Merge remote-tracking branch 'origin/master' into stm32c5

# Conflicts:
#	README.rst

78 files changed, 2129 insertions, 708 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/FUNDING.yml b/.github/FUNDING.yml
new file mode 100644
index 000000000..e9930a25a
--- /dev/null
+++ b/.github/FUNDING.yml
@@ -0,0 +1 @@
+github: hathach
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/claude-code-review.yml b/.github/workflows/claude-code-review.yml
index 43144bb5e..71c1cb8ab 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 20'
           # 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 1c56a6ba0..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, C5, 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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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/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/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/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/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/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/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/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 1ff29f99d..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"
     },
@@ -1092,6 +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"
@@ -2482,6 +2491,19 @@
       ]
     },
     {
+      "name": "ch32v103c_bluepill",
+      "steps": [
+        {
+          "type": "configure",
+          "name": "ch32v103c_bluepill"
+        },
+        {
+          "type": "build",
+          "name": "ch32v103c_bluepill"
+        }
+      ]
+    },
+    {
       "name": "ch32v103r_r1_1v0",
       "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/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_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/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 70549816f..415e083c9 100644
--- a/src/tusb_option.h
+++ b/src/tusb_option.h
@@ -536,6 +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 ed9ebbf1a..da13fcbaf 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):
@@ -218,7 +228,9 @@ def open_serial_dev(port: str):
     while timeout > 0:
         if os.path.exists(port):
             try:
-                ser = serial.Serial(port, baudrate=115200, timeout=5)
+                # 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=5, write_timeout=5)
                 break
             except serial.SerialException:
                 print(f'serial {port} not reaady {timeout} sec')
@@ -232,23 +244,24 @@ def open_serial_dev(port: str):
 
 
 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):
@@ -494,6 +507,19 @@ 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
 # -------------------------------------------------------------
@@ -788,12 +814,21 @@ 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)
 
 
 # -------------------------------------------------------------
@@ -948,6 +983,9 @@ 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):
@@ -1402,7 +1440,7 @@ 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
@@ -1418,22 +1456,23 @@ 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()
 
 
 # -------------------------------------------------------------
@@ -1465,32 +1504,47 @@ 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')
@@ -1513,8 +1567,12 @@ 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}'
@@ -1557,26 +1615,27 @@ 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)}')
@@ -1586,7 +1645,7 @@ 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']
 
@@ -1596,7 +1655,18 @@ 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']
@@ -1616,22 +1686,96 @@ 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:
@@ -1701,6 +1845,17 @@ 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:
@@ -1715,14 +1870,20 @@ 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 50497fc71..60be5d89e 100755
--- a/tools/get_deps.py
+++ b/tools/get_deps.py
@@ -372,6 +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("")