Merge branch 'refs/heads/master' into fork/remiberthoz/device-class-printer

34 files changed, 310 insertions, 114 deletions

diff --git a/examples/device/audio_4_channel_mic/src/main.c b/examples/device/audio_4_channel_mic/src/main.c
index 5767c7453..c9c6dd46c 100644
--- a/examples/device/audio_4_channel_mic/src/main.c
+++ b/examples/device/audio_4_channel_mic/src/main.c
@@ -155,7 +155,7 @@ void tud_resume_cb(void) {
 // In a real application, this would be replaced with actual I2S receive callback.
 void audio_task(void) {
   static uint32_t start_ms = 0;
-  uint32_t curr_ms = board_millis();
+  uint32_t curr_ms = tusb_time_millis_api();
   if (start_ms == curr_ms) {
     return; // not enough time
   }
@@ -408,7 +408,7 @@ void led_blinking_task(void) {
   static bool led_state = false;
 
   // Blink every interval ms
-  if (board_millis() - start_ms < blink_interval_ms) {
+  if (tusb_time_millis_api() - start_ms < blink_interval_ms) {
     return; // not enough time
   }
   start_ms += blink_interval_ms;
diff --git a/examples/device/audio_test/src/main.c b/examples/device/audio_test/src/main.c
index 2441eefbc..876a41d06 100644
--- a/examples/device/audio_test/src/main.c
+++ b/examples/device/audio_test/src/main.c
@@ -138,7 +138,7 @@ void tud_resume_cb(void) {
 // In a real application, this would be replaced with actual I2S receive callback.
 void audio_task(void) {
   static uint32_t start_ms = 0;
-  uint32_t curr_ms = board_millis();
+  uint32_t curr_ms = tusb_time_millis_api();
   if (start_ms == curr_ms) {
     return; // not enough time
   }
@@ -402,7 +402,7 @@ void led_blinking_task(void) {
   static bool led_state = false;
 
   // Blink every interval ms
-  if (board_millis() - start_ms < blink_interval_ms) {
+  if (tusb_time_millis_api() - start_ms < blink_interval_ms) {
     return; // not enough time
   }
   start_ms += blink_interval_ms;
diff --git a/examples/device/audio_test_multi_rate/src/main.c b/examples/device/audio_test_multi_rate/src/main.c
index baeec870f..952176997 100644
--- a/examples/device/audio_test_multi_rate/src/main.c
+++ b/examples/device/audio_test_multi_rate/src/main.c
@@ -146,7 +146,7 @@ void tud_resume_cb(void) {
 // In a real application, this would be replaced with actual I2S receive callback.
 void audio_task(void) {
   static uint32_t start_ms = 0;
-  uint32_t curr_ms = board_millis();
+  uint32_t curr_ms = tusb_time_millis_api();
   if (start_ms == curr_ms) {
     return; // not enough time
   }
@@ -614,7 +614,7 @@ void led_blinking_task(void) {
   static bool led_state = false;
 
   // Blink every interval ms
-  if (board_millis() - start_ms < blink_interval_ms) {
+  if (tusb_time_millis_api() - start_ms < blink_interval_ms) {
     return; // not enough time
   }
   start_ms += blink_interval_ms;
diff --git a/examples/device/board_test/src/main.c b/examples/device/board_test/src/main.c
index ee0829e5b..71e7e1da7 100644
--- a/examples/device/board_test/src/main.c
+++ b/examples/device/board_test/src/main.c
@@ -39,11 +39,35 @@ enum {
 
 #define HELLO_STR   "Hello from TinyUSB\r\n"
 
-int main(void) {
-  board_init();
-  board_led_write(true);
+// board test example does not use both device and host stack
+#if CFG_TUSB_OS != OPT_OS_NONE
+uint32_t tusb_time_millis_api(void) {
+  return osal_time_millis();
+}
+
+void tusb_time_delay_ms_api(uint32_t ms) {
+  osal_task_delay(ms);
+}
+#endif
+
+//--------------------------------------------------------------------+
+//
+//--------------------------------------------------------------------+
+
+// Task parameter type: ULONG for ThreadX, void* for FreeRTOS and noos
+#if CFG_TUSB_OS == OPT_OS_THREADX
+  #define RTOS_PARAM ULONG
+#elif CFG_TUSB_OS == OPT_OS_FREERTOS
+  #define RTOS_PARAM void*
+  static void freertos_init(void);
+#else
+  #define RTOS_PARAM void*
+#endif
 
+static void board_test_loop(RTOS_PARAM param) {
+  (void) param;
   uint32_t start_ms = 0;
+  (void) start_ms;
   bool led_state = false;
 
   while (1) {
@@ -58,26 +82,94 @@ int main(void) {
     }
 
     // Blink and print every interval ms
-    if (!(board_millis() - start_ms < interval_ms)) {
-      start_ms = board_millis();
-
-      if (ch < 0) {
-        // skip if echoing
-        printf(HELLO_STR);
+    #if CFG_TUSB_OS == OPT_OS_FREERTOS
+    vTaskDelay(interval_ms / portTICK_PERIOD_MS);
+    #elif CFG_TUSB_OS == OPT_OS_THREADX
+    tx_thread_sleep(_osal_ms2tick(interval_ms));
+    #else
+    if (tusb_time_millis_api() - start_ms < interval_ms) {
+      continue; // not enough time
+    }
+    #endif
+    start_ms = tusb_time_millis_api();
 
-        #ifndef LOGGER_UART
-        board_uart_write(HELLO_STR, sizeof(HELLO_STR)-1);
-        #endif
-      }
+    if (ch < 0) {
+      // skip if echoing
+      printf(HELLO_STR);
 
-      board_led_write(led_state);
-      led_state = !led_state; // toggle
+      #ifndef LOGGER_UART
+      board_uart_write(HELLO_STR, sizeof(HELLO_STR)-1);
+      #endif
     }
+
+    board_led_write(led_state);
+    led_state = !led_state; // toggle
   }
 }
 
+int main(void) {
+  board_init();
+  board_led_write(true);
+
+#if CFG_TUSB_OS == OPT_OS_FREERTOS
+  freertos_init();
+#elif CFG_TUSB_OS == OPT_OS_THREADX
+  tx_kernel_enter();
+#else
+  board_test_loop(NULL);
+#endif
+
+  return 0;
+}
+
 #ifdef ESP_PLATFORM
 void app_main(void) {
   main();
 }
 #endif
+
+//--------------------------------------------------------------------+
+// FreeRTOS
+//--------------------------------------------------------------------+
+#if CFG_TUSB_OS == OPT_OS_FREERTOS
+
+#ifdef ESP_PLATFORM
+#define MAIN_STACK_SIZE   4096
+#else
+#define MAIN_STACK_SIZE   512
+#endif
+
+#if configSUPPORT_STATIC_ALLOCATION
+static StackType_t  _main_stack[MAIN_STACK_SIZE];
+static StaticTask_t _main_taskdef;
+#endif
+
+static void freertos_init(void) {
+  #if configSUPPORT_STATIC_ALLOCATION
+  xTaskCreateStatic(board_test_loop, "main", MAIN_STACK_SIZE, NULL, 1, _main_stack, &_main_taskdef);
+  #else
+  xTaskCreate(board_test_loop, "main", MAIN_STACK_SIZE, NULL, 1, NULL);
+  #endif
+
+  #ifndef ESP_PLATFORM
+  vTaskStartScheduler();
+  #endif
+}
+
+//--------------------------------------------------------------------+
+// ThreadX
+//--------------------------------------------------------------------+
+#elif CFG_TUSB_OS == OPT_OS_THREADX
+
+#define MAIN_TASK_STACK_SIZE  1024
+static TX_THREAD _main_thread;
+static ULONG _main_thread_stack[MAIN_TASK_STACK_SIZE / sizeof(ULONG)];
+
+void tx_application_define(void *first_unused_memory) {
+  (void) first_unused_memory;
+  static CHAR main_thread_name[] = "main";
+  tx_thread_create(&_main_thread, main_thread_name, board_test_loop, 0,
+                   _main_thread_stack, MAIN_TASK_STACK_SIZE,
+                   1, 1, TX_NO_TIME_SLICE, TX_AUTO_START);
+}
+#endif
diff --git a/examples/device/cdc_dual_ports/src/main.c b/examples/device/cdc_dual_ports/src/main.c
index 5ccb06a8a..6f918218d 100644
--- a/examples/device/cdc_dual_ports/src/main.c
+++ b/examples/device/cdc_dual_ports/src/main.c
@@ -157,7 +157,7 @@ void led_blinking_task(void) {
   static bool led_state = false;
 
   // Blink every interval ms
-  if (board_millis() - start_ms < blink_interval_ms) {
+  if (tusb_time_millis_api() - start_ms < blink_interval_ms) {
     return; // not enough time
   }
   start_ms += blink_interval_ms;
diff --git a/examples/device/cdc_dual_ports/src/tusb_config.h b/examples/device/cdc_dual_ports/src/tusb_config.h
index 0da4032a7..710c01ee2 100644
--- a/examples/device/cdc_dual_ports/src/tusb_config.h
+++ b/examples/device/cdc_dual_ports/src/tusb_config.h
@@ -104,6 +104,8 @@
 #define CFG_TUD_CDC_TX_BUFSIZE   (TUD_OPT_HIGH_SPEED ? 512 : 64)
 
 // CDC Endpoint transfer buffer size, more is faster
+// Leave it as default size (512 for HS, 64 for FS) unless your host application
+// is able to send ZLP (Zero Length Packet) to terminate transfer !
 #define CFG_TUD_CDC_EP_BUFSIZE   (TUD_OPT_HIGH_SPEED ? 512 : 64)
 
 #ifdef __cplusplus
diff --git a/examples/device/cdc_msc/src/main.c b/examples/device/cdc_msc/src/main.c
index 06a4f732f..b00a0e3a9 100644
--- a/examples/device/cdc_msc/src/main.c
+++ b/examples/device/cdc_msc/src/main.c
@@ -160,7 +160,7 @@ void led_blinking_task(void) {
 
   if (blink_enable) {
     // Blink every interval ms
-    if (board_millis() - start_ms < blink_interval_ms) {
+    if (tusb_time_millis_api() - start_ms < blink_interval_ms) {
       return; // not enough time
     }
     start_ms += blink_interval_ms;
diff --git a/examples/device/cdc_msc/src/msc_disk.c b/examples/device/cdc_msc/src/msc_disk.c
index e091c2985..017acd039 100644
--- a/examples/device/cdc_msc/src/msc_disk.c
+++ b/examples/device/cdc_msc/src/msc_disk.c
@@ -238,7 +238,7 @@ int32_t tud_msc_scsi_cb(uint8_t lun, uint8_t const scsi_cmd[16], void *buffer, u
   (void) buffer;
   (void) bufsize;
 
-  // currently no other commands is supported
+  // currently no other commands are supported
 
   // Set Sense = Invalid Command Operation
   (void) tud_msc_set_sense(lun, SCSI_SENSE_ILLEGAL_REQUEST, 0x20, 0x00);
diff --git a/examples/device/cdc_msc/src/tusb_config.h b/examples/device/cdc_msc/src/tusb_config.h
index fdb2ddf18..3f2f05f20 100644
--- a/examples/device/cdc_msc/src/tusb_config.h
+++ b/examples/device/cdc_msc/src/tusb_config.h
@@ -104,6 +104,8 @@
 #define CFG_TUD_CDC_TX_BUFSIZE   (TUD_OPT_HIGH_SPEED ? 512 : 64)
 
 // CDC Endpoint transfer buffer size, more is faster
+// Leave it as default size (512 for HS, 64 for FS) unless your host application
+// is able to send ZLP (Zero Length Packet) to terminate transfer !
 #define CFG_TUD_CDC_EP_BUFSIZE   (TUD_OPT_HIGH_SPEED ? 512 : 64)
 
 // MSC Buffer size of Device Mass storage
diff --git a/examples/device/cdc_msc_freertos/src/msc_disk.c b/examples/device/cdc_msc_freertos/src/msc_disk.c
index 29ff86281..ff918205e 100644
--- a/examples/device/cdc_msc_freertos/src/msc_disk.c
+++ b/examples/device/cdc_msc_freertos/src/msc_disk.c
@@ -324,20 +324,17 @@ int32_t tud_msc_write10_cb(uint8_t lun, uint32_t lba, uint32_t offset, uint8_t*
 // - READ_CAPACITY10, READ_FORMAT_CAPACITY, INQUIRY, MODE_SENSE6, REQUEST_SENSE
 // - READ10 and WRITE10 has their own callbacks
 int32_t tud_msc_scsi_cb (uint8_t lun, uint8_t const scsi_cmd[16], void* buffer, uint16_t bufsize) {
-  // read10 & write10 has their own callback and MUST not be handled here
+  (void) lun;
+  (void) scsi_cmd;
   (void) buffer;
   (void) bufsize;
 
-  switch (scsi_cmd[0]) {
-    default:
-      // Set Sense = Invalid Command Operation
-      tud_msc_set_sense(lun, SCSI_SENSE_ILLEGAL_REQUEST, 0x20, 0x00);
+  // currently no other commands are supported
 
-      // negative means error -> tinyusb could stall and/or response with failed status
-      return -1;
-  }
+  // Set Sense = Invalid Command Operation
+  (void) tud_msc_set_sense(lun, SCSI_SENSE_ILLEGAL_REQUEST, 0x20, 0x00);
 
-  return -1;
+  return -1; // stall/failed command request;
 }
 
 #endif
diff --git a/examples/device/cdc_msc_freertos/src/tusb_config.h b/examples/device/cdc_msc_freertos/src/tusb_config.h
index 6b1937a8d..8277b1604 100644
--- a/examples/device/cdc_msc_freertos/src/tusb_config.h
+++ b/examples/device/cdc_msc_freertos/src/tusb_config.h
@@ -111,6 +111,8 @@
 #define CFG_TUD_CDC_TX_BUFSIZE   (TUD_OPT_HIGH_SPEED ? 512 : 64)
 
 // CDC Endpoint transfer buffer size, more is faster
+// Leave it as default size (512 for HS, 64 for FS) unless your host application
+// is able to send ZLP (Zero Length Packet) to terminate transfer !
 #define CFG_TUD_CDC_EP_BUFSIZE   (TUD_OPT_HIGH_SPEED ? 512 : 64)
 
 // MSC Buffer size of Device Mass storage
diff --git a/examples/device/cdc_uac2/src/main.c b/examples/device/cdc_uac2/src/main.c
index 22c462be7..cb7b3a142 100644
--- a/examples/device/cdc_uac2/src/main.c
+++ b/examples/device/cdc_uac2/src/main.c
@@ -65,8 +65,6 @@ int main(void)
     // printf("Hello, world!\r\n");
 #endif
   }
-
-  return 0;
 }
 
 //--------------------------------------------------------------------+
diff --git a/examples/device/cdc_uac2/src/tusb_config.h b/examples/device/cdc_uac2/src/tusb_config.h
index b7ece8b7c..5eb2e8f74 100644
--- a/examples/device/cdc_uac2/src/tusb_config.h
+++ b/examples/device/cdc_uac2/src/tusb_config.h
@@ -160,6 +160,8 @@ extern "C" {
 #define CFG_TUD_CDC_TX_BUFSIZE   (TUD_OPT_HIGH_SPEED ? 512 : 64)
 
 // CDC Endpoint transfer buffer size, more is faster
+// Leave it as default size (512 for HS, 64 for FS) unless your host application
+// is able to send ZLP (Zero Length Packet) to terminate transfer !
 #define CFG_TUD_CDC_EP_BUFSIZE   (TUD_OPT_HIGH_SPEED ? 512 : 64)
 
 #ifdef __cplusplus
diff --git a/examples/device/cdc_uac2/src/uac2_app.c b/examples/device/cdc_uac2/src/uac2_app.c
index 73a262d0c..7760c402b 100644
--- a/examples/device/cdc_uac2/src/uac2_app.c
+++ b/examples/device/cdc_uac2/src/uac2_app.c
@@ -66,7 +66,7 @@ uint8_t current_resolution;
 // In a real application, this would be replaced with actual I2S send/receive callback.
 void audio_task(void) {
   static uint32_t start_ms = 0;
-  uint32_t curr_ms = board_millis();
+  uint32_t curr_ms = tusb_time_millis_api();
   if (start_ms == curr_ms) {
     return; // not enough time
   }
@@ -303,7 +303,7 @@ void led_blinking_task(void)
   static bool led_state = false;
 
   // Blink every interval ms
-  if (board_millis() - start_ms < blink_interval_ms) {
+  if (tusb_time_millis_api() - start_ms < blink_interval_ms) {
     return;
   }
   start_ms += blink_interval_ms;
diff --git a/examples/device/dfu/skip.txt b/examples/device/dfu/skip.txt
index 9dde06c30..79d3da9d2 100644
--- a/examples/device/dfu/skip.txt
+++ b/examples/device/dfu/skip.txt
@@ -1,3 +1,3 @@
-mcu:TM4C123
+mcu:TM4C
 mcu:BCM2835
 family:espressif
diff --git a/examples/device/dfu/src/main.c b/examples/device/dfu/src/main.c
index 77632bf1a..fb3c22630 100644
--- a/examples/device/dfu/src/main.c
+++ b/examples/device/dfu/src/main.c
@@ -199,7 +199,7 @@ void led_blinking_task(void) {
   static bool     led_state = false;
 
   // Blink every interval ms
-  if (board_millis() - start_ms < blink_interval_ms) {
+  if (tusb_time_millis_api() - start_ms < blink_interval_ms) {
     return; // not enough time
   }
   start_ms += blink_interval_ms;
diff --git a/examples/device/dfu_runtime/src/main.c b/examples/device/dfu_runtime/src/main.c
index 5de651bcd..6f412e8de 100644
--- a/examples/device/dfu_runtime/src/main.c
+++ b/examples/device/dfu_runtime/src/main.c
@@ -132,7 +132,7 @@ void led_blinking_task(void)
   static bool led_state = false;
 
   // Blink every interval ms
-  if (board_millis() - start_ms < blink_interval_ms) {
+  if (tusb_time_millis_api() - start_ms < blink_interval_ms) {
     return; // not enough time
   }
   start_ms += blink_interval_ms;
diff --git a/examples/device/dynamic_configuration/src/main.c b/examples/device/dynamic_configuration/src/main.c
index dac74bb7a..8ebb42f9a 100644
--- a/examples/device/dynamic_configuration/src/main.c
+++ b/examples/device/dynamic_configuration/src/main.c
@@ -170,7 +170,7 @@ void midi_task(void) {
   while( tud_midi_available() ) tud_midi_packet_read(packet);
 
   // send note every 1000 ms
-  if (board_millis() - start_ms < 286) {
+  if (tusb_time_millis_api() - start_ms < 286) {
     return; // not enough time
   }
   start_ms += 286;
@@ -209,7 +209,7 @@ void led_blinking_task(void) {
   static bool led_state = false;
 
   // Blink every interval ms
-  if (board_millis() - start_ms < blink_interval_ms) {
+  if (tusb_time_millis_api() - start_ms < blink_interval_ms) {
     return;// not enough time
   }
   start_ms += blink_interval_ms;
diff --git a/examples/device/dynamic_configuration/src/msc_disk.c b/examples/device/dynamic_configuration/src/msc_disk.c
index e95b2e197..b545e4652 100644
--- a/examples/device/dynamic_configuration/src/msc_disk.c
+++ b/examples/device/dynamic_configuration/src/msc_disk.c
@@ -215,20 +215,17 @@ int32_t tud_msc_write10_cb(uint8_t lun, uint32_t lba, uint32_t offset, uint8_t*
 // - READ_CAPACITY10, READ_FORMAT_CAPACITY, INQUIRY, MODE_SENSE6, REQUEST_SENSE
 // - READ10 and WRITE10 has their own callbacks
 int32_t tud_msc_scsi_cb (uint8_t lun, uint8_t const scsi_cmd[16], void* buffer, uint16_t bufsize) {
-  // read10 & write10 has their own callback and MUST not be handled here
+  (void) lun;
+  (void) scsi_cmd;
   (void) buffer;
   (void) bufsize;
 
-  switch (scsi_cmd[0]) {
-    default:
-      // Set Sense = Invalid Command Operation
-      tud_msc_set_sense(lun, SCSI_SENSE_ILLEGAL_REQUEST, 0x20, 0x00);
+  // currently no other commands are supported
 
-      // negative means error -> tinyusb could stall and/or response with failed status
-      return -1;
-  }
+  // Set Sense = Invalid Command Operation
+  (void) tud_msc_set_sense(lun, SCSI_SENSE_ILLEGAL_REQUEST, 0x20, 0x00);
 
-  return -1;
+  return -1; // stall/failed command request;
 }
 
 #endif
diff --git a/examples/device/hid_boot_interface/src/main.c b/examples/device/hid_boot_interface/src/main.c
index 44a91db67..7f2153ae9 100644
--- a/examples/device/hid_boot_interface/src/main.c
+++ b/examples/device/hid_boot_interface/src/main.c
@@ -67,8 +67,6 @@ int main(void) {
 
     hid_task();
   }
-
-  return 0;
 }
 
 //--------------------------------------------------------------------+
@@ -109,7 +107,7 @@ void hid_task(void) {
   const uint32_t  interval_ms = 10;
   static uint32_t start_ms    = 0;
 
-  if (board_millis() - start_ms < interval_ms) {
+  if (tusb_time_millis_api() - start_ms < interval_ms) {
     return; // not enough time
   }
   start_ms += interval_ms;
@@ -238,7 +236,7 @@ void led_blinking_task(void) {
   }
 
   // Blink every interval ms
-  if (board_millis() - start_ms < blink_interval_ms) {
+  if (tusb_time_millis_api() - start_ms < blink_interval_ms) {
     return; // not enough time
   }
   start_ms += blink_interval_ms;
diff --git a/examples/device/hid_composite/src/main.c b/examples/device/hid_composite/src/main.c
index 9693d564d..7c9d5af8d 100644
--- a/examples/device/hid_composite/src/main.c
+++ b/examples/device/hid_composite/src/main.c
@@ -209,7 +209,7 @@ void hid_task(void) {
   const uint32_t  interval_ms = 10;
   static uint32_t start_ms    = 0;
 
-  if (board_millis() - start_ms < interval_ms) {
+  if (tusb_time_millis_api() - start_ms < interval_ms) {
     return; // not enough time
   }
   start_ms += interval_ms;
@@ -298,7 +298,7 @@ void led_blinking_task(void) {
   }
 
   // Blink every interval ms
-  if (board_millis() - start_ms < blink_interval_ms) {
+  if (tusb_time_millis_api() - start_ms < blink_interval_ms) {
     return; // not enough time
   }
   start_ms += blink_interval_ms;
diff --git a/examples/device/hid_generic_inout/src/main.c b/examples/device/hid_generic_inout/src/main.c
index 9837a47d9..2a6b91a8a 100644
--- a/examples/device/hid_generic_inout/src/main.c
+++ b/examples/device/hid_generic_inout/src/main.c
@@ -168,7 +168,7 @@ void led_blinking_task(void)
   static bool led_state = false;
 
   // Blink every interval ms
-  if ( board_millis() - start_ms < blink_interval_ms) return; // not enough time
+  if ( tusb_time_millis_api() - start_ms < blink_interval_ms) return; // not enough time
   start_ms += blink_interval_ms;
 
   board_led_write(led_state);
diff --git a/examples/device/hid_multiple_interface/src/main.c b/examples/device/hid_multiple_interface/src/main.c
index 0bccd13c1..c71a9cbad 100644
--- a/examples/device/hid_multiple_interface/src/main.c
+++ b/examples/device/hid_multiple_interface/src/main.c
@@ -120,7 +120,7 @@ void hid_task(void)
   const uint32_t interval_ms = 10;
   static uint32_t start_ms = 0;
 
-  if ( board_millis() - start_ms < interval_ms) return; // not enough time
+  if ( tusb_time_millis_api() - start_ms < interval_ms) return; // not enough time
   start_ms += interval_ms;
 
   uint32_t const btn = board_button_read();
@@ -205,7 +205,7 @@ void led_blinking_task(void)
   static bool led_state = false;
 
   // Blink every interval ms
-  if ( board_millis() - start_ms < blink_interval_ms) return; // not enough time
+  if ( tusb_time_millis_api() - start_ms < blink_interval_ms) return; // not enough time
   start_ms += blink_interval_ms;
 
   board_led_write(led_state);
diff --git a/examples/device/midi_test/src/main.c b/examples/device/midi_test/src/main.c
index fd58e3021..1154c1d60 100644
--- a/examples/device/midi_test/src/main.c
+++ b/examples/device/midi_test/src/main.c
@@ -134,7 +134,7 @@ void midi_task(void)
   }
 
   // send note periodically
-  if (board_millis() - start_ms < 286) {
+  if (tusb_time_millis_api() - start_ms < 286) {
     return; // not enough time
   }
   start_ms += 286;
@@ -174,7 +174,7 @@ void led_blinking_task(void)
   static bool led_state = false;
 
   // Blink every interval ms
-  if ( board_millis() - start_ms < blink_interval_ms) return; // not enough time
+  if ( tusb_time_millis_api() - start_ms < blink_interval_ms) return; // not enough time
   start_ms += blink_interval_ms;
 
   board_led_write(led_state);
diff --git a/examples/device/msc_dual_lun/src/main.c b/examples/device/msc_dual_lun/src/main.c
index 62b1c872a..a4ade6f9b 100644
--- a/examples/device/msc_dual_lun/src/main.c
+++ b/examples/device/msc_dual_lun/src/main.c
@@ -31,7 +31,7 @@
 #include "tusb.h"
 
 //--------------------------------------------------------------------+
-// MACRO CONSTANT TYPEDEF PROTYPES
+// MACRO CONSTANT TYPEDEF PROTOTYPES
 //--------------------------------------------------------------------+
 
 /* Blink pattern
@@ -41,71 +41,177 @@
  */
 enum {
   BLINK_NOT_MOUNTED = 250,
-  BLINK_MOUNTED = 1000,
-  BLINK_SUSPENDED = 2500,
+  BLINK_MOUNTED     = 1000,
+  BLINK_SUSPENDED   = 2500,
 };
 
 static uint32_t blink_interval_ms = BLINK_NOT_MOUNTED;
 
-void led_blinking_task(void);
+// Task parameter type: ULONG for ThreadX, void* for FreeRTOS and noos
+#if CFG_TUSB_OS == OPT_OS_THREADX
+  #define RTOS_PARAM ULONG
+#elif CFG_TUSB_OS == OPT_OS_FREERTOS
+  #define RTOS_PARAM void*
+  static void freertos_init(void);
+#else
+  #define RTOS_PARAM void*
+#endif
 
-/*------------- MAIN -------------*/
-int main(void) {
-  board_init();
+void led_blinking_task(RTOS_PARAM param);
 
-  // init device stack on configured roothub port
+//--------------------------------------------------------------------+
+// USB Device Task
+//--------------------------------------------------------------------+
+static void usb_device_init(void) {
   tusb_rhport_init_t dev_init = {
-    .role = TUSB_ROLE_DEVICE,
+    .role  = TUSB_ROLE_DEVICE,
     .speed = TUSB_SPEED_AUTO
   };
   tusb_init(BOARD_TUD_RHPORT, &dev_init);
-
   board_init_after_tusb();
+}
+
+#if CFG_TUSB_OS != OPT_OS_NONE && CFG_TUSB_OS != OPT_OS_PICO
+static void usb_device_task(RTOS_PARAM param) {
+  (void) param;
+  usb_device_init();
 
   while (1) {
-    tud_task(); // tinyusb device task
-    led_blinking_task();
+    tud_task();
   }
 }
+#endif
 
 //--------------------------------------------------------------------+
-// Device callbacks
+// Main
 //--------------------------------------------------------------------+
+int main(void) {
+  board_init();
 
-// Invoked when device is mounted
+#if CFG_TUSB_OS == OPT_OS_FREERTOS
+  freertos_init();
+
+#elif CFG_TUSB_OS == OPT_OS_THREADX
+  tx_kernel_enter();
+
+#else
+  // noos + pico-sdk: init USB then run polling loop
+  usb_device_init();
+
+  while (1) {
+    tud_task();
+    led_blinking_task(NULL);
+  }
+#endif
+}
+
+#ifdef ESP_PLATFORM
+void app_main(void) {
+  main();
+}
+#endif
+
+//--------------------------------------------------------------------+
+// Device callbacks
+//--------------------------------------------------------------------+
 void tud_mount_cb(void) {
   blink_interval_ms = BLINK_MOUNTED;
 }
 
-// Invoked when device is unmounted
 void tud_umount_cb(void) {
   blink_interval_ms = BLINK_NOT_MOUNTED;
 }
 
-// Invoked when usb bus is suspended
-// remote_wakeup_en : if host allow us  to perform remote wakeup
-// Within 7ms, device must draw an average of current less than 2.5 mA from bus
 void tud_suspend_cb(bool remote_wakeup_en) {
   (void) remote_wakeup_en;
   blink_interval_ms = BLINK_SUSPENDED;
 }
 
-// Invoked when usb bus is resumed
 void tud_resume_cb(void) {
   blink_interval_ms = tud_mounted() ? BLINK_MOUNTED : BLINK_NOT_MOUNTED;
 }
 
 //--------------------------------------------------------------------+
-// BLINKING TASK
+// Blinking Task
 //--------------------------------------------------------------------+
-void led_blinking_task(void) {
+void led_blinking_task(RTOS_PARAM param) {
+  (void) param;
   static uint32_t start_ms = 0;
   static bool led_state = false;
 
-  // Blink every interval ms
-  if (board_millis() - start_ms < blink_interval_ms) return; // not enough time
-  start_ms += blink_interval_ms;
+  while (1) {
+#if CFG_TUSB_OS == OPT_OS_FREERTOS
+    vTaskDelay(blink_interval_ms / portTICK_PERIOD_MS);
+#elif CFG_TUSB_OS == OPT_OS_THREADX
+    tx_thread_sleep(_osal_ms2tick(blink_interval_ms));
+#else
+    if (tusb_time_millis_api() - start_ms < blink_interval_ms) {
+      return; // not enough time
+    }
+#endif
+
+    start_ms += blink_interval_ms;
+    board_led_write(led_state);
+    led_state = 1 - led_state; // toggle
+  }
+}
+
+//--------------------------------------------------------------------+
+// FreeRTOS
+//--------------------------------------------------------------------+
+#if CFG_TUSB_OS == OPT_OS_FREERTOS
+
+#ifdef ESP_PLATFORM
+#define USBD_STACK_SIZE   4096
+#else
+#define USBD_STACK_SIZE   (3*configMINIMAL_STACK_SIZE/2 * (CFG_TUSB_DEBUG ? 2 : 1))
+#endif
+#define BLINKY_STACK_SIZE   configMINIMAL_STACK_SIZE
 
-  board_led_write(led_state);
-  led_state = 1 - led_state; // toggle
+#if configSUPPORT_STATIC_ALLOCATION
+static StackType_t  _usb_device_stack[USBD_STACK_SIZE];
+static StaticTask_t _usb_device_taskdef;
+static StackType_t  _blinky_stack[BLINKY_STACK_SIZE];
+static StaticTask_t _blinky_taskdef;
+#endif
+
+
+static void freertos_init(void) {
+  #if configSUPPORT_STATIC_ALLOCATION
+  xTaskCreateStatic(usb_device_task,     "usbd",   USBD_STACK_SIZE,   NULL, configMAX_PRIORITIES - 1, _usb_device_stack, &_usb_device_taskdef);
+  xTaskCreateStatic(led_blinking_task,   "blinky", BLINKY_STACK_SIZE, NULL, 1,                        _blinky_stack,     &_blinky_taskdef);
+  #else
+  xTaskCreate(usb_device_task,           "usbd",   USBD_STACK_SIZE,   NULL, configMAX_PRIORITIES - 1, NULL);
+  xTaskCreate(led_blinking_task,         "blinky", BLINKY_STACK_SIZE, NULL, 1,                        NULL);
+  #endif
+  #ifndef ESP_PLATFORM
+  vTaskStartScheduler();
+  #endif
+}
+
+//--------------------------------------------------------------------+
+// ThreadX
+//--------------------------------------------------------------------+
+#elif CFG_TUSB_OS == OPT_OS_THREADX
+
+#define USBD_STACK_SIZE   4096
+#define BLINKY_STACK_SIZE 512
+
+static TX_THREAD _usb_device_thread;
+static ULONG     _usb_device_stack[USBD_STACK_SIZE / sizeof(ULONG)];
+static TX_THREAD _blinky_thread;
+static ULONG     _blinky_stack[BLINKY_STACK_SIZE / sizeof(ULONG)];
+
+void tx_application_define(void *first_unused_memory) {
+  (void) first_unused_memory;
+  static CHAR usbd_name[]   = "usbd";
+  static CHAR blinky_name[] = "blinky";
+  tx_thread_create(&_usb_device_thread, usbd_name, usb_device_task, 0,
+                   _usb_device_stack, USBD_STACK_SIZE,
+                   0, 0, TX_NO_TIME_SLICE, TX_AUTO_START);
+  tx_thread_create(&_blinky_thread, blinky_name, led_blinking_task, 0,
+                   _blinky_stack, BLINKY_STACK_SIZE,
+                   1, 1, TX_NO_TIME_SLICE, TX_AUTO_START);
 }
+
+#endif
diff --git a/examples/device/mtp/src/main.c b/examples/device/mtp/src/main.c
index 57d1535b2..6ffa435d1 100644
--- a/examples/device/mtp/src/main.c
+++ b/examples/device/mtp/src/main.c
@@ -102,7 +102,7 @@ void led_blinking_task(void) {
   static bool led_state = false;
 
   // Blink every interval ms
-  if (board_millis() - start_ms < blink_interval_ms) return; // not enough time
+  if (tusb_time_millis_api() - start_ms < blink_interval_ms) return; // not enough time
   start_ms += blink_interval_ms;
 
   board_led_write(led_state);
diff --git a/examples/device/net_lwip_webserver/src/main.c b/examples/device/net_lwip_webserver/src/main.c
index 867cf2812..8bd8a8c21 100644
--- a/examples/device/net_lwip_webserver/src/main.c
+++ b/examples/device/net_lwip_webserver/src/main.c
@@ -276,8 +276,6 @@ int main(void) {
     sys_check_timeouts(); // service lwip
     handle_link_state_switch();
   }
-
-  return 0;
 }
 
 /* lwip has provision for using a mutex, when applicable */
@@ -291,5 +289,5 @@ void sys_arch_unprotect(sys_prot_t pval) {
 
 /* lwip needs a millisecond time source, and the TinyUSB board support code has one available */
 uint32_t sys_now(void) {
-  return board_millis();
+  return tusb_time_millis_api();
 }
diff --git a/examples/device/uac2_headset/src/main.c b/examples/device/uac2_headset/src/main.c
index 96fa66f1e..0ea63d8f7 100644
--- a/examples/device/uac2_headset/src/main.c
+++ b/examples/device/uac2_headset/src/main.c
@@ -559,7 +559,7 @@ bool tud_audio_set_itf_cb(uint8_t rhport, tusb_control_request_t const *p_reques
 // In a real application, this would be replaced with actual I2S send/receive callback.
 void audio_task(void) {
   static uint32_t start_ms = 0;
-  uint32_t curr_ms = board_millis();
+  uint32_t curr_ms = tusb_time_millis_api();
   if (start_ms == curr_ms) return;// not enough time
   start_ms = curr_ms;
   // When new data arrived, copy data from speaker buffer, to microphone buffer
@@ -605,7 +605,7 @@ void audio_control_task(void) {
   static uint32_t start_ms = 0;
   static uint32_t btn_prev = 0;
 
-  if (board_millis() - start_ms < interval_ms) return;// not enough time
+  if (tusb_time_millis_api() - start_ms < interval_ms) return;// not enough time
   start_ms += interval_ms;
 
   uint32_t btn = board_button_read();
@@ -644,7 +644,7 @@ void led_blinking_task(void) {
   static bool led_state = false;
 
   // Blink every interval ms
-  if (board_millis() - start_ms < blink_interval_ms) return;
+  if (tusb_time_millis_api() - start_ms < blink_interval_ms) return;
   start_ms += blink_interval_ms;
 
   board_led_write(led_state);
diff --git a/examples/device/uac2_speaker_fb/src/main.c b/examples/device/uac2_speaker_fb/src/main.c
index 7b4e2d64c..c3e97bb28 100644
--- a/examples/device/uac2_speaker_fb/src/main.c
+++ b/examples/device/uac2_speaker_fb/src/main.c
@@ -534,8 +534,9 @@ bool tud_audio_set_itf_close_ep_cb(uint8_t rhport, tusb_control_request_t const
   uint8_t const itf = tu_u16_low(tu_le16toh(p_request->wIndex));
   uint8_t const alt = tu_u16_low(tu_le16toh(p_request->wValue));
 
-  if (ITF_NUM_AUDIO_STREAMING == itf && alt == 0)
+  if (ITF_NUM_AUDIO_STREAMING == itf && alt == 0) {
     blink_interval_ms = BLINK_MOUNTED;
+  }
 
   return true;
 }
@@ -569,7 +570,8 @@ bool tud_audio_rx_done_isr(uint8_t rhport, uint16_t n_bytes_received, uint8_t fu
 
   fifo_count = tud_audio_available();
   // Same averaging method used in UAC2 class
-  fifo_count_avg = (uint32_t) (((uint64_t) fifo_count_avg * 63 + ((uint32_t) fifo_count << 16)) >> 6);
+  const uint32_t ff_count32 = (uint32_t) fifo_count << 16;
+  fifo_count_avg = (uint32_t) (((uint64_t) fifo_count_avg * 63 + ff_count32) >> 6);
 
   return true;
 }
@@ -583,7 +585,7 @@ bool tud_audio_rx_done_isr(uint8_t rhport, uint16_t n_bytes_received, uint8_t fu
 // In a real application, this would be replaced with actual I2S transmit callback.
 void audio_task(void) {
   static uint32_t start_ms = 0;
-  uint32_t curr_ms = board_millis();
+  uint32_t curr_ms = tusb_time_millis_api();
   if (start_ms == curr_ms) return;// not enough time
   start_ms = curr_ms;
 
@@ -610,7 +612,7 @@ void led_blinking_task(void) {
   static bool led_state = false;
 
   // Blink every interval ms
-  if (board_millis() - start_ms < blink_interval_ms) return;
+  if (tusb_time_millis_api() - start_ms < blink_interval_ms) return;
   start_ms += blink_interval_ms;
 
   board_led_write(led_state);
@@ -624,7 +626,7 @@ void led_blinking_task(void) {
 // Every 1ms, we will sent 1 debug information report
 void audio_debug_task(void) {
   static uint32_t start_ms = 0;
-  uint32_t curr_ms = board_millis();
+  uint32_t curr_ms = tusb_time_millis_api();
   if (start_ms == curr_ms) return;// not enough time
   start_ms = curr_ms;
 
diff --git a/examples/device/usbtmc/src/main.c b/examples/device/usbtmc/src/main.c
index 5cbbb85ef..b1269b117 100644
--- a/examples/device/usbtmc/src/main.c
+++ b/examples/device/usbtmc/src/main.c
@@ -124,12 +124,12 @@ void led_blinking_task(void)
     {
       led_state = true;
       board_led_write(true);
-      start_ms = board_millis();
+      start_ms = tusb_time_millis_api();
       doPulse = false;
     }
     else if (led_state == true)
     {
-      if ( board_millis() - start_ms < 750) //Spec says blink must be between 500 and 1000 ms.
+      if ( tusb_time_millis_api() - start_ms < 750) //Spec says blink must be between 500 and 1000 ms.
       {
         return; // not enough time
       }
@@ -140,7 +140,7 @@ void led_blinking_task(void)
   else
   {
     // Blink every interval ms
-    if ( board_millis() - start_ms < blink_interval_ms) return; // not enough time
+    if ( tusb_time_millis_api() - start_ms < blink_interval_ms) return; // not enough time
     start_ms += blink_interval_ms;
 
     board_led_write(led_state);
diff --git a/examples/device/usbtmc/src/usbtmc_app.c b/examples/device/usbtmc/src/usbtmc_app.c
index 4c3724ac4..35e8618f5 100644
--- a/examples/device/usbtmc/src/usbtmc_app.c
+++ b/examples/device/usbtmc/src/usbtmc_app.c
@@ -209,19 +209,19 @@ void usbtmc_app_task_iter(void) {
   case 0:
     break;
   case 1:
-    queryDelayStart = board_millis();
+    queryDelayStart = tusb_time_millis_api();
     queryState = 2;
     break;
   case 2:
-    if( (board_millis() - queryDelayStart) > resp_delay) {
-      queryDelayStart = board_millis();
+    if( (tusb_time_millis_api() - queryDelayStart) > resp_delay) {
+      queryDelayStart = tusb_time_millis_api();
       queryState=3;
       status |= 0x10u; // MAV
       status |= 0x40u; // SRQ
     }
     break;
   case 3:
-    if( (board_millis() - queryDelayStart) > resp_delay) {
+    if( (tusb_time_millis_api() - queryDelayStart) > resp_delay) {
       queryState = 4;
     }
     break;
diff --git a/examples/device/video_capture/src/main.c b/examples/device/video_capture/src/main.c
index ffa2a7afa..df9f77a1c 100644
--- a/examples/device/video_capture/src/main.c
+++ b/examples/device/video_capture/src/main.c
@@ -231,7 +231,7 @@ static void video_send_frame(void) {
   if (!already_sent) {
     already_sent = 1;
     tx_busy = 1;
-    start_ms = board_millis();
+    start_ms = tusb_time_millis_api();
 #if defined(CFG_EXAMPLE_VIDEO_BUFFERLESS)
     tud_video_n_frame_xfer(0, 0, NULL, FRAME_WIDTH * FRAME_HEIGHT * 16 / 8);
 #elif defined (CFG_EXAMPLE_VIDEO_READONLY)
@@ -247,7 +247,7 @@ static void video_send_frame(void) {
 #endif
   }
 
-  unsigned cur = board_millis();
+  unsigned cur = tusb_time_millis_api();
   if (cur - start_ms < interval_ms) {
     return; // not enough time
   }
@@ -316,7 +316,7 @@ void led_blinking_task(void* param) {
     #if CFG_TUSB_OS == OPT_OS_FREERTOS
     vTaskDelay(blink_interval_ms / portTICK_PERIOD_MS);
     #else
-    if (board_millis() - start_ms < blink_interval_ms) {
+    if (tusb_time_millis_api() - start_ms < blink_interval_ms) {
       return; // not enough time
     }
     #endif
diff --git a/examples/device/video_capture_2ch/src/main.c b/examples/device/video_capture_2ch/src/main.c
index 79b149f2b..debd336fd 100644
--- a/examples/device/video_capture_2ch/src/main.c
+++ b/examples/device/video_capture_2ch/src/main.c
@@ -221,13 +221,13 @@ static void video_send_frame(uint_fast8_t ctl_idx, uint_fast8_t stm_idx) {
   if (!(already_sent & (1u << idx))) {
     already_sent |= 1u << idx;
     tx_busy |= 1u << idx;
-    start_ms[idx] = board_millis();
+    start_ms[idx] = tusb_time_millis_api();
 
     fb_size = get_framebuf(ctl_idx, stm_idx, frame_num[idx], &fp);
     tud_video_n_frame_xfer(ctl_idx, stm_idx, fp, fb_size);
   }
 
-  unsigned cur = board_millis();
+  unsigned cur = tusb_time_millis_api();
   if (cur - start_ms[idx] < interval_ms[idx]) return; // not enough time
   if (tx_busy & (1u << idx)) return;
   start_ms[idx] += interval_ms[idx];
@@ -280,7 +280,7 @@ void led_blinking_task(void* param) {
     #if CFG_TUSB_OS == OPT_OS_FREERTOS
     vTaskDelay(blink_interval_ms / portTICK_PERIOD_MS);
     #else
-    if (board_millis() - start_ms < blink_interval_ms) return; // not enough time
+    if (tusb_time_millis_api() - start_ms < blink_interval_ms) return; // not enough time
     #endif
 
     start_ms += blink_interval_ms;
diff --git a/examples/device/webusb_serial/src/main.c b/examples/device/webusb_serial/src/main.c
index 155768b76..4be5e4db4 100644
--- a/examples/device/webusb_serial/src/main.c
+++ b/examples/device/webusb_serial/src/main.c
@@ -257,7 +257,7 @@ void led_blinking_task(void) {
   static bool led_state = false;
 
   // Blink every interval ms
-  if (board_millis() - start_ms < blink_interval_ms) {
+  if (tusb_time_millis_api() - start_ms < blink_interval_ms) {
     return; // not enough time
   }
   start_ms += blink_interval_ms;