Merge branch 'master' into add-max3421-esp32

28 files changed, 710 insertions, 229 deletions

diff --git a/hw/bsp/family_support.cmake b/hw/bsp/family_support.cmake
index 642282b0e..9c625b58e 100644
--- a/hw/bsp/family_support.cmake
+++ b/hw/bsp/family_support.cmake
@@ -40,6 +40,7 @@ if (NOT FAMILY STREQUAL rp2040)
   # enable LTO if supported skip rp2040
   include(CheckIPOSupported)
   check_ipo_supported(RESULT IPO_SUPPORTED)
+  cmake_print_variables(IPO_SUPPORTED)
   if (IPO_SUPPORTED)
     set(CMAKE_INTERPROCEDURAL_OPTIMIZATION TRUE)
   endif()
diff --git a/hw/bsp/imxrt/family.c b/hw/bsp/imxrt/family.c
index ec95a8b24..32d89f794 100644
--- a/hw/bsp/imxrt/family.c
+++ b/hw/bsp/imxrt/family.c
@@ -188,7 +188,7 @@ void USB_OTG1_IRQHandler(void)
   #endif
 
   #if PORT_SUPPORT_HOST(0)
-    tuh_int_handler(0);
+    tuh_int_handler(0, true);
   #endif
 }
 
@@ -199,7 +199,7 @@ void USB_OTG2_IRQHandler(void)
   #endif
 
   #if PORT_SUPPORT_HOST(1)
-    tuh_int_handler(1);
+    tuh_int_handler(1, true);
   #endif
 }
 
diff --git a/hw/bsp/kinetis_kl/family.c b/hw/bsp/kinetis_kl/family.c
index 3e9aa83a4..c436be3e6 100644
--- a/hw/bsp/kinetis_kl/family.c
+++ b/hw/bsp/kinetis_kl/family.c
@@ -39,7 +39,7 @@
 void USB0_IRQHandler(void)
 {
 #if CFG_TUH_ENABLED
-  tuh_int_handler(0);
+  tuh_int_handler(0, true);
 #endif
 #if CFG_TUD_ENABLED
   tud_int_handler(0);
diff --git a/hw/bsp/kinetis_kl/family.cmake b/hw/bsp/kinetis_kl/family.cmake
index 793ef1783..4151979a0 100644
--- a/hw/bsp/kinetis_kl/family.cmake
+++ b/hw/bsp/kinetis_kl/family.cmake
@@ -22,48 +22,47 @@ set(FAMILY_MCUS KINETIS_KL CACHE INTERNAL "")
 #------------------------------------
 # only need to be built ONCE for all examples
 function(add_board_target BOARD_TARGET)
-  if (NOT TARGET ${BOARD_TARGET})
-    add_library(${BOARD_TARGET} STATIC
-      ${SDK_DIR}/drivers/gpio/fsl_gpio.c
-      ${SDK_DIR}/drivers/lpsci/fsl_lpsci.c
-      ${SDK_DIR}/drivers/uart/fsl_uart.c
-      ${SDK_DIR}/devices/${MCU_VARIANT}/drivers/fsl_clock.c
-      ${SDK_DIR}/devices/${MCU_VARIANT}/system_${MCU_VARIANT}.c
-      )
-    target_compile_definitions(${BOARD_TARGET} PUBLIC
-      )
-    target_include_directories(${BOARD_TARGET} PUBLIC
-      ${CMSIS_DIR}/CMSIS/Core/Include
-      ${SDK_DIR}/devices/${MCU_VARIANT}
-      ${SDK_DIR}/devices/${MCU_VARIANT}/drivers
-      ${SDK_DIR}/drivers/common
-      ${SDK_DIR}/drivers/gpio
-      ${SDK_DIR}/drivers/lpsci
-      ${SDK_DIR}/drivers/port
-      ${SDK_DIR}/drivers/smc
-      ${SDK_DIR}/drivers/uart
-      )
+  if (TARGET ${BOARD_TARGET})
+    return()
+  endif ()
 
-    update_board(${BOARD_TARGET})
+  add_library(${BOARD_TARGET} STATIC
+    ${SDK_DIR}/drivers/gpio/fsl_gpio.c
+    ${SDK_DIR}/drivers/lpsci/fsl_lpsci.c
+    ${SDK_DIR}/drivers/uart/fsl_uart.c
+    ${SDK_DIR}/devices/${MCU_VARIANT}/drivers/fsl_clock.c
+    ${SDK_DIR}/devices/${MCU_VARIANT}/system_${MCU_VARIANT}.c
+    )
+  target_compile_definitions(${BOARD_TARGET} PUBLIC
+    )
+  target_include_directories(${BOARD_TARGET} PUBLIC
+    ${CMSIS_DIR}/CMSIS/Core/Include
+    ${SDK_DIR}/devices/${MCU_VARIANT}
+    ${SDK_DIR}/devices/${MCU_VARIANT}/drivers
+    ${SDK_DIR}/drivers/common
+    ${SDK_DIR}/drivers/gpio
+    ${SDK_DIR}/drivers/lpsci
+    ${SDK_DIR}/drivers/port
+    ${SDK_DIR}/drivers/smc
+    ${SDK_DIR}/drivers/uart
+    )
+  update_board(${BOARD_TARGET})
 
-    # LD_FILE and STARTUP_FILE can be defined in board.cmake
+  # LD_FILE and STARTUP_FILE can be defined in board.cmake
+  target_sources(${BOARD_TARGET} PUBLIC
+    ${STARTUP_FILE_${CMAKE_C_COMPILER_ID}}
+    )
 
-    target_sources(${BOARD_TARGET} PUBLIC
-      ${STARTUP_FILE_${CMAKE_C_COMPILER_ID}}
+  if (CMAKE_C_COMPILER_ID STREQUAL "GNU")
+    target_link_options(${BOARD_TARGET} PUBLIC
+      "LINKER:--script=${LD_FILE_GNU}"
+      # nanolib
+      --specs=nosys.specs --specs=nano.specs
+      )
+  elseif (CMAKE_C_COMPILER_ID STREQUAL "IAR")
+    target_link_options(${BOARD_TARGET} PUBLIC
+      "LINKER:--config=${LD_FILE_IAR}"
       )
-
-    if (CMAKE_C_COMPILER_ID STREQUAL "GNU")
-      target_link_options(${BOARD_TARGET} PUBLIC
-        "LINKER:--script=${LD_FILE_GNU}"
-        # nanolib
-        --specs=nosys.specs
-        --specs=nano.specs
-        )
-    elseif (CMAKE_C_COMPILER_ID STREQUAL "IAR")
-      target_link_options(${BOARD_TARGET} PUBLIC
-        "LINKER:--config=${LD_FILE_IAR}"
-        )
-    endif ()
   endif ()
 endfunction()
 
diff --git a/hw/bsp/lpc17/boards/lpcxpresso1769/lpcxpresso1769.c b/hw/bsp/lpc17/boards/lpcxpresso1769/lpcxpresso1769.c
index c7d655368..8c26b906f 100644
--- a/hw/bsp/lpc17/boards/lpcxpresso1769/lpcxpresso1769.c
+++ b/hw/bsp/lpc17/boards/lpcxpresso1769/lpcxpresso1769.c
@@ -37,7 +37,7 @@ void USB_IRQHandler(void)
   #endif
 
   #if CFG_TUH_ENABLED
-    tuh_int_handler(0);
+    tuh_int_handler(0, true);
   #endif
 }
 
diff --git a/hw/bsp/lpc17/boards/mbed1768/mbed1768.c b/hw/bsp/lpc17/boards/mbed1768/mbed1768.c
index b2c92d640..613dcb570 100644
--- a/hw/bsp/lpc17/boards/mbed1768/mbed1768.c
+++ b/hw/bsp/lpc17/boards/mbed1768/mbed1768.c
@@ -151,7 +151,7 @@ void USB_IRQHandler(void)
   #endif
 
   #if CFG_TUH_ENABLED
-    tuh_int_handler(0);
+    tuh_int_handler(0, true);
   #endif
 }
 
diff --git a/hw/bsp/lpc18/family.c b/hw/bsp/lpc18/family.c
index b11f4fe0e..e6abecb4b 100644
--- a/hw/bsp/lpc18/family.c
+++ b/hw/bsp/lpc18/family.c
@@ -43,25 +43,23 @@
 //--------------------------------------------------------------------+
 // USB Interrupt Handler
 //--------------------------------------------------------------------+
-void USB0_IRQHandler(void)
-{
+void USB0_IRQHandler(void) {
   #if PORT_SUPPORT_DEVICE(0)
-    tud_int_handler(0);
+  tud_int_handler(0);
   #endif
 
   #if PORT_SUPPORT_HOST(0)
-    tuh_int_handler(0);
+  tuh_int_handler(0, true);
   #endif
 }
 
-void USB1_IRQHandler(void)
-{
+void USB1_IRQHandler(void) {
   #if PORT_SUPPORT_DEVICE(1)
-    tud_int_handler(1);
+  tud_int_handler(1);
   #endif
 
   #if PORT_SUPPORT_HOST(1)
-    tuh_int_handler(1);
+  tuh_int_handler(1, true);
   #endif
 }
 
@@ -74,28 +72,26 @@ const uint32_t OscRateIn = 12000000;
 const uint32_t ExtRateIn = 0;
 
 // Invoked by startup code
-void SystemInit(void)
-{
+void SystemInit(void) {
 #ifdef __USE_LPCOPEN
-	extern void (* const g_pfnVectors[])(void);
+  extern void (*const g_pfnVectors[])(void);
   unsigned int *pSCB_VTOR = (unsigned int *) 0xE000ED08;
-	*pSCB_VTOR = (unsigned int) g_pfnVectors;
+  *pSCB_VTOR = (unsigned int) g_pfnVectors;
 #endif
 
   board_lpc18_pinmux();
 
-  #ifdef TRACE_ETM
+#ifdef TRACE_ETM
   // Trace clock is limited to 60MHz, limit CPU clock to 120MHz
   Chip_SetupCoreClock(CLKIN_CRYSTAL, 120000000UL, true);
-  #else
+#else
   // CPU clock max to 180 Mhz
   Chip_SetupCoreClock(CLKIN_CRYSTAL, MAX_CLOCK_FREQ, true);
-  #endif
+#endif
 
 }
 
-void board_init(void)
-{
+void board_init(void) {
   SystemCoreClockUpdate();
 
 #if CFG_TUSB_OS == OPT_OS_NONE
@@ -135,27 +131,22 @@ void board_init(void)
 // Board porting API
 //--------------------------------------------------------------------+
 
-void board_led_write(bool state)
-{
+void board_led_write(bool state) {
   Chip_GPIO_SetPinState(LPC_GPIO_PORT, LED_PORT, LED_PIN, state);
 }
 
-uint32_t board_button_read(void)
-{
+uint32_t board_button_read(void) {
   // active low
   return Chip_GPIO_GetPinState(LPC_GPIO_PORT, BUTTON_PORT, BUTTON_PIN) ? 0 : 1;
 }
 
-int board_uart_read(uint8_t* buf, int len)
-{
+int board_uart_read(uint8_t *buf, int len) {
   return Chip_UART_Read(UART_DEV, buf, len);
 }
 
-int board_uart_write(void const * buf, int len)
-{
-  uint8_t const* buf8 = (uint8_t const*) buf;
-  for(int i=0; i<len; i++)
-  {
+int board_uart_write(void const *buf, int len) {
+  uint8_t const *buf8 = (uint8_t const *) buf;
+  for (int i = 0; i < len; i++) {
     while ((Chip_UART_ReadLineStatus(UART_DEV) & UART_LSR_THRE) == 0) {}
     Chip_UART_SendByte(UART_DEV, buf8[i]);
   }
@@ -165,13 +156,13 @@ int board_uart_write(void const * buf, int len)
 
 #if CFG_TUSB_OS == OPT_OS_NONE
 volatile uint32_t system_ticks = 0;
-void SysTick_Handler (void)
-{
+
+void SysTick_Handler(void) {
   system_ticks++;
 }
 
-uint32_t board_millis(void)
-{
+uint32_t board_millis(void) {
   return system_ticks;
 }
+
 #endif
diff --git a/hw/bsp/lpc40/family.c b/hw/bsp/lpc40/family.c
index 526e3a080..d6c8ef32a 100644
--- a/hw/bsp/lpc40/family.c
+++ b/hw/bsp/lpc40/family.c
@@ -37,7 +37,7 @@ void USB_IRQHandler(void) {
   #endif
 
   #if CFG_TUH_ENABLED
-  tuh_int_handler(0);
+  tuh_int_handler(0, true);
   #endif
 }
 
diff --git a/hw/bsp/lpc43/family.c b/hw/bsp/lpc43/family.c
index d52c1a071..8be729f7d 100644
--- a/hw/bsp/lpc43/family.c
+++ b/hw/bsp/lpc43/family.c
@@ -213,7 +213,7 @@ void USB0_IRQHandler(void)
   #endif
 
   #if PORT_SUPPORT_HOST(0)
-    tuh_int_handler(0);
+    tuh_int_handler(0, true);
   #endif
 }
 
@@ -224,7 +224,7 @@ void USB1_IRQHandler(void)
   #endif
 
   #if PORT_SUPPORT_HOST(1)
-    tuh_int_handler(1);
+    tuh_int_handler(1, true);
   #endif
 }
 
diff --git a/hw/bsp/lpc54/FreeRTOSConfig/FreeRTOSConfig.h b/hw/bsp/lpc54/FreeRTOSConfig/FreeRTOSConfig.h
new file mode 100644
index 000000000..fc0ab1f2d
--- /dev/null
+++ b/hw/bsp/lpc54/FreeRTOSConfig/FreeRTOSConfig.h
@@ -0,0 +1,165 @@
+/*
+ * FreeRTOS Kernel V10.0.0
+ * Copyright (C) 2017 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software. If you wish to use our Amazon
+ * FreeRTOS name, please do so in a fair use way that does not cause confusion.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+/*-----------------------------------------------------------
+ * Application specific definitions.
+ *
+ * These definitions should be adjusted for your particular hardware and
+ * application requirements.
+ *
+ * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
+ * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
+ *
+ * See http://www.freertos.org/a00110.html.
+ *----------------------------------------------------------*/
+
+// skip if included from IAR assembler
+#ifndef __IASMARM__
+  #include "fsl_device_registers.h"
+#endif
+
+/* Cortex M23/M33 port configuration. */
+#define configENABLE_MPU                        0
+#define configENABLE_FPU                        1
+#define configENABLE_TRUSTZONE                  0
+#define configMINIMAL_SECURE_STACK_SIZE         (1024)
+
+#define configUSE_PREEMPTION                    1
+#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
+#define configCPU_CLOCK_HZ                      SystemCoreClock
+#define configTICK_RATE_HZ                      ( 1000 )
+#define configMAX_PRIORITIES                    ( 5 )
+#define configMINIMAL_STACK_SIZE                ( 128 )
+#define configTOTAL_HEAP_SIZE                   ( configSUPPORT_DYNAMIC_ALLOCATION*4*1024 )
+#define configMAX_TASK_NAME_LEN                 16
+#define configUSE_16_BIT_TICKS                  0
+#define configIDLE_SHOULD_YIELD                 1
+#define configUSE_MUTEXES                       1
+#define configUSE_RECURSIVE_MUTEXES             1
+#define configUSE_COUNTING_SEMAPHORES           1
+#define configQUEUE_REGISTRY_SIZE               4
+#define configUSE_QUEUE_SETS                    0
+#define configUSE_TIME_SLICING                  0
+#define configUSE_NEWLIB_REENTRANT              0
+#define configENABLE_BACKWARD_COMPATIBILITY     1
+#define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP   0
+
+#define configSUPPORT_STATIC_ALLOCATION         0
+#define configSUPPORT_DYNAMIC_ALLOCATION        1
+
+/* Hook function related definitions. */
+#define configUSE_IDLE_HOOK                    0
+#define configUSE_TICK_HOOK                    0
+#define configUSE_MALLOC_FAILED_HOOK           0 // cause nested extern warning
+#define configCHECK_FOR_STACK_OVERFLOW         2
+
+/* Run time and task stats gathering related definitions. */
+#define configGENERATE_RUN_TIME_STATS          0
+#define configRECORD_STACK_HIGH_ADDRESS        1
+#define configUSE_TRACE_FACILITY               1 // legacy trace
+#define configUSE_STATS_FORMATTING_FUNCTIONS   0
+
+/* Co-routine definitions. */
+#define configUSE_CO_ROUTINES                  0
+#define configMAX_CO_ROUTINE_PRIORITIES        2
+
+/* Software timer related definitions. */
+#define configUSE_TIMERS                       1
+#define configTIMER_TASK_PRIORITY              (configMAX_PRIORITIES-2)
+#define configTIMER_QUEUE_LENGTH               32
+#define configTIMER_TASK_STACK_DEPTH           configMINIMAL_STACK_SIZE
+
+/* Optional functions - most linkers will remove unused functions anyway. */
+#define INCLUDE_vTaskPrioritySet               0
+#define INCLUDE_uxTaskPriorityGet              0
+#define INCLUDE_vTaskDelete                    0
+#define INCLUDE_vTaskSuspend                   1 // required for queue, semaphore, mutex to be blocked indefinitely with portMAX_DELAY
+#define INCLUDE_xResumeFromISR                 0
+#define INCLUDE_vTaskDelayUntil                1
+#define INCLUDE_vTaskDelay                     1
+#define INCLUDE_xTaskGetSchedulerState         0
+#define INCLUDE_xTaskGetCurrentTaskHandle      1
+#define INCLUDE_uxTaskGetStackHighWaterMark    0
+#define INCLUDE_xTaskGetIdleTaskHandle         0
+#define INCLUDE_xTimerGetTimerDaemonTaskHandle 0
+#define INCLUDE_pcTaskGetTaskName              0
+#define INCLUDE_eTaskGetState                  0
+#define INCLUDE_xEventGroupSetBitFromISR       0
+#define INCLUDE_xTimerPendFunctionCall         0
+
+/* Define to trap errors during development. */
+// Halt CPU (breakpoint) when hitting error, only apply for Cortex M3, M4, M7
+#if defined(__ARM_ARCH_7M__) || defined (__ARM_ARCH_7EM__)
+  #define configASSERT(_exp) \
+    do {\
+      if ( !(_exp) ) { \
+        volatile uint32_t* ARM_CM_DHCSR =  ((volatile uint32_t*) 0xE000EDF0UL); /* Cortex M CoreDebug->DHCSR */ \
+        if ( (*ARM_CM_DHCSR) & 1UL ) {  /* Only halt mcu if debugger is attached */ \
+          taskDISABLE_INTERRUPTS(); \
+           __asm("BKPT #0\n"); \
+        }\
+      }\
+    } while(0)
+#else
+  #define configASSERT( x )
+#endif
+
+/* FreeRTOS hooks to NVIC vectors */
+#define xPortPendSVHandler    PendSV_Handler
+#define xPortSysTickHandler   SysTick_Handler
+#define vPortSVCHandler       SVC_Handler
+
+//--------------------------------------------------------------------+
+// Interrupt nesting behavior configuration.
+//--------------------------------------------------------------------+
+
+// For Cortex-M specific: __NVIC_PRIO_BITS is defined in mcu header
+#define configPRIO_BITS       3
+
+/* The lowest interrupt priority that can be used in a call to a "set priority" function. */
+#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY			  ((1<<configPRIO_BITS) - 1)
+
+/* The highest interrupt priority that can be used by any interrupt service
+routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT CALL
+INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
+PRIORITY THAN THIS! (higher priorities are lower numeric values. */
+#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY	2
+
+/* Interrupt priorities used by the kernel port layer itself.  These are generic
+to all Cortex-M ports, and do not rely on any particular library functions. */
+#define configKERNEL_INTERRUPT_PRIORITY 		          ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+
+/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
+See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	        ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+
+#endif
diff --git a/hw/bsp/lpc54/boards/lpcxpresso54114/board.cmake b/hw/bsp/lpc54/boards/lpcxpresso54114/board.cmake
new file mode 100644
index 000000000..c0bbeecd5
--- /dev/null
+++ b/hw/bsp/lpc54/boards/lpcxpresso54114/board.cmake
@@ -0,0 +1,21 @@
+set(MCU_VARIANT LPC54114)
+set(MCU_CORE LPC54114_cm4)
+
+set(JLINK_DEVICE LPC54114J256_M4)
+set(PYOCD_TARGET LPC54114)
+
+set(LD_FILE_GNU ${SDK_DIR}/devices/${MCU_VARIANT}/gcc/LPC54114J256_cm4_flash.ld)
+
+# Device port default to PORT1 Highspeed
+if (NOT DEFINED PORT)
+  set(PORT 1)
+endif()
+
+function(update_board TARGET)
+  target_compile_definitions(${TARGET} PUBLIC
+    CPU_LPC54114J256BD64_cm4
+    )
+  target_link_libraries(${TARGET} PUBLIC
+    ${SDK_DIR}/devices/${MCU_VARIANT}/gcc/libpower_cm4_hardabi.a
+    )
+endfunction()
diff --git a/hw/bsp/lpc54/boards/lpcxpresso54608/board.cmake b/hw/bsp/lpc54/boards/lpcxpresso54608/board.cmake
new file mode 100644
index 000000000..f0715fa12
--- /dev/null
+++ b/hw/bsp/lpc54/boards/lpcxpresso54608/board.cmake
@@ -0,0 +1,22 @@
+set(MCU_VARIANT LPC54608)
+set(MCU_CORE LPC54608)
+
+set(JLINK_DEVICE LPC54608J512)
+set(PYOCD_TARGET LPC54608)
+set(NXPLINK_DEVICE LPC54608:LPCXpresso54608)
+
+set(LD_FILE_GNU ${SDK_DIR}/devices/${MCU_VARIANT}/gcc/LPC54608J512_flash.ld)
+
+# Device port default to PORT1 Highspeed
+if (NOT DEFINED PORT)
+  set(PORT 1)
+endif()
+
+function(update_board TARGET)
+  target_compile_definitions(${TARGET} PUBLIC
+    CPU_LPC54608J512ET180
+    )
+  target_link_libraries(${TARGET} PUBLIC
+    ${SDK_DIR}/devices/${MCU_VARIANT}/gcc/libpower_hardabi.a
+    )
+endfunction()
diff --git a/hw/bsp/lpc54/family.cmake b/hw/bsp/lpc54/family.cmake
index b016441c1..cdd513fe4 100644
--- a/hw/bsp/lpc54/family.cmake
+++ b/hw/bsp/lpc54/family.cmake
@@ -28,83 +28,85 @@ set(HOST_PORT $<NOT:${PORT}>)
 #------------------------------------
 # only need to be built ONCE for all examples
 function(add_board_target BOARD_TARGET)
-  if (NOT TARGET ${BOARD_TARGET})
-    add_library(${BOARD_TARGET} STATIC
-      # driver
-      ${SDK_DIR}/drivers/lpc_gpio/fsl_gpio.c
-      ${SDK_DIR}/drivers/common/fsl_common_arm.c
-      ${SDK_DIR}/drivers/flexcomm/fsl_flexcomm.c
-      ${SDK_DIR}/drivers/flexcomm/fsl_usart.c
-      # mcu
-      ${SDK_DIR}/devices/${MCU_VARIANT}/system_${MCU_CORE}.c
-      ${SDK_DIR}/devices/${MCU_VARIANT}/drivers/fsl_clock.c
-      ${SDK_DIR}/devices/${MCU_VARIANT}/drivers/fsl_power.c
-      ${SDK_DIR}/devices/${MCU_VARIANT}/drivers/fsl_reset.c
-      )
+  if (TARGET ${BOARD_TARGET})
+    return()
+  endif()
+
+  add_library(${BOARD_TARGET} STATIC
+    # driver
+    ${SDK_DIR}/drivers/lpc_gpio/fsl_gpio.c
+    ${SDK_DIR}/drivers/common/fsl_common_arm.c
+    ${SDK_DIR}/drivers/flexcomm/fsl_flexcomm.c
+    ${SDK_DIR}/drivers/flexcomm/fsl_usart.c
+    # mcu
+    ${SDK_DIR}/devices/${MCU_VARIANT}/system_${MCU_CORE}.c
+    ${SDK_DIR}/devices/${MCU_VARIANT}/drivers/fsl_clock.c
+    ${SDK_DIR}/devices/${MCU_VARIANT}/drivers/fsl_power.c
+    ${SDK_DIR}/devices/${MCU_VARIANT}/drivers/fsl_reset.c
+    )
 
+  target_compile_definitions(${BOARD_TARGET} PUBLIC
+    CFG_TUSB_MEM_ALIGN=TU_ATTR_ALIGNED\(64\)
+    BOARD_TUD_RHPORT=${PORT}
+    BOARD_TUH_RHPORT=${HOST_PORT}
+    )
+  # Port 0 is Fullspeed, Port 1 is Highspeed. Port1 controller can only access USB_SRAM
+  if (PORT EQUAL 1)
     target_compile_definitions(${BOARD_TARGET} PUBLIC
-      CFG_TUSB_MEM_ALIGN=TU_ATTR_ALIGNED\(64\)
-      BOARD_TUD_RHPORT=${PORT}
-      BOARD_TUH_RHPORT=${HOST_PORT}
+      BOARD_TUD_MAX_SPEED=OPT_MODE_HIGH_SPEED
+      BOARD_TUH_MAX_SPEED=OPT_MODE_FULL_SPEED
+      CFG_TUD_MEM_SECTION=__attribute__\(\(section\(\"m_usb_global\"\)\)\)
       )
-    # Port 0 is Fullspeed, Port 1 is Highspeed. Port1 controller can only access USB_SRAM
-    if (PORT EQUAL 1)
-      target_compile_definitions(${BOARD_TARGET} PUBLIC
-        BOARD_TUD_MAX_SPEED=OPT_MODE_HIGH_SPEED
-        BOARD_TUH_MAX_SPEED=OPT_MODE_FULL_SPEED
-        CFG_TUD_MEM_SECTION=__attribute__\(\(section\(\"m_usb_global\"\)\)\)
-        )
-    else ()
-      target_compile_definitions(${BOARD_TARGET} PUBLIC
-        BOARD_TUD_MAX_SPEED=OPT_MODE_FULL_SPEED
-        BOARD_TUH_MAX_SPEED=OPT_MODE_HIGH_SPEED
-        CFG_TUH_MEM_SECTION=__attribute__\(\(section\(\"m_usb_global\"\)\)\)
-        #CFG_TUD_MEM_SECTION=__attribute__\(\(section\(\"m_usb_global\"\)\)\)
-        )
-    endif ()
-
-    target_include_directories(${BOARD_TARGET} PUBLIC
-      ${TOP}/lib/sct_neopixel
-      # driver
-      ${SDK_DIR}/drivers/common
-      ${SDK_DIR}/drivers/flexcomm
-      ${SDK_DIR}/drivers/lpc_iocon
-      ${SDK_DIR}/drivers/lpc_gpio
-      ${SDK_DIR}/drivers/lpuart
-      ${SDK_DIR}/drivers/sctimer
-      # mcu
-      ${CMSIS_DIR}/CMSIS/Core/Include
-      ${SDK_DIR}/devices/${MCU_VARIANT}
-      ${SDK_DIR}/devices/${MCU_VARIANT}/drivers
+  else ()
+    target_compile_definitions(${BOARD_TARGET} PUBLIC
+      BOARD_TUD_MAX_SPEED=OPT_MODE_FULL_SPEED
+      BOARD_TUH_MAX_SPEED=OPT_MODE_HIGH_SPEED
+      CFG_TUH_MEM_SECTION=__attribute__\(\(section\(\"m_usb_global\"\)\)\)
+      #CFG_TUD_MEM_SECTION=__attribute__\(\(section\(\"m_usb_global\"\)\)\)
       )
+  endif ()
+
+  target_include_directories(${BOARD_TARGET} PUBLIC
+    ${TOP}/lib/sct_neopixel
+    # driver
+    ${SDK_DIR}/drivers/common
+    ${SDK_DIR}/drivers/flexcomm
+    ${SDK_DIR}/drivers/lpc_iocon
+    ${SDK_DIR}/drivers/lpc_gpio
+    ${SDK_DIR}/drivers/lpuart
+    ${SDK_DIR}/drivers/sctimer
+    # mcu
+    ${CMSIS_DIR}/CMSIS/Core/Include
+    ${SDK_DIR}/devices/${MCU_VARIANT}
+    ${SDK_DIR}/devices/${MCU_VARIANT}/drivers
+    )
 
-    update_board(${BOARD_TARGET})
+  update_board(${BOARD_TARGET})
 
-    if (NOT DEFINED LD_FILE_${CMAKE_C_COMPILER_ID})
-      set(LD_FILE_GNU ${SDK_DIR}/devices/${MCU_VARIANT}/gcc/${MCU_CORE}_flash.ld)
-    endif ()
+  if (NOT DEFINED LD_FILE_${CMAKE_C_COMPILER_ID})
+    set(LD_FILE_GNU ${SDK_DIR}/devices/${MCU_VARIANT}/gcc/${MCU_CORE}_flash.ld)
+  endif ()
 
-    if (NOT DEFINED STARTUP_FILE_${CMAKE_C_COMPILER_ID})
-      set(STARTUP_FILE_GNU ${SDK_DIR}/devices/${MCU_VARIANT}/gcc/startup_${MCU_CORE}.S)
-    endif ()
+  if (NOT DEFINED STARTUP_FILE_${CMAKE_C_COMPILER_ID})
+    set(STARTUP_FILE_GNU ${SDK_DIR}/devices/${MCU_VARIANT}/gcc/startup_${MCU_CORE}.S)
+  endif ()
 
-    target_sources(${BOARD_TARGET} PUBLIC
-      ${STARTUP_FILE_${CMAKE_C_COMPILER_ID}}
-      )
+  target_sources(${BOARD_TARGET} PUBLIC
+    ${STARTUP_FILE_${CMAKE_C_COMPILER_ID}}
+    )
 
-    if (CMAKE_C_COMPILER_ID STREQUAL "GNU")
-      target_link_options(${BOARD_TARGET} PUBLIC
-        # linker file
-        "LINKER:--script=${LD_FILE_GNU}"
-        # nanolib
-        --specs=nosys.specs
-        --specs=nano.specs
-        )
-    elseif (CMAKE_C_COMPILER_ID STREQUAL "IAR")
-      target_link_options(${BOARD_TARGET} PUBLIC
-        "LINKER:--config=${LD_FILE_IAR}"
-        )
-    endif ()
+  if (CMAKE_C_COMPILER_ID STREQUAL "GNU")
+    target_link_options(${BOARD_TARGET} PUBLIC
+      # linker file
+      "LINKER:--script=${LD_FILE_GNU}"
+      # nanolib
+      --specs=nosys.specs
+      --specs=nano.specs
+      )
+  elseif (CMAKE_C_COMPILER_ID STREQUAL "IAR")
+    target_link_options(${BOARD_TARGET} PUBLIC
+      "LINKER:--config=${LD_FILE_IAR}"
+      )
   endif ()
 endfunction()
 
@@ -124,8 +126,6 @@ function(family_configure_example TARGET RTOS)
     # BSP
     ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/family.c
     ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/../board.c
-    # external driver
-    ${TOP}/lib/sct_neopixel/sct_neopixel.c
     )
 
   # https://github.com/gsteiert/sct_neopixel/pull/1
diff --git a/hw/bsp/msp432e4/family.c b/hw/bsp/msp432e4/family.c
index 10f3ac736..d5ef7f930 100644
--- a/hw/bsp/msp432e4/family.c
+++ b/hw/bsp/msp432e4/family.c
@@ -34,7 +34,7 @@
 void USB0_IRQHandler(void)
 {
 #if CFG_TUH_ENABLED
-  tuh_int_handler(0);
+  tuh_int_handler(0, true);
 #endif
 #if CFG_TUD_ENABLED
   tud_int_handler(0);
diff --git a/hw/bsp/ngx4330/ngx4330.c b/hw/bsp/ngx4330/ngx4330.c
index a767d5f29..bd84e449b 100644
--- a/hw/bsp/ngx4330/ngx4330.c
+++ b/hw/bsp/ngx4330/ngx4330.c
@@ -214,7 +214,7 @@ void USB0_IRQHandler(void)
   #endif
 
   #if PORT_SUPPORT_HOST(0)
-    tuh_int_handler(0);
+    tuh_int_handler(0, true);
   #endif
 }
 
@@ -225,7 +225,7 @@ void USB1_IRQHandler(void)
   #endif
 
   #if PORT_SUPPORT_HOST(1)
-    tuh_int_handler(1);
+    tuh_int_handler(1, true);
   #endif
 }
 
diff --git a/hw/bsp/nrf/family.c b/hw/bsp/nrf/family.c
index 3620bc8cc..631f53fcd 100644
--- a/hw/bsp/nrf/family.c
+++ b/hw/bsp/nrf/family.c
@@ -271,7 +271,7 @@ void nrf_error_cb(uint32_t id, uint32_t pc, uint32_t info) {
 
 void max3421_int_handler(nrfx_gpiote_pin_t pin, nrf_gpiote_polarity_t action) {
   if (!(pin == MAX3421_INTR_PIN && action == NRF_GPIOTE_POLARITY_HITOLO)) return;
-  tuh_int_handler(1);
+  tuh_int_handler(1, true);
 }
 
 static void max3421_init(void) {
diff --git a/hw/bsp/ra/family.c b/hw/bsp/ra/family.c
index 0aa58d86d..fdf4c8666 100644
--- a/hw/bsp/ra/family.c
+++ b/hw/bsp/ra/family.c
@@ -188,7 +188,7 @@ void usbfs_interrupt_handler(void) {
   R_BSP_IrqStatusClear(irq);
 
   #if PORT_SUPPORT_HOST(0)
-  tuh_int_handler(0);
+  tuh_int_handler(0, true);
   #endif
 
   #if PORT_SUPPORT_DEVICE(0)
@@ -201,7 +201,7 @@ void usbfs_resume_handler(void) {
   R_BSP_IrqStatusClear(irq);
 
   #if PORT_SUPPORT_HOST(0)
-  tuh_int_handler(0);
+  tuh_int_handler(0, true);
   #endif
 
   #if PORT_SUPPORT_DEVICE(0)
@@ -229,7 +229,7 @@ void usbhs_interrupt_handler(void) {
   R_BSP_IrqStatusClear(irq);
 
   #if PORT_SUPPORT_HOST(1)
-  tuh_int_handler(1);
+  tuh_int_handler(1, true);
   #endif
 
   #if PORT_SUPPORT_DEVICE(1)
diff --git a/hw/bsp/rx/boards/rx65n_target/rx65n_target.c b/hw/bsp/rx/boards/rx65n_target/rx65n_target.c
index 513eca678..032dac810 100644
--- a/hw/bsp/rx/boards/rx65n_target/rx65n_target.c
+++ b/hw/bsp/rx/boards/rx65n_target/rx65n_target.c
@@ -177,7 +177,7 @@ void INT_Excep_SCI5_RXI5(void)
 void INT_Excep_USB0_USBI0(void)
 {
 #if CFG_TUH_ENABLED
-  tuh_int_handler(0);
+  tuh_int_handler(0, true);
 #endif
 #if CFG_TUD_ENABLED
   tud_int_handler(0);
diff --git a/hw/bsp/samd21/family.c b/hw/bsp/samd21/family.c
index 335039e2f..b9365fc3f 100644
--- a/hw/bsp/samd21/family.c
+++ b/hw/bsp/samd21/family.c
@@ -363,7 +363,7 @@ void EIC_Handler(void) {
   EIC->INTFLAG.reg = EIC_INTFLAG_EXTINT(1 << MAX3421_INTR_EIC_ID);
 
   // Call the TinyUSB interrupt handler
-  tuh_int_handler(1);
+  tuh_int_handler(1, true);
 }
 
 void tuh_max3421_int_api(uint8_t rhport, bool enabled) {
diff --git a/hw/bsp/samd51/family.c b/hw/bsp/samd51/family.c
index 7b9de35c9..4d43c7745 100644
--- a/hw/bsp/samd51/family.c
+++ b/hw/bsp/samd51/family.c
@@ -309,7 +309,7 @@ void MAX3421_EIC_Handler(void) {
   EIC->INTFLAG.reg = EIC_INTFLAG_EXTINT(1 << MAX3421_INTR_EIC_ID);
 
   // Call the TinyUSB interrupt handler
-  tuh_int_handler(1);
+  tuh_int_handler(1, true);
 }
 
 void tuh_max3421_int_api(uint8_t rhport, bool enabled) {
diff --git a/hw/bsp/stm32g4/family.cmake b/hw/bsp/stm32g4/family.cmake
index 675a96c74..eee6bd9ed 100644
--- a/hw/bsp/stm32g4/family.cmake
+++ b/hw/bsp/stm32g4/family.cmake
@@ -26,50 +26,46 @@ set(FAMILY_MCUS STM32G4 CACHE INTERNAL "")
 #------------------------------------
 # only need to be built ONCE for all examples
 function(add_board_target BOARD_TARGET)
-  if (NOT TARGET ${BOARD_TARGET})
-    # Startup & Linker script
-    set(STARTUP_FILE_GNU ${ST_CMSIS}/Source/Templates/gcc/startup_${MCU_VARIANT}.s)
-    set(STARTUP_FILE_IAR ${ST_CMSIS}/Source/Templates/iar/startup_${MCU_VARIANT}.s)
-    set(LD_FILE_IAR ${ST_CMSIS}/Source/Templates/iar/linker/${MCU_VARIANT}_flash.icf)
+  if (TARGET ${BOARD_TARGET})
+    return()
+  endif ()
 
-    add_library(${BOARD_TARGET} STATIC
-      ${ST_CMSIS}/Source/Templates/system_${ST_PREFIX}.c
-      ${ST_HAL_DRIVER}/Src/${ST_PREFIX}_hal.c
-      ${ST_HAL_DRIVER}/Src/${ST_PREFIX}_hal_cortex.c
-      ${ST_HAL_DRIVER}/Src/${ST_PREFIX}_hal_pwr_ex.c
-      ${ST_HAL_DRIVER}/Src/${ST_PREFIX}_hal_rcc.c
-      ${ST_HAL_DRIVER}/Src/${ST_PREFIX}_hal_rcc_ex.c
-      ${ST_HAL_DRIVER}/Src/${ST_PREFIX}_hal_gpio.c
-      ${ST_HAL_DRIVER}/Src/${ST_PREFIX}_hal_uart.c
-      ${ST_HAL_DRIVER}/Src/${ST_PREFIX}_hal_uart_ex.c
-      ${STARTUP_FILE_${CMAKE_C_COMPILER_ID}}
-      )
-    target_include_directories(${BOARD_TARGET} PUBLIC
-      ${CMAKE_CURRENT_FUNCTION_LIST_DIR}
-      ${CMSIS_5}/CMSIS/Core/Include
-      ${ST_CMSIS}/Include
-      ${ST_HAL_DRIVER}/Inc
-      )
-    target_compile_options(${BOARD_TARGET} PUBLIC
-      )
-    target_compile_definitions(${BOARD_TARGET} PUBLIC
-      )
+  # Startup & Linker script
+  set(STARTUP_FILE_GNU ${ST_CMSIS}/Source/Templates/gcc/startup_${MCU_VARIANT}.s)
+  set(STARTUP_FILE_IAR ${ST_CMSIS}/Source/Templates/iar/startup_${MCU_VARIANT}.s)
+  set(LD_FILE_IAR ${ST_CMSIS}/Source/Templates/iar/linker/${MCU_VARIANT}_flash.icf)
 
-    update_board(${BOARD_TARGET})
+  add_library(${BOARD_TARGET} STATIC
+    ${ST_CMSIS}/Source/Templates/system_${ST_PREFIX}.c
+    ${ST_HAL_DRIVER}/Src/${ST_PREFIX}_hal.c
+    ${ST_HAL_DRIVER}/Src/${ST_PREFIX}_hal_cortex.c
+    ${ST_HAL_DRIVER}/Src/${ST_PREFIX}_hal_gpio.c
+    ${ST_HAL_DRIVER}/Src/${ST_PREFIX}_hal_pwr_ex.c
+    ${ST_HAL_DRIVER}/Src/${ST_PREFIX}_hal_rcc.c
+    ${ST_HAL_DRIVER}/Src/${ST_PREFIX}_hal_rcc_ex.c
+    ${ST_HAL_DRIVER}/Src/${ST_PREFIX}_hal_uart.c
+    ${ST_HAL_DRIVER}/Src/${ST_PREFIX}_hal_uart_ex.c
+    ${STARTUP_FILE_${CMAKE_C_COMPILER_ID}}
+    )
+  target_include_directories(${BOARD_TARGET} PUBLIC
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}
+    ${CMSIS_5}/CMSIS/Core/Include
+    ${ST_CMSIS}/Include
+    ${ST_HAL_DRIVER}/Inc
+    )
+  update_board(${BOARD_TARGET})
 
-    if (CMAKE_C_COMPILER_ID STREQUAL "GNU")
-      target_link_options(${BOARD_TARGET} PUBLIC
-        "LINKER:--script=${LD_FILE_GNU}"
-        -nostartfiles
-        # nanolib
-        --specs=nosys.specs
-        --specs=nano.specs
-        )
-    elseif (CMAKE_C_COMPILER_ID STREQUAL "IAR")
-      target_link_options(${BOARD_TARGET} PUBLIC
-        "LINKER:--config=${LD_FILE_IAR}"
-        )
-    endif ()
+  if (CMAKE_C_COMPILER_ID STREQUAL "GNU")
+    target_link_options(${BOARD_TARGET} PUBLIC
+      "LINKER:--script=${LD_FILE_GNU}"
+      -nostartfiles
+      # nanolib
+      --specs=nosys.specs --specs=nano.specs
+      )
+  elseif (CMAKE_C_COMPILER_ID STREQUAL "IAR")
+    target_link_options(${BOARD_TARGET} PUBLIC
+      "LINKER:--config=${LD_FILE_IAR}"
+      )
   endif ()
 endfunction()
 
diff --git a/hw/bsp/stm32u5/FreeRTOSConfig/FreeRTOSConfig.h b/hw/bsp/stm32u5/FreeRTOSConfig/FreeRTOSConfig.h
new file mode 100644
index 000000000..138fc6ba6
--- /dev/null
+++ b/hw/bsp/stm32u5/FreeRTOSConfig/FreeRTOSConfig.h
@@ -0,0 +1,165 @@
+/*
+ * FreeRTOS Kernel V10.0.0
+ * Copyright (C) 2017 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software. If you wish to use our Amazon
+ * FreeRTOS name, please do so in a fair use way that does not cause confusion.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+/*-----------------------------------------------------------
+ * Application specific definitions.
+ *
+ * These definitions should be adjusted for your particular hardware and
+ * application requirements.
+ *
+ * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
+ * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
+ *
+ * See http://www.freertos.org/a00110.html.
+ *----------------------------------------------------------*/
+
+// skip if included from IAR assembler
+#ifndef __IASMARM__
+  #include "stm32u5xx.h"
+#endif
+
+/* Cortex M23/M33 port configuration. */
+#define configENABLE_MPU                        0
+#define configENABLE_FPU                        1
+#define configENABLE_TRUSTZONE                  0
+#define configMINIMAL_SECURE_STACK_SIZE         (1024)
+
+#define configUSE_PREEMPTION                    1
+#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
+#define configCPU_CLOCK_HZ                      SystemCoreClock
+#define configTICK_RATE_HZ                      ( 1000 )
+#define configMAX_PRIORITIES                    ( 5 )
+#define configMINIMAL_STACK_SIZE                ( 128 )
+#define configTOTAL_HEAP_SIZE                   ( configSUPPORT_DYNAMIC_ALLOCATION*4*1024 )
+#define configMAX_TASK_NAME_LEN                 16
+#define configUSE_16_BIT_TICKS                  0
+#define configIDLE_SHOULD_YIELD                 1
+#define configUSE_MUTEXES                       1
+#define configUSE_RECURSIVE_MUTEXES             1
+#define configUSE_COUNTING_SEMAPHORES           1
+#define configQUEUE_REGISTRY_SIZE               4
+#define configUSE_QUEUE_SETS                    0
+#define configUSE_TIME_SLICING                  0
+#define configUSE_NEWLIB_REENTRANT              0
+#define configENABLE_BACKWARD_COMPATIBILITY     1
+#define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP   0
+
+#define configSUPPORT_STATIC_ALLOCATION         0
+#define configSUPPORT_DYNAMIC_ALLOCATION        1
+
+/* Hook function related definitions. */
+#define configUSE_IDLE_HOOK                    0
+#define configUSE_TICK_HOOK                    0
+#define configUSE_MALLOC_FAILED_HOOK           0 // cause nested extern warning
+#define configCHECK_FOR_STACK_OVERFLOW         2
+
+/* Run time and task stats gathering related definitions. */
+#define configGENERATE_RUN_TIME_STATS          0
+#define configRECORD_STACK_HIGH_ADDRESS        1
+#define configUSE_TRACE_FACILITY               1 // legacy trace
+#define configUSE_STATS_FORMATTING_FUNCTIONS   0
+
+/* Co-routine definitions. */
+#define configUSE_CO_ROUTINES                  0
+#define configMAX_CO_ROUTINE_PRIORITIES        2
+
+/* Software timer related definitions. */
+#define configUSE_TIMERS                       1
+#define configTIMER_TASK_PRIORITY              (configMAX_PRIORITIES-2)
+#define configTIMER_QUEUE_LENGTH               32
+#define configTIMER_TASK_STACK_DEPTH           configMINIMAL_STACK_SIZE
+
+/* Optional functions - most linkers will remove unused functions anyway. */
+#define INCLUDE_vTaskPrioritySet               0
+#define INCLUDE_uxTaskPriorityGet              0
+#define INCLUDE_vTaskDelete                    0
+#define INCLUDE_vTaskSuspend                   1 // required for queue, semaphore, mutex to be blocked indefinitely with portMAX_DELAY
+#define INCLUDE_xResumeFromISR                 0
+#define INCLUDE_vTaskDelayUntil                1
+#define INCLUDE_vTaskDelay                     1
+#define INCLUDE_xTaskGetSchedulerState         0
+#define INCLUDE_xTaskGetCurrentTaskHandle      1
+#define INCLUDE_uxTaskGetStackHighWaterMark    0
+#define INCLUDE_xTaskGetIdleTaskHandle         0
+#define INCLUDE_xTimerGetTimerDaemonTaskHandle 0
+#define INCLUDE_pcTaskGetTaskName              0
+#define INCLUDE_eTaskGetState                  0
+#define INCLUDE_xEventGroupSetBitFromISR       0
+#define INCLUDE_xTimerPendFunctionCall         0
+
+/* Define to trap errors during development. */
+// Halt CPU (breakpoint) when hitting error, only apply for Cortex M3, M4, M7
+#if defined(__ARM_ARCH_7M__) || defined (__ARM_ARCH_7EM__)
+  #define configASSERT(_exp) \
+    do {\
+      if ( !(_exp) ) { \
+        volatile uint32_t* ARM_CM_DHCSR =  ((volatile uint32_t*) 0xE000EDF0UL); /* Cortex M CoreDebug->DHCSR */ \
+        if ( (*ARM_CM_DHCSR) & 1UL ) {  /* Only halt mcu if debugger is attached */ \
+          taskDISABLE_INTERRUPTS(); \
+           __asm("BKPT #0\n"); \
+        }\
+      }\
+    } while(0)
+#else
+  #define configASSERT( x )
+#endif
+
+/* FreeRTOS hooks to NVIC vectors */
+#define xPortPendSVHandler    PendSV_Handler
+#define xPortSysTickHandler   SysTick_Handler
+#define vPortSVCHandler       SVC_Handler
+
+//--------------------------------------------------------------------+
+// Interrupt nesting behavior configuration.
+//--------------------------------------------------------------------+
+
+// For Cortex-M specific: __NVIC_PRIO_BITS is defined in mcu header
+#define configPRIO_BITS       4
+
+/* The lowest interrupt priority that can be used in a call to a "set priority" function. */
+#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY			  ((1<<configPRIO_BITS) - 1)
+
+/* The highest interrupt priority that can be used by any interrupt service
+routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT CALL
+INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
+PRIORITY THAN THIS! (higher priorities are lower numeric values. */
+#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY	2
+
+/* Interrupt priorities used by the kernel port layer itself.  These are generic
+to all Cortex-M ports, and do not rely on any particular library functions. */
+#define configKERNEL_INTERRUPT_PRIORITY 		          ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+
+/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
+See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	        ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+
+#endif
diff --git a/hw/bsp/stm32u5/boards/stm32u575eval/board.cmake b/hw/bsp/stm32u5/boards/stm32u575eval/board.cmake
new file mode 100644
index 000000000..57ba85c71
--- /dev/null
+++ b/hw/bsp/stm32u5/boards/stm32u575eval/board.cmake
@@ -0,0 +1,10 @@
+set(MCU_VARIANT stm32u575xx)
+set(JLINK_DEVICE stm32u575ai)
+
+set(LD_FILE_GNU ${ST_CMSIS}/Source/Templates/gcc/linker/STM32U575xx_FLASH.ld)
+
+function(update_board TARGET)
+  target_compile_definitions(${TARGET} PUBLIC
+    STM32U575xx
+    )
+endfunction()
diff --git a/hw/bsp/stm32u5/boards/stm32u575eval/board.mk b/hw/bsp/stm32u5/boards/stm32u575eval/board.mk
index 19cd2a5b0..a75b2af78 100644
--- a/hw/bsp/stm32u5/boards/stm32u575eval/board.mk
+++ b/hw/bsp/stm32u5/boards/stm32u575eval/board.mk
@@ -7,4 +7,4 @@ LD_FILE = $(BOARD_PATH)/STM32U575AIIXQ_FLASH.ld
 SRC_S += $(ST_CMSIS)/Source/Templates/gcc/startup_stm32u575xx.s
 
 # For flash-jlink target
-JLINK_DEVICE = stm32u575
+JLINK_DEVICE = stm32u575ai
diff --git a/hw/bsp/stm32u5/family.c b/hw/bsp/stm32u5/family.c
index a30d886aa..d8e58d293 100644
--- a/hw/bsp/stm32u5/family.c
+++ b/hw/bsp/stm32u5/family.c
@@ -25,15 +25,25 @@
  * This file is part of the TinyUSB stack.
  */
 
+// Suppress warning caused by mcu driver
+#ifdef __GNUC__
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wundef"
+#endif
+
 #include "stm32u5xx_hal.h"
+
+#ifdef __GNUC__
+#pragma GCC diagnostic pop
+#endif
+
 #include "bsp/board_api.h"
 #include "board.h"
 
 //--------------------------------------------------------------------+
 // Forward USB interrupt events to TinyUSB IRQ Handler
 //--------------------------------------------------------------------+
-void OTG_FS_IRQHandler(void)
-{
+void OTG_FS_IRQHandler(void) {
   tud_int_handler(0);
 }
 
@@ -43,8 +53,7 @@ void OTG_FS_IRQHandler(void)
 
 UART_HandleTypeDef UartHandle;
 
-void board_init(void)
-{
+void board_init(void) {
 
   board_clock_init();
 
@@ -123,8 +132,8 @@ void board_init(void)
   GPIO_InitStruct.Alternate = GPIO_AF10_USB;
   HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
-#if OTG_FS_VBUS_SENSE
-  // Configure VBUS Pin
+#if defined(OTG_FS_VBUS_SENSE) && OTG_FS_VBUS_SENSE
+  // Configure VBUS Pin OTG_FS_VBUS_SENSE
   GPIO_InitStruct.Pin = GPIO_PIN_9;
   GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
@@ -152,50 +161,44 @@ void board_init(void)
 // Board porting API
 //--------------------------------------------------------------------+
 
-void board_led_write(bool state)
-{
+void board_led_write(bool state) {
   HAL_GPIO_WritePin(LED_PORT, LED_PIN, state ? LED_STATE_ON : (1 - LED_STATE_ON));
 }
 
-uint32_t board_button_read(void)
-{
+uint32_t board_button_read(void) {
   return BUTTON_STATE_ACTIVE == HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN);
 }
 
-int board_uart_read(uint8_t *buf, int len)
-{
-  (void)buf;
-  (void)len;
+int board_uart_read(uint8_t *buf, int len) {
+  (void) buf;
+  (void) len;
   return 0;
 }
 
-int board_uart_write(void const *buf, int len)
-{
-  HAL_UART_Transmit(&UartHandle, (uint8_t *)(uintptr_t)buf, len, 0xffff);
+int board_uart_write(void const *buf, int len) {
+  HAL_UART_Transmit(&UartHandle, (uint8_t *) (uintptr_t) buf, len, 0xffff);
   return len;
 }
 
 #if CFG_TUSB_OS == OPT_OS_NONE
 volatile uint32_t system_ticks = 0;
-void SysTick_Handler(void)
-{
+
+void SysTick_Handler(void) {
   HAL_IncTick();
   system_ticks++;
 }
 
-uint32_t board_millis(void)
-{
+uint32_t board_millis(void) {
   return system_ticks;
 }
+
 #endif
 
-void HardFault_Handler(void)
-{
+void HardFault_Handler(void) {
   asm("bkpt");
 }
 
 // Required by __libc_init_array in startup code if we are compiling using
 // -nostdlib/-nostartfiles.
-void _init(void)
-{
+void _init(void) {
 }
diff --git a/hw/bsp/stm32u5/family.cmake b/hw/bsp/stm32u5/family.cmake
new file mode 100644
index 000000000..8f9ac1109
--- /dev/null
+++ b/hw/bsp/stm32u5/family.cmake
@@ -0,0 +1,108 @@
+include_guard()
+
+if (NOT BOARD)
+  message(FATAL_ERROR "BOARD not specified")
+endif ()
+
+set(ST_FAMILY u5)
+set(ST_PREFIX stm32${ST_FAMILY}xx)
+
+set(ST_HAL_DRIVER ${TOP}/hw/mcu/st/stm32${ST_FAMILY}xx_hal_driver)
+set(ST_CMSIS ${TOP}/hw/mcu/st/cmsis_device_${ST_FAMILY})
+set(CMSIS_5 ${TOP}/lib/CMSIS_5)
+
+# include board specific
+include(${CMAKE_CURRENT_LIST_DIR}/boards/${BOARD}/board.cmake)
+
+# toolchain set up
+set(CMAKE_SYSTEM_PROCESSOR cortex-m33 CACHE INTERNAL "System Processor")
+set(CMAKE_TOOLCHAIN_FILE ${TOP}/tools/cmake/toolchain/arm_${TOOLCHAIN}.cmake)
+
+set(FAMILY_MCUS STM32U5 CACHE INTERNAL "")
+
+
+#------------------------------------
+# BOARD_TARGET
+#------------------------------------
+# only need to be built ONCE for all examples
+function(add_board_target BOARD_TARGET)
+  if (NOT TARGET ${BOARD_TARGET})
+    # Startup & Linker script
+    set(STARTUP_FILE_GNU ${ST_CMSIS}/Source/Templates/gcc/startup_${MCU_VARIANT}.s)
+    set(STARTUP_FILE_IAR ${ST_CMSIS}/Source/Templates/iar/startup_${MCU_VARIANT}.s)
+    set(LD_FILE_IAR ${ST_CMSIS}/Source/Templates/iar/linker/${MCU_VARIANT}_flash.icf)
+
+    add_library(${BOARD_TARGET} STATIC
+      ${ST_CMSIS}/Source/Templates/system_${ST_PREFIX}.c
+      ${ST_HAL_DRIVER}/Src/${ST_PREFIX}_hal.c
+      ${ST_HAL_DRIVER}/Src/${ST_PREFIX}_hal_cortex.c
+      ${ST_HAL_DRIVER}/Src/${ST_PREFIX}_hal_gpio.c
+      ${ST_HAL_DRIVER}/Src/${ST_PREFIX}_hal_pwr_ex.c
+      ${ST_HAL_DRIVER}/Src/${ST_PREFIX}_hal_rcc.c
+      ${ST_HAL_DRIVER}/Src/${ST_PREFIX}_hal_rcc_ex.c
+      ${ST_HAL_DRIVER}/Src/${ST_PREFIX}_hal_uart.c
+      ${ST_HAL_DRIVER}/Src/${ST_PREFIX}_hal_uart_ex.c
+      ${STARTUP_FILE_${CMAKE_C_COMPILER_ID}}
+      )
+    target_include_directories(${BOARD_TARGET} PUBLIC
+      ${CMAKE_CURRENT_FUNCTION_LIST_DIR}
+      ${CMSIS_5}/CMSIS/Core/Include
+      ${ST_CMSIS}/Include
+      ${ST_HAL_DRIVER}/Inc
+      )
+    update_board(${BOARD_TARGET})
+
+    if (CMAKE_C_COMPILER_ID STREQUAL "GNU")
+      target_link_options(${BOARD_TARGET} PUBLIC
+        "LINKER:--script=${LD_FILE_GNU}"
+        -nostartfiles
+        # nanolib
+        --specs=nosys.specs --specs=nano.specs
+        )
+    elseif (CMAKE_C_COMPILER_ID STREQUAL "IAR")
+      target_link_options(${BOARD_TARGET} PUBLIC
+        "LINKER:--config=${LD_FILE_IAR}"
+        )
+    endif ()
+  endif ()
+endfunction()
+
+
+#------------------------------------
+# Functions
+#------------------------------------
+function(family_configure_example TARGET RTOS)
+  family_configure_common(${TARGET} ${RTOS})
+
+  # Board target
+  add_board_target(board_${BOARD})
+
+  #---------- Port Specific ----------
+  # These files are built for each example since it depends on example's tusb_config.h
+  target_sources(${TARGET} PUBLIC
+    # BSP
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/family.c
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/../board.c
+    )
+  target_include_directories(${TARGET} PUBLIC
+    # family, hw, board
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/../../
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/boards/${BOARD}
+    )
+
+  # Add TinyUSB target and port source
+  family_add_tinyusb(${TARGET} OPT_MCU_STM32U5 ${RTOS})
+  target_sources(${TARGET}-tinyusb PUBLIC
+    ${TOP}/src/portable/synopsys/dwc2/dcd_dwc2.c
+    #${TOP}/src/portable/st/typec/typec_stm32.c
+    )
+  target_link_libraries(${TARGET}-tinyusb PUBLIC board_${BOARD})
+
+  # Link dependencies
+  target_link_libraries(${TARGET} PUBLIC board_${BOARD} ${TARGET}-tinyusb)
+
+  # Flashing
+  family_flash_stlink(${TARGET})
+  family_flash_jlink(${TARGET})
+endfunction()
diff --git a/hw/bsp/stm32u5/family.mk b/hw/bsp/stm32u5/family.mk
index 9174fe96a..902290b90 100644
--- a/hw/bsp/stm32u5/family.mk
+++ b/hw/bsp/stm32u5/family.mk
@@ -20,11 +20,11 @@ SRC_C += \
 	$(ST_CMSIS)/Source/Templates/system_stm32$(ST_FAMILY)xx.c \
 	$(ST_HAL_DRIVER)/Src/stm32$(ST_FAMILY)xx_hal.c \
 	$(ST_HAL_DRIVER)/Src/stm32$(ST_FAMILY)xx_hal_cortex.c \
-	$(ST_HAL_DRIVER)/Src/stm32$(ST_FAMILY)xx_hal_rcc.c \
-	$(ST_HAL_DRIVER)/Src/stm32$(ST_FAMILY)xx_hal_rcc_ex.c \
+	$(ST_HAL_DRIVER)/Src/stm32$(ST_FAMILY)xx_hal_gpio.c \
 	$(ST_HAL_DRIVER)/Src/stm32$(ST_FAMILY)xx_hal_pwr.c \
 	$(ST_HAL_DRIVER)/Src/stm32$(ST_FAMILY)xx_hal_pwr_ex.c \
-	$(ST_HAL_DRIVER)/Src/stm32$(ST_FAMILY)xx_hal_gpio.c \
+	$(ST_HAL_DRIVER)/Src/stm32$(ST_FAMILY)xx_hal_rcc.c \
+	$(ST_HAL_DRIVER)/Src/stm32$(ST_FAMILY)xx_hal_rcc_ex.c \
 	$(ST_HAL_DRIVER)/Src/stm32$(ST_FAMILY)xx_hal_uart.c
 
 INC += \
diff --git a/hw/bsp/tm4c123/family.c b/hw/bsp/tm4c123/family.c
index ad5ae505f..738bc3fa0 100644
--- a/hw/bsp/tm4c123/family.c
+++ b/hw/bsp/tm4c123/family.c
@@ -8,7 +8,7 @@
 void USB0_Handler(void)
 {
 #if CFG_TUH_ENABLED
-  tuh_int_handler(0);
+  tuh_int_handler(0, true);
 #endif
 
 #if CFG_TUD_ENABLED