diff --git a/.circleci/config.yml b/.circleci/config.yml
index fd5631e2e..0b11b50e4 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -20,12 +20,12 @@ jobs:
 
             BUILDSYSTEM_TOOLCHAIN=(
               "cmake arm-clang"
+              "cmake esp-idf"
               "make aarch64-gcc"
               "make arm-gcc"
               "make msp430-gcc"
               "make riscv-gcc"
               "make rx-gcc"
-              "cmake esp-idf"
             )
 
             # only build IAR if not forked PR, since IAR token is not shared
diff --git a/.circleci/config2.yml b/.circleci/config2.yml
index 3b0294168..d86a3f662 100644
--- a/.circleci/config2.yml
+++ b/.circleci/config2.yml
@@ -10,17 +10,7 @@ commands:
       - run:
           name: Set toolchain url and key
           command: |
-            TOOLCHAIN_JSON='{
-              "aarch64-gcc": "https://developer.arm.com/-/media/Files/downloads/gnu-a/10.3-2021.07/binrel/gcc-arm-10.3-2021.07-x86_64-aarch64-none-elf.tar.xz",
-              "arm-clang": "https://github.com/ARM-software/LLVM-embedded-toolchain-for-Arm/releases/download/release-19.1.1/LLVM-ET-Arm-19.1.1-Linux-x86_64.tar.xz",
-              "arm-gcc": "https://github.com/xpack-dev-tools/arm-none-eabi-gcc-xpack/releases/download/v13.2.1-1.1/xpack-arm-none-eabi-gcc-13.2.1-1.1-linux-x64.tar.gz",
-              "msp430-gcc": "http://software-dl.ti.com/msp430/msp430_public_sw/mcu/msp430/MSPGCC/9_2_0_0/export/msp430-gcc-9.2.0.50_linux64.tar.bz2",
-              "riscv-gcc": "https://github.com/xpack-dev-tools/riscv-none-elf-gcc-xpack/releases/download/v13.2.0-2/xpack-riscv-none-elf-gcc-13.2.0-2-linux-x64.tar.gz",
-              "rx-gcc": "https://github.com/hathach/rx_device/releases/download/0.0.1/gcc-8.3.0.202411-GNURX-ELF.run",
-              "arm-iar": "https://updates.iar.com/FileStore/STANDARD/001/003/322/cxarm-9.60.3.deb"
-            }'
-            toolchain_url=$(echo $TOOLCHAIN_JSON | jq -r '.["<< parameters.toolchain >>"]')
-
+            toolchain_url=$(jq -r '."<< parameters.toolchain >>"' .github/actions/setup_toolchain/toolchain.json)
             # only cache if not a github link
             if [[ $toolchain_url != "https://github.com"* ]]; then
               echo "<< parameters.toolchain >>-$toolchain_url" > toolchain_key
@@ -121,7 +111,6 @@ commands:
                 TOOLCHAIN_OPTION="--toolchain clang"
               elif [ << parameters.toolchain >> == arm-iar ]; then
                 TOOLCHAIN_OPTION="--toolchain iar"
-                echo IAR_LMS_CLOUD_URL=$IAR_LMS_CLOUD_URL
                 iccarm --version
               elif [ << parameters.toolchain >> == arm-gcc ]; then
                 TOOLCHAIN_OPTION="--toolchain gcc"
diff --git a/.github/actions/setup_toolchain/action.yml b/.github/actions/setup_toolchain/action.yml
index 8305daa24..850a3a06f 100644
--- a/.github/actions/setup_toolchain/action.yml
+++ b/.github/actions/setup_toolchain/action.yml
@@ -28,18 +28,10 @@ runs:
     - name: Get Toolchain URL
       if: >-
         inputs.toolchain != 'arm-gcc' &&
-        inputs.toolchain != 'arm-iar' &&
         inputs.toolchain != 'esp-idf'
       id: set-toolchain-url
       run: |
-        TOOLCHAIN_JSON='{
-          "aarch64-gcc": "https://developer.arm.com/-/media/Files/downloads/gnu-a/10.3-2021.07/binrel/gcc-arm-10.3-2021.07-x86_64-aarch64-none-elf.tar.xz",
-          "arm-clang": "https://github.com/ARM-software/LLVM-embedded-toolchain-for-Arm/releases/download/release-19.1.1/LLVM-ET-Arm-19.1.1-Linux-x86_64.tar.xz",
-          "msp430-gcc": "http://software-dl.ti.com/msp430/msp430_public_sw/mcu/msp430/MSPGCC/9_2_0_0/export/msp430-gcc-9.2.0.50_linux64.tar.bz2",
-          "riscv-gcc": "https://github.com/xpack-dev-tools/riscv-none-elf-gcc-xpack/releases/download/v13.2.0-2/xpack-riscv-none-elf-gcc-13.2.0-2-linux-x64.tar.gz",
-          "rx-gcc": "https://github.com/hathach/rx_device/releases/download/0.0.1/gcc-8.3.0.202411-GNURX-ELF.run"
-        }'
-        TOOLCHAIN_URL=$(echo $TOOLCHAIN_JSON | jq -r '.["${{ inputs.toolchain }}"]')
+        TOOLCHAIN_URL=$(jq -r '."${{ inputs.toolchain }}"' .github/actions/setup_toolchain/toolchain.json)
         echo "toolchain_url=$TOOLCHAIN_URL"
         echo "toolchain_url=$TOOLCHAIN_URL" >> $GITHUB_OUTPUT
       shell: bash
@@ -47,7 +39,6 @@ runs:
     - name: Download Toolchain
       if: >-
         inputs.toolchain != 'arm-gcc' &&
-        inputs.toolchain != 'arm-iar' &&
         inputs.toolchain != 'esp-idf'
       uses: ./.github/actions/setup_toolchain/download
       with:
diff --git a/.github/actions/setup_toolchain/download/action.yml b/.github/actions/setup_toolchain/download/action.yml
index 813197208..ce9643010 100644
--- a/.github/actions/setup_toolchain/download/action.yml
+++ b/.github/actions/setup_toolchain/download/action.yml
@@ -23,17 +23,25 @@ runs:
       if: steps.cache-toolchain-download.outputs.cache-hit != 'true'
       run: |
         mkdir -p ~/cache/${{ inputs.toolchain }}
-        wget --progress=dot:giga ${{ inputs.toolchain_url }} -O toolchain.tar.gz
+
         if [[ ${{ inputs.toolchain }} == rx-gcc ]]; then
-          mv toolchain.tar.gz toolchain.run
+          wget --progress=dot:giga ${{ inputs.toolchain_url }} -O toolchain.run
           chmod +x toolchain.run
           ./toolchain.run -p ~/cache/${{ inputs.toolchain }}/gnurx -y
+        elif [[ ${{ inputs.toolchain }} == arm-iar ]]; then
+          wget --progress=dot:giga ${{ inputs.toolchain_url }} -O ~/cache/${{ inputs.toolchain }}/cxarm.deb
         else
+          wget --progress=dot:giga ${{ inputs.toolchain_url }} -O toolchain.tar.gz
           tar -C ~/cache/${{ inputs.toolchain }} -xaf toolchain.tar.gz
         fi
       shell: bash
 
-    - name: Set Toolchain Path
+    - name: Setup Toolchain
       run: |
-        echo >> $GITHUB_PATH `echo ~/cache/${{ inputs.toolchain }}/*/bin`
+        if [[ ${{ inputs.toolchain }} == arm-iar ]]; then
+          sudo apt-get install -y ~/cache/${{ inputs.toolchain }}/cxarm.deb
+          echo >> $GITHUB_PATH "/opt/iar/cxarm/arm/bin"
+        else
+          echo >> $GITHUB_PATH `echo ~/cache/${{ inputs.toolchain }}/*/bin`
+        fi
       shell: bash
diff --git a/.github/actions/setup_toolchain/toolchain.json b/.github/actions/setup_toolchain/toolchain.json
new file mode 100644
index 000000000..4e65f1cbe
--- /dev/null
+++ b/.github/actions/setup_toolchain/toolchain.json
@@ -0,0 +1,9 @@
+{
+  "aarch64-gcc": "https://developer.arm.com/-/media/Files/downloads/gnu-a/10.3-2021.07/binrel/gcc-arm-10.3-2021.07-x86_64-aarch64-none-elf.tar.xz",
+  "arm-clang": "https://github.com/ARM-software/LLVM-embedded-toolchain-for-Arm/releases/download/release-19.1.1/LLVM-ET-Arm-19.1.1-Linux-x86_64.tar.xz",
+  "arm-gcc": "https://github.com/xpack-dev-tools/arm-none-eabi-gcc-xpack/releases/download/v13.2.1-1.1/xpack-arm-none-eabi-gcc-13.2.1-1.1-linux-x64.tar.gz",
+  "msp430-gcc": "http://software-dl.ti.com/msp430/msp430_public_sw/mcu/msp430/MSPGCC/9_2_0_0/export/msp430-gcc-9.2.0.50_linux64.tar.bz2",
+  "riscv-gcc": "https://github.com/xpack-dev-tools/riscv-none-elf-gcc-xpack/releases/download/v13.2.0-2/xpack-riscv-none-elf-gcc-13.2.0-2-linux-x64.tar.gz",
+  "rx-gcc": "https://github.com/hathach/rx_device/releases/download/0.0.1/gcc-8.3.0.202411-GNURX-ELF.run",
+  "arm-iar": "https://netstorage.iar.com/FileStore/STANDARD/001/003/583/cxarm-9.60.4.deb"
+}
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 547763bd8..7fb13af74 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -110,37 +110,25 @@ jobs:
       one-per-family: true
 
   # ---------------------------------------
-  # Build IAR on HFP self-hosted
-  # Since IAR Token secret is not passed to forked PR, only build on PR from the same repo
+  # Build IAR
+  # Since IAR Token secret is not passed to forked PR, only build non-forked PR with make.
+  # cmake is built by circle-ci. Due to IAR limit capacity, only build oe per family
   # ---------------------------------------
   arm-iar:
-    if: github.repository_owner == 'hathach' && github.event_name == 'push'
+    if: github.event_name == 'pull_request' && github.event.pull_request.head.repo.fork == false
     needs: set-matrix
-    runs-on: [self-hosted, Linux, X64, hifiphile]
-    env:
-      BUILD_ARGS: ${{ join(fromJSON(needs.set-matrix.outputs.json)['arm-iar'], ' ') }}
-      IAR_LMS_CLOUD_URL: ${{ vars.IAR_LMS_CLOUD_URL }}
-      IAR_LMS_BEARER_TOKEN: ${{ secrets.IAR_LMS_BEARER_TOKEN }}
-    steps:
-      - name: Clean workspace
-        run: |
-          echo "Cleaning up previous run"
-          rm -rf "${{ github.workspace }}"
-          mkdir -p "${{ github.workspace }}"
-
-      - name: Toolchain version
-        run: |
-          echo IAR_LMS_CLOUD_URL=$IAR_LMS_CLOUD_URL
-          iccarm --version
-
-      - name: Checkout TinyUSB
-        uses: actions/checkout@v4
-
-      - name: Get Dependencies
-        run: python3 tools/get_deps.py $BUILD_ARGS
-
-      - name: Build
-        run: python3 tools/build.py --one-per-family --toolchain iar $BUILD_ARGS
+    uses: ./.github/workflows/build_util.yml
+    secrets: inherit
+    strategy:
+      fail-fast: false
+      matrix:
+        build-system:
+          - 'make'
+    with:
+      build-system: ${{ matrix.build-system }}
+      toolchain: 'arm-iar'
+      build-args: ${{ toJSON(fromJSON(needs.set-matrix.outputs.json)['arm-iar']) }}
+      one-per-family: true
 
   # ---------------------------------------
   # Zephyr
diff --git a/.github/workflows/build_util.yml b/.github/workflows/build_util.yml
index 2de68c6f3..a2c96f3c0 100644
--- a/.github/workflows/build_util.yml
+++ b/.github/workflows/build_util.yml
@@ -58,6 +58,8 @@ jobs:
         shell: bash
 
       - name: Build
+        env:
+          IAR_LMS_BEARER_TOKEN: ${{ secrets.IAR_LMS_BEARER_TOKEN }}
         run: |
           if [ "${{ inputs.toolchain }}" == "esp-idf" ]; then
             docker run --rm -v $PWD:/project -w /project espressif/idf:tinyusb python tools/build.py ${{ matrix.arg }}
diff --git a/.github/workflows/hil_test.yml b/.github/workflows/hil_test.yml
index c890933ec..0ad37ffce 100644
--- a/.github/workflows/hil_test.yml
+++ b/.github/workflows/hil_test.yml
@@ -90,13 +90,12 @@ jobs:
   # ---------------------------------------
   # Hardware in the loop (HIL)
   # self-hosted by HFP, build with IAR toolchain, for attached hardware checkout test/hil/hfp.json
-  # Since IAR Token secret is not passed to forked PR, only build on PR from the same repo
+  # Since IAR Token secret is not passed to forked PR, only build non-forked PR
   # ---------------------------------------
   hil-hfp:
     if: github.repository_owner == 'hathach' && github.event.pull_request.head.repo.fork == false
     runs-on: [self-hosted, Linux, X64, hifiphile]
     env:
-      IAR_LMS_CLOUD_URL: ${{ vars.IAR_LMS_CLOUD_URL }}
       IAR_LMS_BEARER_TOKEN: ${{ secrets.IAR_LMS_BEARER_TOKEN }}
     steps:
       - name: Clean workspace
@@ -107,7 +106,6 @@ jobs:
 
       - name: Toolchain version
         run: |
-          echo IAR_LMS_CLOUD_URL=$IAR_LMS_CLOUD_URL
           iccarm --version
 
       - name: Checkout TinyUSB
diff --git a/examples/build_system/make/cpu/cortex-m4.mk b/examples/build_system/make/cpu/cortex-m4.mk
index 4e16819d1..57d6e126d 100644
--- a/examples/build_system/make/cpu/cortex-m4.mk
+++ b/examples/build_system/make/cpu/cortex-m4.mk
@@ -12,8 +12,8 @@ else ifeq ($(TOOLCHAIN),clang)
 	  -mfpu=fpv4-sp-d16 \
 
 else ifeq ($(TOOLCHAIN),iar)
-  CFLAGS += --cpu cortex-m4 --fpu VFPv4
-  ASFLAGS += --cpu cortex-m4 --fpu VFPv4
+  CFLAGS += --cpu cortex-m4 --fpu VFPv4-SP
+  ASFLAGS += --cpu cortex-m4 --fpu VFPv4-SP
 
 else
   $(error "TOOLCHAIN is not supported")
diff --git a/examples/device/cdc_msc/src/msc_disk.c b/examples/device/cdc_msc/src/msc_disk.c
index d325d77fa..9645f4bfc 100644
--- a/examples/device/cdc_msc/src/msc_disk.c
+++ b/examples/device/cdc_msc/src/msc_disk.c
@@ -40,17 +40,15 @@ static bool ejected = false;
 If you find any bugs or get any questions, feel free to file an\r\n\
 issue at github.com/hathach/tinyusb"
 
-enum
-{
-  DISK_BLOCK_NUM  = 16, // 8KB is the smallest size that windows allow to mount
+enum {
+  DISK_BLOCK_NUM = 16,// 8KB is the smallest size that windows allow to mount
   DISK_BLOCK_SIZE = 512
 };
 
 #ifdef CFG_EXAMPLE_MSC_READONLY
 const
 #endif
-uint8_t msc_disk[DISK_BLOCK_NUM][DISK_BLOCK_SIZE] =
-{
+uint8_t msc_disk[DISK_BLOCK_NUM][DISK_BLOCK_SIZE] = {
   //------------- Block0: Boot Sector -------------//
   // byte_per_sector    = DISK_BLOCK_SIZE; fat12_sector_num_16  = DISK_BLOCK_NUM;
   // sector_per_cluster = 1; reserved_sectors = 1;
@@ -59,60 +57,59 @@ uint8_t msc_disk[DISK_BLOCK_NUM][DISK_BLOCK_SIZE] =
   // drive_number       = 0x80; media_type = 0xf8; extended_boot_signature = 0x29;
   // filesystem_type    = "FAT12   "; volume_serial_number = 0x1234; volume_label = "TinyUSB MSC";
   // FAT magic code at offset 510-511
-  {
-      0xEB, 0x3C, 0x90, 0x4D, 0x53, 0x44, 0x4F, 0x53, 0x35, 0x2E, 0x30, 0x00, 0x02, 0x01, 0x01, 0x00,
-      0x01, 0x10, 0x00, 0x10, 0x00, 0xF8, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00,
-      0x00, 0x00, 0x00, 0x00, 0x80, 0x00, 0x29, 0x34, 0x12, 0x00, 0x00, 'T' , 'i' , 'n' , 'y' , 'U' ,
-      'S' , 'B' , ' ' , 'M' , 'S' , 'C' , 0x46, 0x41, 0x54, 0x31, 0x32, 0x20, 0x20, 0x20, 0x00, 0x00,
+{
+    0xEB, 0x3C, 0x90, 0x4D, 0x53, 0x44, 0x4F, 0x53, 0x35, 0x2E, 0x30, 0x00, 0x02, 0x01, 0x01, 0x00,
+    0x01, 0x10, 0x00, 0x10, 0x00, 0xF8, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x80, 0x00, 0x29, 0x34, 0x12, 0x00, 0x00, 'T', 'i', 'n', 'y', 'U',
+    'S', 'B', ' ', 'M', 'S', 'C', 0x46, 0x41, 0x54, 0x31, 0x32, 0x20, 0x20, 0x20, 0x00, 0x00,
 
-      // Zero up to 2 last bytes of FAT magic code
-      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    // Zero up to 2 last bytes of FAT magic code
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
 
-      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
 
-      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
 
-      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x55, 0xAA
-  },
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x55, 0xAA},
 
   //------------- Block1: FAT12 Table -------------//
-  {
-      0xF8, 0xFF, 0xFF, 0xFF, 0x0F // // first 2 entries must be F8FF, third entry is cluster end of readme file
+{
+      0xF8, 0xFF, 0xFF, 0xFF, 0x0F// // first 2 entries must be F8FF, third entry is cluster end of readme file
   },
 
   //------------- Block2: Root Directory -------------//
-  {
-      // first entry is volume label
-      'T' , 'i' , 'n' , 'y' , 'U' , 'S' , 'B' , ' ' , 'M' , 'S' , 'C' , 0x08, 0x00, 0x00, 0x00, 0x00,
-      0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x4F, 0x6D, 0x65, 0x43, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-      // second entry is readme file
-      'R' , 'E' , 'A' , 'D' , 'M' , 'E' , ' ' , ' ' , 'T' , 'X' , 'T' , 0x20, 0x00, 0xC6, 0x52, 0x6D,
-      0x65, 0x43, 0x65, 0x43, 0x00, 0x00, 0x88, 0x6D, 0x65, 0x43, 0x02, 0x00,
-      sizeof(README_CONTENTS)-1, 0x00, 0x00, 0x00 // readme's files size (4 Bytes)
+{
+    // first entry is volume label
+    'T', 'i', 'n', 'y', 'U', 'S', 'B', ' ', 'M', 'S', 'C', 0x08, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x4F, 0x6D, 0x65, 0x43, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    // second entry is readme file
+    'R', 'E', 'A', 'D', 'M', 'E', ' ', ' ', 'T', 'X', 'T', 0x20, 0x00, 0xC6, 0x52, 0x6D,
+    0x65, 0x43, 0x65, 0x43, 0x00, 0x00, 0x88, 0x6D, 0x65, 0x43, 0x02, 0x00,
+    sizeof(README_CONTENTS) - 1, 0x00, 0x00, 0x00// readme's files size (4 Bytes)
   },
 
   //------------- Block3: Readme Content -------------//
@@ -121,23 +118,21 @@ uint8_t msc_disk[DISK_BLOCK_NUM][DISK_BLOCK_SIZE] =
 
 // Invoked when received SCSI_CMD_INQUIRY
 // Application fill vendor id, product id and revision with string up to 8, 16, 4 characters respectively
-void tud_msc_inquiry_cb(uint8_t lun, uint8_t vendor_id[8], uint8_t product_id[16], uint8_t product_rev[4])
-{
+void tud_msc_inquiry_cb(uint8_t lun, uint8_t vendor_id[8], uint8_t product_id[16], uint8_t product_rev[4]) {
   (void) lun;
 
   const char vid[] = "TinyUSB";
   const char pid[] = "Mass Storage";
   const char rev[] = "1.0";
 
-  memcpy(vendor_id  , vid, strlen(vid));
-  memcpy(product_id , pid, strlen(pid));
+  memcpy(vendor_id, vid, strlen(vid));
+  memcpy(product_id, pid, strlen(pid));
   memcpy(product_rev, rev, strlen(rev));
 }
 
 // Invoked when received Test Unit Ready command.
 // return true allowing host to read/write this LUN e.g SD card inserted
-bool tud_msc_test_unit_ready_cb(uint8_t lun)
-{
+bool tud_msc_test_unit_ready_cb(uint8_t lun) {
   (void) lun;
 
   // RAM disk is ready until ejected
@@ -152,29 +147,24 @@ bool tud_msc_test_unit_ready_cb(uint8_t lun)
 
 // Invoked when received SCSI_CMD_READ_CAPACITY_10 and SCSI_CMD_READ_FORMAT_CAPACITY to determine the disk size
 // Application update block count and block size
-void tud_msc_capacity_cb(uint8_t lun, uint32_t* block_count, uint16_t* block_size)
-{
+void tud_msc_capacity_cb(uint8_t lun, uint32_t *block_count, uint16_t *block_size) {
   (void) lun;
 
   *block_count = DISK_BLOCK_NUM;
-  *block_size  = DISK_BLOCK_SIZE;
+  *block_size = DISK_BLOCK_SIZE;
 }
 
 // Invoked when received Start Stop Unit command
 // - Start = 0 : stopped power mode, if load_eject = 1 : unload disk storage
 // - Start = 1 : active mode, if load_eject = 1 : load disk storage
-bool tud_msc_start_stop_cb(uint8_t lun, uint8_t power_condition, bool start, bool load_eject)
-{
+bool tud_msc_start_stop_cb(uint8_t lun, uint8_t power_condition, bool start, bool load_eject) {
   (void) lun;
   (void) power_condition;
 
-  if ( load_eject )
-  {
-    if (start)
-    {
+  if (load_eject) {
+    if (start) {
       // load disk storage
-    }else
-    {
+    } else {
       // unload disk storage
       ejected = true;
     }
@@ -185,52 +175,51 @@ bool tud_msc_start_stop_cb(uint8_t lun, uint8_t power_condition, bool start, boo
 
 // Callback invoked when received READ10 command.
 // Copy disk's data to buffer (up to bufsize) and return number of copied bytes.
-int32_t tud_msc_read10_cb(uint8_t lun, uint32_t lba, uint32_t offset, void* buffer, uint32_t bufsize)
-{
+int32_t tud_msc_read10_cb(uint8_t lun, uint32_t lba, uint32_t offset, void *buffer, uint32_t bufsize) {
   (void) lun;
 
   // out of ramdisk
-  if ( lba >= DISK_BLOCK_NUM ) {
+  if (lba >= DISK_BLOCK_NUM) {
     return -1;
   }
 
   // Check for overflow of offset + bufsize
-  if ( offset + bufsize > DISK_BLOCK_SIZE ) {
+  if (offset + bufsize > DISK_BLOCK_SIZE) {
     return -1;
   }
 
-  uint8_t const* addr = msc_disk[lba] + offset;
+  uint8_t const *addr = msc_disk[lba] + offset;
   memcpy(buffer, addr, bufsize);
 
   return (int32_t) bufsize;
 }
 
-bool tud_msc_is_writable_cb (uint8_t lun)
-{
+bool tud_msc_is_writable_cb(uint8_t lun) {
   (void) lun;
 
-#ifdef CFG_EXAMPLE_MSC_READONLY
+  #ifdef CFG_EXAMPLE_MSC_READONLY
   return false;
-#else
+  #else
   return true;
-#endif
+  #endif
 }
 
 // Callback invoked when received WRITE10 command.
 // Process data in buffer to disk's storage and return number of written bytes
-int32_t tud_msc_write10_cb(uint8_t lun, uint32_t lba, uint32_t offset, uint8_t* buffer, uint32_t bufsize)
-{
+int32_t tud_msc_write10_cb(uint8_t lun, uint32_t lba, uint32_t offset, uint8_t *buffer, uint32_t bufsize) {
   (void) lun;
 
   // out of ramdisk
-  if ( lba >= DISK_BLOCK_NUM ) return -1;
+  if (lba >= DISK_BLOCK_NUM) return -1;
 
-#ifndef CFG_EXAMPLE_MSC_READONLY
-  uint8_t* addr = msc_disk[lba] + offset;
+  #ifndef CFG_EXAMPLE_MSC_READONLY
+  uint8_t *addr = msc_disk[lba] + offset;
   memcpy(addr, buffer, bufsize);
-#else
-  (void) lba; (void) offset; (void) buffer;
-#endif
+  #else
+  (void) lba;
+  (void) offset;
+  (void) buffer;
+  #endif
 
   return (int32_t) bufsize;
 }
@@ -238,42 +227,18 @@ int32_t tud_msc_write10_cb(uint8_t lun, uint32_t lba, uint32_t offset, uint8_t*
 // Callback invoked when received an SCSI command not in built-in list below
 // - 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
+int32_t tud_msc_scsi_cb(uint8_t lun, uint8_t const scsi_cmd[16], void *buffer, uint16_t bufsize) {
+  (void) buffer;
+  (void) bufsize;
 
-  void const* response = NULL;
-  int32_t resplen = 0;
-
-  // most scsi handled is input
-  bool in_xfer = true;
-
-  switch (scsi_cmd[0])
-  {
+  switch (scsi_cmd[0]) {
     default:
       // Set Sense = Invalid Command Operation
       tud_msc_set_sense(lun, SCSI_SENSE_ILLEGAL_REQUEST, 0x20, 0x00);
 
       // negative means error -> tinyusb could stall and/or response with failed status
-      resplen = -1;
-    break;
+      return -1;
   }
-
-  // return resplen must not larger than bufsize
-  if ( resplen > bufsize ) resplen = bufsize;
-
-  if ( response && (resplen > 0) )
-  {
-    if(in_xfer)
-    {
-      memcpy(buffer, response, (size_t) resplen);
-    }else
-    {
-      // SCSI output
-    }
-  }
-
-  return (int32_t) resplen;
 }
 
 #endif
diff --git a/examples/device/msc_dual_lun/src/msc_disk_dual.c b/examples/device/msc_dual_lun/src/msc_disk_dual.c
index b44b77c6c..1f7fb98c7 100644
--- a/examples/device/msc_dual_lun/src/msc_disk_dual.c
+++ b/examples/device/msc_dual_lun/src/msc_disk_dual.c
@@ -55,8 +55,7 @@ If you find any bugs or get any questions, feel free to file an\r\n\
 issue at github.com/hathach/tinyusb"
 
 
-MSC_CONST uint8_t msc_disk0[DISK_BLOCK_NUM][DISK_BLOCK_SIZE] =
-{
+MSC_CONST uint8_t msc_disk0[DISK_BLOCK_NUM][DISK_BLOCK_SIZE] = {
   //------------- Block0: Boot Sector -------------//
   // byte_per_sector    = DISK_BLOCK_SIZE; fat12_sector_num_16  = DISK_BLOCK_NUM;
   // sector_per_cluster = 1; reserved_sectors = 1;
@@ -283,9 +282,11 @@ bool tud_msc_is_writable_cb(uint8_t lun) {
 // Process data in buffer to disk's storage and return number of written bytes
 int32_t tud_msc_write10_cb(uint8_t lun, uint32_t lba, uint32_t offset, uint8_t* buffer, uint32_t bufsize) {
   // out of ramdisk
-  if (lba >= DISK_BLOCK_NUM) return -1;
+  if (lba >= DISK_BLOCK_NUM) {
+    return -1;
+  }
 
-#if defined(CFG_EXAMPLE_MSC_READONLY) || defined(CFG_EXAMPLE_MSC_DUAL_READONLY)
+  #if defined(CFG_EXAMPLE_MSC_READONLY) || defined(CFG_EXAMPLE_MSC_DUAL_READONLY)
   (void) lun;
   (void) lba;
   (void) offset;
@@ -302,11 +303,8 @@ 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 (MUST not be handled here)
 int32_t tud_msc_scsi_cb(uint8_t lun, uint8_t const scsi_cmd[16], void* buffer, uint16_t bufsize) {
-  void const* response = NULL;
-  int32_t resplen = 0;
-
-  // most scsi handled is input
-  bool in_xfer = true;
+  (void) buffer;
+  (void) bufsize;
 
   switch (scsi_cmd[0]) {
     default:
@@ -316,19 +314,6 @@ int32_t tud_msc_scsi_cb(uint8_t lun, uint8_t const scsi_cmd[16], void* buffer, u
       // negative means error -> tinyusb could stall and/or response with failed status
       return -1;
   }
-
-  // return resplen must not larger than bufsize
-  if (resplen > bufsize) resplen = bufsize;
-
-  if (response && (resplen > 0)) {
-    if (in_xfer) {
-      memcpy(buffer, response, (size_t) resplen);
-    } else {
-      // SCSI output
-    }
-  }
-
-  return resplen;
 }
 
 #endif
diff --git a/examples/host/msc_file_explorer/Makefile b/examples/host/msc_file_explorer/Makefile
index c7d6a7cae..f0872376f 100644
--- a/examples/host/msc_file_explorer/Makefile
+++ b/examples/host/msc_file_explorer/Makefile
@@ -22,6 +22,6 @@ SRC_C += \
   $(FATFS_PATH)/ffunicode.c \
 
 # suppress warning caused by fatfs
-CFLAGS += -Wno-error=cast-qual
+CFLAGS_GCC += -Wno-error=cast-qual
 
 include ../../build_system/make/rules.mk
diff --git a/hw/bsp/broadcom_32bit/family.mk b/hw/bsp/broadcom_32bit/family.mk
index a282e9961..9d4a3b76c 100644
--- a/hw/bsp/broadcom_32bit/family.mk
+++ b/hw/bsp/broadcom_32bit/family.mk
@@ -15,7 +15,7 @@ CFLAGS += \
 CROSS_COMPILE = arm-none-eabi-
 
 # mcu driver cause following warnings
-CFLAGS += -Wno-error=cast-qual -Wno-error=redundant-decls
+CFLAGS_GCC += -Wno-error=cast-qual -Wno-error=redundant-decls
 
 SRC_C += \
 	src/portable/synopsys/dwc2/dcd_dwc2.c \
diff --git a/hw/bsp/broadcom_64bit/family.mk b/hw/bsp/broadcom_64bit/family.mk
index 37d381f9f..1ce80e22b 100644
--- a/hw/bsp/broadcom_64bit/family.mk
+++ b/hw/bsp/broadcom_64bit/family.mk
@@ -14,7 +14,7 @@ CFLAGS += \
 CROSS_COMPILE = aarch64-none-elf-
 
 # mcu driver cause following warnings
-CFLAGS += -Wno-error=cast-qual -Wno-error=redundant-decls
+CFLAGS_GCC += -Wno-error=cast-qual -Wno-error=redundant-decls
 
 SRC_C += \
 	src/portable/synopsys/dwc2/dcd_dwc2.c \
diff --git a/hw/bsp/kinetis_k32l2/boards/frdm_k32l2a4s/board.mk b/hw/bsp/kinetis_k32l2/boards/frdm_k32l2a4s/board.mk
index c4dc65b63..fb3eb2a03 100644
--- a/hw/bsp/kinetis_k32l2/boards/frdm_k32l2a4s/board.mk
+++ b/hw/bsp/kinetis_k32l2/boards/frdm_k32l2a4s/board.mk
@@ -3,7 +3,7 @@ MCU = K32L2A41A
 CFLAGS += -DCPU_K32L2A41VLH1A
 
 # mcu driver cause following warnings
-CFLAGS += -Wno-error=unused-parameter -Wno-error=redundant-decls -Wno-error=cast-qual
+CFLAGS_GCC += -Wno-error=unused-parameter -Wno-error=redundant-decls -Wno-error=cast-qual
 
 # All source paths should be relative to the top level.
 LD_FILE = $(MCU_DIR)/gcc/K32L2A41xxxxA_flash.ld
diff --git a/hw/bsp/lpc15/family.mk b/hw/bsp/lpc15/family.mk
index b83e008e8..3b63580c0 100644
--- a/hw/bsp/lpc15/family.mk
+++ b/hw/bsp/lpc15/family.mk
@@ -15,7 +15,7 @@ CFLAGS += \
 LDFLAGS_GCC += -specs=nosys.specs -specs=nano.specs
 
 # mcu driver cause following warnings
-CFLAGS += -Wno-error=strict-prototypes -Wno-error=unused-parameter -Wno-error=unused-variable -Wno-error=cast-qual
+CFLAGS_GCC += -Wno-error=strict-prototypes -Wno-error=unused-parameter -Wno-error=unused-variable -Wno-error=cast-qual
 
 MCU_DIR = hw/mcu/nxp/lpcopen/lpc15xx/lpc_chip_15xx
 
diff --git a/hw/bsp/lpc17/family.mk b/hw/bsp/lpc17/family.mk
index d719a47b7..551eb9e62 100644
--- a/hw/bsp/lpc17/family.mk
+++ b/hw/bsp/lpc17/family.mk
@@ -13,7 +13,7 @@ CFLAGS += \
   -DRTC_EV_SUPPORT=0
 
 # lpc_types.h cause following errors
-CFLAGS += -Wno-error=strict-prototypes -Wno-error=cast-qual
+CFLAGS_GCC += -Wno-error=strict-prototypes -Wno-error=cast-qual
 
 # caused by freeRTOS port !!
 CFLAGS += -Wno-error=maybe-uninitialized
diff --git a/hw/bsp/lpc18/family.mk b/hw/bsp/lpc18/family.mk
index f120f63b2..87b831255 100644
--- a/hw/bsp/lpc18/family.mk
+++ b/hw/bsp/lpc18/family.mk
@@ -12,7 +12,7 @@ CFLAGS += \
   -DCFG_TUSB_MCU=OPT_MCU_LPC18XX
 
 # mcu driver cause following warnings
-CFLAGS += -Wno-error=unused-parameter -Wno-error=cast-qual
+CFLAGS_GCC += -Wno-error=unused-parameter -Wno-error=cast-qual
 
 LDFLAGS_GCC += --specs=nosys.specs --specs=nano.specs
 
diff --git a/hw/bsp/lpc40/family.mk b/hw/bsp/lpc40/family.mk
index ef9fe57b2..06155c760 100644
--- a/hw/bsp/lpc40/family.mk
+++ b/hw/bsp/lpc40/family.mk
@@ -13,7 +13,7 @@ CFLAGS += \
   -DCFG_TUSB_MCU=OPT_MCU_LPC40XX
 
 # mcu driver cause following warnings
-CFLAGS += -Wno-error=strict-prototypes -Wno-error=unused-parameter -Wno-error=cast-qual
+CFLAGS_GCC += -Wno-error=strict-prototypes -Wno-error=unused-parameter -Wno-error=cast-qual
 
 LDFLAGS_GCC += --specs=nosys.specs --specs=nano.specs
 
diff --git a/hw/bsp/lpc43/family.mk b/hw/bsp/lpc43/family.mk
index e1406aae7..4a2ba6ec3 100644
--- a/hw/bsp/lpc43/family.mk
+++ b/hw/bsp/lpc43/family.mk
@@ -5,14 +5,14 @@ include ${TOP}/${BOARD_PATH}/board.mk
 CPU_CORE ?= cortex-m4
 
 CFLAGS += \
-  -flto \
-  -nostdlib \
   -DCORE_M4 \
   -D__USE_LPCOPEN \
   -DCFG_TUSB_MCU=OPT_MCU_LPC43XX
 
 # mcu driver cause following warnings
-CFLAGS += \
+CFLAGS_GCC += \
+  -flto \
+  -nostdlib \
   -Wno-error=unused-parameter \
   -Wno-error=cast-qual \
   -Wno-error=incompatible-pointer-types \
diff --git a/hw/bsp/rp2040/boards/raspberry_pi_pico_w/board.cmake b/hw/bsp/rp2040/boards/raspberry_pi_pico_w/board.cmake
new file mode 100644
index 000000000..97621d855
--- /dev/null
+++ b/hw/bsp/rp2040/boards/raspberry_pi_pico_w/board.cmake
@@ -0,0 +1,2 @@
+set(PICO_PLATFORM rp2040)
+set(PICO_BOARD pico_w)
diff --git a/hw/bsp/rp2040/boards/raspberry_pi_pico_w/board.h b/hw/bsp/rp2040/boards/raspberry_pi_pico_w/board.h
new file mode 100644
index 000000000..8af32fc9e
--- /dev/null
+++ b/hw/bsp/rp2040/boards/raspberry_pi_pico_w/board.h
@@ -0,0 +1,70 @@
+/*
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2025 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.
+ */
+
+/* metadata:
+   name: Pico
+   url: https://www.raspberrypi.com/products/raspberry-pi-pico/
+*/
+
+#ifndef TUSB_BOARD_H
+#define TUSB_BOARD_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+// UART and LED are already defined in pico-sdk board
+
+//--------------------------------------------------------------------+
+// PIO_USB
+//--------------------------------------------------------------------+
+// default to pico brain tester
+#define PICO_DEFAULT_PIO_USB_DP_PIN       20
+#define PICO_DEFAULT_PIO_USB_VBUSEN_PIN   22
+#define PICO_DEFAULT_PIO_USB_VBUSEN_STATE 1
+
+//--------------------------------------------------------------------
+// USB Host MAX3421E
+//--------------------------------------------------------------------
+
+#ifdef PICO_DEFAULT_SPI
+#define MAX3421_SPI      PICO_DEFAULT_SPI // sdk v2
+#else
+#define MAX3421_SPI      PICO_DEFAULT_SPI_INSTANCE // sdk v1
+#endif
+
+#define MAX3421_SCK_PIN  PICO_DEFAULT_SPI_SCK_PIN
+#define MAX3421_MOSI_PIN PICO_DEFAULT_SPI_TX_PIN
+#define MAX3421_MISO_PIN PICO_DEFAULT_SPI_RX_PIN
+#define MAX3421_CS_PIN   10
+#define MAX3421_INTR_PIN 9
+
+
+#ifdef __cplusplus
+ }
+#endif
+
+#endif
diff --git a/hw/bsp/rp2040/skip_ci.txt b/hw/bsp/rp2040/skip_ci.txt
new file mode 100644
index 000000000..fe99c9f65
--- /dev/null
+++ b/hw/bsp/rp2040/skip_ci.txt
@@ -0,0 +1,7 @@
+# boards in this files are skipped when running CI with this family
+adafruit_feather_rp2040_usb_host
+adafruit_fruit_jam
+adafruit_metro_rp2350
+feather_rp2040_max3421
+pico_sdk
+raspberry_pi_pico_w
diff --git a/hw/bsp/stm32f2/boards/stm32f207nucleo/board.mk b/hw/bsp/stm32f2/boards/stm32f207nucleo/board.mk
index ba185d199..6e681ef57 100644
--- a/hw/bsp/stm32f2/boards/stm32f207nucleo/board.mk
+++ b/hw/bsp/stm32f2/boards/stm32f207nucleo/board.mk
@@ -1,12 +1,9 @@
-CFLAGS += \
-  -DSTM32F207xx \
+MCU_VARIANT = stm32f207xx
+CFLAGS += -DSTM32F207xx
 
 # All source paths should be relative to the top level.
 LD_FILE = $(BOARD_PATH)/STM32F207ZGTx_FLASH.ld
 
-SRC_S += \
-  $(ST_CMSIS)/Source/Templates/gcc/startup_stm32f207xx.s
-
 # For flash-jlink target
 JLINK_DEVICE = stm32f207zg
 
diff --git a/hw/bsp/stm32f2/family.mk b/hw/bsp/stm32f2/family.mk
index 7af9a76a0..e8f02548d 100644
--- a/hw/bsp/stm32f2/family.mk
+++ b/hw/bsp/stm32f2/family.mk
@@ -1,5 +1,4 @@
 ST_FAMILY = f2
-
 ST_CMSIS = hw/mcu/st/cmsis_device_$(ST_FAMILY)
 ST_HAL_DRIVER = hw/mcu/st/stm32$(ST_FAMILY)xx_hal_driver
 
@@ -14,11 +13,10 @@ CPU_CORE ?= cortex-m3
 CFLAGS += \
 	-DCFG_TUSB_MCU=OPT_MCU_STM32F2
 
+# mcu driver cause following warnings
 CFLAGS_GCC += \
   -flto \
-
-# mcu driver cause following warnings
-CFLAGS_GCC += -Wno-error=sign-compare
+  -Wno-error=sign-compare
 
 LDFLAGS_GCC += \
   -nostdlib -nostartfiles \
@@ -40,3 +38,10 @@ INC += \
   $(TOP)/$(ST_CMSIS)/Include \
   $(TOP)/$(ST_HAL_DRIVER)/Inc \
   $(TOP)/$(BOARD_PATH)
+
+# Startup
+SRC_S_GCC += $(ST_CMSIS)/Source/Templates/gcc/startup_${MCU_VARIANT}.s
+SRC_S_IAR += $(ST_CMSIS)/Source/Templates/iar/startup_${MCU_VARIANT}.s
+
+# Linker
+LD_FILE_IAR ?= $(ST_CMSIS)/Source/Templates/iar/linker/${MCU_VARIANT}_flash.icf
diff --git a/hw/bsp/stm32f3/boards/stm32f303disco/board.mk b/hw/bsp/stm32f3/boards/stm32f303disco/board.mk
index e387f2d54..6b9a3e283 100644
--- a/hw/bsp/stm32f3/boards/stm32f303disco/board.mk
+++ b/hw/bsp/stm32f3/boards/stm32f303disco/board.mk
@@ -1,12 +1,10 @@
+MCU_VARIANT = stm32f303xc
 CFLAGS += \
   -DSTM32F303xC \
 
 # All source paths should be relative to the top level.
 LD_FILE = $(BOARD_PATH)/STM32F303VCTx_FLASH.ld
 
-SRC_S += \
-  $(ST_CMSIS)/Source/Templates/gcc/startup_stm32f303xc.s
-
 # For flash-jlink target
 JLINK_DEVICE = stm32f303vc
 
diff --git a/hw/bsp/stm32f3/family.mk b/hw/bsp/stm32f3/family.mk
index 4fe3aa99d..13734583a 100644
--- a/hw/bsp/stm32f3/family.mk
+++ b/hw/bsp/stm32f3/family.mk
@@ -1,22 +1,17 @@
 ST_FAMILY = f3
-
 ST_CMSIS = hw/mcu/st/cmsis_device_$(ST_FAMILY)
 ST_HAL_DRIVER = hw/mcu/st/stm32$(ST_FAMILY)xx_hal_driver
 
-DEPS_SUBMODULES += \
-	lib/CMSIS_5 \
-	$(ST_CMSIS) \
-	$(ST_HAL_DRIVER)
-
 include $(TOP)/$(BOARD_PATH)/board.mk
 CPU_CORE ?= cortex-m4
 
 CFLAGS += \
-  -flto \
   -DCFG_TUSB_MCU=OPT_MCU_STM32F3
 
 # mcu driver cause following warnings
-CFLAGS += -Wno-error=unused-parameter
+CFLAGS_GCC += \
+  -flto \
+  -Wno-error=unused-parameter
 
 LDFLAGS_GCC += \
   -nostdlib -nostartfiles \
@@ -36,3 +31,10 @@ INC += \
   $(TOP)/$(ST_CMSIS)/Include \
   $(TOP)/$(ST_HAL_DRIVER)/Inc \
   $(TOP)/$(BOARD_PATH)
+
+# Startup
+SRC_S_GCC += $(ST_CMSIS)/Source/Templates/gcc/startup_${MCU_VARIANT}.s
+SRC_S_IAR += $(ST_CMSIS)/Source/Templates/iar/startup_${MCU_VARIANT}.s
+
+# Linker
+LD_FILE_IAR ?= $(ST_CMSIS)/Source/Templates/iar/linker/${MCU_VARIANT}_flash.icf
diff --git a/hw/bsp/stm32f4/family.mk b/hw/bsp/stm32f4/family.mk
index 51ff43a60..c3c41dc3f 100644
--- a/hw/bsp/stm32f4/family.mk
+++ b/hw/bsp/stm32f4/family.mk
@@ -1,6 +1,5 @@
 UF2_FAMILY_ID = 0x57755a57
 ST_FAMILY = f4
-DEPS_SUBMODULES += lib/CMSIS_5 hw/mcu/st/cmsis_device_$(ST_FAMILY) hw/mcu/st/stm32$(ST_FAMILY)xx_hal_driver
 
 ST_CMSIS = hw/mcu/st/cmsis_device_$(ST_FAMILY)
 ST_HAL_DRIVER = hw/mcu/st/stm32$(ST_FAMILY)xx_hal_driver
diff --git a/hw/bsp/stm32h7/boards/stm32h743eval/board.h b/hw/bsp/stm32h7/boards/stm32h743eval/board.h
index 334876e51..7c3f6414a 100644
--- a/hw/bsp/stm32h7/boards/stm32h743eval/board.h
+++ b/hw/bsp/stm32h7/boards/stm32h743eval/board.h
@@ -184,7 +184,7 @@ static MFXSTM32L152_Object_t  mfx_obj = { 0 };
 static MFXSTM32L152_IO_Mode_t* mfx_io = NULL;
 static uint32_t mfx_vbus_pin[2] = { MFXSTM32L152_GPIO_PIN_7, MFXSTM32L152_GPIO_PIN_9 };
 
-int32_t board_i2c_init(void) {
+static int32_t board_i2c_init(void) {
   __HAL_RCC_I2C1_CLK_ENABLE();
   __HAL_RCC_I2C1_FORCE_RESET();
   __HAL_RCC_I2C1_RELEASE_RESET();
@@ -200,16 +200,16 @@ int32_t board_i2c_init(void) {
   return 0;
 }
 
-int32_t board_i2c_deinit(void) {
+static int32_t board_i2c_deinit(void) {
   return 0;
 }
 
-int32_t i2c_readreg(uint16_t DevAddr, uint16_t Reg, uint8_t *pData, uint16_t Length) {
+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;
 }
 
-int32_t i2c_writereg(uint16_t DevAddr, uint16_t Reg, uint8_t *pData, uint16_t Length) {
+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;
 }
@@ -249,7 +249,7 @@ static inline void board_init2(void) {
 }
 
 // VBUS1 is actually controlled by USB3320C PHY (using dwc2 drivebus signal)
-void board_vbus_set(uint8_t rhport, bool state) {
+static void TU_ATTR_UNUSED board_vbus_set(uint8_t rhport, bool state) {
   if (mfx_io) {
     mfx_io->IO_WritePin(&mfx_obj, mfx_vbus_pin[rhport], state);
   }
diff --git a/hw/bsp/stm32h7/family.c b/hw/bsp/stm32h7/family.c
index e5228b29b..f8723b0c7 100644
--- a/hw/bsp/stm32h7/family.c
+++ b/hw/bsp/stm32h7/family.c
@@ -80,7 +80,7 @@ void OTG_HS_IRQHandler(void) {
 }
 
 #ifdef TRACE_ETM
-void trace_etm_init(void) {
+static void trace_etm_init(void) {
   // H7 trace pin is PE2 to PE6
   GPIO_InitTypeDef  gpio_init;
   gpio_init.Pin       = GPIO_PIN_2 | GPIO_PIN_3 | GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6;
@@ -94,7 +94,7 @@ void trace_etm_init(void) {
   DBGMCU->CR |= DBGMCU_CR_DBG_TRACECKEN | DBGMCU_CR_DBG_CKD1EN | DBGMCU_CR_DBG_CKD3EN;
 }
 #else
-  #define trace_etm_init()
+#define trace_etm_init()
 #endif
 
 void board_init(void) {
diff --git a/hw/bsp/stm32h7/family.mk b/hw/bsp/stm32h7/family.mk
index 29b83cf7d..19a085424 100644
--- a/hw/bsp/stm32h7/family.mk
+++ b/hw/bsp/stm32h7/family.mk
@@ -45,11 +45,9 @@ CFLAGS += \
 	-DBOARD_TUH_MAX_SPEED=${RHPORT_HOST_SPEED} \
 
 # GCC Flags
-CFLAGS_GCC += \
-  -flto \
-
 # suppress warning caused by vendor mcu driver
 CFLAGS_GCC += \
+  -flto \
   -Wno-error=cast-align \
   -Wno-error=unused-parameter \
 
diff --git a/hw/bsp/stm32l0/boards/stm32l052dap52/board.mk b/hw/bsp/stm32l0/boards/stm32l052dap52/board.mk
index 0b1348474..e63b41f12 100644
--- a/hw/bsp/stm32l0/boards/stm32l052dap52/board.mk
+++ b/hw/bsp/stm32l0/boards/stm32l052dap52/board.mk
@@ -1,10 +1,9 @@
+MCU_VARIANT = stm32l052xx
 CFLAGS += \
 	-DSTM32L052xx
 
 LD_FILE = $(BOARD_PATH)/STM32L052K8Ux_FLASH.ld
 
-SRC_S += $(ST_CMSIS)/Source/Templates/gcc/startup_stm32l052xx.s
-
 # For flash-jlink target
 JLINK_DEVICE = stm32l052k8
 
diff --git a/hw/bsp/stm32l0/boards/stm32l0538disco/board.mk b/hw/bsp/stm32l0/boards/stm32l0538disco/board.mk
index deed519ba..f3e6978b0 100644
--- a/hw/bsp/stm32l0/boards/stm32l0538disco/board.mk
+++ b/hw/bsp/stm32l0/boards/stm32l0538disco/board.mk
@@ -1,12 +1,10 @@
+MCU_VARIANT = stm32l053xx
 CFLAGS += \
   -DSTM32L053xx
 
 # All source paths should be relative to the top level.
 LD_FILE = $(BOARD_PATH)/STM32L053C8Tx_FLASH.ld
 
-SRC_S += \
-  $(ST_CMSIS)/Source/Templates/gcc/startup_stm32l053xx.s
-
 # For flash-jlink target
 JLINK_DEVICE = STM32L053R8
 
diff --git a/hw/bsp/stm32l0/family.mk b/hw/bsp/stm32l0/family.mk
index fe7561fc2..921b1b413 100644
--- a/hw/bsp/stm32l0/family.mk
+++ b/hw/bsp/stm32l0/family.mk
@@ -1,9 +1,4 @@
 ST_FAMILY = l0
-DEPS_SUBMODULES += \
-	lib/CMSIS_5 \
-	hw/mcu/st/cmsis_device_$(ST_FAMILY) \
-	hw/mcu/st/stm32$(ST_FAMILY)xx_hal_driver
-
 ST_CMSIS = hw/mcu/st/cmsis_device_$(ST_FAMILY)
 ST_HAL_DRIVER = hw/mcu/st/stm32$(ST_FAMILY)xx_hal_driver
 
@@ -11,20 +6,17 @@ include $(TOP)/$(BOARD_PATH)/board.mk
 CPU_CORE ?= cortex-m0plus
 
 CFLAGS += \
-  -flto \
   -DCFG_EXAMPLE_MSC_READONLY \
   -DCFG_EXAMPLE_VIDEO_READONLY \
   -DCFG_TUSB_MCU=OPT_MCU_STM32L0
 
 # mcu driver cause following warnings
 CFLAGS_GCC += \
+  -flto \
 	-Wno-error=unused-parameter \
 	-Wno-error=redundant-decls \
 	-Wno-error=cast-align \
-
-ifeq ($(TOOLCHAIN),gcc)
-CFLAGS_GCC += -Wno-error=maybe-uninitialized
-endif
+	-Wno-error=maybe-uninitialized \
 
 CFLAGS_CLANG += \
   -Wno-error=parentheses-equality
@@ -48,3 +40,10 @@ INC += \
   $(TOP)/lib/CMSIS_5/CMSIS/Core/Include \
   $(TOP)/$(ST_CMSIS)/Include \
   $(TOP)/$(ST_HAL_DRIVER)/Inc
+
+# Startup
+SRC_S_GCC += $(ST_CMSIS)/Source/Templates/gcc/startup_${MCU_VARIANT}.s
+SRC_S_IAR += $(ST_CMSIS)/Source/Templates/iar/startup_${MCU_VARIANT}.s
+
+# Linker
+LD_FILE_IAR ?= $(ST_CMSIS)/Source/Templates/iar/linker/$(MCU_VARIANT)_flash.icf
diff --git a/hw/bsp/stm32u5/boards/b_u585i_iot2a/board.mk b/hw/bsp/stm32u5/boards/b_u585i_iot2a/board.mk
index ae63afef3..0a2c47030 100644
--- a/hw/bsp/stm32u5/boards/b_u585i_iot2a/board.mk
+++ b/hw/bsp/stm32u5/boards/b_u585i_iot2a/board.mk
@@ -1,11 +1,9 @@
+MCU_VARIANT = stm32u585xx
 CFLAGS += \
   -DSTM32U585xx \
 
 # All source paths should be relative to the top level.
 LD_FILE = ${FAMILY_PATH}/linker/STM32U575xx_FLASH.ld
 
-SRC_S += $(ST_CMSIS)/Source/Templates/gcc/startup_stm32u575xx.s
-
-MCU_VARIANT = stm32u585xx
 # For flash-jlink target
 JLINK_DEVICE = stm32u585zi
diff --git a/hw/bsp/stm32u5/boards/stm32u545nucleo/board.mk b/hw/bsp/stm32u5/boards/stm32u545nucleo/board.mk
index 072c595fb..0aba57ce4 100644
--- a/hw/bsp/stm32u5/boards/stm32u545nucleo/board.mk
+++ b/hw/bsp/stm32u5/boards/stm32u545nucleo/board.mk
@@ -1,11 +1,9 @@
+MCU_VARIANT = stm32u545xx
 CFLAGS += \
   -DSTM32U545xx \
 
 # All source paths should be relative to the top level.
 LD_FILE = ${FAMILY_PATH}/linker/STM32U545xx_FLASH.ld
 
-SRC_S += $(ST_CMSIS)/Source/Templates/gcc/startup_stm32u545xx.s
-
-MCU_VARIANT = stm32u545xx
 # For flash-jlink target
 JLINK_DEVICE = stm32u545re
diff --git a/hw/bsp/stm32u5/boards/stm32u575eval/board.mk b/hw/bsp/stm32u5/boards/stm32u575eval/board.mk
index fee56f2ba..4bc9fea10 100644
--- a/hw/bsp/stm32u5/boards/stm32u575eval/board.mk
+++ b/hw/bsp/stm32u5/boards/stm32u575eval/board.mk
@@ -1,11 +1,9 @@
+MCU_VARIANT = stm32u575xx
 CFLAGS += \
   -DSTM32U575xx \
 
 # All source paths should be relative to the top level.
 LD_FILE = ${FAMILY_PATH}/linker/STM32U575xx_FLASH.ld
 
-SRC_S += $(ST_CMSIS)/Source/Templates/gcc/startup_stm32u575xx.s
-
-MCU_VARIANT = stm32u575xx
 # For flash-jlink target
 JLINK_DEVICE = stm32u575ai
diff --git a/hw/bsp/stm32u5/boards/stm32u575nucleo/board.mk b/hw/bsp/stm32u5/boards/stm32u575nucleo/board.mk
index c83ec3999..d09dc5c46 100644
--- a/hw/bsp/stm32u5/boards/stm32u575nucleo/board.mk
+++ b/hw/bsp/stm32u5/boards/stm32u575nucleo/board.mk
@@ -1,11 +1,9 @@
+MCU_VARIANT = stm32u575xx
 CFLAGS += \
   -DSTM32U575xx \
 
 # All source paths should be relative to the top level.
 LD_FILE = ${FAMILY_PATH}/linker/STM32U575xx_FLASH.ld
 
-SRC_S += $(ST_CMSIS)/Source/Templates/gcc/startup_stm32u575xx.s
-
-MCU_VARIANT = stm32u575xx
 # For flash-jlink target
 JLINK_DEVICE = stm32u575zi
diff --git a/hw/bsp/stm32u5/boards/stm32u5a5nucleo/board.mk b/hw/bsp/stm32u5/boards/stm32u5a5nucleo/board.mk
index 4bebe3330..c9fdbac1a 100644
--- a/hw/bsp/stm32u5/boards/stm32u5a5nucleo/board.mk
+++ b/hw/bsp/stm32u5/boards/stm32u5a5nucleo/board.mk
@@ -1,3 +1,4 @@
+MCU_VARIANT = stm32u5a5xx
 CFLAGS += \
   -DSTM32U5A5xx \
   -DHSE_VALUE=16000000UL \
@@ -5,8 +6,5 @@ CFLAGS += \
 # All source paths should be relative to the top level.
 LD_FILE = ${BOARD_PATH}/STM32U5A5ZJTXQ_FLASH.ld
 
-SRC_S += $(ST_CMSIS)/Source/Templates/gcc/startup_stm32u5a5xx.s
-
-MCU_VARIANT = stm32u5a5xx
 # For flash-jlink target
 JLINK_DEVICE = stm32u575zi
diff --git a/hw/bsp/stm32u5/family.mk b/hw/bsp/stm32u5/family.mk
index 05fe4608a..7fc728dcf 100644
--- a/hw/bsp/stm32u5/family.mk
+++ b/hw/bsp/stm32u5/family.mk
@@ -57,5 +57,12 @@ INC += \
 	$(TOP)/$(ST_HAL_DRIVER)/Inc \
 	$(TOP)/$(BOARD_PATH)
 
+# Startup
+SRC_S_GCC += $(ST_CMSIS)/Source/Templates/gcc/startup_$(MCU_VARIANT).s
+SRC_S_IAR += $(ST_CMSIS)/Source/Templates/iar/startup_$(MCU_VARIANT).s
+
+# Linker
+LD_FILE_IAR ?= $(ST_CMSIS)/Source/Templates/iar/linker/$(MCU_VARIANT)_flash.icf
+
 # flash target using on-board stlink
 flash: flash-stlink
diff --git a/hw/bsp/stm32wb/family.mk b/hw/bsp/stm32wb/family.mk
index de8372eea..a80ff6f5b 100644
--- a/hw/bsp/stm32wb/family.mk
+++ b/hw/bsp/stm32wb/family.mk
@@ -9,14 +9,12 @@ include $(TOP)/$(BOARD_PATH)/board.mk
 CPU_CORE ?= cortex-m4
 
 CFLAGS += \
-  -flto \
-  -nostdlib -nostartfiles \
   -DCFG_TUSB_MCU=OPT_MCU_STM32WB
 
-# suppress warning caused by vendor mcu driver
-CFLAGS += -Wno-error=cast-align -Wno-unused-parameter
-
-LD_FILE ?= ${ST_CMSIS}/Source/Templates/gcc/linker/${MCU_VARIANT}_flash_cm4.ld
+CFLAGS_GCC += \
+  -flto \
+  -nostdlib -nostartfiles \
+	-Wno-error=cast-align -Wno-unused-parameter
 
 LDFLAGS_GCC += -specs=nosys.specs -specs=nano.specs
 
@@ -25,19 +23,26 @@ SRC_C += \
 	$(ST_CMSIS)/Source/Templates/system_${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.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_gpio.c
 
-SRC_S += $(ST_CMSIS)/Source/Templates/gcc/startup_${MCU_VARIANT}_cm4.s
-
 INC += \
 	$(TOP)/$(BOARD_PATH) \
 	$(TOP)/lib/CMSIS_5/CMSIS/Core/Include \
 	$(TOP)/$(ST_CMSIS)/Include \
 	$(TOP)/$(ST_HAL_DRIVER)/Inc
 
+# Startup
+SRC_S_GCC += $(ST_CMSIS)/Source/Templates/gcc/startup_$(MCU_VARIANT)_cm4.s
+SRC_S_IAR += $(ST_CMSIS)/Source/Templates/iar/startup_$(MCU_VARIANT)_cm4.s
+
+# Linker
+LD_FILE_GCC ?= ${ST_CMSIS}/Source/Templates/gcc/linker/${MCU_VARIANT}_flash_cm4.ld
+LD_FILE_IAR ?= $(ST_CMSIS)/Source/Templates/iar/linker/$(MCU_VARIANT)_flash_cm4.icf
+
 # flash target using on-board stlink
 flash: flash-stlink
diff --git a/src/class/msc/msc_device.c b/src/class/msc/msc_device.c
index 6670045aa..87c77c9a7 100644
--- a/src/class/msc/msc_device.c
+++ b/src/class/msc/msc_device.c
@@ -344,7 +344,7 @@ bool mscd_xfer_cb(uint8_t rhport, uint8_t ep_addr, xfer_result_t event, uint32_t
   msc_csw_t * p_csw = &p_msc->csw;
 
   switch (p_msc->stage) {
-    case MSC_STAGE_CMD:
+    case MSC_STAGE_CMD: {
       //------------- new CBW received -------------//
       // Complete IN while waiting for CMD is usually Status of previous SCSI op, ignore it
       if (ep_addr != p_msc->ep_out) {
@@ -441,7 +441,8 @@ bool mscd_xfer_cb(uint8_t rhport, uint8_t ep_addr, xfer_result_t event, uint32_t
           }
         }
       }
-    break;
+      break;
+    }
 
     case MSC_STAGE_DATA:
       TU_LOG_DRV("  SCSI Data [Lun%u]\r\n", p_cbw->lun);
diff --git a/test/hil/hil_test.py b/test/hil/hil_test.py
index 14ab4e63a..f292bca15 100755
--- a/test/hil/hil_test.py
+++ b/test/hil/hil_test.py
@@ -543,7 +543,7 @@ def test_example(board, f1, example):
         print(f'Flashing {fw_name}.elf')
 
     # flash firmware. It may fail randomly, retry a few times
-    max_rety = 2
+    max_rety = 3
     for i in range(max_rety):
         ret = globals()[f'flash_{board["flasher"]["name"].lower()}'](board, fw_name)
         if ret.returncode == 0:
diff --git a/test/hil/tinyusb.json b/test/hil/tinyusb.json
index 8f39eb32e..8a835e4c0 100644
--- a/test/hil/tinyusb.json
+++ b/test/hil/tinyusb.json
@@ -126,6 +126,20 @@
                 "args": "-f interface/cmsis-dap.cfg -f target/rp2040.cfg -c \"adapter speed 5000\""
             }
         },
+        {
+            "name": "raspberry_pi_pico_w",
+            "uid": "E6614C311B764A37",
+            "tests": {
+                "device": false, "host": true, "dual": false,
+                "dev_attached": [{"vid_pid": "1a86_55d4", "serial": "52D2023934"}]
+            },
+            "flasher": {
+                "name": "openocd",
+                "uid": "E6633861A3819D38",
+                "args": "-f interface/cmsis-dap.cfg -f target/rp2040.cfg -c \"adapter speed 5000\""
+            },
+            "comment": "Test native host"
+        },
         {
             "name": "raspberry_pi_pico2",
             "uid": "560AE75E1C7152C9",
diff --git a/tools/build.py b/tools/build.py
index 633d2b582..d28ddd929 100755
--- a/tools/build.py
+++ b/tools/build.py
@@ -182,9 +182,14 @@ def build_boards_list(boards, toolchain, build_system, build_flags_on):
 
 
 def build_family(family, toolchain, build_system, build_flags_on, one_per_family, boards):
+    skip_ci = ['pico_sdk']
+    if os.getenv('GITHUB_ACTIONS') or os.getenv('CIRCLECI'):
+        skip_ci_file = Path(f"hw/bsp/{family}/skip_ci.txt")
+        if skip_ci_file.exists():
+            skip_ci = skip_ci_file.read_text().split()
     all_boards = []
     for entry in os.scandir(f"hw/bsp/{family}/boards"):
-        if entry.is_dir() and entry.name != 'pico_sdk':
+        if entry.is_dir() and not entry.name in skip_ci:
             all_boards.append(entry.name)
     all_boards.sort()