Merge tinyusb/master into fix/lpc43-hfp-reliability

19 files changed, 209 insertions, 66 deletions

diff --git a/hw/bsp/BoardPresets.json b/hw/bsp/BoardPresets.json
index 93a8f2c32..a480efc3e 100644
--- a/hw/bsp/BoardPresets.json
+++ b/hw/bsp/BoardPresets.json
@@ -43,6 +43,10 @@
       "inherits": "default"
     },
     {
+      "name": "apm32f072_dev_board",
+      "inherits": "default"
+    },
+    {
       "name": "arduino_nano33_ble",
       "inherits": "default"
     },
@@ -511,6 +515,10 @@
       "inherits": "default"
     },
     {
+      "name": "py32f071_dev_board",
+      "inherits": "default"
+    },
+    {
       "name": "pybadge",
       "inherits": "default"
     },
@@ -1008,6 +1016,11 @@
       "configurePreset": "apard32690"
     },
     {
+      "name": "apm32f072_dev_board",
+      "description": "Build preset for the apm32f072_dev_board board",
+      "configurePreset": "apm32f072_dev_board"
+    },
+    {
       "name": "arduino_nano33_ble",
       "description": "Build preset for the arduino_nano33_ble board",
       "configurePreset": "arduino_nano33_ble"
@@ -1638,6 +1651,11 @@
       "configurePreset": "portenta_c33"
     },
     {
+      "name": "py32f071_dev_board",
+      "description": "Build preset for the py32f071_dev_board board",
+      "configurePreset": "py32f071_dev_board"
+    },
+    {
       "name": "pybadge",
       "description": "Build preset for the pybadge board",
       "configurePreset": "pybadge"
@@ -2258,6 +2276,19 @@
       ]
     },
     {
+      "name": "apm32f072_dev_board",
+      "steps": [
+        {
+          "type": "configure",
+          "name": "apm32f072_dev_board"
+        },
+        {
+          "type": "build",
+          "name": "apm32f072_dev_board"
+        }
+      ]
+    },
+    {
       "name": "arduino_nano33_ble",
       "steps": [
         {
@@ -3896,6 +3927,19 @@
       ]
     },
     {
+      "name": "py32f071_dev_board",
+      "steps": [
+        {
+          "type": "configure",
+          "name": "py32f071_dev_board"
+        },
+        {
+          "type": "build",
+          "name": "py32f071_dev_board"
+        }
+      ]
+    },
+    {
       "name": "pybadge",
       "steps": [
         {
diff --git a/hw/bsp/apm32f0xx/FreeRTOSConfig/FreeRTOSConfig.h b/hw/bsp/apm32f0xx/FreeRTOSConfig/FreeRTOSConfig.h
new file mode 100644
index 000000000..b8d555ebe
--- /dev/null
+++ b/hw/bsp/apm32f0xx/FreeRTOSConfig/FreeRTOSConfig.h
@@ -0,0 +1,108 @@
+/*
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2026, Ha Thach (tinyusb.org)
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * This file is part of the TinyUSB stack.
+ */
+
+#ifndef FREERTOS_CONFIG_H_
+#define FREERTOS_CONFIG_H_
+
+#ifndef __IASMARM__
+  #include "apm32f0xx.h"
+#endif
+
+#define configENABLE_MPU                        0
+#define configENABLE_FPU                        0
+#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         1
+#define configSUPPORT_DYNAMIC_ALLOCATION        0
+
+#define configUSE_IDLE_HOOK                     0
+#define configUSE_TICK_HOOK                     0
+#define configUSE_MALLOC_FAILED_HOOK            0
+#define configCHECK_FOR_STACK_OVERFLOW          2
+#define configCHECK_HANDLER_INSTALLATION        0
+
+#define configGENERATE_RUN_TIME_STATS           0
+#define configRECORD_STACK_HIGH_ADDRESS         1
+#define configUSE_TRACE_FACILITY                1
+#define configUSE_STATS_FORMATTING_FUNCTIONS    0
+
+#define configUSE_CO_ROUTINES                   0
+#define configMAX_CO_ROUTINE_PRIORITIES         2
+
+#define configUSE_TIMERS                        1
+#define configTIMER_TASK_PRIORITY               ( configMAX_PRIORITIES - 2 )
+#define configTIMER_QUEUE_LENGTH                32
+#define configTIMER_TASK_STACK_DEPTH            configMINIMAL_STACK_SIZE
+
+#define INCLUDE_vTaskPrioritySet                0
+#define INCLUDE_uxTaskPriorityGet               0
+#define INCLUDE_vTaskDelete                     0
+#define INCLUDE_vTaskSuspend                    1
+#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 xPortPendSVHandler                      PendSV_Handler
+#define xPortSysTickHandler                     SysTick_Handler
+#define vPortSVCHandler                         SVC_Handler
+
+#define configPRIO_BITS                         __NVIC_PRIO_BITS
+#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY ( ( 1 << configPRIO_BITS ) - 1 )
+#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 2
+#define configKERNEL_INTERRUPT_PRIORITY         ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << ( 8 - configPRIO_BITS ) )
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY    ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << ( 8 - configPRIO_BITS ) )
+
+#endif
diff --git a/hw/bsp/apm32f0xx/boards/apm32f072_dev_board/board.cmake b/hw/bsp/apm32f0xx/boards/apm32f072_dev_board/board.cmake
index 33148dbd4..d25f675be 100644
--- a/hw/bsp/apm32f0xx/boards/apm32f072_dev_board/board.cmake
+++ b/hw/bsp/apm32f0xx/boards/apm32f072_dev_board/board.cmake
@@ -4,5 +4,10 @@ set(MCU_LINKER_NAME APM32F07xxB)
 set(JLINK_DEVICE APM32F072RB)
 
 function(update_board TARGET)
-  target_compile_definitions(${TARGET} PUBLIC ${MCU_VARIANT})
+  target_compile_definitions(${TARGET} PUBLIC
+    ${MCU_VARIANT}
+    CFG_EXAMPLE_MSC_READONLY
+    CFG_EXAMPLE_MSC_DUAL_READONLY
+    CFG_EXAMPLE_VIDEO_READONLY
+    )
 endfunction()
diff --git a/hw/bsp/apm32f0xx/boards/apm32f072_dev_board/board.mk b/hw/bsp/apm32f0xx/boards/apm32f072_dev_board/board.mk
index 2e5df9947..f78d2091f 100644
--- a/hw/bsp/apm32f0xx/boards/apm32f072_dev_board/board.mk
+++ b/hw/bsp/apm32f0xx/boards/apm32f072_dev_board/board.mk
@@ -4,4 +4,7 @@ MCU_LINKER_NAME = APM32F07xxB
 JLINK_DEVICE = APM32F072RB
 
 CFLAGS += \
-  -D${MCU_VARIANT}
+  -D${MCU_VARIANT} \
+  -DCFG_EXAMPLE_MSC_READONLY \
+  -DCFG_EXAMPLE_MSC_DUAL_READONLY \
+  -DCFG_EXAMPLE_VIDEO_READONLY
diff --git a/hw/bsp/apm32f0xx/family.c b/hw/bsp/apm32f0xx/family.c
index cbc427f8c..643490797 100644
--- a/hw/bsp/apm32f0xx/family.c
+++ b/hw/bsp/apm32f0xx/family.c
@@ -32,10 +32,18 @@
 #include "apm32f0xx_rcm.h"
 #include "apm32f0xx_gpio.h"
 #include "apm32f0xx_misc.h"
-#include "apm32f0xx_crs.h"
 #include "bsp/board_api.h"
 #include "board.h"
 
+void USBD_IRQHandler(void);
+#if CFG_TUSB_OS == OPT_OS_NONE
+void SysTick_Handler(void);
+void SVC_Handler(void);
+void PendSV_Handler(void);
+#endif
+void HardFault_Handler(void);
+void _init(void);
+
 //--------------------------------------------------------------------+
 // Forward USB interrupt events to TinyUSB IRQ Handler
 //--------------------------------------------------------------------+
@@ -47,18 +55,11 @@ void USBD_IRQHandler(void) {
 // Board Init
 //--------------------------------------------------------------------+
 void board_init(void) {
-  // Enable HSI48 for USB clock
-  RCM_EnableHSI48();
-  while (RCM_ReadStatusFlag(RCM_FLAG_HSI48RDY) == RESET) {}
-
-  // Select HSI48 as USB clock source
-  RCM_ConfigUSBCLK(RCM_USBCLK_HSI48);
+  // Configure HSE and PLL for a 48 MHz system clock
+  SystemClockConfig();
 
-  // Enable CRS for automatic HSI48 calibration from USB SOF
-  RCM_EnableAPB1PeriphClock(RCM_APB1_PERIPH_CRS);
-  CRS_ConfigSynchronizationSource(CRS_SYNC_SOURCE_USB);
-  CRS_EnableAutomaticCalibration();
-  CRS_EnableFrequencyErrorCounter();
+  // Route the 48 MHz PLL clock to USB
+  RCM_ConfigUSBCLK(RCM_USBCLK_PLLCLK);
 
   // Enable USB peripheral clock
   RCM_EnableAPB1PeriphClock(RCM_APB1_PERIPH_USB);
diff --git a/hw/bsp/apm32f0xx/family.cmake b/hw/bsp/apm32f0xx/family.cmake
index 99a94a7a8..199ba7cb5 100644
--- a/hw/bsp/apm32f0xx/family.cmake
+++ b/hw/bsp/apm32f0xx/family.cmake
@@ -1,7 +1,7 @@
 include_guard()
 
 set(APM32_FAMILY apm32f0xx)
-set(APM32_SDK ${TOP}/hw/mcu/geehy/APM32F0xx_SDK_V1.8.6/Libraries)
+set(APM32_SDK ${TOP}/hw/mcu/geehy/APM32F0xx_SDK/Libraries)
 
 # include board specific
 include(${CMAKE_CURRENT_LIST_DIR}/boards/${BOARD}/board.cmake)
@@ -31,7 +31,6 @@ function(family_add_board BOARD_TARGET)
     ${APM32_SDK}/APM32F0xx_StdPeriphDriver/src/apm32f0xx_gpio.c
     ${APM32_SDK}/APM32F0xx_StdPeriphDriver/src/apm32f0xx_misc.c
     ${APM32_SDK}/APM32F0xx_StdPeriphDriver/src/apm32f0xx_rcm.c
-    ${APM32_SDK}/APM32F0xx_StdPeriphDriver/src/apm32f0xx_crs.c
     )
   target_include_directories(${BOARD_TARGET} PUBLIC
     ${CMAKE_CURRENT_FUNCTION_LIST_DIR}
diff --git a/hw/bsp/apm32f0xx/family.mk b/hw/bsp/apm32f0xx/family.mk
index 73a762d69..7e26918c2 100644
--- a/hw/bsp/apm32f0xx/family.mk
+++ b/hw/bsp/apm32f0xx/family.mk
@@ -1,5 +1,5 @@
 APM32_FAMILY = apm32f0xx
-APM32_SDK = hw/mcu/geehy/APM32F0xx_SDK_V1.8.6/Libraries
+APM32_SDK = hw/mcu/geehy/APM32F0xx_SDK/Libraries
 
 include $(TOP)/$(BOARD_PATH)/board.mk
 
@@ -20,7 +20,6 @@ SRC_C += \
 	$(APM32_SDK)/APM32F0xx_StdPeriphDriver/src/apm32f0xx_gpio.c \
 	$(APM32_SDK)/APM32F0xx_StdPeriphDriver/src/apm32f0xx_misc.c \
 	$(APM32_SDK)/APM32F0xx_StdPeriphDriver/src/apm32f0xx_rcm.c \
-	$(APM32_SDK)/APM32F0xx_StdPeriphDriver/src/apm32f0xx_crs.c \
 	$(APM32_SDK)/Device/Geehy/APM32F0xx/Source/system_apm32f0xx.c
 
 INC += \
diff --git a/hw/bsp/ch32v10x/family.cmake b/hw/bsp/ch32v10x/family.cmake
index fb9ccb3a3..287b8c2ff 100644
--- a/hw/bsp/ch32v10x/family.cmake
+++ b/hw/bsp/ch32v10x/family.cmake
@@ -93,6 +93,6 @@ function(family_configure_example TARGET RTOS)
 
   # Flashing
   family_add_bin_hex(${TARGET})
-  family_flash_openocd_wch(${TARGET})
+  family_flash_openocd(${TARGET})
   #family_flash_uf2(${TARGET} ${UF2_FAMILY_ID})
 endfunction()
diff --git a/hw/bsp/ch32v10x/family.mk b/hw/bsp/ch32v10x/family.mk
index fb699b0bb..443509699 100644
--- a/hw/bsp/ch32v10x/family.mk
+++ b/hw/bsp/ch32v10x/family.mk
@@ -49,5 +49,5 @@ INC += \
 
 FREERTOS_PORTABLE_SRC = $(FREERTOS_PORTABLE_PATH)/RISC-V
 
-OPENOCD_WCH_OPTION=-f $(TOP)/$(FAMILY_PATH)/wch-riscv.cfg
+OPENOCD_OPTION=-f $(TOP)/$(FAMILY_PATH)/wch-riscv.cfg
 flash: flash-openocd-wch
diff --git a/hw/bsp/ch32v20x/family.cmake b/hw/bsp/ch32v20x/family.cmake
index 785f5ee35..a27ff021e 100644
--- a/hw/bsp/ch32v20x/family.cmake
+++ b/hw/bsp/ch32v20x/family.cmake
@@ -125,7 +125,7 @@ function(family_configure_example TARGET RTOS)
 
   # Flashing
   family_add_bin_hex(${TARGET})
-  family_flash_openocd_wch(${TARGET})
+  family_flash_openocd(${TARGET})
   family_flash_wlink_rs(${TARGET})
   #family_flash_uf2(${TARGET} ${UF2_FAMILY_ID})
 endfunction()
diff --git a/hw/bsp/ch32v20x/family.mk b/hw/bsp/ch32v20x/family.mk
index 1d059bcba..1889c4e26 100644
--- a/hw/bsp/ch32v20x/family.mk
+++ b/hw/bsp/ch32v20x/family.mk
@@ -63,6 +63,6 @@ INC += \
 
 FREERTOS_PORTABLE_SRC = $(FREERTOS_PORTABLE_PATH)/RISC-V
 
-OPENOCD_WCH_OPTION=-f $(TOP)/$(FAMILY_PATH)/wch-riscv.cfg
+OPENOCD_OPTION=-f $(TOP)/$(FAMILY_PATH)/wch-riscv.cfg
 flash: flash-wlink-rs
 #flash: flash-openocd-wch
diff --git a/hw/bsp/ch32v30x/family.cmake b/hw/bsp/ch32v30x/family.cmake
index b974bd5e7..e33e4b85d 100644
--- a/hw/bsp/ch32v30x/family.cmake
+++ b/hw/bsp/ch32v30x/family.cmake
@@ -115,6 +115,6 @@ function(family_configure_example TARGET RTOS)
 
   # Flashing
   family_add_bin_hex(${TARGET})
-  family_flash_openocd_wch(${TARGET})
+  family_flash_openocd(${TARGET})
   family_flash_wlink_rs(${TARGET})
 endfunction()
diff --git a/hw/bsp/ch32v30x/family.mk b/hw/bsp/ch32v30x/family.mk
index 5ccdea8ae..59778ec54 100644
--- a/hw/bsp/ch32v30x/family.mk
+++ b/hw/bsp/ch32v30x/family.mk
@@ -62,5 +62,5 @@ LD_FILE ?= $(FAMILY_PATH)/linker/ch32v30x.ld
 # For freeRTOS port source
 FREERTOS_PORTABLE_SRC = $(FREERTOS_PORTABLE_PATH)/RISC-V
 
-OPENOCD_WCH_OPTION=-f $(TOP)/$(FAMILY_PATH)/wch-riscv.cfg
+OPENOCD_OPTION=-f $(TOP)/$(FAMILY_PATH)/wch-riscv.cfg
 flash: flash-openocd-wch
diff --git a/hw/bsp/ch583/family.cmake b/hw/bsp/ch583/family.cmake
index a379298e5..f4b874e4e 100644
--- a/hw/bsp/ch583/family.cmake
+++ b/hw/bsp/ch583/family.cmake
@@ -104,5 +104,5 @@ function(family_configure_example TARGET RTOS)
 
   # Flashing
   family_add_bin_hex(${TARGET})
-  family_flash_openocd_wch(${TARGET})
+  family_flash_openocd(${TARGET})
 endfunction()
diff --git a/hw/bsp/ch583/family.mk b/hw/bsp/ch583/family.mk
index 98d0f9337..3444c4811 100644
--- a/hw/bsp/ch583/family.mk
+++ b/hw/bsp/ch583/family.mk
@@ -52,7 +52,7 @@ INC += \
 
 LD_FILE ?= $(FAMILY_PATH)/linker/ch582.ld
 
-OPENOCD_WCH_OPTION=-f $(TOP)/$(FAMILY_PATH)/wch-riscv.cfg
+OPENOCD_OPTION=-f $(TOP)/$(FAMILY_PATH)/wch-riscv.cfg
 flash: flash-openocd-wch
 
 # For freeRTOS port source
diff --git a/hw/bsp/ch583/wch-riscv.cfg b/hw/bsp/ch583/wch-riscv.cfg
index 64d595d8e..aa35aa9c5 100644
--- a/hw/bsp/ch583/wch-riscv.cfg
+++ b/hw/bsp/ch583/wch-riscv.cfg
@@ -9,7 +9,7 @@ sdi newtap $_CHIPNAME cpu -irlen 5 -expected-id 0x00001
 set _TARGETNAME $_CHIPNAME.cpu
 
 target create $_TARGETNAME.0 wch_riscv -chain-position $_TARGETNAME
-$_TARGETNAME.0 configure  -work-area-phys 0x20000000 -work-area-size 0x8000 -work-area-backup 1
+$_TARGETNAME.0 configure  -work-area-phys 0x20000000 -work-area-size 10000 -work-area-backup 1
 set _FLASHNAME $_CHIPNAME.flash
 
 flash bank $_FLASHNAME wch_riscv 0x00000000 0 0 0 $_TARGETNAME.0
diff --git a/hw/bsp/family_rules.mk b/hw/bsp/family_rules.mk
index ccf49dd0e..011572888 100644
--- a/hw/bsp/family_rules.mk
+++ b/hw/bsp/family_rules.mk
@@ -130,20 +130,18 @@ flash-pyocd: $(BUILD)/$(PROJECT).hex
 	#pyocd reset -t $(PYOCD_TARGET)
 
 # --------------- openocd -----------------
+# OPENOCD can name another build, e.g. one of the vendor forks, though
+# https://github.com/hathach/openocd branch tinyusb covers every board here
+OPENOCD ?= openocd
 OPENOCD_OPTION ?=
 flash-openocd: $(BUILD)/$(PROJECT).elf
-	openocd $(OPENOCD_OPTION) -c "program $< verify reset exit"
+	$(OPENOCD) $(OPENOCD_OPTION) -c "program $< verify reset exit"
 
 # --------------- openocd-wch -----------------
-# wch-linke is not supported yet in official openOCD yet. We need to either use
-# 1. download openocd as part of mounriver studio http://www.mounriver.com/download or
-# 2. compiled from https://github.com/hathach/riscv-openocd-wch or
-#    https://github.com/dragonlock2/miscboards/blob/main/wch/SDK/riscv-openocd.tar.xz
-#    with  ./configure --disable-werror --enable-wlinke --enable-ch347=no
-OPENOCD_WCH ?= /home/${USER}/app/riscv-openocd-wch/src/openocd
-OPENOCD_WCH_OPTION ?=
+# WCH parts need an openocd built with the wlinke adapter. The image is written
+# without verify: WCH code flash is not readable back over the debug bus.
 flash-openocd-wch: $(BUILD)/$(PROJECT).elf
-	$(OPENOCD_WCH) $(OPENOCD_WCH_OPTION) -c init -c halt -c "flash write_image $<" -c reset -c exit
+	$(OPENOCD) $(OPENOCD_OPTION) -c init -c halt -c "flash write_image $<" -c reset -c exit
 
 # --------------- wlink-rs -----------------
 # flash with https://github.com/ch32-rs/wlink
diff --git a/hw/bsp/family_support.cmake b/hw/bsp/family_support.cmake
index 1f3952205..33ceb49c2 100644
--- a/hw/bsp/family_support.cmake
+++ b/hw/bsp/family_support.cmake
@@ -688,7 +688,9 @@ function(family_flash_stflash TARGET)
 endfunction()
 
 
-# Add flash openocd target
+# Add flash openocd target.
+# The default 'openocd' should be https://github.com/hathach/openocd (branch tinyusb): which is mainline plus
+# every config the rig needs (RP2350, MAX32/MAX78, WCH) and a drop-in superset of the vendor (downstream) forks
 function(family_flash_openocd TARGET)
   if (NOT DEFINED OPENOCD)
     set(OPENOCD openocd)
@@ -715,38 +717,20 @@ function(family_flash_openocd TARGET)
   #set_property(TARGET ${TARGET}-openocd PROPERTY FOLDER ${TARGET}-group)
 endfunction()
 
-
-# Add flash openocd-wch target
-# compiled from https://github.com/hathach/riscv-openocd-wch or https://github.com/dragonlock2/miscboards/blob/main/wch/SDK/riscv-openocd.tar.xz
-function(family_flash_openocd_wch TARGET)
-  if (NOT DEFINED OPENOCD)
-    set(OPENOCD $ENV{HOME}/app/riscv-openocd-wch/src/openocd)
+# Add flash openocd adi (Analog Devices) target using the openocd included
+# with msdk (MAXIM_PATH), otherwise the default openocd
+function(family_flash_openocd_adi TARGET)
+  # use openocd from msdk if MAXIM_PATH is set, as cmake variable or in the
+  # environment. Normalize the latter since msdk can be Windows (MinGW) or Linux
+  if (NOT DEFINED MAXIM_PATH AND DEFINED ENV{MAXIM_PATH})
+    file(TO_CMAKE_PATH "$ENV{MAXIM_PATH}" MAXIM_PATH)
   endif ()
 
-  family_flash_openocd(${TARGET})
-endfunction()
-
-
-# Add flash openocd adi (Analog Devices) target
-# included with msdk or compiled from release branch of https://github.com/analogdevicesinc/openocd
-function(family_flash_openocd_adi TARGET)
-  if (DEFINED MAXIM_PATH)
-    # use openocd from msdk with MAXIM_PATH cmake variable first if the user specified it
-    set(OPENOCD ${MAXIM_PATH}/Tools/OpenOCD/openocd)
-    set(OPENOCD_OPTION2 "-s ${MAXIM_PATH}/Tools/OpenOCD/scripts")
-  elseif (DEFINED ENV{MAXIM_PATH})
-    # use openocd from msdk with MAXIM_PATH environment variable. Normalize
-    # since msdk can be Windows (MinGW) or Linux
-    file(TO_CMAKE_PATH "$ENV{MAXIM_PATH}" MAXIM_PATH_NORM)
-    set(OPENOCD ${MAXIM_PATH_NORM}/Tools/OpenOCD/openocd)
-    set(OPENOCD_OPTION2 "-s ${MAXIM_PATH_NORM}/Tools/OpenOCD/scripts")
-  else()
-    # compiled from source
-    if (NOT DEFINED OPENOCD_ADI_PATH)
-      set(OPENOCD_ADI_PATH $ENV{HOME}/app/openocd_adi)
+  if (MAXIM_PATH)
+    if (NOT DEFINED OPENOCD)
+      set(OPENOCD ${MAXIM_PATH}/Tools/OpenOCD/openocd)
     endif ()
-    set(OPENOCD ${OPENOCD_ADI_PATH}/src/openocd)
-    set(OPENOCD_OPTION2 "-s ${OPENOCD_ADI_PATH}/tcl")
+    set(OPENOCD_OPTION2 "-s ${MAXIM_PATH}/Tools/OpenOCD/scripts")
   endif ()
 
   family_flash_openocd(${TARGET})
diff --git a/hw/bsp/rp2040/family.cmake b/hw/bsp/rp2040/family.cmake
index aab9a4fae..43b1dc234 100644
--- a/hw/bsp/rp2040/family.cmake
+++ b/hw/bsp/rp2040/family.cmake
@@ -28,6 +28,8 @@ elseif (PICO_PLATFORM STREQUAL "rp2350-arm-s" OR PICO_PLATFORM STREQUAL "rp2350"
 	set(OPENOCD_TARGET rp2350)
 elseif (PICO_PLATFORM STREQUAL "rp2350-riscv")
 	set(JLINK_DEVICE rp2350_riscv_0)
+	# rp2350-riscv.cfg needs the raspberrypi/openocd fork: mainline's riscv
+	# target does not take the -dap/-ap-num the config uses
 	set(OPENOCD_TARGET rp2350-riscv)
 endif()