add more hil tests

.github/actions/get_deps/action.yml

@@ -9,8 +9,12 @@ runs:
   using: "composite"
   steps:
     - name: Checkout pico-sdk for rp2040
-      if: contains(inputs.arg, 'rp2040') || contains(inputs.arg, 'raspberry_pi_pico')
-      uses: actions/checkout@v4
+      if: >-
+        contains(inputs.arg, 'rp2040') ||
+        contains(inputs.arg, 'rp2350') ||
+        contains(inputs.arg, 'raspberry_pi_pico') ||
+        contains(inputs.arg, 'adafruit_fruit_jam')
+      uses: actions/checkout@v6
       with:
         repository: raspberrypi/pico-sdk
         ref: master

.github/actions/setup_toolchain/download/action.yml

@@ -13,7 +13,7 @@ runs:
   steps:
     - name: Cache Toolchain
       if: ${{ !startsWith(inputs.toolchain_url, 'https://github.com') }}
-      uses: actions/cache@v4
+      uses: actions/cache@v5
       id: cache-toolchain-download
       with:
         path: ~/cache/${{ inputs.toolchain }}

.github/actions/setup_toolchain/espressif/action.yml

@@ -21,7 +21,7 @@ runs:
       shell: bash
 
     - name: Cache Docker Image
-      uses: actions/cache@v4
+      uses: actions/cache@v5
       id: cache-toolchain-espressif
       with:
         path: ${{ env.DOCKER_ESP_IDF }}

.github/workflows/build.yml

@@ -29,7 +29,7 @@ jobs:
       - uses: actions/checkout@v6
         with:
           fetch-depth: 2  # Needed for push commit comparison
-      - uses: dorny/paths-filter@v3
+      - uses: dorny/paths-filter@v4
         id: filter
         with:
           filters: |
@@ -124,7 +124,7 @@ jobs:
 
       - name: Upload Metrics Artifact
         if: github.event_name == 'push' || github.event_name == 'release'
-        uses: actions/upload-artifact@v5
+        uses: actions/upload-artifact@v7
         with:
           name: metrics-tinyusb
           path: metrics.json
@@ -179,7 +179,7 @@ jobs:
 
       - name: Upload Metrics Comment Artifact
         if: github.event_name == 'pull_request'
-        uses: actions/upload-artifact@v5
+        uses: actions/upload-artifact@v7
         with:
           name: metrics-comment
           path: |

.github/workflows/build_util.yml

@@ -90,14 +90,14 @@ jobs:
 
       - name: Upload Artifacts for Metrics
         if: inputs.upload-metrics == true && inputs.code-changed == true
-        uses: actions/upload-artifact@v5
+        uses: actions/upload-artifact@v7
         with:
           name: metrics-${{ matrix.arg }}
           path: cmake-build/cmake-build-*/metrics.json
 
       - name: Upload Artifacts for Hardware Testing
         if: inputs.upload-artifacts == true && inputs.code-changed == true
-        uses: actions/upload-artifact@v5
+        uses: actions/upload-artifact@v7
         with:
           name: binaries-${{ matrix.arg }}
           path: |

.github/workflows/cifuzz.yml

@@ -29,7 +29,7 @@ jobs:
        fuzz-seconds: 400
 
    - name: Upload Crash
-     uses: actions/upload-artifact@v5
+     uses: actions/upload-artifact@v7
      if: failure() && steps.build.outcome == 'success'
      with:
        name: artifacts

.github/workflows/static_analysis.yml

@@ -84,7 +84,7 @@ jobs:
           category: CodeQL
 
       - name: Upload artifact
-        uses: actions/upload-artifact@v5
+        uses: actions/upload-artifact@v7
         with:
           name: codeql-${{ matrix.board }}
           path: ${{ steps.analyze.outputs.sarif-output }}
@@ -136,7 +136,7 @@ jobs:
           category: PVS-Studio
 
       - name: Upload artifact
-        uses: actions/upload-artifact@v5
+        uses: actions/upload-artifact@v7
         with:
           name: pvs-studio-${{ matrix.board }}
           path: pvs-studio-${{ matrix.board }}.sarif
@@ -236,7 +236,7 @@ jobs:
           category: IAR-CStat
 
       - name: Upload artifact
-        uses: actions/upload-artifact@v5
+        uses: actions/upload-artifact@v7
         with:
           name: iar-cstat-${{ matrix.board }}
           path: iar-cstat-${{ matrix.board }}.sarif

AGENTS.md

@@ -27,7 +27,6 @@ information that does not match the info here.
 ## Build Examples
 
 Choose ONE of these approaches:
-
 **Option 1: Individual Example with CMake and Ninja (RECOMMENDED)**
 
 ```bash
@@ -152,6 +151,13 @@ openocd -f interface/stlink.cfg -f target/stm32h7x.cfg
 openocd -f interface/jlink.cfg -f target/stm32h7x.cfg
 ```
 
+For **rp2040/rp2350** with a CMSIS-DAP probe (e.g. Picoprobe, debugprobe):
+```bash
+openocd -f interface/cmsis-dap.cfg -f target/rp2040.cfg -c "adapter speed 5000"
+# or for rp2350:
+openocd -f interface/cmsis-dap.cfg -f target/rp2350.cfg -c "adapter speed 5000"
+```
+
 For boards that define `OPENOCD_OPTION` in `board.cmake`, use those options directly:
 ```bash
 openocd $(cat hw/bsp/FAMILY/boards/BOARD/board.cmake | grep OPENOCD_OPTION | ...)

LICENSE

@@ -1,6 +1,6 @@
 The MIT License (MIT)
 
-Copyright (c) 2018, hathach (tinyusb.org)
+Copyright (c) 2012-2026, hathach (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

examples/device/hid_generic_inout/src/usb_descriptors.c

@@ -97,15 +97,23 @@
 
 #define  CONFIG_TOTAL_LEN  (TUD_CONFIG_DESC_LEN + TUD_HID_INOUT_DESC_LEN)
 
-#define EPNUM_HID   0x01
+#if defined(TUD_ENDPOINT_ONE_DIRECTION_ONLY)
+  // MCUs that don't support a same endpoint number with different direction IN and OUT defined in tusb_mcu.h
+  //    e.g EP1 OUT & EP1 IN cannot exist together
+  #define EPNUM_HID_OUT   0x01
+  #define EPNUM_HID_IN    0x82
+#else
+  #define EPNUM_HID_OUT   0x01
+  #define EPNUM_HID_IN    0x81
+#endif
 
 uint8_t const desc_configuration[] =
 {
   // Config number, interface count, string index, total length, attribute, power in mA
   TUD_CONFIG_DESCRIPTOR(1, ITF_NUM_TOTAL, 0, CONFIG_TOTAL_LEN, 0x00, 100),
 
   // Interface number, string index, protocol, report descriptor len, EP Out & In address, size & polling interval
-  TUD_HID_INOUT_DESCRIPTOR(ITF_NUM_HID, 0, HID_ITF_PROTOCOL_NONE, sizeof(desc_hid_report), EPNUM_HID, 0x80 | EPNUM_HID, CFG_TUD_HID_EP_BUFSIZE, 10)
+  TUD_HID_INOUT_DESCRIPTOR(ITF_NUM_HID, 0, HID_ITF_PROTOCOL_NONE, sizeof(desc_hid_report), EPNUM_HID_OUT, EPNUM_HID_IN, CFG_TUD_HID_EP_BUFSIZE, 10)
 };
 
 // Invoked when received GET CONFIGURATION DESCRIPTOR

examples/host/msc_file_explorer/src/msc_app.c

@@ -130,11 +130,16 @@ static bool inquiry_complete_cb(uint8_t dev_addr, const tuh_msc_complete_data_t
   drive_path[0] += drive_num;
 
   if (f_mount(&fatfs[drive_num], drive_path, 1) != FR_OK) {
-    puts("mount failed");
+    printf("mount failed\r\n");
+    return true;
   }
 
   // change to newly mounted drive
-  f_chdir(drive_path);
+  f_chdrive(drive_path);
+  FRESULT rc = f_chdir("/");
+  if (rc != FR_OK) {
+    printf("chdir failed: %d\r\n", rc);
+  }
 
   // print the drive label
   //  char label[34];
@@ -148,7 +153,7 @@ static bool inquiry_complete_cb(uint8_t dev_addr, const tuh_msc_complete_data_t
 
 //------------- IMPLEMENTATION -------------//
 void tuh_msc_mount_cb(uint8_t dev_addr) {
-  printf("A MassStorage device is mounted\r\n");
+  printf("A MassStorage device (addr = %u) is mounted\r\n", dev_addr);
 
   const uint8_t lun = 0;
   tuh_msc_inquiry(dev_addr, lun, &scsi_resp.inquiry, inquiry_complete_cb, 0);

hw/bsp/rp2040/boards/adafruit_feather_rp2040_usb_host/board.cmake

@@ -1,2 +1,3 @@
 set(PICO_PLATFORM rp2040)
 set(PICO_BOARD adafruit_feather_rp2040_usb_host)
+set(CFG_TUH_RPI_PIO_USB 1)

hw/bsp/rp2040/boards/adafruit_fruit_jam/board.cmake

@@ -2,3 +2,5 @@ set(PICO_PLATFORM rp2350-arm-s)
 set(PICO_BOARD adafruit_fruit_jam)
 set(PICO_BOARD_HEADER_DIRS ${CMAKE_CURRENT_LIST_DIR})
 #set(OPENOCD_SERIAL E6614103E78E8324)
+
+set(CFG_TUH_RPI_PIO_USB 1)

hw/bsp/rp2040/boards/adafruit_metro_rp2350/board.cmake

@@ -2,3 +2,5 @@ set(PICO_PLATFORM rp2350-arm-s)
 set(PICO_BOARD adafruit_metro_rp2350)
 set(PICO_BOARD_HEADER_DIRS ${CMAKE_CURRENT_LIST_DIR})
 #set(OPENOCD_SERIAL E6614103E78E8324)
+
+set(CFG_TUH_RPI_PIO_USB 1)

hw/bsp/rp2040/family.cmake

@@ -72,6 +72,12 @@ target_compile_definitions(tinyusb_common_base INTERFACE
 	CFG_TUSB_DEBUG=${TINYUSB_DEBUG_LEVEL}
 )
 
+if (CFG_TUH_RPI_PIO_USB)
+	target_compile_definitions(tinyusb_common_base INTERFACE
+		CFG_TUH_RPI_PIO_USB=1
+	)
+endif()
+
 target_link_libraries(tinyusb_common_base INTERFACE
 	hardware_structs
 	hardware_irq

hw/bsp/stm32f7/family.c

@@ -289,14 +289,31 @@ size_t board_get_unique_id(uint8_t id[], size_t max_len) {
 }
 
 int board_uart_read(uint8_t *buf, int len) {
-  (void) buf;
-  (void) len;
+#ifdef UART_DEV
+  int count = 0;
+  // clear overrun error if any
+  if (__HAL_UART_GET_FLAG(&UartHandle, UART_FLAG_ORE)) {
+    __HAL_UART_CLEAR_FLAG(&UartHandle, UART_CLEAR_OREF);
+  }
+  for (int i = 0; i < len; i++) {
+    if (__HAL_UART_GET_FLAG(&UartHandle, UART_FLAG_RXNE)) {
+      buf[i] = (uint8_t) UartHandle.Instance->RDR;
+      count++;
+    } else {
+      break;
+    }
+  }
+  return count;
+#else
+  (void) buf; (void) len;
   return 0;
+#endif
 }
 
 int board_uart_write(void const *buf, int len) {
 #ifdef UART_DEV
-  HAL_UART_Transmit(&UartHandle, (uint8_t *) (uintptr_t) buf, len, 0xffff);
+  HAL_UART_Transmit(&UartHandle, (uint8_t * )(uintptr_t)
+  buf, len, 0xffff);
   return len;
 #else
   (void) buf; (void) len;
@@ -316,6 +333,11 @@ uint32_t tusb_time_millis_api(void) {
   return system_ticks;
 }
 
+#elif CFG_TUSB_OS == OPT_OS_THREADX
+// Keep HAL_GetTick() working for HAL functions called from board_init()
+void osal_threadx_tick_cb(void) {
+  HAL_IncTick();
+}
 #endif
 
 void HardFault_Handler(void) {

hw/bsp/stm32h7/boards/stm32h743eval/board.h

@@ -205,13 +205,23 @@ static int32_t board_i2c_deinit(void) {
 }
 
 static int32_t i2c_readreg(uint16_t DevAddr, uint16_t Reg, uint8_t *pData, uint16_t Length) {
-  TU_ASSERT (HAL_OK == HAL_I2C_Mem_Read(&i2c_handle, DevAddr, Reg, I2C_MEMADD_SIZE_8BIT, pData, Length, 10000));
-  return 0;
+  for (int retry = 0; retry < 3; retry++) {
+    if (HAL_OK == HAL_I2C_Mem_Read(&i2c_handle, DevAddr, Reg, I2C_MEMADD_SIZE_8BIT, pData, Length, 10000)) {
+      return 0;
+    }
+    HAL_Delay(10);
+  }
+  return -1;
 }
 
 static int32_t i2c_writereg(uint16_t DevAddr, uint16_t Reg, uint8_t *pData, uint16_t Length) {
-  TU_ASSERT(HAL_OK == HAL_I2C_Mem_Write(&i2c_handle, DevAddr, Reg, I2C_MEMADD_SIZE_8BIT, pData, Length, 10000));
-  return 0;
+  for (int retry = 0; retry < 3; retry++) {
+    if (HAL_OK == HAL_I2C_Mem_Write(&i2c_handle, DevAddr, Reg, I2C_MEMADD_SIZE_8BIT, pData, Length, 10000)) {
+      return 0;
+    }
+    HAL_Delay(10);
+  }
+  return -1;
 }
 
 static int32_t i2c_get_tick(void) {

hw/bsp/stm32h7/family.c

@@ -275,9 +275,25 @@ size_t board_get_unique_id(uint8_t id[], size_t max_len) {
 }
 
 int board_uart_read(uint8_t *buf, int len) {
-  (void) buf;
-  (void) len;
+#ifdef UART_DEV
+  int count = 0;
+  // clear overrun error if any
+  if (__HAL_UART_GET_FLAG(&UartHandle, UART_FLAG_ORE)) {
+    __HAL_UART_CLEAR_FLAG(&UartHandle, UART_CLEAR_OREF);
+  }
+  for (int i = 0; i < len; i++) {
+    if (__HAL_UART_GET_FLAG(&UartHandle, UART_FLAG_RXNE)) {
+      buf[i] = (uint8_t) UartHandle.Instance->RDR;
+      count++;
+    } else {
+      break;
+    }
+  }
+  return count;
+#else
+  (void) buf; (void) len;
   return 0;
+#endif
 }
 
 int board_uart_write(void const *buf, int len) {

src/portable/mentor/musb/dcd_musb.c

@@ -494,7 +494,7 @@ static void process_bus_reset(uint8_t rhport) {
  *------------------------------------------------------------------*/
 
 #if CFG_TUSB_DEBUG >= MUSB_DEBUG
-void print_musb_info(musb_regs_t* musb_regs) {
+static void print_musb_info(musb_regs_t* musb_regs) {
   // print version, epinfo, raminfo, config_data0, fifo_size
   TU_LOG1("musb version = %u.%u\r\n", musb_regs->hwvers_bit.major, musb_regs->hwvers_bit.minor);
   TU_LOG1("Number of endpoints: %u TX, %u RX\r\n", musb_regs->epinfo_bit.tx_ep_num, musb_regs->epinfo_bit.rx_ep_num);