since user line_coding variable does not live long enough
+  uint8_t const idx = get_idx_by_ptr(p_cdc);
+  uint8_t *ctrl_buf = cdch_epbuf[idx].ctrl;
+  memcpy(ctrl_buf, &p_cdc->requested_line.coding, sizeof(cdc_line_coding_t));
 
   tuh_xfer_t xfer = {
     .daddr       = p_cdc->daddr,
     .ep_addr     = 0,
     .setup       = &request,
-    .buffer      = enum_buf,
+    .buffer      = ctrl_buf,
     .complete_cb = complete_cb,
     .user_data   = user_data
   };
@@ -1491,7 +1493,7 @@ static inline uint32_t ftdi_get_divisor(cdch_interface_t *p_cdc) {
 //------------- Control Request -------------//
 
 static bool cp210x_set_request(cdch_interface_t * p_cdc, uint8_t command, uint16_t value,
-                               uint8_t * buffer, uint16_t length, tuh_xfer_cb_t complete_cb, uintptr_t user_data) {
+                               uint8_t const * buffer, uint16_t length, tuh_xfer_cb_t complete_cb, uintptr_t user_data) {
   tusb_control_request_t const request = {
     .bmRequestType_bit = {
       .recipient = TUSB_REQ_RCPT_INTERFACE,
@@ -1504,19 +1506,20 @@ static bool cp210x_set_request(cdch_interface_t * p_cdc, uint8_t command, uint16
     .wLength  = tu_htole16(length)
   };
 
-  // use usbh enum buf since application variable does not live long enough
-  uint8_t * enum_buf = NULL;
+  // use local ctrl buf since application variable does not live long enough
+  uint8_t * ctrl_buf = NULL;
 
   if (buffer && length > 0) {
-    enum_buf = usbh_get_enum_buf();
-    tu_memcpy_s(enum_buf, CFG_TUH_ENUMERATION_BUFSIZE, buffer, length);
+    uint8_t const idx = get_idx_by_ptr(p_cdc);
+    ctrl_buf = cdch_epbuf[idx].ctrl;
+    tu_memcpy_s(ctrl_buf, sizeof(cdch_epbuf[idx].ctrl), buffer, length);
   }
 
   tuh_xfer_t xfer = {
     .daddr       = p_cdc->daddr,
     .ep_addr     = 0,
     .setup       = &request,
-    .buffer      = enum_buf,
+    .buffer      = ctrl_buf,
     .complete_cb = complete_cb,
     .user_data   = user_data
   };
@@ -1563,7 +1566,7 @@ static void cp210x_internal_control_complete(cdch_interface_t *p_cdc, tuh_xfer_t
 static bool cp210x_set_baudrate(cdch_interface_t *p_cdc, tuh_xfer_cb_t complete_cb, uintptr_t user_data) {
   // Not every baud rate is supported. See datasheets and AN205 "CP210x Baud Rate Support"
   uint32_t baud_le = tu_htole32(p_cdc->requested_line.coding.bit_rate);
-  return cp210x_set_request(p_cdc, CP210X_SET_BAUDRATE, 0, (uint8_t *) &baud_le, 4, complete_cb, user_data);
+  return cp210x_set_request(p_cdc, CP210X_SET_BAUDRATE, 0, (uint8_t const *) &baud_le, 4, complete_cb, user_data);
 }
 
 static bool cp210x_set_data_format(cdch_interface_t *p_cdc, tuh_xfer_cb_t complete_cb, uintptr_t user_data) {
@@ -1640,7 +1643,7 @@ static uint16_t ch34x_get_divisor_prescaler(cdch_interface_t *p_cdc);
 //------------- Control Request -------------//
 
 static bool ch34x_set_request(cdch_interface_t *p_cdc, uint8_t direction, uint8_t request,
-                              uint16_t value, uint16_t index, uint8_t *buffer, uint16_t length,
+                              uint16_t value, uint16_t index, uint8_t const *buffer, uint16_t length,
                               tuh_xfer_cb_t complete_cb, uintptr_t user_data) {
   tusb_control_request_t const request_setup = {
       .bmRequestType_bit = {
@@ -1654,13 +1657,14 @@ static bool ch34x_set_request(cdch_interface_t *p_cdc, uint8_t direction, uint8_
       .wLength  = tu_htole16(length)
   };
 
-  // use usbh enum buf since application variable does not live long enough
-  uint8_t *enum_buf = NULL;
+  // use local ctrl buf since application variable does not live long enough
+  uint8_t *ctrl_buf = NULL;
 
-  if (buffer && length > 0) {
-    enum_buf = usbh_get_enum_buf();
-    if (direction == TUSB_DIR_OUT) {
-      tu_memcpy_s(enum_buf, CFG_TUH_ENUMERATION_BUFSIZE, buffer, length);
+  if (length > 0) {
+    uint8_t const idx = get_idx_by_ptr(p_cdc);
+    ctrl_buf = cdch_epbuf[idx].ctrl;
+    if (buffer && direction == TUSB_DIR_OUT) {
+      tu_memcpy_s(ctrl_buf, sizeof(cdch_epbuf[idx].ctrl), buffer, length);
     }
   }
 
@@ -1668,7 +1672,7 @@ static bool ch34x_set_request(cdch_interface_t *p_cdc, uint8_t direction, uint8_
       .daddr       = p_cdc->daddr,
       .ep_addr     = 0,
       .setup       = &request_setup,
-      .buffer      = enum_buf,
+      .buffer      = ctrl_buf,
       .complete_cb = complete_cb,
       .user_data   = user_data
   };
@@ -1682,8 +1686,8 @@ TU_ATTR_ALWAYS_INLINE static inline bool ch34x_control_out(cdch_interface_t *p_c
 }
 
 TU_ATTR_ALWAYS_INLINE static inline bool ch34x_control_in(cdch_interface_t *p_cdc, uint8_t request, uint16_t value, uint16_t index,
-                                                          uint8_t *buffer, uint16_t buffersize, tuh_xfer_cb_t complete_cb, uintptr_t user_data) {
-  return ch34x_set_request(p_cdc, TUSB_DIR_IN, request, value, index, buffer, buffersize,
+                                                          uint16_t buffersize, tuh_xfer_cb_t complete_cb, uintptr_t user_data) {
+  return ch34x_set_request(p_cdc, TUSB_DIR_IN, request, value, index, NULL, buffersize,
                            complete_cb, user_data);
 }
 
@@ -1692,12 +1696,6 @@ TU_ATTR_ALWAYS_INLINE static inline bool ch34x_write_reg(cdch_interface_t *p_cdc
   return ch34x_control_out(p_cdc, CH34X_REQ_WRITE_REG, reg, reg_value, complete_cb, user_data);
 }
 
-//static bool ch34x_read_reg_request ( cdch_interface_t * p_cdc, uint16_t reg,
-//                                     uint8_t *buffer, uint16_t buffersize, tuh_xfer_cb_t complete_cb, uintptr_t user_data )
-//{
-//  return ch34x_control_in ( p_cdc, CH34X_REQ_READ_REG, reg, 0, buffer, buffersize, complete_cb, user_data );
-//}
-
 //------------- Driver API -------------//
 
 // internal control complete to update state such as line state, encoding
@@ -1794,8 +1792,7 @@ static bool ch34x_process_set_config(cdch_interface_t *p_cdc, tuh_xfer_t *xfer)
 
   switch (state) {
     case CONFIG_CH34X_READ_VERSION: {
-      uint8_t* enum_buf = usbh_get_enum_buf();
-      TU_ASSERT(ch34x_control_in(p_cdc, CH34X_REQ_READ_VERSION, 0, 0, enum_buf, 2,
+      TU_ASSERT(ch34x_control_in(p_cdc, CH34X_REQ_READ_VERSION, 0, 0, 2,
                                  cdch_process_set_config, CONFIG_CH34X_SERIAL_INIT));
       break;
     }
@@ -1950,7 +1947,7 @@ static bool pl2303_encode_baud_rate(cdch_interface_t *p_cdc, uint8_t buf[PL2303_
 
 //------------- Control Request -------------//
 static bool pl2303_set_request(cdch_interface_t *p_cdc, uint8_t request, uint8_t requesttype,
-                               uint16_t value, uint16_t index, uint8_t *buffer, uint16_t length,
+                               uint16_t value, uint16_t index, uint8_t const *buffer, uint16_t length,
                                tuh_xfer_cb_t complete_cb, uintptr_t user_data) {
   tusb_control_request_t const request_setup = {
     .bmRequestType = requesttype,
@@ -1960,13 +1957,14 @@ static bool pl2303_set_request(cdch_interface_t *p_cdc, uint8_t request, uint8_t
     .wLength       = tu_htole16(length)
   };
 
-  // use usbh enum buf since application variable does not live long enough
-  uint8_t *enum_buf = NULL;
+  // use local ctrl buf since application variable does not live long enough
+  uint8_t *ctrl_buf = NULL;
 
-  if (buffer && length > 0) {
-    enum_buf = usbh_get_enum_buf();
-    if (request_setup.bmRequestType_bit.direction == TUSB_DIR_OUT) {
-      tu_memcpy_s(enum_buf, CFG_TUH_ENUMERATION_BUFSIZE, buffer, length);
+  if (length > 0) {
+    uint8_t const idx = get_idx_by_ptr(p_cdc);
+    ctrl_buf = cdch_epbuf[idx].ctrl;
+    if (buffer && request_setup.bmRequestType_bit.direction == TUSB_DIR_OUT) {
+      tu_memcpy_s(ctrl_buf, sizeof(cdch_epbuf[idx].ctrl), buffer, length);
     }
   }
 
@@ -1974,7 +1972,7 @@ static bool pl2303_set_request(cdch_interface_t *p_cdc, uint8_t request, uint8_t
     .daddr       = p_cdc->daddr,
     .ep_addr     = 0,
     .setup       = &request_setup,
-    .buffer      = enum_buf,
+    .buffer      = ctrl_buf,
     .complete_cb = complete_cb,
     .user_data   = user_data
   };
@@ -1982,10 +1980,10 @@ static bool pl2303_set_request(cdch_interface_t *p_cdc, uint8_t request, uint8_t
   return tuh_control_xfer(&xfer);
 }
 
-static bool pl2303_vendor_read(cdch_interface_t *p_cdc, uint16_t value, uint8_t *buf,
+static bool pl2303_vendor_read(cdch_interface_t *p_cdc, uint16_t value,
                                tuh_xfer_cb_t complete_cb, uintptr_t user_data) {
   uint8_t request = p_cdc->pl2303.type == PL2303_TYPE_HXN ? PL2303_VENDOR_READ_NREQUEST : PL2303_VENDOR_READ_REQUEST;
-  return pl2303_set_request(p_cdc, request, PL2303_VENDOR_READ_REQUEST_TYPE, value, 0, buf, 1, complete_cb, user_data);
+  return pl2303_set_request(p_cdc, request, PL2303_VENDOR_READ_REQUEST_TYPE, value, 0, NULL, 1, complete_cb, user_data);
 }
 
 static bool pl2303_vendor_write(cdch_interface_t *p_cdc, uint16_t value, uint16_t index,
@@ -1995,9 +1993,8 @@ static bool pl2303_vendor_write(cdch_interface_t *p_cdc, uint16_t value, uint16_
 }
 
 static inline bool pl2303_supports_hx_status(cdch_interface_t *p_cdc, tuh_xfer_cb_t complete_cb, uintptr_t user_data) {
-  uint8_t buf = 0;
   return pl2303_set_request(p_cdc, PL2303_VENDOR_READ_REQUEST, PL2303_VENDOR_READ_REQUEST_TYPE, PL2303_READ_TYPE_HX_STATUS, 0,
-                            &buf, 1, complete_cb, user_data);
+                            NULL, 1, complete_cb, user_data);
 }
 
 //static bool pl2303_get_line_request(cdch_interface_t * p_cdc, uint8_t buf[PL2303_LINE_CODING_BUFSIZE]) {
@@ -2131,7 +2128,6 @@ static bool pl2303_process_set_config(cdch_interface_t *p_cdc, tuh_xfer_t *xfer)
   // state CONFIG_PL2303_READ1 may have no success due to expected stall by pl2303_supports_hx_status()
   const uintptr_t state = xfer->user_data;
   TU_ASSERT(xfer->result == XFER_RESULT_SUCCESS || state == CONFIG_PL2303_READ1);
-  uint8_t* enum_buf = usbh_get_enum_buf();
   pl2303_type_t type;
 
   switch (state) {
@@ -2162,7 +2158,7 @@ static bool pl2303_process_set_config(cdch_interface_t *p_cdc, tuh_xfer_t *xfer)
 
       // purpose unknown, overtaken from Linux Kernel driver
       if (p_cdc->pl2303.type != PL2303_TYPE_HXN) {
-        TU_ASSERT(pl2303_vendor_read(p_cdc, 0x8484, enum_buf, cdch_process_set_config, CONFIG_PL2303_WRITE1));
+        TU_ASSERT(pl2303_vendor_read(p_cdc, 0x8484, cdch_process_set_config, CONFIG_PL2303_WRITE1));
         break;
       }// else: continue with next step
       TU_ATTR_FALLTHROUGH;
@@ -2178,7 +2174,7 @@ static bool pl2303_process_set_config(cdch_interface_t *p_cdc, tuh_xfer_t *xfer)
     case CONFIG_PL2303_READ2:
       // purpose unknown, overtaken from Linux Kernel driver
       if (p_cdc->pl2303.type != PL2303_TYPE_HXN) {
-        TU_ASSERT(pl2303_vendor_read(p_cdc, 0x8484, enum_buf, cdch_process_set_config, CONFIG_PL2303_READ3));
+        TU_ASSERT(pl2303_vendor_read(p_cdc, 0x8484, cdch_process_set_config, CONFIG_PL2303_READ3));
         break;
       }// else: continue with next step
       TU_ATTR_FALLTHROUGH;
@@ -2186,7 +2182,7 @@ static bool pl2303_process_set_config(cdch_interface_t *p_cdc, tuh_xfer_t *xfer)
     case CONFIG_PL2303_READ3:
       // purpose unknown, overtaken from Linux Kernel driver
       if (p_cdc->pl2303.type != PL2303_TYPE_HXN) {
-        TU_ASSERT(pl2303_vendor_read(p_cdc, 0x8383, enum_buf, cdch_process_set_config, CONFIG_PL2303_READ4));
+        TU_ASSERT(pl2303_vendor_read(p_cdc, 0x8383, cdch_process_set_config, CONFIG_PL2303_READ4));
         break;
       }// else: continue with next step
       TU_ATTR_FALLTHROUGH;
@@ -2194,7 +2190,7 @@ static bool pl2303_process_set_config(cdch_interface_t *p_cdc, tuh_xfer_t *xfer)
     case CONFIG_PL2303_READ4:
       // purpose unknown, overtaken from Linux Kernel driver
       if (p_cdc->pl2303.type != PL2303_TYPE_HXN) {
-        TU_ASSERT(pl2303_vendor_read(p_cdc, 0x8484, enum_buf, cdch_process_set_config, CONFIG_PL2303_WRITE2));
+        TU_ASSERT(pl2303_vendor_read(p_cdc, 0x8484, cdch_process_set_config, CONFIG_PL2303_WRITE2));
         break;
       }// else: continue with next step
       TU_ATTR_FALLTHROUGH;
@@ -2210,7 +2206,7 @@ static bool pl2303_process_set_config(cdch_interface_t *p_cdc, tuh_xfer_t *xfer)
     case CONFIG_PL2303_READ5:
       // purpose unknown, overtaken from Linux Kernel driver
       if (p_cdc->pl2303.type != PL2303_TYPE_HXN) {
-        TU_ASSERT(pl2303_vendor_read(p_cdc, 0x8484, enum_buf, cdch_process_set_config, CONFIG_PL2303_READ6));
+        TU_ASSERT(pl2303_vendor_read(p_cdc, 0x8484, cdch_process_set_config, CONFIG_PL2303_READ6));
         break;
       }// else: continue with next step
       TU_ATTR_FALLTHROUGH;
@@ -2218,7 +2214,7 @@ static bool pl2303_process_set_config(cdch_interface_t *p_cdc, tuh_xfer_t *xfer)
     case CONFIG_PL2303_READ6:
       // purpose unknown, overtaken from Linux Kernel driver
       if (p_cdc->pl2303.type != PL2303_TYPE_HXN) {
-        TU_ASSERT(pl2303_vendor_read(p_cdc, 0x8383, enum_buf, cdch_process_set_config, CONFIG_PL2303_WRITE3));
+        TU_ASSERT(pl2303_vendor_read(p_cdc, 0x8383, cdch_process_set_config, CONFIG_PL2303_WRITE3));
         break;
       }// else: continue with next step
       TU_ATTR_FALLTHROUGH;
diff --git a/src/class/mtp/mtp_device.c b/src/class/mtp/mtp_device.c
index 0da984f4a..1f76dfcc7 100644
--- a/src/class/mtp/mtp_device.c
+++ b/src/class/mtp/mtp_device.c
@@ -441,9 +441,16 @@ bool mtpd_xfer_cb(uint8_t rhport, uint8_t ep_addr, xfer_result_t event, uint32_t
         threshold = CFG_TUD_MTP_EP_BUFSIZE;
       }
 
-      // Check completion: ZLP, short packet, or total length reached
-      const bool is_complete =
-        (xferred_bytes == 0 || xferred_bytes < threshold || p_mtp->xferred_len >= p_mtp->total_len);
+      // Check completion for IN and OUT separately
+      bool is_complete;
+      if (is_data_in) {
+        // IN completion: short packet, ZLP, or reaching total_len
+        is_complete = (xferred_bytes == 0 || xferred_bytes < threshold || p_mtp->xferred_len >= p_mtp->total_len);
+      } else {
+        // OUT completion: reaching total_len or ZLP only. A short packet does NOT end the phase
+        // (an early short packet before total_len is the cancel case, not normal completion).
+        is_complete = (p_mtp->xferred_len >= p_mtp->total_len) || ((xferred_bytes == 0 && p_mtp->xferred_len > 0));
+      }
 
       TU_LOG_DRV("  MTP Data %s CB: xferred_bytes=%lu, xferred_len/total_len=%lu/%lu, is_complete=%d\r\n",
                  is_data_in ? "IN" : "OUT", xferred_bytes, p_mtp->xferred_len, p_mtp->total_len, is_complete ? 1 : 0);
diff --git a/src/common/tusb_mcu.h b/src/common/tusb_mcu.h
index 413ac4850..cc9837dcd 100644
--- a/src/common/tusb_mcu.h
+++ b/src/common/tusb_mcu.h
@@ -206,6 +206,12 @@
   #define TUP_USBIP_FSDEV_DRD
   #define CFG_TUSB_FSDEV_PMA_SIZE 2048u
 
+#elif TU_CHECK_MCU(OPT_MCU_STM32C5)
+  #define TUP_USBIP_FSDEV
+  #define TUP_USBIP_FSDEV_STM32
+  #define TUP_USBIP_FSDEV_DRD
+  #define CFG_TUSB_FSDEV_PMA_SIZE 2048u
+
 #elif TU_CHECK_MCU(OPT_MCU_STM32F0)
   #define TUP_USBIP_FSDEV
   #define TUP_USBIP_FSDEV_STM32
diff --git a/src/common/tusb_types.h b/src/common/tusb_types.h
index 959fc129a..cb06b89bb 100644
--- a/src/common/tusb_types.h
+++ b/src/common/tusb_types.h
@@ -282,6 +282,7 @@ typedef enum {
   XFER_RESULT_FAILED,
   XFER_RESULT_STALLED,
   XFER_RESULT_TIMEOUT,
+  XFER_RESULT_ABORTED,
   XFER_RESULT_INVALID
 } xfer_result_t;
 
diff --git a/src/host/usbh.c b/src/host/usbh.c
index 2e3c93c5e..9d159985e 100644
--- a/src/host/usbh.c
+++ b/src/host/usbh.c
@@ -40,6 +40,14 @@
   #define CFG_TUH_TASK_QUEUE_SZ   16
 #endif
 
+#ifndef CFG_TUH_CONTROL_PENDING_QUEUE_SZ
+  #if CFG_TUH_HUB
+    #define CFG_TUH_CONTROL_PENDING_QUEUE_SZ 4
+  #else
+    #define CFG_TUH_CONTROL_PENDING_QUEUE_SZ 2
+  #endif
+#endif
+
 #ifndef CFG_TUH_INTERFACE_MAX
   #define CFG_TUH_INTERFACE_MAX   8
 #endif
@@ -175,11 +183,11 @@ static OSAL_SPINLOCK_DEF(_usbh_spin, usbh_int_set);
 OSAL_QUEUE_DEF(usbh_int_set, _usbh_qdef, CFG_TUH_TASK_QUEUE_SZ, hcd_event_t);
 static osal_queue_t _usbh_q;
 
-  #if CFG_TUH_HUB
+#if CFG_TUH_HUB
 // Deferred attachment queue, only needed when using hub
 OSAL_QUEUE_DEF(usbh_int_set, _usbh_daqdef, CFG_TUH_HUB, hcd_event_t);
 static osal_queue_t _usbh_daq;
-  #endif
+#endif
 
 // Control transfers: since most controllers do not support multiple control transfers
 // on multiple devices concurrently and control transfers are not used much except for
@@ -189,9 +197,9 @@ typedef struct {
   tuh_xfer_cb_t complete_cb;
   uintptr_t user_data;
 
+  volatile uint16_t actual_len;
   volatile uint8_t stage;
   uint8_t daddr;
-  volatile uint16_t actual_len;
   uint8_t failed_count;
 } usbh_ctrl_xfer_info_t;
 
@@ -202,17 +210,32 @@ typedef struct {
 } usbh_call_after_t;
 
 typedef struct {
-  uint8_t controller_id;      // controller ID
+  tusb_control_request_t setup;
+  uint8_t*               buffer;
+  tuh_xfer_cb_t          complete_cb;
+  uintptr_t              user_data;
+  uint8_t                daddr;
+  uint8_t                daddr_gen;
+} usbh_pending_ctrl_t;
+
+// FIFO for pending async control transfers since we only execute 1 control transfer at a time
+TU_FIFO_DEF(_usbh_pending_ctrl_q, CFG_TUH_CONTROL_PENDING_QUEUE_SZ * sizeof(usbh_pending_ctrl_t), false);
+
+typedef struct {
   uint8_t enumerating_daddr;  // device address of the device being enumerated
   uint8_t attach_debouncing_bm;  // bitmask for roothub port attach debouncing
   tuh_bus_info_t dev0_bus;    // bus info for dev0 in enumeration
   usbh_ctrl_xfer_info_t ctrl_xfer_info; // control transfer
   usbh_call_after_t call_after;
+  // Per-daddr generation counter — bumped on usbh_device_close() to identify stale pending control transfer
+  uint8_t daddr_gen[TOTAL_DEVICES + 1];
+#if CFG_TUSB_OS_HAS_SCHEDULER
+  osal_task_handle_t task_hdl;  // host task handle, lazy-captured on first tuh_task_ext()
+#endif
 } usbh_data_t;
 
-static usbh_data_t _usbh_data = {
-  .controller_id = TUSB_INDEX_INVALID_8,
-};
+static uint8_t _usbh_controller_id = TUSB_INDEX_INVALID_8;
+static usbh_data_t _usbh_data;
 
 typedef struct {
   TUH_EPBUF_TYPE_DEF(tusb_control_request_t, request);
@@ -346,8 +369,11 @@ static void enum_new_device(hcd_event_t* event);
 static void enum_delay_async(uintptr_t state);
 static void process_remove_event(hcd_event_t *event);
 static void remove_device_tree(uint8_t rhport, uint8_t hub_addr, uint8_t hub_port);
+
 static bool usbh_edpt_control_open(uint8_t dev_addr, uint8_t max_packet_size);
 static bool usbh_control_xfer_cb (uint8_t daddr, uint8_t ep_addr, xfer_result_t result, uint32_t xferred_bytes);
+static void control_xfer_dispatch_pending(void);
+static void control_xfer_complete(uint8_t daddr, xfer_result_t result);
 
 TU_ATTR_ALWAYS_INLINE static inline usbh_device_t* get_device(uint8_t dev_addr) {
   TU_VERIFY(dev_addr > 0 && dev_addr <= TOTAL_DEVICES, NULL);
@@ -364,7 +390,7 @@ TU_ATTR_ALWAYS_INLINE static inline bool queue_event(hcd_event_t const * event,
   return true;
 }
 
-TU_ATTR_ALWAYS_INLINE static inline void _control_set_xfer_stage(uint8_t stage) {
+TU_ATTR_ALWAYS_INLINE static inline void control_xfer_set_stage(uint8_t stage) {
   if (_usbh_data.ctrl_xfer_info.stage != stage) {
     (void) osal_mutex_lock(_usbh_mutex, OSAL_TIMEOUT_WAIT_FOREVER);
     _usbh_data.ctrl_xfer_info.stage = stage;
@@ -372,15 +398,6 @@ TU_ATTR_ALWAYS_INLINE static inline void _control_set_xfer_stage(uint8_t stage)
   }
 }
 
-TU_ATTR_ALWAYS_INLINE static inline bool usbh_setup_send(uint8_t daddr, const uint8_t setup_packet[8]) {
-  const uint8_t rhport = usbh_get_rhport(daddr);
-  const bool ret = hcd_setup_send(rhport, daddr, setup_packet);
-  if (!ret) {
-    _control_set_xfer_stage(CONTROL_STAGE_IDLE);
-  }
-  return ret;
-}
-
 bool usbh_defer_func_ms_async(uint32_t ms, tusb_defer_func_t func, uintptr_t param) {
   TU_ASSERT(_usbh_data.call_after.func == NULL);
   TU_LOG_USBH("USBH schedule function after %u ms\r\n", (unsigned int)ms);
@@ -394,9 +411,16 @@ bool usbh_defer_func_ms_async(uint32_t ms, tusb_defer_func_t func, uintptr_t par
 TU_ATTR_ALWAYS_INLINE static inline void usbh_device_close(uint8_t rhport, uint8_t daddr) {
   hcd_device_close(rhport, daddr);
 
-  // abort any ongoing control transfer
-  if (daddr == _usbh_data.ctrl_xfer_info.daddr) {
-    _control_set_xfer_stage(CONTROL_STAGE_IDLE);
+  // Bump the generation under the mutex so a concurrent producer in
+  // tuh_control_xfer stamps a value that is strictly monotonic w.r.t. close.
+  (void) osal_mutex_lock(_usbh_mutex, OSAL_TIMEOUT_WAIT_FOREVER);
+  _usbh_data.daddr_gen[daddr]++;
+  (void) osal_mutex_unlock(_usbh_mutex);
+
+  // If this device has in-flight control xfer, complete as FAILED
+  usbh_ctrl_xfer_info_t* ctrl_info = &_usbh_data.ctrl_xfer_info;
+  if (daddr == ctrl_info->daddr && ctrl_info->stage != CONTROL_STAGE_IDLE) {
+    control_xfer_complete(daddr, XFER_RESULT_FAILED);
   }
 
   // invalidate if enumerating
@@ -458,7 +482,7 @@ tusb_speed_t tuh_speed_get(uint8_t daddr) {
 }
 
 bool tuh_rhport_is_active(uint8_t rhport) {
-  return _usbh_data.controller_id == rhport;
+  return _usbh_controller_id == rhport;
 }
 
 bool tuh_rhport_reset_bus(uint8_t rhport, bool active) {
@@ -485,7 +509,7 @@ static void clear_device(usbh_device_t* dev) {
 }
 
 bool tuh_inited(void) {
-  return _usbh_data.controller_id != TUSB_INDEX_INVALID_8;
+  return _usbh_controller_id != TUSB_INDEX_INVALID_8;
 }
 
 bool tuh_rhport_init(uint8_t rhport, const tusb_rhport_init_t* rh_init) {
@@ -547,7 +571,7 @@ bool tuh_rhport_init(uint8_t rhport, const tusb_rhport_init_t* rh_init) {
     tu_memclr(_usbh_devices, sizeof(_usbh_devices));
     tu_memclr(&_usbh_data, sizeof(_usbh_data));
 
-    _usbh_data.controller_id = TUSB_INDEX_INVALID_8;
+    _usbh_controller_id = TUSB_INDEX_INVALID_8;
     _usbh_data.enumerating_daddr = TUSB_INDEX_INVALID_8;
 
     for (uint8_t i = 0; i < TOTAL_DEVICES; i++) {
@@ -565,7 +589,7 @@ bool tuh_rhport_init(uint8_t rhport, const tusb_rhport_init_t* rh_init) {
   }
 
   // Init host controller
-  _usbh_data.controller_id = rhport;
+  _usbh_controller_id = rhport;
   TU_ASSERT(hcd_init(rhport, rh_init));
   hcd_int_enable(rhport);
 
@@ -580,7 +604,7 @@ bool tuh_deinit(uint8_t rhport) {
   // deinit host controller
   hcd_int_disable(rhport);
   TU_ASSERT(hcd_deinit(rhport));
-  _usbh_data.controller_id = TUSB_INDEX_INVALID_8;
+  _usbh_controller_id = TUSB_INDEX_INVALID_8;
 
   // remove all devices on this rhport (hub_addr = 0, hub_port = 0)
   remove_device_tree(rhport, 0, 0);
@@ -604,6 +628,25 @@ bool tuh_deinit(uint8_t rhport) {
     _usbh_daq = NULL;
   #endif
 
+    // Fire FAILED cb for any queued async control xfer so callers aren't stranded.
+    usbh_pending_ctrl_t pending;
+    while (tu_fifo_read_n(&_usbh_pending_ctrl_q, &pending, sizeof(pending)) == sizeof(pending)) {
+      if (pending.complete_cb) {
+        tuh_xfer_t x = {
+          .daddr       = pending.daddr,
+          .ep_addr     = 0,
+          .result      = XFER_RESULT_FAILED,
+          .actual_len  = 0,
+          .setup       = &pending.setup,
+          .buffer      = pending.buffer,
+          .complete_cb = pending.complete_cb,
+          .user_data   = pending.user_data,
+        };
+        pending.complete_cb(&x);
+      }
+    }
+    tu_fifo_clear(&_usbh_pending_ctrl_q);
+
   #if OSAL_MUTEX_REQUIRED
     // TODO make sure there is no task waiting on this mutex
     osal_mutex_delete(_usbh_mutex);
@@ -629,6 +672,12 @@ bool tuh_task_event_ready(void) {
   }
   #endif
 
+  // Pending control xfer waiting for an idle slot
+  if (_usbh_data.ctrl_xfer_info.stage == CONTROL_STAGE_IDLE &&
+      !tu_fifo_empty(&_usbh_pending_ctrl_q)) {
+    return true;
+  }
+
   if (_usbh_data.call_after.func) {
     int32_t remain_ms = (int32_t)(_usbh_data.call_after.at_ms - tusb_time_millis_api());
     if (remain_ms <= 0) {
@@ -663,6 +712,13 @@ void tuh_task_ext(uint32_t timeout_ms, bool in_isr) {
 
   (void) in_isr; // not implemented yet
 
+#if CFG_TUSB_OS_HAS_SCHEDULER
+  // Save task handle on 1st run
+  if (_usbh_data.task_hdl == NULL) {
+    _usbh_data.task_hdl = osal_task_get_current_handle();
+  }
+#endif
+
   // Loop until there are no more events in the queue or CFG_TUH_TASK_EVENTS_PER_RUN is reached
   for (unsigned epr = 0;; epr++) {
   #if CFG_TUH_TASK_EVENTS_PER_RUN > 0
@@ -695,6 +751,16 @@ void tuh_task_ext(uint32_t timeout_ms, bool in_isr) {
       }
     }
 
+    // Drain pending async control xfers. Slot transitions and dispatch are
+    // decoupled: completion / abort / device_close set stage = IDLE via
+    // control_xfer_set_stage() and the actual FIFO drain happens here in the
+    // event loop. The check is a fast non-mutex sanity gate; the dispatcher
+    // itself re-checks under the mutex.
+    if (_usbh_data.ctrl_xfer_info.stage == CONTROL_STAGE_IDLE &&
+        !tu_fifo_empty(&_usbh_pending_ctrl_q)) {
+      control_xfer_dispatch_pending();
+    }
+
     hcd_event_t event;
 
   #if CFG_TUH_HUB
@@ -818,73 +884,179 @@ void tuh_task_ext(uint32_t timeout_ms, bool in_isr) {
 // Control transfer
 //--------------------------------------------------------------------+
 
-static void _control_blocking_complete_cb(tuh_xfer_t* xfer) {
-  // update result
-  *((xfer_result_t*) xfer->user_data) = xfer->result;
+// Carries both fields the sync waiter cares about — capturing from xfer_temp
+// (snapshot taken before release_slot resets ctrl_info for the next pending
+// entry) so the waiter sees this xfer's data, not the next dispatched one's.
+typedef struct {
+  volatile xfer_result_t result;
+  volatile uint32_t      actual_len;
+} control_xfer_sync_param_t;
+
+static void control_xfer_sync_complete(tuh_xfer_t* xfer) {
+  control_xfer_sync_param_t* s = (control_xfer_sync_param_t*) xfer->user_data;
+  s->actual_len = xfer->actual_len;
+  s->result     = xfer->result;
 }
 
 // TODO timeout_ms is not supported yet
 bool tuh_control_xfer (tuh_xfer_t* xfer) {
-  TU_VERIFY(xfer->ep_addr == 0 && xfer->setup); // EP0 with setup packet
   const uint8_t daddr = xfer->daddr;
-  TU_VERIFY(tuh_connected(daddr));
-
+  TU_VERIFY(daddr <= TOTAL_DEVICES && xfer->ep_addr == 0 && xfer->setup); // EP0 with setup packet
   usbh_ctrl_xfer_info_t* ctrl_info = &_usbh_data.ctrl_xfer_info;
 
-  TU_VERIFY(ctrl_info->stage == CONTROL_STAGE_IDLE); // pre-check to help reducing mutex lock
-  (void) osal_mutex_lock(_usbh_mutex, OSAL_TIMEOUT_WAIT_FOREVER);
-  bool const is_idle = (ctrl_info->stage == CONTROL_STAGE_IDLE);
-  if (is_idle) {
-    ctrl_info->stage        = CONTROL_STAGE_SETUP;
-    ctrl_info->daddr        = daddr;
-    ctrl_info->actual_len   = 0;
-    ctrl_info->failed_count = 0;
+#if CFG_TUSB_OS_HAS_SCHEDULER
+  // Sync (complete_cb == NULL) from a host-stack callback is forbidden on
+  // RTOS targets — the event-loop driver can't block on its own pending xfer
+  // (deadlock if other control xfers are queued behind). Use async with a
+  // chained cb instead. OS_NONE / OS_PICO are exempt: they have a single
+  // execution context and the recursive-drive path is the only way to wait.
+  TU_ASSERT(!(xfer->complete_cb == NULL &&
+              osal_task_get_current_handle() == _usbh_data.task_hdl));
+#endif
 
-    ctrl_info->buffer       = xfer->buffer;
-    ctrl_info->complete_cb  = xfer->complete_cb;
-    ctrl_info->user_data    = xfer->user_data;
-    _usbh_epbuf.request     = (*xfer->setup);
-  }
-  (void) osal_mutex_unlock(_usbh_mutex);
+  // Slot is single-threaded — when busy, sync callers block until it frees
+  // (blocking semantics require the result); async callers get queued in the
+  // pending FIFO and submitted by control_xfer_complete() when the slot
+  // drains. The test-and-{claim|enqueue} is one critical section so a slot
+  // that becomes IDLE between the check and the enqueue can't strand an async
+  // request in a queue nothing else drains.
+  const bool is_nonblocking = (xfer->complete_cb != NULL);
+  while (true) {
+    TU_VERIFY(tuh_connected(daddr));
+    bool claimed = false;
+    bool is_queued = false;
+    (void) osal_mutex_lock(_usbh_mutex, OSAL_TIMEOUT_WAIT_FOREVER);
+    if (ctrl_info->stage == CONTROL_STAGE_IDLE) {
+      ctrl_info->stage        = CONTROL_STAGE_SETUP;
+      ctrl_info->daddr        = daddr;
+      ctrl_info->actual_len   = 0;
+      ctrl_info->failed_count = 0;
+
+      ctrl_info->buffer       = xfer->buffer;
+      ctrl_info->complete_cb  = xfer->complete_cb;
+      ctrl_info->user_data    = xfer->user_data;
+      _usbh_epbuf.request     = (*xfer->setup);
+      claimed = true;
+    } else if (is_nonblocking) {
+      // Async + busy: queue the transfer.
+      const usbh_pending_ctrl_t entry = {
+        .setup       = *xfer->setup,
+        .buffer      = xfer->buffer,
+        .complete_cb = xfer->complete_cb,
+        .user_data   = xfer->user_data,
+        .daddr       = daddr,
+        .daddr_gen   = _usbh_data.daddr_gen[daddr]
+      };
+      is_queued = tu_fifo_write_n(&_usbh_pending_ctrl_q, &entry, sizeof(entry)) == sizeof(entry);
+    }
+
+    (void) osal_mutex_unlock(_usbh_mutex);
+
+    if (claimed) {
+      break;
+    }
+
+    if (is_nonblocking) {
+      return is_queued;
+    }
 
-  TU_VERIFY(is_idle);
+    // - OS_HAS_SCHEDULER: delay 1 ms
+    // - Otherwise: single execution context; drive the loop ourselves to progress the in-flight transfer.
+#if CFG_TUSB_OS_HAS_SCHEDULER
+    osal_task_delay(1);
+#else
+    tuh_task_ext(0, false);
+#endif
+  }
   TU_LOG_USBH("[%u:%u] %s: ", usbh_get_rhport(daddr), daddr,
               (xfer->setup->bmRequestType_bit.type == TUSB_REQ_TYPE_STANDARD && xfer->setup->bRequest <= TUSB_REQ_SYNCH_FRAME) ?
                   tu_str_std_request[xfer->setup->bRequest] : "Class Request");
   TU_LOG_BUF_USBH(xfer->setup, 8);
 
-  if (xfer->complete_cb != NULL) {
-    TU_ASSERT(usbh_setup_send(daddr, (uint8_t const *) &_usbh_epbuf.request));
-  }else {
-    // blocking if complete callback is not provided
-    // change callback to internal blocking, and result as user argument
-    volatile xfer_result_t result = XFER_RESULT_INVALID;
-
-    // use user_data to point to xfer_result_t
-    ctrl_info->user_data   = (uintptr_t) &result;
-    ctrl_info->complete_cb = _control_blocking_complete_cb;
+  // Sync: wire control_xfer_sync_complete BEFORE submit so a fast completion
+  // event has the cb in place. control_xfer_complete() captures both result
+  // and actual_len through this cb before release_slot overwrites ctrl_info.
+  volatile control_xfer_sync_param_t sync_state;
+  if (!is_nonblocking) {
+    sync_state.result = XFER_RESULT_INVALID;
+    sync_state.actual_len = 0;
+    ctrl_info->user_data   = (uintptr_t) &sync_state;
+    ctrl_info->complete_cb = control_xfer_sync_complete;
+  }
 
-    TU_ASSERT(usbh_setup_send(daddr, (uint8_t const *) &_usbh_epbuf.request));
+  if (!hcd_setup_send(usbh_get_rhport(daddr), daddr, (uint8_t const *) &_usbh_epbuf.request)) {
+    control_xfer_set_stage(CONTROL_STAGE_IDLE);
+    return false;
+  }
 
-    while (result == XFER_RESULT_INVALID) {
-      // Note: this can be called within an callback ie. part of tuh_task()
-      // therefore even with RTOS tuh_task_ext() still need to be invoked
+  if (!is_nonblocking) {
+    // No tuh_connected() escape needed: usbh_device_close() routes through
+    // control_xfer_complete(daddr, FAILED) on disconnect, which fires
+    // sync_complete and unblocks this poll.
+    while (sync_state.result == XFER_RESULT_INVALID) {
+#if CFG_TUSB_OS_HAS_SCHEDULER
+      osal_task_delay(1);
+#else
       tuh_task_ext(0, false);
-      // TODO probably some timeout to prevent hanged
+#endif
     }
 
-    // update transfer result, user_data is expected to point to xfer_result_t
+    // Forward to caller (xfer->user_data, if set, is a xfer_result_t pointer).
     if (xfer->user_data != 0) {
-      *((xfer_result_t*) xfer->user_data) = result;
+      *((xfer_result_t*) xfer->user_data) = sync_state.result;
     }
-    xfer->result     = result;
-    xfer->actual_len = ctrl_info->actual_len;
+    xfer->result     = sync_state.result;
+    xfer->actual_len = sync_state.actual_len;
   }
 
   return true;
 }
 
-static void _control_xfer_complete(uint8_t daddr, xfer_result_t result) {
+// Start control transfer from pending fifo
+static void control_xfer_dispatch_pending(void) {
+  usbh_ctrl_xfer_info_t* ctrl_info = &_usbh_data.ctrl_xfer_info;
+
+  while (true) {
+    usbh_pending_ctrl_t xfer;
+    bool has_xfer = false;
+
+    (void) osal_mutex_lock(_usbh_mutex, OSAL_TIMEOUT_WAIT_FOREVER);
+    if (ctrl_info->stage == CONTROL_STAGE_IDLE &&
+        tu_fifo_read_n(&_usbh_pending_ctrl_q, &xfer, sizeof(xfer)) == sizeof(xfer)) {
+      ctrl_info->stage        = CONTROL_STAGE_SETUP;
+      ctrl_info->daddr        = xfer.daddr;
+      ctrl_info->actual_len   = 0;
+      ctrl_info->failed_count = 0;
+      ctrl_info->buffer       = xfer.buffer;
+      ctrl_info->complete_cb  = xfer.complete_cb;
+      ctrl_info->user_data    = xfer.user_data;
+      _usbh_epbuf.request     = xfer.setup;
+      has_xfer = true;
+    }
+    (void) osal_mutex_unlock(_usbh_mutex);
+
+    if (!has_xfer) {
+      return; // nothing to do
+    }
+
+    // mismatched daddr_gen means pending transfer is stale due to the device got disconnected while in the FIFO
+    // Note: the address can be re-allocated to another device at this point.
+    if (xfer.daddr_gen == _usbh_data.daddr_gen[xfer.daddr]) {
+      TU_LOG_USBH("[%u:%u] %s: ", usbh_get_rhport(xfer.daddr), xfer.daddr,
+                  (xfer.setup.bmRequestType_bit.type == TUSB_REQ_TYPE_STANDARD && xfer.setup.bRequest <= TUSB_REQ_SYNCH_FRAME) ?
+                      tu_str_std_request[xfer.setup.bRequest] : "Class Request");
+      TU_LOG_BUF_USBH(&xfer.setup, 8);
+      if (hcd_setup_send(usbh_get_rhport(xfer.daddr), xfer.daddr, (uint8_t const *) &_usbh_epbuf.request)) {
+        return; // transfer kicked-off, we are done
+      }
+    }
+
+    // complete callback as FAILED and continue with next pending xfer
+    control_xfer_complete(xfer.daddr, XFER_RESULT_FAILED);
+  }
+}
+
+static void control_xfer_complete(uint8_t daddr, xfer_result_t result) {
   TU_LOG_USBH("\r\n");
   usbh_ctrl_xfer_info_t* ctrl_info = &_usbh_data.ctrl_xfer_info;
 
@@ -901,7 +1073,8 @@ static void _control_xfer_complete(uint8_t daddr, xfer_result_t result) {
     .user_data   = ctrl_info->user_data
   };
 
-  _control_set_xfer_stage(CONTROL_STAGE_IDLE);
+  // set to IDLE before callback since cb can invoke another transfer
+  control_xfer_set_stage(CONTROL_STAGE_IDLE);
 
   if (xfer_temp.complete_cb != NULL) {
     xfer_temp.complete_cb(&xfer_temp);
@@ -915,11 +1088,17 @@ static bool usbh_control_xfer_cb (uint8_t daddr, uint8_t ep_addr, xfer_result_t
   tusb_control_request_t const * request = &_usbh_epbuf.request;
   usbh_ctrl_xfer_info_t* ctrl_info = &_usbh_data.ctrl_xfer_info;
 
+  // Drop stale completions: slot already released (abort/close fired its cb)
+  // or now owns a different device's xfer (a pending entry was dispatched).
+  if (ctrl_info->stage == CONTROL_STAGE_IDLE || ctrl_info->daddr != daddr) {
+    return true;
+  }
+
   switch (result) {
     case XFER_RESULT_STALLED:
       TU_LOG_USBH("[%u:%u] Control STALLED, xferred_bytes = %" PRIu32 "\r\n", rhport, daddr, xferred_bytes);
       TU_LOG_BUF_USBH(request, 8);
-      _control_xfer_complete(daddr, result);
+      control_xfer_complete(daddr, result);
     break;
 
     case XFER_RESULT_FAILED:
@@ -931,11 +1110,14 @@ static bool usbh_control_xfer_cb (uint8_t daddr, uint8_t ep_addr, xfer_result_t
         ctrl_info->actual_len = 0; // reset actual_len
         (void) osal_mutex_unlock(_usbh_mutex);
 
-        TU_ASSERT(usbh_setup_send(daddr, (uint8_t const *) request));
+        if (!hcd_setup_send(rhport, daddr, (uint8_t const *) request)) {
+          control_xfer_complete(daddr, XFER_RESULT_FAILED);
+          return false;
+        }
       } else {
         TU_LOG_USBH("[%u:%u] Control FAILED, xferred_bytes = %" PRIu32 "\r\n", rhport, daddr, xferred_bytes);
         TU_LOG_BUF_USBH(request, 8);
-        _control_xfer_complete(daddr, result);
+        control_xfer_complete(daddr, result);
       }
     break;
 
@@ -944,7 +1126,7 @@ static bool usbh_control_xfer_cb (uint8_t daddr, uint8_t ep_addr, xfer_result_t
         case CONTROL_STAGE_SETUP:
           if (request->wLength > 0) {
             // DATA stage: initial data toggle is always 1
-            _control_set_xfer_stage(CONTROL_STAGE_DATA);
+            control_xfer_set_stage(CONTROL_STAGE_DATA);
             const uint8_t ep_data = tu_edpt_addr(0, request->bmRequestType_bit.direction);
             TU_ASSERT(hcd_edpt_xfer(rhport, daddr, ep_data, ctrl_info->buffer, request->wLength));
             return true;
@@ -959,7 +1141,7 @@ static bool usbh_control_xfer_cb (uint8_t daddr, uint8_t ep_addr, xfer_result_t
             ctrl_info->actual_len = (uint16_t) xferred_bytes;
 
             // ACK stage: toggle is always 1
-            _control_set_xfer_stage(CONTROL_STAGE_ACK);
+            control_xfer_set_stage(CONTROL_STAGE_ACK);
             const uint8_t ep_status = tu_edpt_addr(0, 1 - request->bmRequestType_bit.direction);
             TU_ASSERT(hcd_edpt_xfer(rhport, daddr, ep_status, NULL, 0));
             break;
@@ -976,7 +1158,7 @@ static bool usbh_control_xfer_cb (uint8_t daddr, uint8_t ep_addr, xfer_result_t
             }
           }
 
-          _control_xfer_complete(daddr, result);
+          control_xfer_complete(daddr, result);
           break;
         }
 
@@ -1023,7 +1205,7 @@ bool tuh_edpt_abort_xfer(uint8_t daddr, uint8_t ep_addr) {
     const usbh_ctrl_xfer_info_t* ctrl_info = &_usbh_data.ctrl_xfer_info;
     TU_VERIFY(daddr == ctrl_info->daddr && ctrl_info->stage != CONTROL_STAGE_IDLE);
     hcd_edpt_abort_xfer(rhport, daddr, ep_addr);
-    _control_set_xfer_stage(CONTROL_STAGE_IDLE); // reset control transfer state to idle
+    control_xfer_complete(daddr, XFER_RESULT_ABORTED);
   } else {
     usbh_device_t* dev = get_device(daddr);
     TU_VERIFY(dev);
@@ -1055,9 +1237,9 @@ uint8_t *usbh_get_enum_buf(void) {
 void usbh_int_set(bool enabled) {
   // TODO all host controller if multiple are used since they shared the same event queue
   if (enabled) {
-    hcd_int_enable(_usbh_data.controller_id);
+    hcd_int_enable(_usbh_controller_id);
   } else {
-    hcd_int_disable(_usbh_data.controller_id);
+    hcd_int_disable(_usbh_controller_id);
   }
 }
 
diff --git a/src/osal/osal.h b/src/osal/osal.h
index 4840463f3..69cb356d4 100644
--- a/src/osal/osal.h
+++ b/src/osal/osal.h
@@ -76,28 +76,31 @@ typedef void (*osal_task_func_t)(void* param);
 /*--------------------------------------------------------------------
   OSAL Porting API
   Should be implemented as static inline function in osal_port.h header
-   uint32_t osal_time_millis(void);
+    uint32_t osal_time_millis(void);
 
-   void osal_spin_init(osal_spinlock_t *ctx);
-   void osal_spin_lock(osal_spinlock_t *ctx, bool in_isr)
-   void osal_spin_unlock(osal_spinlock_t *ctx, bool in_isr);
+    void osal_task_delay(uint32_t msec);
+    osal_task_handle_t osal_task_get_current_handle(void);
 
-   osal_semaphore_t osal_semaphore_create(osal_semaphore_def_t* semdef);
-   bool osal_semaphore_delete(osal_semaphore_t semd_hdl);
-   bool osal_semaphore_post(osal_semaphore_t sem_hdl, bool in_isr);
-   bool osal_semaphore_wait(osal_semaphore_t sem_hdl, uint32_t msec);
-   void osal_semaphore_reset(osal_semaphore_t sem_hdl);
+    void osal_spin_init(osal_spinlock_t *ctx);
+    void osal_spin_lock(osal_spinlock_t *ctx, bool in_isr)
+    void osal_spin_unlock(osal_spinlock_t *ctx, bool in_isr);
 
-   osal_mutex_t osal_mutex_create(osal_mutex_def_t* mdef);
-   bool osal_mutex_delete(osal_mutex_t mutex_hdl)
-   bool osal_mutex_lock (osal_mutex_t sem_hdl, uint32_t msec);
-   bool osal_mutex_unlock(osal_mutex_t mutex_hdl);
+    osal_semaphore_t osal_semaphore_create(osal_semaphore_def_t* semdef);
+    bool osal_semaphore_delete(osal_semaphore_t semd_hdl);
+    bool osal_semaphore_post(osal_semaphore_t sem_hdl, bool in_isr);
+    bool osal_semaphore_wait(osal_semaphore_t sem_hdl, uint32_t msec);
+    void osal_semaphore_reset(osal_semaphore_t sem_hdl);
 
-   osal_queue_t osal_queue_create(osal_queue_def_t* qdef);
-   bool osal_queue_delete(osal_queue_t qhdl);
-   bool osal_queue_receive(osal_queue_t qhdl, void* data, uint32_t msec);
-   bool osal_queue_send(osal_queue_t qhdl, void const * data, bool in_isr);
-   bool osal_queue_empty(osal_queue_t qhdl);
+    osal_mutex_t osal_mutex_create(osal_mutex_def_t* mdef);
+    bool osal_mutex_delete(osal_mutex_t mutex_hdl)
+    bool osal_mutex_lock (osal_mutex_t sem_hdl, uint32_t msec);
+    bool osal_mutex_unlock(osal_mutex_t mutex_hdl);
+
+    osal_queue_t osal_queue_create(osal_queue_def_t* qdef);
+    bool osal_queue_delete(osal_queue_t qhdl);
+    bool osal_queue_receive(osal_queue_t qhdl, void* data, uint32_t msec);
+    bool osal_queue_send(osal_queue_t qhdl, void const * data, bool in_isr);
+    bool osal_queue_empty(osal_queue_t qhdl);
 --------------------------------------------------------------------------*/
 
 
diff --git a/src/osal/osal_freertos.h b/src/osal/osal_freertos.h
index 898edd4ed..2f36aa9e8 100644
--- a/src/osal/osal_freertos.h
+++ b/src/osal/osal_freertos.h
@@ -83,6 +83,19 @@ typedef struct {
 //--------------------------------------------------------------------+
 // TASK API
 //--------------------------------------------------------------------+
+typedef TaskHandle_t osal_task_handle_t;
+
+// Requires INCLUDE_xTaskGetCurrentTaskHandle == 1 in FreeRTOSConfig.h. FreeRTOS
+// also exposes the symbol when configUSE_MUTEXES == 1, so accept either.
+#if !defined(INCLUDE_xTaskGetCurrentTaskHandle) || (INCLUDE_xTaskGetCurrentTaskHandle == 0)
+  #if !defined(configUSE_MUTEXES) || (configUSE_MUTEXES == 0)
+    #error "TinyUSB host stack requires INCLUDE_xTaskGetCurrentTaskHandle or configUSE_MUTEXES to be enabled in FreeRTOSConfig.h"
+  #endif
+#endif
+TU_ATTR_ALWAYS_INLINE static inline osal_task_handle_t osal_task_get_current_handle(void) {
+  return xTaskGetCurrentTaskHandle();
+}
+
 TU_ATTR_ALWAYS_INLINE static inline uint32_t _osal_ms2tick(uint32_t msec) {
   if (msec == OSAL_TIMEOUT_WAIT_FOREVER) { return portMAX_DELAY; }
   if (msec == 0) { return 0; }
diff --git a/src/osal/osal_mynewt.h b/src/osal/osal_mynewt.h
index 335d53491..d1fa77ecb 100644
--- a/src/osal/osal_mynewt.h
+++ b/src/osal/osal_mynewt.h
@@ -36,6 +36,12 @@
 //--------------------------------------------------------------------+
 // TASK API
 //--------------------------------------------------------------------+
+typedef struct os_task* osal_task_handle_t;
+
+TU_ATTR_ALWAYS_INLINE static inline osal_task_handle_t osal_task_get_current_handle(void) {
+  return os_sched_get_current_task();
+}
+
 TU_ATTR_ALWAYS_INLINE static inline void osal_task_delay(uint32_t msec) {
   os_time_delay( os_time_ms_to_ticks32(msec) );
 }
diff --git a/src/osal/osal_none.h b/src/osal/osal_none.h
index 7bf6029d6..e174d3518 100644
--- a/src/osal/osal_none.h
+++ b/src/osal/osal_none.h
@@ -34,6 +34,22 @@ extern "C" {
 // osal_time_millis() is not provided, tusb_time_millis_api() must be implemented by user application
 
 //--------------------------------------------------------------------+
+// TASK API
+//--------------------------------------------------------------------+
+// Bare-metal single context: return a non-NULL sentinel so equality compares true.
+typedef void* osal_task_handle_t;
+
+TU_ATTR_ALWAYS_INLINE static inline osal_task_handle_t osal_task_get_current_handle(void) {
+  return (osal_task_handle_t) 1;
+}
+
+// Bare-metal has no scheduler to yield to; this is dead code in practice because
+// callers gate it on running outside the host task, which can't happen here.
+TU_ATTR_ALWAYS_INLINE static inline void osal_task_delay(uint32_t msec) {
+  (void) msec;
+}
+
+//--------------------------------------------------------------------+
 // Spinlock API
 //--------------------------------------------------------------------+
 // Note: This implementation is designed for bare-metal single-core systems without RTOS.
diff --git a/src/osal/osal_pico.h b/src/osal/osal_pico.h
index 6a0a21bb3..364c38b01 100644
--- a/src/osal/osal_pico.h
+++ b/src/osal/osal_pico.h
@@ -39,6 +39,13 @@ extern "C" {
 //--------------------------------------------------------------------+
 // TASK API
 //--------------------------------------------------------------------+
+// Bare-metal single context: return a non-NULL sentinel so equality compares true.
+typedef void* osal_task_handle_t;
+
+TU_ATTR_ALWAYS_INLINE static inline osal_task_handle_t osal_task_get_current_handle(void) {
+  return (osal_task_handle_t) 1;
+}
+
 TU_ATTR_ALWAYS_INLINE static inline void osal_task_delay(uint32_t msec) {
   sleep_ms(msec);
 }
diff --git a/src/osal/osal_rtthread.h b/src/osal/osal_rtthread.h
index f560281c5..a151a7d70 100644
--- a/src/osal/osal_rtthread.h
+++ b/src/osal/osal_rtthread.h
@@ -38,6 +38,12 @@ extern "C" {
 //--------------------------------------------------------------------+
 // TASK API
 //--------------------------------------------------------------------+
+typedef rt_thread_t osal_task_handle_t;
+
+TU_ATTR_ALWAYS_INLINE static inline osal_task_handle_t osal_task_get_current_handle(void) {
+  return rt_thread_self();
+}
+
 TU_ATTR_ALWAYS_INLINE static inline void osal_task_delay(uint32_t msec) {
   rt_thread_mdelay(msec);
 }
diff --git a/src/osal/osal_rtx4.h b/src/osal/osal_rtx4.h
index e1930c96c..e5b708a2c 100644
--- a/src/osal/osal_rtx4.h
+++ b/src/osal/osal_rtx4.h
@@ -37,6 +37,12 @@ extern "C" {
 //--------------------------------------------------------------------+
 // TASK API
 //--------------------------------------------------------------------+
+typedef OS_TID osal_task_handle_t;
+
+TU_ATTR_ALWAYS_INLINE static inline osal_task_handle_t osal_task_get_current_handle(void) {
+  return os_tsk_self();
+}
+
 TU_ATTR_ALWAYS_INLINE static inline void osal_task_delay(uint32_t msec) {
   uint16_t hi = msec >> 16;
   uint16_t lo = msec;
diff --git a/src/osal/osal_threadx.h b/src/osal/osal_threadx.h
index 6bcf9c5ab..cca4eb487 100644
--- a/src/osal/osal_threadx.h
+++ b/src/osal/osal_threadx.h
@@ -37,6 +37,11 @@ extern "C" {
 //--------------------------------------------------------------------+
 // TASK API
 //--------------------------------------------------------------------+
+typedef TX_THREAD* osal_task_handle_t;
+
+TU_ATTR_ALWAYS_INLINE static inline osal_task_handle_t osal_task_get_current_handle(void) {
+  return tx_thread_identify();
+}
 
 TU_ATTR_ALWAYS_INLINE static inline uint32_t _osal_ms2tick(uint32_t msec) {
   if ( msec == TX_WAIT_FOREVER ) {
diff --git a/src/osal/osal_zephyr.h b/src/osal/osal_zephyr.h
index 900ac786c..6ea45131e 100644
--- a/src/osal/osal_zephyr.h
+++ b/src/osal/osal_zephyr.h
@@ -31,6 +31,12 @@
 //--------------------------------------------------------------------+
 // TASK API
 //--------------------------------------------------------------------+
+typedef k_tid_t osal_task_handle_t;
+
+TU_ATTR_ALWAYS_INLINE static inline osal_task_handle_t osal_task_get_current_handle(void) {
+  return k_current_get();
+}
+
 TU_ATTR_ALWAYS_INLINE static inline void osal_task_delay(uint32_t msec) {
   k_msleep(msec);
 }
diff --git a/src/portable/st/stm32_fsdev/dcd_stm32_fsdev.c b/src/portable/st/stm32_fsdev/dcd_stm32_fsdev.c
index 41da3ddd0..6f7f490a8 100644
--- a/src/portable/st/stm32_fsdev/dcd_stm32_fsdev.c
+++ b/src/portable/st/stm32_fsdev/dcd_stm32_fsdev.c
@@ -41,6 +41,7 @@
  * F302xB/C, F303xB/C, F373        512 byte buffer; no internal D+ pull-up
  * F302x6/8, F302xD/E2, F303xD/E  1024 byte buffer; no internal D+ pull-up
  * C0                             2048 byte buffer; 32-bit bus; host mode
+ * C5                             2048 byte buffer; 32-bit bus; host mode
  * G0                             2048 byte buffer; 32-bit bus; host mode
  * G4                             1024 byte buffer
  * H5                             2048 byte buffer; 32-bit bus; host mode
@@ -342,7 +343,7 @@ void dcd_int_handler(uint8_t rhport) {
   uint32_t int_status = FSDEV_REG->ISTR;
 
   /* Put SOF flag at the beginning of ISR in case to get least amount of jitter if it is used for timing purposes */
-  if (int_status & U_ISTR_SOF) {
+  if ((int_status & U_ISTR_SOF) && (FSDEV_REG->CNTR & U_CNTR_SOFM)) {
     FSDEV_REG->ISTR = (fsdev_bus_t)~U_ISTR_SOF;
     dcd_event_sof(0, FSDEV_REG->FNR & U_FNR_FN, true);
   }
diff --git a/src/portable/st/stm32_fsdev/fsdev_stm32.h b/src/portable/st/stm32_fsdev/fsdev_stm32.h
index 070aa00ec..b15c95302 100644
--- a/src/portable/st/stm32_fsdev/fsdev_stm32.h
+++ b/src/portable/st/stm32_fsdev/fsdev_stm32.h
@@ -36,6 +36,10 @@
   #include "stm32c0xx.h"
   #define FSDEV_HAS_SBUF_ISO 1
 
+#elif CFG_TUSB_MCU == OPT_MCU_STM32C5
+  #include "stm32c5xx.h"
+  #define FSDEV_HAS_SBUF_ISO 1
+
 #elif CFG_TUSB_MCU == OPT_MCU_STM32F0
   #include "stm32f0xx.h"
   #define FSDEV_HAS_SBUF_ISO 0
@@ -177,7 +181,7 @@ static const IRQn_Type fsdev_irq[] = {
     USB_IRQn,
   #elif TU_CHECK_MCU(OPT_MCU_STM32L5, OPT_MCU_STM32U3)
     USB_FS_IRQn,
-  #elif TU_CHECK_MCU(OPT_MCU_STM32C0, OPT_MCU_STM32H5, OPT_MCU_STM32U0)
+  #elif TU_CHECK_MCU(OPT_MCU_STM32C0, OPT_MCU_STM32C5, OPT_MCU_STM32H5, OPT_MCU_STM32U0)
     USB_DRD_FS_IRQn,
   #elif CFG_TUSB_MCU == OPT_MCU_STM32G0
     #ifdef STM32G0B0xx
@@ -262,30 +266,45 @@ TU_ATTR_ALWAYS_INLINE static inline void fsdev_int_disable(uint8_t rhport) {
  *
  * CTR may trigger before final PMA SRAM accesses complete on OUT transfers.
  * Insert delay before reading PMA count/data.
- * Max CPU frequency in MHz, used to derive conservative FSDEV PMA delay defaults.
+ * Max CPU frequency in Hz, used to derive conservative FSDEV PMA delay defaults.
  */
 #if CFG_TUSB_MCU == OPT_MCU_STM32H5
-  #define FSDEV_STM32_CPU_MHZ 250U
+  #define FSDEV_STM32_CPU_HZ 250000000U
 #elif CFG_TUSB_MCU == OPT_MCU_STM32U5
-  #define FSDEV_STM32_CPU_MHZ 160U
+  #define FSDEV_STM32_CPU_HZ 160000000U
 #elif CFG_TUSB_MCU == OPT_MCU_STM32U3
-  #define FSDEV_STM32_CPU_MHZ 96U
+  #define FSDEV_STM32_CPU_HZ 96000000U
 #elif CFG_TUSB_MCU == OPT_MCU_STM32U0
-  #define FSDEV_STM32_CPU_MHZ 56U
+  #define FSDEV_STM32_CPU_HZ 56000000U
 #elif CFG_TUSB_MCU == OPT_MCU_STM32G0
-  #define FSDEV_STM32_CPU_MHZ 64U
+  #define FSDEV_STM32_CPU_HZ 64000000U
 #elif CFG_TUSB_MCU == OPT_MCU_STM32C0
-  #define FSDEV_STM32_CPU_MHZ 48U
+  #define FSDEV_STM32_CPU_HZ 48000000U
+#elif CFG_TUSB_MCU == OPT_MCU_STM32C5
+  #define FSDEV_STM32_CPU_HZ 144000000U
 #endif
 
+// 11 cycles / 800ns = ~13750000 cycles per second, used to derive conservative FSDEV PMA delay defaults
 #ifndef CFG_TUSB_FSDEV_BTABLE_FS_DELAY_COUNT
-  #define CFG_TUSB_FSDEV_BTABLE_FS_DELAY_COUNT (FSDEV_STM32_CPU_MHZ / 4U)
+  #define CFG_TUSB_FSDEV_BTABLE_FS_DELAY_COUNT (FSDEV_STM32_CPU_HZ / 13750000U)
 #endif
 
+// 11 cycles / 6.4us = ~1718750 cycles per second, used to derive conservative FSDEV PMA delay defaults
 #ifndef CFG_TUSB_FSDEV_BTABLE_LS_DELAY_COUNT
-  #define CFG_TUSB_FSDEV_BTABLE_LS_DELAY_COUNT (FSDEV_STM32_CPU_MHZ * 2U)
+  #define CFG_TUSB_FSDEV_BTABLE_LS_DELAY_COUNT (FSDEV_STM32_CPU_HZ / 1718750U)
 #endif
 
+/**
+ * LDR from SP-relative: 2 cycles
+ * SUBS: 1 cycle
+ * STR to SP-relative: 2 cycles
+ * LDR from SP-relative: 2 cycles
+ * CMP: 1 cycle
+ * BNE:
+ * taken: 3 cycles total (often shown as 1 + pipeline refill)
+ * not taken: 1 cycle
+ * Total cycles if delay is needed: 11 cycles
+ */
 TU_ATTR_ALWAYS_INLINE static inline void fsdev_btable_workaround_delay(bool low_speed) {
   volatile uint32_t cycle_count = low_speed ? CFG_TUSB_FSDEV_BTABLE_LS_DELAY_COUNT : CFG_TUSB_FSDEV_BTABLE_FS_DELAY_COUNT;
   while (cycle_count > 0U) {
diff --git a/src/portable/synopsys/dwc2/dcd_dwc2.c b/src/portable/synopsys/dwc2/dcd_dwc2.c
index 1d0ef45d2..e1a2f6cf2 100644
--- a/src/portable/synopsys/dwc2/dcd_dwc2.c
+++ b/src/portable/synopsys/dwc2/dcd_dwc2.c
@@ -73,8 +73,15 @@ typedef struct {
 
 static dcd_data_t _dcd_data;
 
+// DMA receives up to 3 back-to-back SETUP packets (3 x 8 bytes), Slave mode only needs 1 packet (8 bytes)
+#if CFG_TUD_DWC2_DMA_ENABLE
+  #define DWC2_SETUP_BUFFER_SIZE 24
+#else
+  #define DWC2_SETUP_BUFFER_SIZE 8
+#endif
+
 CFG_TUD_MEM_SECTION static struct {
-  TUD_EPBUF_DEF(setup_packet, 8);
+  TUD_EPBUF_DEF(setup_buffer, DWC2_SETUP_BUFFER_SIZE);
 } _dcd_usbbuf;
 
 static tud_configure_dwc2_t _tud_cfg = CFG_TUD_CONFIGURE_DWC2_DEFAULT;
@@ -136,9 +143,9 @@ static void dma_setup_prepare(uint8_t rhport) {
     }
   }
 
-  // Receive only 1 packet
-  dwc2->epout[0].doeptsiz = (1 << DOEPTSIZ_STUPCNT_Pos) | (1 << DOEPTSIZ_PKTCNT_Pos) | (8 << DOEPTSIZ_XFRSIZ_Pos);
-  dwc2->epout[0].doepdma = (uintptr_t) _dcd_usbbuf.setup_packet;
+  // Receive back-to-back setup packets
+  dwc2->epout[0].doeptsiz = (3 << DOEPTSIZ_STUPCNT_Pos);
+  dwc2->epout[0].doepdma = (uintptr_t) _dcd_usbbuf.setup_buffer;
   dwc2->epout[0].doepctl |= DOEPCTL_EPENA | DOEPCTL_USBAEP;
 }
 
@@ -793,13 +800,15 @@ static void handle_bus_reset(uint8_t rhport) {
   xfer_status[0][TUSB_DIR_OUT].max_size = CFG_TUD_ENDPOINT0_SIZE;
   xfer_status[0][TUSB_DIR_IN].max_size = CFG_TUD_ENDPOINT0_SIZE;
 
+  uint32_t gintmsk = GINTMSK_OTGINT | GINTMSK_IEPINT | GINTMSK_IISOIXFRM;
   if(dma_device_enabled(dwc2)) {
+    gintmsk |= GINTMSK_OEPINT;
     dma_setup_prepare(rhport);
   } else {
     dwc2->epout[0].doeptsiz |= (3 << DOEPTSIZ_STUPCNT_Pos);
   }
 
-  dwc2->gintmsk |= GINTMSK_OTGINT | GINTMSK_OEPINT | GINTMSK_IEPINT | GINTMSK_IISOIXFRM;
+  dwc2->gintmsk |= gintmsk;
 }
 
 static void handle_enum_done(uint8_t rhport) {
@@ -883,31 +892,47 @@ static void handle_rxflvl_irq(uint8_t rhport) {
   dwc2_regs_t* dwc2 = DWC2_REG(rhport);
   const volatile uint32_t* rx_fifo = dwc2->fifo[0];
 
+  // DWC2 v3.10a (e.g. STM32L476) emits an extra EP0 RX_COMPLETE that is NOT a real OUT data transfer completion, in two
+  // situations - each flagged by a DOEPINT bit set on that word:
+  // - DOEPINT.STPKTRX (Setup Packet Received): pushed between SETUP_RX and SETUP_DONE of every control transfer.
+  // - DOEPINT.STSPHSRX (Status Phase Received for control write): pushed after the OUT data stage when the host
+  //   starts the IN status phase.
+  // Both are dropped in the RX_COMPLETE case below, clearing the flag (W1C) so a latched STSPHSRX
+  // does not block the core from emitting the next SETUP_DONE. usbd still processes the real OUT data
+  // and queues the IN status ZLP itself - the core does not auto-complete the control-write status.
+  const bool quirk_v310a = (dwc2->gsnpsid == DWC2_CORE_REV_3_10a);
+
   // Pop control word off FIFO
   const dwc2_grxstsp_t grxstsp = {.value = dwc2->grxstsp};
+  const uint8_t packet_status = grxstsp.packet_status;
   const uint8_t epnum = grxstsp.ep_ch_num;
 
   dwc2_dep_t* epout = &dwc2->epout[epnum];
 
-  switch (grxstsp.packet_status) {
+  switch (packet_status) {
     case GRXSTS_PKTSTS_GLOBAL_OUT_NAK:
       // Global OUT NAK: do nothing
       break;
 
     case GRXSTS_PKTSTS_SETUP_RX: {
       // Setup packet received
-      uint32_t* setup = (uint32_t*)(uintptr_t) _dcd_usbbuf.setup_packet;
+      uint32_t * setup = (uint32_t*)(uintptr_t) _dcd_usbbuf.setup_buffer;
       // We can receive up to three setup packets in succession, but only the last one is valid.
       setup[0] = (*rx_fifo);
       setup[1] = (*rx_fifo);
       break;
     }
 
-    case GRXSTS_PKTSTS_SETUP_DONE:
-      // Setup packet done:
-      // After popping this out, dwc2 asserts a DOEPINT_SETUP interrupt which is handled by handle_epout_irq()
+    case GRXSTS_PKTSTS_SETUP_DONE: {
+      // Pop this word causes the Setup interrupt
       epout->doeptsiz |= (3 << DOEPTSIZ_STUPCNT_Pos);
+      epout->doepint = DOEPINT_SETUP | DOEPINT_STPKTRX; // Clear SETUP interrupt, required for core to re-write this control word
+      if (edpt_is_enabled(&dwc2->epin[0])) {
+        edpt_disable(rhport, 0x80, false);
+      }
+      dcd_event_setup_received(rhport, _dcd_usbbuf.setup_buffer, true);
       break;
+    }
 
     case GRXSTS_PKTSTS_RX_DATA: {
       // Out packet received
@@ -935,41 +960,31 @@ static void handle_rxflvl_irq(uint8_t rhport) {
       break;
     }
 
-    case GRXSTS_PKTSTS_RX_COMPLETE:
-      // Out packet done
-      // After this entry is popped from the receive FIFO, dwc2 asserts a Transfer Completed interrupt on
-      // the specified OUT endpoint which will be handled by handle_epout_irq()
-      break;
+    case GRXSTS_PKTSTS_RX_COMPLETE: {
+      // Pop this word causes the xfer complete interrupt
+      const uint32_t doepint = epout->doepint;
+      epout->doepint = DOEPINT_XFRC;
 
-    default: break; // nothing to do
-  }
-}
-
-static void handle_epout_slave(uint8_t rhport, uint8_t epnum, dwc2_doepint_t doepint_bm) {
-  if (doepint_bm.setup_phase_done) {
-    // Cleanup previous pending EP0 IN transfer if any
-    dwc2_dep_t* epin0 = &DWC2_REG(rhport)->epin[0];
-    if (edpt_is_enabled(epin0)) {
-      edpt_disable(rhport, 0x80, false);
-    }
-    dcd_event_setup_received(rhport, _dcd_usbbuf.setup_packet, true);
-    return;
-  }
+      // v3.10a quirk (see top of function): the extra RX_COMPLETE flagged with Setup Packet Received (STPKTRX) or
+      // Status Phase Received for control write (STSPHSRX) is not a real OUT completion. Drop it
+      if (quirk_v310a) {
+        if (doepint & (DOEPINT_STPKTRX | DOEPINT_STSPHSRX)) {
+          epout->doepint = DOEPINT_STPKTRX | DOEPINT_STSPHSRX;
+          break;
+        }
+      }
 
-  // Normal OUT transfer complete
-  if (doepint_bm.xfer_complete) {
-    // only handle data skip if it is setup or status related
-    // Note: even though (xfer_complete + status_phase_rx) is for buffered DMA only, for STM32L47x (dwc2 v3.00a) they
-    // can is set when GRXSTS_PKTSTS_SETUP_RX is popped therefore they can bet set before/together with setup_phase_done
-    if (!doepint_bm.status_phase_rx && !doepint_bm.setup_packet_rx) {
       xfer_ctl_t* xfer = XFER_CTL_BASE(epnum, TUSB_DIR_OUT);
-      if ((epnum == 0) && _dcd_data.ep0_pending[TUSB_DIR_OUT]) {
-        // EP0 can only handle one packet, Schedule another packet to be received.
-        edpt_schedule_packets(rhport, epnum, TUSB_DIR_OUT);
+      if (epnum == 0 && _dcd_data.ep0_pending[TUSB_DIR_OUT] > 0) {
+        // EP0 can only handle one packet, schedule another packet to be received.
+        edpt_schedule_packets(rhport, 0, TUSB_DIR_OUT);
       } else {
         dcd_event_xfer_complete(rhport, epnum, xfer->total_len, XFER_RESULT_SUCCESS, true);
       }
+      break;
     }
+
+    default: break; // nothing to do
   }
 }
 
@@ -1008,13 +1023,23 @@ static void handle_epout_dma(uint8_t rhport, uint8_t epnum, dwc2_doepint_t doepi
 
   if (doepint_bm.setup_phase_done) {
     // Cleanup previous pending EP0 IN transfer if any
-    dwc2_dep_t* epin0 = &DWC2_REG(rhport)->epin[0];
+    dwc2_dep_t* epin0 = &dwc2->epin[0];
+    dwc2_dep_t* epout0 = &dwc2->epout[0];
     if (edpt_is_enabled(epin0)) {
       edpt_disable(rhport, 0x80, false);
     }
-    dma_setup_prepare(rhport);
-    dcd_dcache_invalidate(_dcd_usbbuf.setup_packet, 8);
-    dcd_event_setup_received(rhport, _dcd_usbbuf.setup_packet, true);
+
+    dcd_dcache_invalidate(_dcd_usbbuf.setup_buffer, sizeof(_dcd_usbbuf.setup_buffer));
+
+    // DOEPDMA0 has advanced past the last received SETUP packet; back up one packet to the latest valid one
+    // (Programming Guide v4.20a section 9.1.2.1: "DOEPDMAn-8 provides the pointer to the last valid SETUP data")
+    tusb_control_request_t *setup_packet = (tusb_control_request_t *) (uintptr_t) (epout0->doepdma - sizeof(tusb_control_request_t));
+    dcd_event_setup_received(rhport, (uint8_t*)setup_packet, true);
+
+    // Prepare EP0 for next setup if this setup has no data stage
+    if (setup_packet->wLength == 0) {
+      dma_setup_prepare(rhport);
+    }
     return;
   }
 
@@ -1035,9 +1060,8 @@ static void handle_epout_dma(uint8_t rhport, uint8_t epnum, dwc2_doepint_t doepi
         const uint16_t remain = tsiz.xfer_size;
         xfer->total_len -= remain;
 
-        // this is ZLP, so prepare EP0 for next setup
-        // TODO use status phase rx
-        if(epnum == 0 && xfer->total_len == 0) {
+        // prepare EP0 for next setup
+        if(epnum == 0) {
           dma_setup_prepare(rhport);
         }
 
@@ -1056,9 +1080,6 @@ static void handle_epin_dma(uint8_t rhport, uint8_t epnum, dwc2_diepint_t diepin
       // EP0 can only handle one packet. Schedule another packet to be transmitted.
       edpt_schedule_packets(rhport, epnum, TUSB_DIR_IN);
     } else {
-      if(epnum == 0) {
-        dma_setup_prepare(rhport);
-      }
       dcd_event_xfer_complete(rhport, epnum | TUSB_DIR_IN_MASK, xfer->total_len, XFER_RESULT_SUCCESS, true);
     }
   }
@@ -1099,7 +1120,7 @@ static void handle_ep_irq(uint8_t rhport, uint8_t dir) {
         if (dir == TUSB_DIR_IN) {
           handle_epin_slave(rhport, epnum, intr.diepint_bm);
         } else {
-          handle_epout_slave(rhport, epnum, intr.doepint_bm);
+          // epout is handled in handle_rxflvl_irq
         }
         #endif
       }
@@ -1207,7 +1228,7 @@ void dcd_int_handler(uint8_t rhport) {
     dwc2->gotgint = otg_int;
   }
 
-  if(gintsts & GINTSTS_SOF) {
+  if(gintsts & GINTSTS_SOF && dwc2->gintmsk & GINTMSK_SOFM) {
     dwc2->gintsts = GINTSTS_SOF;
     dwc2->gintmsk |= GINTMSK_USBSUSPM;
     const uint32_t frame = (dwc2->dsts & DSTS_FNSOF) >> DSTS_FNSOF_Pos;
@@ -1220,6 +1241,12 @@ void dcd_int_handler(uint8_t rhport) {
     dcd_event_sof(rhport, frame, true);
   }
 
+  // IN endpoint interrupt handling.
+  if (gintsts & GINTSTS_IEPINT) {
+    // IEPINT bit read-only, clear using DIEPINTn
+    handle_ep_irq(rhport, TUSB_DIR_IN);
+  }
+
 #if CFG_TUD_DWC2_SLAVE_ENABLE
   // RxFIFO non-empty interrupt handling.
   if (gintsts & GINTSTS_RXFLVL) {
@@ -1234,17 +1261,13 @@ void dcd_int_handler(uint8_t rhport) {
   }
 #endif
 
+#if CFG_TUD_DWC2_DMA_ENABLE
   // OUT endpoint interrupt handling.
   if (gintsts & GINTSTS_OEPINT) {
     // OEPINT is read-only, clear using DOEPINTn
     handle_ep_irq(rhport, TUSB_DIR_OUT);
   }
-
-  // IN endpoint interrupt handling.
-  if (gintsts & GINTSTS_IEPINT) {
-    // IEPINT bit read-only, clear using DIEPINTn
-    handle_ep_irq(rhport, TUSB_DIR_IN);
-  }
+#endif
 
   // Incomplete isochronous IN transfer interrupt handling.
   if (gintsts & GINTSTS_IISOIXFR) {
diff --git a/src/portable/synopsys/dwc2/hcd_dwc2.c b/src/portable/synopsys/dwc2/hcd_dwc2.c
index 9ea5f33c5..84a0c6afd 100644
--- a/src/portable/synopsys/dwc2/hcd_dwc2.c
+++ b/src/portable/synopsys/dwc2/hcd_dwc2.c
@@ -104,6 +104,7 @@ typedef struct {
   uint16_t xferred_bytes;  // bytes that accumulate transferred though USB bus for the whole hcd_edpt_xfer(), which can
                            // be composed of multiple channel_xfer_start() (retry with NAK/NYET)
   uint16_t fifo_bytes;     // bytes written/read from/to FIFO (may not be transferred on USB bus).
+  uint8_t  retry_disabled; // 1: channel was disabled to throttle a split retry (NAK in / XactErr out); re-arm on its halt
 } hcd_xfer_t;
 
 typedef struct {
@@ -1137,7 +1138,16 @@ static bool handle_channel_in_dma(dwc2_regs_t* dwc2, uint8_t ch_id, uint32_t hci
   // TU_LOG1("in  hcint = %02lX\r\n", hcint);
 
   if (hcint & HCINT_HALTED) {
-    if (hcint & (HCINT_XFER_COMPLETE | HCINT_STALL | HCINT_BABBLE_ERR)) {
+    if (xfer->retry_disabled) {
+      // Halt from our split-NAK throttle disable (below): re-arm the start-split, or let teardown finish
+      // if the endpoint is closing. Programming Guide 3.5 "Halting a Channel" (p73).
+      xfer->retry_disabled = 0;
+      if (xfer->closing) {
+        is_done = true;
+      } else {
+        channel_send_in_token(dwc2, channel);
+      }
+    } else if (hcint & (HCINT_XFER_COMPLETE | HCINT_STALL | HCINT_BABBLE_ERR)) {
       const uint16_t remain_bytes = (uint16_t) hctsiz.xfer_size;
       const uint16_t remain_packets = hctsiz.packet_count;
       const uint16_t actual_len = edpt->buflen - remain_bytes;
@@ -1203,7 +1213,15 @@ static bool handle_channel_in_dma(dwc2_regs_t* dwc2, uint8_t ch_id, uint32_t hci
       channel->hcintmsk &= ~(HCINT_NAK | HCINT_DATATOGGLE_ERR);
       hcsplt.split_compl = 0; // restart with start-split
       channel->hcsplt = hcsplt.value;
-      channel_xfer_in_retry(dwc2, ch_id, hcint);
+      // Persistent split bulk/control IN NAK (e.g. idle polled endpoint): re-enabling immediately storms
+      // the ISR and starves the task. Disable + re-arm on the resulting halt to throttle (like the slave
+      // path); no frame deferral. Programming Guide 3.5 (p73) Note permits disable on NAK/FrmOvrn splits.
+      if ((hcint & HCINT_NAK) && hcsplt.split_en && !channel_is_periodic(channel->hcchar)) {
+        xfer->retry_disabled = 1;
+        channel_disable(dwc2, channel);
+      } else {
+        channel_xfer_in_retry(dwc2, ch_id, hcint);
+      }
     } else if (hcint & HCINT_FARME_OVERRUN) {
       // retry start-split in next binterval
       channel_xfer_in_retry(dwc2, ch_id, hcint);
@@ -1228,7 +1246,16 @@ static bool handle_channel_out_dma(dwc2_regs_t* dwc2, uint8_t ch_id, uint32_t hc
   // TU_LOG1("out hcint = %02lX\r\n", hcint);
 
   if (hcint & HCINT_HALTED) {
-    if (hcint & (HCINT_XFER_COMPLETE | HCINT_STALL)) {
+    if (xfer->retry_disabled) {
+      // Halt from our split-XactErr throttle disable (below): re-issue the start-split (pointers already
+      // rewound), giving the hub TT a recovery gap. Programming Guide 3.5 "Halting a Channel" (p73).
+      xfer->retry_disabled = 0;
+      if (xfer->closing) {
+        is_done = true;
+      } else {
+        channel_xfer_start(dwc2, ch_id);
+      }
+    } else if (hcint & (HCINT_XFER_COMPLETE | HCINT_STALL)) {
       is_done = true;
       xfer->err_count = 0;
       if (hcint & HCINT_XFER_COMPLETE) {
@@ -1251,9 +1278,17 @@ static bool handle_channel_out_dma(dwc2_regs_t* dwc2, uint8_t ch_id, uint32_t hc
          xfer->result = XFER_RESULT_FAILED;
          is_done = true;
        } else {
-         // clean up transfer so far and start again
+         // Rewind, then retry the start-split. Non-periodic SPLIT throttles via channel_disable + re-arm on
+         // the halt (immediate re-fire exhausts the retry budget; the disable gives the hub TT a recovery
+         // gap, like slave). Periodic split is excluded: channel_disable() is a no-op for it, so the halt
+         // never fires and the channel would wedge. Non-split re-inits immediately (Programming Guide 5.1.2.3).
          channel_xfer_out_wrapup(dwc2, ch_id);
-         channel_xfer_start(dwc2, ch_id);
+         if (hcsplt.split_en && !channel_is_periodic(channel->hcchar)) {
+           xfer->retry_disabled = 1;
+           channel_disable(dwc2, channel);
+         } else {
+           channel_xfer_start(dwc2, ch_id);
+         }
        }
      }
     } else if (hcint & HCINT_NYET) {
@@ -1271,6 +1306,12 @@ static bool handle_channel_out_dma(dwc2_regs_t* dwc2, uint8_t ch_id, uint32_t hc
         channel->hcsplt = hcsplt.value;
         channel->hcchar |= HCCHAR_CHENA;
       }
+    } else if ((hcint & HCINT_NAK) && hcsplt.split_en) {
+      // Split OUT NAK: rewind + retry the start-split, else the channel stalls (Programming Guide 5.1.4.2).
+      // Non-split OUT NAK is core-handled (5.1.2.2), so this is split-only.
+      xfer->err_count = 0;
+      channel_xfer_out_wrapup(dwc2, ch_id);
+      channel_xfer_start(dwc2, ch_id);
     }
 
     if (xfer->closing == 1) {
diff --git a/src/portable/wch/dcd_ch32_usbhs.c b/src/portable/wch/dcd_ch32_usbhs.c
index a6dd5bb79..ea3b052ad 100644
--- a/src/portable/wch/dcd_ch32_usbhs.c
+++ b/src/portable/wch/dcd_ch32_usbhs.c
@@ -354,7 +354,7 @@ void dcd_edpt_stall(uint8_t rhport, uint8_t ep_addr) {
   if (dir == TUSB_DIR_OUT) {
     EP_RX_CTRL(ep_num) = USBHS_EP_R_RES_STALL;
   } else {
-    EP_TX_LEN(0)       = 0;
+    EP_TX_LEN(ep_num) = 0;
     EP_TX_CTRL(ep_num) = USBHS_EP_T_RES_STALL;
   }
 }
diff --git a/src/tusb.c b/src/tusb.c
index 5d656fb8c..634cbc10b 100644
--- a/src/tusb.c
+++ b/src/tusb.c
@@ -497,7 +497,7 @@ char const* const tu_str_std_request[] = {
 };
 
 char const* const tu_str_xfer_result[] = {
-    "OK", "FAILED", "STALLED", "TIMEOUT"
+    "OK", "FAILED", "STALLED", "TIMEOUT", "ABORTED", "INVALID"
 };
 #endif
 
diff --git a/src/tusb_option.h b/src/tusb_option.h
index 74eb8cc06..415e083c9 100644
--- a/src/tusb_option.h
+++ b/src/tusb_option.h
@@ -98,6 +98,7 @@
 #define OPT_MCU_STM32N6           319 ///< ST N6
 #define OPT_MCU_STM32WBA          320 ///< ST WBA
 #define OPT_MCU_STM32U3           321 ///< ST U3
+#define OPT_MCU_STM32C5           322 ///< ST C5
 
 // Sony
 #define OPT_MCU_CXD56             400 ///< SONY CXD56
@@ -535,6 +536,18 @@
   #define CFG_TUSB_OS           OPT_OS_NONE
 #endif
 
+// 1 when CFG_TUSB_OS provides a preemptive scheduler with distinct tasks
+// (FreeRTOS, Zephyr, ThreadX, etc.); 0 when the application is single-context
+// (bare-metal OS_NONE or Pico SDK). Sync host control xfers from the host
+// task are forbidden when this is 1.
+#ifndef CFG_TUSB_OS_HAS_SCHEDULER
+  #if CFG_TUSB_OS == OPT_OS_NONE || CFG_TUSB_OS == OPT_OS_PICO
+    #define CFG_TUSB_OS_HAS_SCHEDULER 0
+  #else
+    #define CFG_TUSB_OS_HAS_SCHEDULER 1
+  #endif
+#endif
+
 #ifndef CFG_TUSB_OS_INC_PATH
   #ifndef CFG_TUSB_OS_INC_PATH_DEFAULT
   #define CFG_TUSB_OS_INC_PATH_DEFAULT
diff --git a/test/hil/hfp.json b/test/hil/hfp.json
index 8ba7a8f44..bb146d2fc 100644
--- a/test/hil/hfp.json
+++ b/test/hil/hfp.json
@@ -15,6 +15,10 @@
         {
             "name": "stm32f746disco",
             "uid": "210041000C51343237303334",
+            "variant": [
+                { "name": "stm32f746disco", "flags": "" },
+                { "name": "stm32f746disco-DMA", "flags": "-DCFG_TUD_DWC2_DMA_ENABLE=1 -DCFG_TUH_DWC2_DMA_ENABLE=1" }
+            ],
             "tests": {
                 "device": true, "host": false, "dual": false
             },
diff --git a/test/hil/hil_ci.sh b/test/hil/hil_ci.sh
index 96872e2e1..3ec907979 100644
--- a/test/hil/hil_ci.sh
+++ b/test/hil/hil_ci.sh
@@ -54,27 +54,60 @@ scp -q "$ROOT_DIR/test/hil/hil_test.py" \
        "$CONFIG" \
        "$REMOTE:$REMOTE_DIR/test/hil/"
 
-# Copy only firmware binaries (elf/bin/hex), preserving directory structure
+# Copy only firmware binaries (elf/bin/hex) plus esptool metadata
+# (config.env + flash_args needed by the esptool flasher), preserving structure
 copy_board_binaries() {
   local src="$1"
   rsync -a --prune-empty-dirs \
-    --include='*/' --include='*.elf' --include='*.bin' --include='*.hex' --exclude='*' \
+    --include='*/' --include='*.elf' --include='*.bin' --include='*.hex' \
+    --include='config.env' --include='flash_args' \
+    --exclude='*' \
     "$src" "$REMOTE:$REMOTE_DIR/examples/"
 }
 
 if [ -n "$BOARD" ]; then
-  BUILD_DIR="$ROOT_DIR/examples/cmake-build-$BOARD"
-  if [ ! -d "$BUILD_DIR" ]; then
-    echo "Error: build directory not found: $BUILD_DIR"
-    echo "Build first with: cd examples && cmake -DBOARD=$BOARD -G Ninja -B cmake-build-$BOARD . && cmake --build cmake-build-$BOARD"
+  # Copy the board's build dir plus its variant dirs. Variant names come from
+  # $CONFIG (they are not required to be prefixed with the board name); the
+  # cmake-build-<BOARD>-* glob is kept as a fallback for ad-hoc local builds.
+  # Collect only dirs that actually exist, deduplicated.
+  declare -A SEEN_DIRS=()
+  BUILD_DIRS=()
+  add_build_dir() {
+    [[ -d "$1" && -z "${SEEN_DIRS[$1]:-}" ]] || return 0
+    SEEN_DIRS[$1]=1
+    BUILD_DIRS+=("$1")
+  }
+  shopt -s nullglob
+  for d in "$ROOT_DIR"/examples/cmake-build-"$BOARD" "$ROOT_DIR"/examples/cmake-build-"$BOARD"-*; do
+    add_build_dir "$d"
+  done
+  shopt -u nullglob
+  while IFS= read -r v; do
+    add_build_dir "$ROOT_DIR/examples/cmake-build-$v"
+  done < <(python3 -c '
+import json, sys
+cfg = json.load(open(sys.argv[1]))
+for b in cfg.get("boards", []):
+    if b["name"] == sys.argv[2]:
+        for v in b.get("variant") or []:
+            print(v["name"])
+' "$CONFIG" "$BOARD")
+  if [ ${#BUILD_DIRS[@]} -eq 0 ]; then
+    echo "Error: no build directory found for $BOARD under $ROOT_DIR/examples/"
+    echo "Build first with: cd examples && cmake --preset $BOARD && cmake --build --preset $BOARD"
     exit 1
   fi
-  echo "==> Copying binaries for $BOARD"
-  copy_board_binaries "$BUILD_DIR"
+  echo "==> Copying binaries for $BOARD (${#BUILD_DIRS[@]} build dir(s))"
+  for d in "${BUILD_DIRS[@]}"; do
+    copy_board_binaries "$d"
+  done
 else
   echo "==> Copying all built binaries"
+  # Use `%/` parameter expansion to strip the trailing slash from the glob —
+  # rsync needs the bare dir name so the per-board cmake-build-<BOARD>/ subdir
+  # is preserved on the remote (hil_test.py looks up binaries by that path).
   for dir in "$ROOT_DIR"/examples/cmake-build-*/; do
-    [ -d "$dir" ] && copy_board_binaries "$dir"
+    [ -d "$dir" ] && copy_board_binaries "${dir%/}"
   done
 fi
 
@@ -82,8 +115,21 @@ fi
 # parameters; quoting and metacharacters in args are preserved.
 CONFIG_BASENAME="$(basename "$CONFIG")"
 echo "==> Running HIL test on $REMOTE"
-ssh "$REMOTE" bash -s -- "$REMOTE_DIR" "${ARGS[@]}" "test/hil/$CONFIG_BASENAME" <<'REMOTE'
+rc=0
+ssh "$REMOTE" bash -s -- "$REMOTE_DIR" "${ARGS[@]}" "test/hil/$CONFIG_BASENAME" <<'REMOTE' || rc=$?
 cd -- "$1"
 shift
-exec python3 -u test/hil/hil_test.py -B examples "$@"
+# Flasher CLIs live in the user bin dirs on ci.lan (esptool/idf in ~/.local/bin,
+# STM32CubeProgrammer's STM32_Programmer_CLI in ~/bin); the non-interactive shell
+# subprocess used for flashing doesn't source profile/rc, so add them explicitly.
+export PATH="$HOME/.local/bin:$HOME/bin:$PATH"
+python3 -u test/hil/hil_test.py -B examples "$@"
 REMOTE
+
+# Copy the generated report back to the local checkout (best-effort; the run's
+# exit code is preserved regardless of whether a report was produced).
+scp -q "$REMOTE:$REMOTE_DIR/hil_report.md" "$ROOT_DIR/hil_report.md" \
+  && echo "==> Report copied to $ROOT_DIR/hil_report.md" \
+  || echo "==> warning: no hil_report.md copied back" >&2
+
+exit $rc
diff --git a/test/hil/hil_ci_set_matrix.py b/test/hil/hil_ci_set_matrix.py
index 2cce35ae2..baa24afb1 100644
--- a/test/hil/hil_ci_set_matrix.py
+++ b/test/hil/hil_ci_set_matrix.py
@@ -44,19 +44,19 @@ def main():
                 toolchain = 'arm-gcc'
 
             build_board = f'-b {name}'
-            if 'build' in board:
-                if 'args' in board['build']:
-                    build_board += ' ' + ' '.join(f'-D{a}' for a in board['build']['args'])
-                if 'flags_on' in board['build']:
-                    for f in board['build']['flags_on']:
-                        if f == '':
-                            append_build_arg(toolchain, build_board)
-                        else:
-                            append_build_arg(toolchain, f'{build_board} -f1 {f.replace(" ", " -f1 ")}')
-                else:
-                    append_build_arg(toolchain, build_board)
-            else:
-                append_build_arg(toolchain, build_board)
+            if 'build' in board and 'args' in board['build']:
+                build_board += ' ' + ' '.join(f'-D{a}' for a in board['build']['args'])
+
+            # Each variant builds into cmake-build-<variant.name> with its raw CFLAGS.
+            # No 'variant' -> a single build named after the board.
+            variants = board.get('variant') or [{'name': name, 'flags': ''}]
+            for v in variants:
+                arg = build_board
+                if v['name'] != name:
+                    arg += f' --build-name {v["name"]}'
+                for tok in v.get('flags', '').split():
+                    arg += f' --cflag={tok}'
+                append_build_arg(toolchain, arg)
 
     print(json.dumps(matrix))
 
diff --git a/test/hil/hil_test.py b/test/hil/hil_test.py
index 527679d46..c2ba34f02 100755
--- a/test/hil/hil_test.py
+++ b/test/hil/hil_test.py
@@ -22,6 +22,14 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.
 
+# Host setup:
+#   - System packages: sudo apt install mtools libmtp9 alsa-utils iperf
+#       mtools     - read_disk_file (device/cdc_msc, device/msc_dual_lun)
+#       libmtp9    - pymtp ctypes load (device/mtp); Debian 13 uses libmtp9t64
+#       alsa-utils - arecord (device/audio_test_freertos)
+#       iperf      - throughput tests (device/net_lwip_*)
+#   - Python packages: pip install -r requirements.txt
+#
 # udev rules :
 # ACTION=="add", SUBSYSTEM=="tty", SUBSYSTEMS=="usb", MODE="0666", PROGRAM="/bin/sh -c 'echo $$ID_SERIAL_SHORT | rev | cut -c -8 | rev'", SYMLINK+="ttyUSB_%c.%s{bInterfaceNumber}"
 # ACTION=="add", SUBSYSTEM=="block", SUBSYSTEMS=="usb", ENV{ID_FS_USAGE}=="filesystem", MODE="0666", PROGRAM="/bin/sh -c 'echo $$ID_SERIAL_SHORT | rev | cut -c -8 | rev'", RUN{program}+="/usr/bin/systemd-mount --no-block --automount=yes --collect $devnode /media/blkUSB_%c.%s{bInterfaceNumber}"
@@ -34,17 +42,11 @@ import re
 import select
 import sys
 import time
-import warnings
 import signal
 from contextlib import redirect_stdout
 from pathlib import Path
 from typing import Any, TypedDict, NotRequired, cast
 
-# Suppress pkg_resources deprecation warning from fs module
-warnings.filterwarnings("ignore", message="pkg_resources is deprecated")
-# Suppress pyfatfs unclean unmount warning
-warnings.filterwarnings("ignore", message="Filesystem was not cleanly unmounted")
-
 import serial
 import subprocess
 import json
@@ -52,7 +54,6 @@ import glob
 import shutil
 from multiprocessing import Pool, Lock
 from multiprocessing import TimeoutError as MpTimeoutError
-import fs
 import hashlib
 import ctypes
 from pymtp import MTP
@@ -64,6 +65,10 @@ STATUS_OK = "\033[32mOK\033[0m"
 STATUS_FAILED = "\033[31mFailed\033[0m"
 STATUS_SKIPPED = "\033[33mSkipped\033[0m"
 
+# Plain (non-ANSI) cell symbols for the markdown matrix report (hil_report.md).
+# A missing binary is reported as skipped too.
+REPORT_CELL = {'pass': '✅', 'fail': '❌', 'skip': '⚪'}
+
 verbose = False
 test_only = []
 board_test = {}
@@ -117,16 +122,21 @@ class TestsCfg(TypedDict, total=False):
 
 
 class BuildCfg(TypedDict, total=False):
-    flags_on: list[str]
     args: list[str]
 
 
+class VariantCfg(TypedDict, total=False):
+    name: str   # build dir (cmake-build-<name>) and HIL report row
+    flags: str  # raw CFLAGS, e.g. "-DCFG_TUD_DWC2_DMA_ENABLE=1"
+
+
 class Board(TypedDict):
     name: str
     uid: str
     tests: TestsCfg
     flasher: FlasherCfg
     build: NotRequired[BuildCfg]
+    variant: NotRequired[list[VariantCfg]]
 
 
 class HilConfig(TypedDict):
@@ -221,6 +231,8 @@ def open_serial_dev(port: str):
     while timeout > 0:
         if os.path.exists(port):
             try:
+                # write_timeout: a wedged device otherwise blocks ser.write() forever,
+                # hanging the worker until the pool/job timeout kills the whole run
                 ser = serial.Serial(port, baudrate=115200, timeout=SERIAL_READ_TIMEOUT,
                                     write_timeout=SERIAL_WRITE_TIMEOUT)
                 break
@@ -256,23 +268,24 @@ def serial_write_all(ser: serial.Serial, data: bytes, deadline: float = SERIAL_W
 
 
 def read_disk_file(uid: str, lun: int, fname: str) -> bytes:
-    # open_fs("fat://{dev}) require 'pip install pyfatfs'
+    # Reads a file from a FAT volume on a block device without mounting it.
+    # Requires mtools: `apt install mtools` (no pip dependency).
     dev = get_disk_dev(uid, 'TinyUSB', lun)
     timeout = ENUM_TIMEOUT
+    last_err = None
     while timeout > 0:
         if os.path.exists(dev):
-            fat = fs.open_fs(f'fat://{dev}?read_only=true')
             try:
-                with fat.open(fname, 'rb') as f:
-                    data = f.read()
-            finally:
-                fat.close()
-            assert data, f'Cannot read file {fname} from {dev}'
-            return data
+                data = subprocess.check_output(
+                    ['mtype', '-i', dev, f'::/{fname}'], stderr=subprocess.PIPE)
+                assert data, f'Cannot read file {fname} from {dev}'
+                return data
+            except subprocess.CalledProcessError as e:
+                last_err = e.stderr.decode(errors='replace').strip()
         time.sleep(1)
         timeout -= 1
 
-    raise AssertionError(f'Storage {dev} not existed')
+    raise AssertionError(f'mtype failed on {dev}: {last_err}' if last_err else f'Storage {dev} not existed')
 
 
 def open_mtp_dev(uid):
@@ -518,6 +531,19 @@ def reset_uniflash(board):
     return subprocess.CompletedProcess(args=['dummy'], returncode=0)
 
 
+def flash_lm4flash(board, firmware):
+    # TI Tiva-C / Stellaris ICDI: lightweight lm4flash, resets and runs after write
+    flasher = board['flasher']
+    ret = run_cmd(f'lm4flash -s {flasher["uid"]} {flasher["args"]} {firmware}.bin')
+    return ret
+
+
+def reset_lm4flash(board):
+    # lm4flash has no reset-only mode; it resets+runs on flash, so reset is a no-op
+    flasher = board['flasher']
+    return subprocess.CompletedProcess(args=['dummy'], returncode=0)
+
+
 # -------------------------------------------------------------
 # Tests: dual
 # -------------------------------------------------------------
@@ -809,12 +835,21 @@ def test_host_msc_file_explorer(board):
         t -= 0.05
 
     resp_text = resp.decode('utf-8', errors='ignore')
+    speed = None
     for line in resp_text.splitlines():
         if 'KB/s' in line:
             print(f'{line.strip()} ', end='')
+            m = re.search(r'([\d.]+\s*[KMG]B/s)', line)  # MSC read speed for the report cell
+            if m:
+                speed = 'rd ' + m.group(1).replace(' ', '')
             break
 
     ser.close()
+    return speed
+
+
+def test_host_msc_file_explorer_freertos(board):
+    return test_host_msc_file_explorer(board)
 
 
 # -------------------------------------------------------------
@@ -967,6 +1002,9 @@ def test_device_cdc_msc_throughput(board):
         pass
 
     print(f'  CDC read {cdc_r} write {cdc_w}, MSC read {msc_r} write {msc_w}  ', end='')
+    # compact read/write speed for the report cell, e.g. "✅ CDC 652k/422k MSC 1.1M/783k"
+    short = lambda s: (s.split()[0].rstrip('0').rstrip('.') + s.split()[-1][0]) if ' ' in s else s
+    return f'{REPORT_CELL["pass"]} CDC {short(cdc_r)}/{short(cdc_w)} MSC {short(msc_r)}/{short(msc_w)}'
 
 
 def test_device_dfu(board):
@@ -1420,7 +1458,7 @@ def test_device_audio_test_freertos(board):
 
 def test_device_hid_generic_inout(board):
     uid = board['uid']
-    import hid
+    import hid  # cython-hidapi (pip: hidapi, apt: python3-hid)
 
     # Find HID device by UID (VID=0xCafe)
     timeout = ENUM_TIMEOUT
@@ -1436,22 +1474,23 @@ def test_device_hid_generic_inout(board):
         timeout -= 1
     assert dev is not None, f'HID device not found for {uid}'
 
-    h = hid.Device(vid=dev['vendor_id'], pid=dev['product_id'], serial=uid)
-
-    # Echo test: send random data and verify echo
-    for size in [8, 32, 63]:
-        # Report ID (0) + payload, padded to 64 bytes
-        payload = bytes([random.randint(1, 255) for _ in range(size)])
-        report = bytes([0]) + payload + bytes(64 - size)
-        h.write(report)
-        echo = h.read(64, timeout=2000)
-        assert echo is not None and len(echo) >= size, (
-            f'HID echo timeout or short read ({size} bytes)')
-        assert bytes(echo[:size]) == payload, (
-            f'HID echo wrong data ({size} bytes):\n'
-            f'  expected: {payload.hex()}\n  received: {bytes(echo[:size]).hex()}')
-
-    h.close()
+    h = hid.device()
+    h.open(dev['vendor_id'], dev['product_id'], uid)
+    try:
+        # Echo test: send random data and verify echo
+        for size in [8, 32, 63]:
+            # Report ID (0) + payload, padded to 64 bytes
+            payload = bytes([random.randint(1, 255) for _ in range(size)])
+            report = bytes([0]) + payload + bytes(64 - size)
+            h.write(report)
+            echo = h.read(64, 2000)
+            assert echo and len(echo) >= size, (
+                f'HID echo timeout or short read ({size} bytes)')
+            assert bytes(echo[:size]) == payload, (
+                f'HID echo wrong data ({size} bytes):\n'
+                f'  expected: {payload.hex()}\n  received: {bytes(echo[:size]).hex()}')
+    finally:
+        h.close()
 
 
 # -------------------------------------------------------------
@@ -1483,32 +1522,47 @@ dual_tests = [
 host_test = [
     'host/cdc_msc_hid',
     'host/msc_file_explorer',
+    'host/msc_file_explorer_freertos',
     'host/device_info',
 ]
 
 
-def test_example(board: Board, f1: str, example: str) -> int:
+def find_firmware(variant: str, example: str):
+    """Locate a built example's firmware base path (no extension) under
+    cmake-build-<variant>/<example>/. Accepts the single-config layout (firmware
+    directly in the example dir) or Ninja Multi-Config (a per-config subdir like
+    RelWithDebInfo/). Returns the base Path, or None if not built."""
+    fw_dir = TINYUSB_ROOT / build_dir / f'cmake-build-{variant}' / example
+    base = Path(example).name
+    if fw_dir.is_dir():
+        for cand in [fw_dir / base, fw_dir / 'RelWithDebInfo' / base,
+                     *(p.with_suffix('') for p in sorted(fw_dir.glob(f'*/{base}.elf')))]:
+            if cand.with_suffix('.elf').exists() or cand.with_suffix('.bin').exists():
+                return cand
+    return None
+
+
+def test_example(board: Board, variant: str, example: str) -> tuple[int, str]:
     """
     Test example firmware
     :param board: board dict
-    :param f1: flags on
+    :param variant: build variant name = build dir (cmake-build-<variant>) and report row
     :param example: example name
-    :return: 0 if success/skip, 1 if failed
+    :return: (err_count, status, metric) where err_count is 0 on success/skip or
+             1 on failure, status is one of 'pass'/'fail'/'skip' (a missing binary
+             counts as 'skip'), and metric is an optional string a test returns to
+             show in its report cell instead of the pass symbol (e.g. speed)
     """
-    name = board['name']
     err_count = 0
+    result_status = 'fail'
+    metric = None
 
-    f1_str = ""
-    if f1 != "":
-        f1_str = '-f1_' + f1.replace(' ', '_')
-
-    fw_dir = TINYUSB_ROOT / build_dir / f'cmake-build-{name}{f1_str}' / example
-    fw_name = fw_dir / Path(example).name
-    test_name = f'{name+f1_str:40} {example:30} ...'
+    test_name = f'{variant:40} {example:30} ...'
 
-    if not fw_dir.exists() or not ((fw_name.with_suffix('.elf')).exists() or (fw_name.with_suffix('.bin')).exists()):
+    fw_name = find_firmware(variant, example)
+    if fw_name is None:
         log_line(f'{test_name} Skip (no binary)')
-        return 0
+        return 0, 'skip', None
 
     if verbose:
         log_line(f'Flashing {fw_name}.elf')
@@ -1531,8 +1585,12 @@ def test_example(board: Board, f1: str, example: str) -> int:
                     last_detail = compact_output(attempt_out.getvalue())
                     if tret == 'skipped':
                         status = STATUS_SKIPPED
+                        result_status = 'skip'
                     else:
                         status = STATUS_OK
+                        result_status = 'pass'
+                        # a test may return a string to show in its report cell (e.g. speed)
+                        metric = tret if isinstance(tret, str) else None
                     msg = f'{test_name}  {status}'
                     if last_detail:
                         msg += f'  {last_detail}'
@@ -1575,26 +1633,27 @@ def test_example(board: Board, f1: str, example: str) -> int:
         msg += f'  in {time.time() - start_s:.1f}s'
         log_line(msg)
 
-    return err_count
+    return err_count, result_status, metric
 
 
 def build_board(board: Board) -> tuple[str, int]:
     """Build firmware for this board via tools/build.py.
-    Honors board config's build.flags_on variants and build.args defines.
-    Output goes to cmake-build/cmake-build-BOARD[-f1_...]/ (tools/build.py layout)."""
+    Honors board config's variant list and build.args defines.
+    Output goes to cmake-build/cmake-build-<variant>/ (tools/build.py layout)."""
     name = board['name']
     bcfg = cast(BuildCfg, board.get('build', {}))
-    flags_on_list = bcfg.get('flags_on', [''])
     extra_defs = bcfg.get('args', [])
+    variants = board.get('variant') or [{'name': name, 'flags': ''}]
 
     failed = 0
-    for f1 in flags_on_list:
+    for v in variants:
         cmd = [sys.executable, str(TINYUSB_ROOT / 'tools' / 'build.py'), '-b', name]
         for d in extra_defs:
             cmd += ['-D', d]
-        if f1:
-            for flag in f1.split():
-                cmd += ['-f1', flag]
+        if v['name'] != name:
+            cmd += ['--build-name', v['name']]
+        for tok in v.get('flags', '').split():
+            cmd += [f'--cflag={tok}']
         if verbose:
             cmd.append('-v')
             print(f'  + {" ".join(cmd)}')
@@ -1604,7 +1663,7 @@ def build_board(board: Board) -> tuple[str, int]:
     return name, failed
 
 
-def test_board(board: Board) -> tuple[str, int, list[str]]:
+def test_board(board: Board) -> tuple[str, int, list[str], list]:
     name = board['name']
     flasher = board['flasher']
 
@@ -1614,7 +1673,18 @@ def test_board(board: Board) -> tuple[str, int, list[str]]:
     if name in board_test:
         test_list = board_test[name]
     elif len(test_only) > 0:
-        test_list = test_only
+        # Explicit -t: filter against the board's capabilities so a device-only
+        # board doesn't try to run host/dual tests (the test functions need a
+        # `dev_attached` entry in the board config that won't exist).
+        board_tests = board.get('tests', {})
+        if 'only' in board_tests:
+            allowed = set(board_tests['only'])
+            test_list = [t for t in test_only if t in allowed]
+        else:
+            for t in test_only:
+                category = t.split('/', 1)[0]
+                if board_tests.get(category) is True:
+                    test_list.append(t)
     else:
         if 'tests' in board:
             board_tests = board['tests']
@@ -1634,22 +1704,96 @@ def test_board(board: Board) -> tuple[str, int, list[str]]:
 
     err_count = 0
     failed_tests = []
-    flags_on_list = [""]
-    if 'build' in board and 'flags_on' in board['build']:
-        flags_on_list = board['build']['flags_on']
+    rows = []  # list of (row_label, {example: status}) — one row per build variant
+    variants = board.get('variant') or [{'name': name, 'flags': ''}]
 
-    for f1 in flags_on_list:
+    for v in variants:
+        vname = v['name']
+        cells = {}
         for test in test_list:
-            ec = test_example(board, f1, test)
+            ec, status, metric = test_example(board, vname, test)
             err_count += ec
+            cells[test] = metric if metric else status
             if ec > 0:
                 failed_tests.append(test)
+        rows.append((vname, cells))
 
-    # flash board_test last to disable board's usb (skipped when --skip-flash is set)
+    # flash board_test last to disable board's usb (skipped when --skip-flash is set);
+    # this is teardown/park, not a test — not recorded in the report
     if not skip_flash:
-        test_example(board, flags_on_list[0], 'device/board_test')
+        test_example(board, variants[0]['name'], 'device/board_test')
+
+    return name, err_count, sorted(set(failed_tests)), rows
+
+
+REPORT_MD = 'hil_report.md'
+REPORT_JSON = 'hil_report.json'
+
+
+def render_matrix(rows_all: list) -> str:
+    """Render rows (list of (row_label, {example: status})) as an aligned markdown
+    matrix: columns = tests (bare names) centered, boards left-aligned."""
+    canonical = device_tests + dual_tests + host_test
+    seen = set()
+    for _, cells in rows_all:
+        seen.update(cells)
+    if not seen:
+        return 'No tests were run.'
+
+    # columns: canonical order first, then any extras (e.g. from -t) alphabetically
+    columns = [t for t in canonical if t in seen]
+    columns += [t for t in sorted(seen) if t not in canonical]
+    headers = [c.rsplit('/', 1)[-1] for c in columns]  # bare example name
+
+    def cell(cells, col):
+        v = cells.get(col)
+        if v is None:
+            return ''
+        return REPORT_CELL.get(v, v)  # status symbol, or a metric string (e.g. speed) verbatim
+
+    board_hdr = 'Board'
+    board_w = max([len(board_hdr)] + [len(lbl) for lbl, _ in rows_all])
+    col_w = [max([len(h)] + [len(cell(cells, c)) for _, cells in rows_all])
+             for h, c in zip(headers, columns)]
 
-    return name, err_count, sorted(set(failed_tests))
+    def line(label, values):
+        padded = [label.ljust(board_w)] + [v.center(w) for v, w in zip(values, col_w)]
+        return '| ' + ' | '.join(padded) + ' |'
+
+    header = line(board_hdr, headers)
+    sep = '| ' + '-' * board_w + ' | ' + ' | '.join(':' + '-' * (w - 2) + ':' for w in col_w) + ' |'
+    body = [line(lbl, [cell(cells, c) for c in columns]) for lbl, cells in rows_all]
+
+    legend = 'Legend: ✅ pass · ❌ fail · ⚪ skipped · blank not run'
+    return '\n'.join([header, sep] + body) + '\n\n' + legend
+
+
+def accumulate_report(mret: list, report_dir: Path, fresh: bool) -> str:
+    """Merge this run's results into hil_report.json in report_dir, then (re)write
+    the markdown matrix to hil_report.md. `fresh` (a full run, no --skip-board/-bt)
+    starts a new report; otherwise a re-run accumulates so boards/tests that
+    already passed are preserved while re-run cells are updated. Returns the md."""
+    acc = {}  # ordered {row_label: {example: status}}
+    jpath = report_dir / REPORT_JSON
+    if not fresh and jpath.is_file():
+        try:
+            for entry in json.loads(jpath.read_text()).get('rows', []):
+                acc[entry['board']] = dict(entry['cells'])
+        except (ValueError, KeyError, TypeError):
+            pass  # corrupt/old sidecar: start fresh
+
+    # merge this run: current cells override prior for boards/tests that ran
+    for _, _, _, rows in mret:
+        for row_label, cells in rows:
+            acc.setdefault(row_label, {}).update(cells)
+
+    report_dir.mkdir(parents=True, exist_ok=True)
+    jpath.write_text(json.dumps({'rows': [{'board': k, 'cells': v} for k, v in acc.items()]},
+                                indent=2) + '\n')
+
+    md = render_matrix(list(acc.items()))
+    (report_dir / REPORT_MD).write_text(md + '\n', encoding='utf-8')
+    return md
 
 
 def main() -> None:
@@ -1719,6 +1863,17 @@ def main() -> None:
         print(f'Build phase done: {build_err} failed')
         print('-' * 30)
 
+    # HIL report sidecar (hil_report.json/.md). A full run starts fresh; a re-run
+    # (--skip-board / -bt, i.e. the .skip file) accumulates so already-passed
+    # boards/tests are preserved. Clear any prior report up front on a fresh run so
+    # a crash mid-run can't leave stale results to be merged by a retry or posted.
+    report_dir = Path(os.environ.get('HIL_REPORT_DIR', '.'))
+    fresh = not (args.skip_board or args.board_test)
+    if fresh:
+        report_dir.mkdir(parents=True, exist_ok=True)
+        for f in (REPORT_JSON, REPORT_MD):
+            (report_dir / f).unlink(missing_ok=True)
+
     with Pool(processes=os.cpu_count() or 1, initializer=init_worker, initargs=(Lock(),)) as pool:
         async_ret = pool.map_async(test_board, config_boards)
         try:
@@ -1733,14 +1888,20 @@ def main() -> None:
         # and emit -bt BOARD:t1,t2 so each failed board only re-runs its own failed tests.
         skip_fname = config_file.with_suffix(config_file.suffix + '.skip')
         if err_count > 0:
-            skip_boards += [name for name, err, _ in mret if err == 0]
+            skip_boards += [name for name, err, _, _ in mret if err == 0]
             parts = [f'--skip-board {i}' for i in skip_boards]
-            parts += [f'-bt {name}:{",".join(fts)}' for name, err, fts in mret if err > 0 and fts]
+            parts += [f'-bt {name}:{",".join(fts)}' for name, err, fts, _ in mret if err > 0 and fts]
             with skip_fname.open('w') as f:
                 f.write(' '.join(parts))
         elif skip_fname.exists():
             skip_fname.unlink()
 
+    # board x test result matrix -> hil_report.md (accumulates across re-runs) + stdout
+    report = accumulate_report(mret, report_dir, fresh)
+    print()
+    print(report)
+    print(f'\nReport written to {(report_dir / REPORT_MD).resolve()}')
+
     duration = time.time() - duration
     print()
     print("-" * 30)
diff --git a/test/hil/requirements.txt b/test/hil/requirements.txt
index ef2fecebe..ef1cf575b 100644
--- a/test/hil/requirements.txt
+++ b/test/hil/requirements.txt
@@ -1,4 +1,9 @@
-fs
-hid
-pyfatfs
+# System packages (install separately):
+#   sudo apt install mtools libmtp9 alsa-utils iperf
+#     mtools     - read_disk_file (device/cdc_msc, device/msc_dual_lun)
+#     libmtp9    - pymtp ctypes load (device/mtp); Debian 13 uses libmtp9t64
+#     alsa-utils - arecord (device/audio_test_freertos)
+#     iperf      - throughput tests (device/net_lwip_*)
+hidapi
 pyserial
+esptool
diff --git a/test/hil/tinyusb.json b/test/hil/tinyusb.json
index cba7677cf..afe3c4d03 100644
--- a/test/hil/tinyusb.json
+++ b/test/hil/tinyusb.json
@@ -1,14 +1,49 @@
 {
     "boards": [
         {
+            "name": "ek_tm4c123gxl",
+            "uid": "010105186C60A110",
+            "tests": {
+                "device": true,
+                "host": false,
+                "dual": false
+            },
+            "flasher": {
+                "name": "lm4flash",
+                "uid": "0E205D19",
+                "args": "-v"
+            }
+        },
+        {
             "name": "espressif_p4_function_ev",
             "uid": "6055F9F98715",
-            "build" : {
-                "flags_on": ["", "CFG_TUD_DWC2_DMA_ENABLE CFG_TUH_DWC2_DMA_ENABLE"]
-            },
+            "variant": [
+                { "name": "espressif_p4_function_ev", "flags": "" },
+                { "name": "espressif_p4_function_ev-DMA", "flags": "-DCFG_TUD_DWC2_DMA_ENABLE=1 -DCFG_TUH_DWC2_DMA_ENABLE=1" }
+            ],
             "tests": {
-                "only": ["device/cdc_msc_freertos", "device/hid_composite_freertos", "device/audio_test_freertos", "host/device_info"],
-                "dev_attached": [{"vid_pid": "1a86_55d4", "serial": "52D2002427", "is_cdc": true}]
+                "only": [
+                    "device/cdc_msc_freertos",
+                    "device/hid_composite_freertos",
+                    "device/audio_test_freertos",
+                    "host/device_info",
+                    "host/msc_file_explorer_freertos"
+                ],
+                "dev_attached": [
+                    {
+                        "vid_pid": "1a86_55d4",
+                        "serial": "52D2002427",
+                        "is_cdc": true
+                    },
+                    {
+                        "vid_pid": "21c4_0cc7",
+                        "serial": "900058944CB80A53",
+                        "is_msc": true,
+                        "block_size": 512,
+                        "block_count": 60620800,
+                        "msc_inquiry": "Lexar    USB Flash Drive  PMAP"
+                    }
+                ]
             },
             "flasher": {
                 "name": "esptool",
@@ -21,12 +56,34 @@
         {
             "name": "espressif_s3_devkitm",
             "uid": "84F703C084E4",
-            "build" : {
-                "flags_on": ["", "CFG_TUD_DWC2_DMA_ENABLE CFG_TUH_DWC2_DMA_ENABLE"]
-            },
+            "variant": [
+                { "name": "espressif_s3_devkitm", "flags": "" },
+                { "name": "espressif_s3_devkitm-DMA", "flags": "-DCFG_TUD_DWC2_DMA_ENABLE=1 -DCFG_TUH_DWC2_DMA_ENABLE=1" }
+            ],
             "tests": {
-                "only": ["device/cdc_msc_freertos", "device/hid_composite_freertos", "device/audio_test_freertos", "host/device_info"],
-                "dev_attached": [{"vid_pid": "1a86_55d4", "serial": "52D2005402", "is_cdc": true}]
+                "only": [
+                    "device/cdc_msc_freertos",
+                    "device/hid_composite_freertos",
+                    "device/audio_test_freertos",
+                    "host/device_info",
+                    "host/msc_file_explorer_freertos"
+                ],
+                "dev_attached": [
+                    {
+                        "vid_pid": "1a86_55d4",
+                        "serial": "52D2005402",
+                        "is_cdc": true
+                    },
+                    {
+                        "vid_pid": "048d_04d2",
+                        "serial": "\u0409",
+                        "is_msc": true,
+                        "block_size": 512,
+                        "block_count": 30720000,
+                        "msc_inquiry": "General  UDisk            5.00",
+                        "comment": "General UDisk reports iSerialNumber=U+0409"
+                    }
+                ]
             },
             "flasher": {
                 "name": "esptool",
@@ -39,7 +96,9 @@
             "name": "feather_nrf52840_express",
             "uid": "1F0479CD0F764471",
             "tests": {
-                "device": true, "host": false, "dual": false
+                "device": true,
+                "host": false,
+                "dual": false
             },
             "flasher": {
                 "name": "jlink",
@@ -51,7 +110,9 @@
             "name": "max32666fthr",
             "uid": "0C81464124010B20FF0A08CC2C",
             "tests": {
-                "device": true, "host": false, "dual": false
+                "device": true,
+                "host": false,
+                "dual": false
             },
             "flasher": {
                 "name": "openocd_adi",
@@ -71,7 +132,13 @@
                 "device": true,
                 "host": false,
                 "dual": true,
-                "dev_attached": [{"vid_pid": "067b_2303", "serial": "0", "is_cdc": true}],
+                "dev_attached": [
+                    {
+                        "vid_pid": "067b_2303",
+                        "serial": "0",
+                        "is_cdc": true
+                    }
+                ],
                 "comment": "pl23x"
             },
             "flasher": {
@@ -84,7 +151,9 @@
             "name": "mimxrt1015_evk",
             "uid": "DC28F865D2111D228D00B0543A70463C",
             "tests": {
-                "device": true, "host": false, "dual": false
+                "device": true,
+                "host": false,
+                "dual": false
             },
             "flasher": {
                 "name": "jlink",
@@ -96,9 +165,25 @@
             "name": "mimxrt1064_evk",
             "uid": "BAE96FB95AFA6DBB8F00005002001200",
             "tests": {
-                "device": true, "host": true, "dual": true,
-                "dev_attached": [{"vid_pid": "10c4_ea60", "serial": "0001", "is_cdc": true}],
-                "comment": "cp2102"
+                "device": true,
+                "host": true,
+                "dual": true,
+                "dev_attached": [
+                    {
+                        "vid_pid": "10c4_ea60",
+                        "serial": "0001",
+                        "is_cdc": true,
+                        "comment": "cp2102"
+                    },
+                    {
+                        "vid_pid": "21c4_0cc7",
+                        "serial": "900058874D871F66",
+                        "is_msc": true,
+                        "block_size": 512,
+                        "block_count": 60620800,
+                        "msc_inquiry": "Lexar    USB Flash Drive  PMAP"
+                    }
+                ]
             },
             "flasher": {
                 "name": "jlink",
@@ -110,7 +195,9 @@
             "name": "lpcxpresso11u37",
             "uid": "17121919",
             "tests": {
-                "device": true, "host": false, "dual": false
+                "device": true,
+                "host": false,
+                "dual": false
             },
             "flasher": {
                 "name": "jlink",
@@ -135,13 +222,30 @@
         {
             "name": "raspberry_pi_pico",
             "uid": "E6614C311B764A37",
-            "build" : {
-                "flags_on": ["CFG_TUH_RPI_PIO_USB"]
-            },
+            "variant": [
+                { "name": "raspberry_pi_pico", "flags": "-DCFG_TUH_RPI_PIO_USB=1" }
+            ],
             "tests": {
-                "device": true, "host": true, "dual": true,
-                "dev_attached": [{"vid_pid": "1a86_7523", "serial": "0", "is_cdc": true}],
-                "comment": "ch34x"
+                "device": true,
+                "host": true,
+                "dual": true,
+                "dev_attached": [
+                    {
+                        "vid_pid": "1a86_7523",
+                        "serial": "0",
+                        "is_cdc": true,
+                        "comment": "ch34x"
+                    },
+                    {
+                        "vid_pid": "048d_04d2",
+                        "serial": "\u0409",
+                        "is_msc": true,
+                        "block_size": 512,
+                        "block_count": 30720000,
+                        "msc_inquiry": "General  UDisk            5.00",
+                        "comment": "General UDisk reports iSerialNumber=U+0409"
+                    }
+                ]
             },
             "flasher": {
                 "name": "openocd",
@@ -153,9 +257,16 @@
             "name": "raspberry_pi_pico_w",
             "uid": "E6614864D35DAE36",
             "tests": {
-                "device": false, "host": true, "dual": false,
+                "device": false,
+                "host": true,
+                "dual": false,
                 "dev_attached": [
                     {
+                        "vid_pid": "1a86_55d4",
+                        "serial": "52D2002694",
+                        "is_cdc": true
+                    },
+                    {
                         "vid_pid": "2008_2018",
                         "serial": "O20070925A002746",
                         "is_msc": true,
@@ -176,7 +287,9 @@
             "name": "raspberry_pi_pico2",
             "uid": "560AE75E1C7152C9",
             "tests": {
-                "device": false, "host": true, "dual": false,
+                "device": false,
+                "host": true,
+                "dual": false,
                 "dev_attached": [
                     {
                         "vid_pid": "0951_1603",
@@ -184,7 +297,7 @@
                         "is_msc": true,
                         "block_size": 512,
                         "block_count": 3987456,
-                        "msc_inquiry": "Kingston DataTraveler 2.0 1.0"
+                        "msc_inquiry": "Kingston DataTraveler 2.0 1.00"
                     }
                 ]
             },
@@ -202,14 +315,24 @@
                 "host": true,
                 "dual": true,
                 "dev_attached": [
-                    {"vid_pid": "0403_6001", "serial": "0", "is_cdc": true},
-                    {"vid_pid": "058f_6387", "serial": "A8BEE062633D", "is_msc": true,
-                        "block_size": 512, "block_count": 7639040, "msc_inquiry": "Generic  Flash Disk       8.07"}
+                    {
+                        "vid_pid": "0403_6001",
+                        "serial": "0",
+                        "is_cdc": true
+                    },
+                    {
+                        "vid_pid": "058f_6387",
+                        "serial": "A8BEE062633D",
+                        "is_msc": true,
+                        "block_size": 512,
+                        "block_count": 7639040,
+                        "msc_inquiry": "Generic  Flash Disk       8.07"
+                    }
                 ]
             },
             "flasher": {
                 "name": "openocd",
-                "uid": "E6614103E78E8324",
+                "uid": "E663AC91D3359B38",
                 "args": "-f interface/cmsis-dap.cfg -f target/rp2350.cfg -c \"adapter speed 5000\""
             }
         },
@@ -217,7 +340,9 @@
             "name": "stm32f072disco",
             "uid": "3A001A001357364230353532",
             "tests": {
-                "device": true, "host": false, "dual": false
+                "device": true,
+                "host": false,
+                "dual": false
             },
             "flasher": {
                 "name": "jlink",
@@ -227,14 +352,45 @@
             "comment": "2x16 access scheme with 1KB USB SRAM"
         },
         {
+            "name": "stm32f407disco",
+            "uid": "30001A000647313332353735",
+            "tests": {
+                "device": true,
+                "host": false,
+                "dual": false
+            },
+            "flasher": {
+                "name": "jlink",
+                "uid": "000773661813",
+                "args": "-device stm32f407vg"
+            }
+        },
+        {
             "name": "stm32f723disco",
             "uid": "460029001951373031313335",
-            "build" : {
-                "flags_on": ["", "CFG_TUH_DWC2_DMA_ENABLE"]
-            },
+            "variant": [
+                { "name": "stm32f723disco", "flags": "" },
+                { "name": "stm32f723disco-DMA", "flags": "-DCFG_TUH_DWC2_DMA_ENABLE=1" }
+            ],
             "tests": {
-                "device": true, "host": true, "dual": false,
-                "dev_attached": [{"vid_pid": "1a86_55d4", "serial": "52D2003414", "is_cdc": true}]
+                "device": true,
+                "host": true,
+                "dual": false,
+                "dev_attached": [
+                    {
+                        "vid_pid": "1a86_55d4",
+                        "serial": "52D2003414",
+                        "is_cdc": true
+                    },
+                    {
+                        "vid_pid": "21c4_0cc7",
+                        "serial": "90005893730A1A63",
+                        "is_msc": true,
+                        "block_size": 512,
+                        "block_count": 60620800,
+                        "msc_inquiry": "Lexar    USB Flash Drive  PMAP"
+                    }
+                ]
             },
             "flasher": {
                 "name": "jlink",
@@ -246,11 +402,14 @@
         {
             "name": "stm32h743nucleo",
             "uid": "110018000951383432343236",
-            "build" : {
-                "flags_on": ["", "CFG_TUD_DWC2_DMA_ENABLE"]
-            },
+            "variant": [
+                { "name": "stm32h743nucleo", "flags": "" },
+                { "name": "stm32h743nucleo-DMA", "flags": "-DCFG_TUD_DWC2_DMA_ENABLE=1 -DCFG_TUH_DWC2_DMA_ENABLE=1" }
+            ],
             "tests": {
-                "device": true, "host": false, "dual": false
+                "device": true,
+                "host": false,
+                "dual": false
             },
             "flasher": {
                 "name": "openocd",
@@ -262,7 +421,9 @@
             "name": "stm32g0b1nucleo",
             "uid": "4D0038000450434E37343120",
             "tests": {
-                "device": true, "host": false, "dual": false
+                "device": true,
+                "host": false,
+                "dual": false
             },
             "flasher": {
                 "name": "openocd",
@@ -270,17 +431,47 @@
                 "args": "-f interface/stlink.cfg -f target/stm32g0x.cfg"
             },
             "comment": "32-bit scheme, 2KB USB SRAM"
+        },
+        {
+            "name": "stm32l476disco",
+            "uid": "3C0050001150334258343920",
+            "tests": {
+                "device": true,
+                "host": false,
+                "dual": false
+            },
+            "flasher": {
+                "name": "jlink",
+                "uid": "777632258",
+                "args": "-device STM32L476VG"
+            }
+        },
+        {
+            "name": "stm32u083nucleo",
+            "uid": "300044000D5036394E373620",
+            "tests": {
+                "device": true,
+                "host": false,
+                "dual": false
+            },
+            "flasher": {
+                "name": "stlink",
+                "uid": "0668FF575457657187061314"
+            }
         }
     ],
     "boards-skip": [
         {
             "name": "stm32f769disco",
             "uid": "21002F000F51363531383437",
-            "build" : {
-                "flags_on": ["", "CFG_TUD_DWC2_DMA_ENABLE"]
-            },
+            "variant": [
+                { "name": "stm32f769disco", "flags": "" },
+                { "name": "stm32f769disco-DMA", "flags": "-DCFG_TUD_DWC2_DMA_ENABLE=1 -DCFG_TUH_DWC2_DMA_ENABLE=1" }
+            ],
             "tests": {
-                "device": true, "host": false, "dual": false
+                "device": true,
+                "host": false,
+                "dual": false
             },
             "flasher": {
                 "name": "jlink",
@@ -292,25 +483,15 @@
             "name": "nanoch32v203",
             "uid": "CDAB277B0FBC03E339E339E3",
             "tests": {
-                "device": true, "host": false, "dual": false
+                "device": true,
+                "host": false,
+                "dual": false
             },
             "flasher": {
                 "name": "openocd_wch",
                 "uid": "EBCA8F0670AF",
                 "args": ""
             }
-        },
-        {
-            "name": "stm32f407disco",
-            "uid": "30001A000647313332353735",
-            "tests": {
-                "device": true, "host": false, "dual": false
-            },
-            "flasher": {
-                "name": "jlink",
-                "uid": "000773661813",
-                "args": "-device stm32f407vg"
-            }
         }
     ]
 }
diff --git a/tools/build.py b/tools/build.py
index 3c5c3c077..86bc30d28 100755
--- a/tools/build.py
+++ b/tools/build.py
@@ -105,16 +105,14 @@ def print_build_result(board, build_target, status, duration):
 # -----------------------------
 # CMake
 # -----------------------------
-def cmake_board(board, build_args, build_flags_on, build_targets):
+def cmake_board(board, build_args, build_name, build_cflags, build_targets):
     ret = [0, 0, 0]
     start_time = time.monotonic()
 
-    build_dir = f'cmake-build/cmake-build-{board}'
+    build_dir = f'cmake-build/cmake-build-{build_name or board}'
     build_flags = []
-    if len(build_flags_on) > 0:
-        cli_flags = ' '.join(f'-D{flag}=1' for flag in build_flags_on)
-        build_flags.append(f'-DCFLAGS_CLI={cli_flags}')
-        build_dir += '-f1_' + '_'.join(build_flags_on)
+    if build_cflags:
+        build_flags.append('-DCFLAGS_CLI=' + ' '.join(build_cflags))
 
     family = find_family(board)
     if family == 'espressif':
@@ -194,13 +192,13 @@ def make_board(board, build_args, build_targets):
 # -----------------------------
 # Build Family
 # -----------------------------
-def build_boards_list(boards, build_defines, build_system, build_flags_on, build_targets):
+def build_boards_list(boards, build_defines, build_system, build_name, build_cflags, build_targets):
     ret = [0, 0, 0]
     for b in boards:
         r = [0, 0, 0]
         if build_system == 'cmake':
             build_args = [f'-D{d}' for d in build_defines]
-            r = cmake_board(b, build_args, build_flags_on, build_targets)
+            r = cmake_board(b, build_args, build_name, build_cflags, build_targets)
         elif build_system == 'make':
             build_args = ' '.join(f'{d}' for d in build_defines)
             r = make_board(b, build_args, build_targets)
@@ -261,7 +259,10 @@ def main():
     parser.add_argument('-t', '--toolchain', default='gcc', help='Toolchain to use, default is gcc')
     parser.add_argument('-s', '--build-system', default='cmake', help='Build system to use, default is cmake')
     parser.add_argument('-D', '--define-symbol', action='append', default=[], help='Define to pass to build system')
-    parser.add_argument('-f1', '--build-flags-on', action='append', default=[], help='Build flag to pass to build system')
+    parser.add_argument('--build-name', default=None,
+                        help='Override build dir name (cmake-build-<name>); default is the board name. Used for HIL variants.')
+    parser.add_argument('--cflag', action='append', default=[],
+                        help='Raw compiler flag appended to CFLAGS_CLI, e.g. --cflag=-DCFG_TUD_DWC2_DMA_ENABLE=1 (repeatable)')
     parser.add_argument('--one-random', action='store_true', default=False,
                         help='Build only one random board of each specified family')
     parser.add_argument('--one-first', action='store_true', default=False,
@@ -277,7 +278,8 @@ def main():
     toolchain = args.toolchain
     build_system = args.build_system
     build_defines = args.define_symbol
-    build_flags_on = args.build_flags_on
+    build_name = args.build_name
+    build_cflags = args.cflag
     one_random = args.one_random
     one_first = args.one_first
     build_targets = args.target if args.target else ['all']
@@ -290,6 +292,12 @@ def main():
         print("Please specify families or board to build")
         return 1
 
+    # --build-name renames the single shared build dir, so building more than one
+    # board with it would clobber/mix artifacts
+    if build_name and (len(families) > 0 or len(boards) != 1):
+        print("--build-name requires exactly one board (-b) and no families")
+        return 1
+
     print(build_separator)
     print(build_format.format('Board', 'Target', '\033[39mResult\033[0m', 'Time'))
     total_time = time.monotonic()
@@ -310,7 +318,7 @@ def main():
         all_boards.extend(get_family_boards(f, one_random, one_first))
 
     # build all boards
-    result = build_boards_list(all_boards, build_defines, build_system, build_flags_on, build_targets)
+    result = build_boards_list(all_boards, build_defines, build_system, build_name, build_cflags, build_targets)
 
     total_time = time.monotonic() - total_time
     print(build_separator)
diff --git a/tools/codespell/ignore-words.txt b/tools/codespell/ignore-words.txt
index 7ce778fab..0b1aa284a 100644
--- a/tools/codespell/ignore-words.txt
+++ b/tools/codespell/ignore-words.txt
@@ -6,6 +6,7 @@ fro
 hsi
 inout
 mot
+ore
 pris
 ptd
 ser
diff --git a/tools/gen_presets.py b/tools/gen_presets.py
index 94a9361db..6f32976a7 100755
--- a/tools/gen_presets.py
+++ b/tools/gen_presets.py
@@ -32,7 +32,7 @@ def main():
          "hidden": True,
          "description": r"Configure preset for the ${presetName} board",
          "generator": "Ninja Multi-Config",
-         "binaryDir": r"${sourceDir}/build/${presetName}",
+         "binaryDir": r"${sourceDir}/cmake-build-${presetName}",
          "cacheVariables": {
              "CMAKE_DEFAULT_BUILD_TYPE": "RelWithDebInfo",
              "BOARD": r"${presetName}"
@@ -41,7 +41,7 @@ def main():
          "hidden": True,
          "description": r"Configure preset for the ${presetName} board",
          "generator": "Ninja",
-         "binaryDir": r"${sourceDir}/build/${presetName}",
+         "binaryDir": r"${sourceDir}/cmake-build-${presetName}",
          "cacheVariables": {
              "BOARD": r"${presetName}"
          }}]
diff --git a/tools/get_deps.py b/tools/get_deps.py
index eb87abf6e..60be5d89e 100755
--- a/tools/get_deps.py
+++ b/tools/get_deps.py
@@ -163,6 +163,9 @@ deps_optional = {
     'hw/mcu/st/cmsis-device-wba': ['https://github.com/STMicroelectronics/cmsis-device-wba.git',
                                    '647d8522e5fd15049e9a1cc30ed19d85e5911eaf',
                                    'stm32wba'],
+    'hw/mcu/st/stm32c5xx-dfp': ['https://github.com/STMicroelectronics/stm32c5xx-dfp.git',
+                                  '6d0940882511d9430f83af9bd3da6bcb77f79239',
+                                  'stm32c5'],
     'hw/mcu/st/stm32-mfxstm32l152': ['https://github.com/STMicroelectronics/stm32-mfxstm32l152.git',
                                      '7f4389efee9c6a655b55e5df3fceef5586b35f9b',
                                      'stm32h7'],
@@ -232,6 +235,9 @@ deps_optional = {
     'hw/mcu/st/stm32wbaxx_hal_driver': ['https://github.com/STMicroelectronics/stm32wbaxx_hal_driver.git',
                                        '9442fbb71f855ff2e64fbf662b7726beba511a24',
                                        'stm32wba'],
+    'hw/mcu/st/stm32c5xx-drivers': ['https://github.com/STMicroelectronics/stm32c5xx-drivers.git',
+                                       '79b901285a7efeaf87c4c25db81d24cb5d8c9465',
+                                       'stm32c5'],
     'hw/mcu/ti': ['https://github.com/hathach/ti_driver.git',
                   '083944907e7d08fcb1f614b47598ce45935b8da1',
                   'msp430 msp432e4 tm4c'],
@@ -284,7 +290,7 @@ deps_optional = {
                     'tm4c '],
     'lib/CMSIS_6': ['https://github.com/ARM-software/CMSIS_6.git',
                     '6f0a58d01aa9bd2feba212097f9afe7acd991d52',
-                    'imxrt kinetis_k32l ra stm32n6 lpc51 lpc55 mcx'],
+                    'imxrt kinetis_k32l ra stm32n6 lpc51 lpc55 mcx stm32c5'],
     'lib/sct_neopixel': ['https://github.com/gsteiert/sct_neopixel.git',
                          'e73e04ca63495672d955f9268e003cffe168fcd8',
                          'lpc55'],
@@ -366,6 +372,8 @@ def main():
     parser.add_argument('-b', '--board', action='append', default=[], help='Boards to fetch')
     parser.add_argument('-D', '--define', action='append', default=[], help='Have no effect')
     parser.add_argument('-f1', '--build-flags-on', action='append', default=[], help='Have no effect')
+    parser.add_argument('--build-name', default=None, help='Have no effect')
+    parser.add_argument('--cflag', action='append', default=[], help='Have no effect')
     args = parser.parse_args()
 
     families = args.families
diff --git a/tools/metrics.py b/tools/metrics.py
index f624f382f..b7aa056e4 100644
--- a/tools/metrics.py
+++ b/tools/metrics.py
@@ -384,7 +384,7 @@ def render_combine_table(json_data, sort_order='name+'):
 def write_combine_markdown(json_data, path, sort_order='name+', title="TinyUSB Average Code Size Metrics"):
     """Write averaged size data to a markdown file."""
 
-    md_lines = [f"# {title}", ""]
+    md_lines = [f"## {title}", ""]
     md_lines.extend(render_combine_table(json_data, sort_order))
     md_lines.append("")
 
@@ -400,7 +400,7 @@ def write_combine_markdown(json_data, path, sort_order='name+', title="TinyUSB A
 def write_compare_markdown(comparison, path, sort_order='size'):
     """Write comparison data to markdown file."""
     md_lines = [
-        "# Size Difference Report",
+        "## Size Difference Report",
         "",
         "Because TinyUSB code size varies by port and configuration, the metrics below represent the averaged totals across all example builds.",
         "",
@@ -415,7 +415,7 @@ def write_compare_markdown(comparison, path, sort_order='size'):
             md_lines.append(f"<details><summary>{title}</summary>")
             md_lines.append("")
         else:
-            md_lines.append(f"## {title}")
+            md_lines.append(f"### {title}")
 
         md_lines.extend(render_compare_table(_build_rows(rows, sort_order), include_sum=True))
         md_lines.append("")