| # 0.21.0 |
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| *June 29, 2026* |
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| ## General |
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| ### New MCUs and Boards |
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| - Add HPMicro HPM6xxx support with HPM6750EVK2 board |
| - Add NXP RW61x (RW612, ChipIdea high-speed) support |
| - Add Artery AT32F45x series support |
| - Add STM32C5 series support |
| - Add Espressif ESP32-S31 (high-speed) support |
| - Add WCH CH582/CH583 (USBFS) support |
| - Add CH32V103 USB device support (combined-control USBFS) with CH32V103C8T6 Bluepill board |
| - Add FreeRTOS support for RP2040/RP2350 |
| - New boards: nRF54LM20-DK, WeAct STM32H743, EK-TM4C1294XL, STM32H747-DISCO, NUCLEO-H533RE |
| - Migrate i.MX RT to the new `mcux-devices-rt` SDK package |
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| ### Code Quality and Build |
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| - Major refactor of dedicated hardware-FIFO (HWFIFO) handling: omit per-endpoint RAM buffers on ports with a dedicated hardware FIFO, add stride-aware FIFO access, and store raw bytes in `tusb_fifo` |
| - Reduce code size via control/descriptor and stream refactors, and remove `snprintf` usage |
| - Remove IAR toolchain support from the Make build; add IAR warning flags and resolve warnings in CMake |
| - Fix Zephyr build with nrfx v4, C++/`-Werror=extra` builds, and various `-Wconversion` warnings |
| - Update FatFS to R0.16 |
| - Fix the fuzzing harness |
| - Various BSP fixes (STM32H5 UID read with ICACHE, STM32F411 Black Pill HSE, RT1011 data cache, Teensy) |
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| ### Documentation |
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| - Add a README for every example and `build-doc` tooling |
| - Add Sponsors section and `FUNDING` configuration |
| - Various README/doc fixes (FTDI host, STM32C071 Nucleo URL, Supported CPUs table) |
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| ## API Changes |
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| - Add `is_isr` parameter to `dcd_edpt_xfer`, `dcd_edpt_xfer_fifo`, `usbd_edpt_xfer` and `usbd_edpt_xfer_fifo` |
| - Remove the no-FIFO mode from the endpoint stream API |
| - Add `tud_vendor_write_clear()` to forcefully clear the TX buffer |
| - Add `tud_midi_n_demux_stream_read()` cable-aware MIDI stream read |
| - Add `CFG_TUH_HID_SET_PROTOCOL_ON_ENUM` host HID option |
| - Add `CFG_TUSB_DEBUG_BREAKPOINT` hook for `TU_BREAKPOINT` |
| - Add ThreadX OSAL support |
| - `tud_task_ext()` / `tuh_task_ext()` now limit the number of events processed per call |
| - Replace `CFG_TUD_NET_ENDPOINT_SIZE` with the descriptor-based endpoint size |
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| ## Device Stack |
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| ### USBD Core |
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| - Refactor and validate device descriptor handling; move control transfer handling into `usbd.c` |
| - Use the EP0 buffer directly when large enough; clamp EP0 OUT data copy to the control buffer |
| - Fix stream write logic/racing without FIFO; fix zero `wLength` control request |
| - Fix ISO OUT endpoint failure on alt-setting MPS change |
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| ### Audio |
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| - Fix `audiod_open` with MIDI interfaces |
| - Fix big-endian bitfield guards for audio structs and endian-safe `wValue`/`wIndex` extraction in UAC2 examples |
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| ### CDC |
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| - Remove `tud_cdc_configure` |
| - Fix CDC echo test issue on i.MX RT and fast MCUs |
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| ### HID |
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| - Bound item size to remaining length in the report-descriptor parser |
| - Remove host enumeration assumption; add `CFG_TUH_HID_SET_PROTOCOL_ON_ENUM` |
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| ### MIDI |
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| - Add USB-MIDI 2.0 device and host class drivers |
| - Add cable-aware stream read `tud_midi_n_demux_stream_read()` |
| - Fix MIDI host issue |
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| ### MSC |
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| - Skip the command stage if the OUT endpoint is stalled |
| - Cap `tud_msc_scsi_cb` buffer size to the endpoint buffer size |
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| ### MTP |
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| - Fix transfer completion detection for exact-length packets; queue ZLP when needed |
| - Fix premature phase change after a short OUT transfer; fixes in `add_string` |
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| ### Network (NCM) |
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| - Fix NCM state on restart |
| - Support `SetEthernetPacketFilter` and `SetNtbInputSize` requests |
| - Add a weak callback for the initial link state |
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| ### Video (UVC) |
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| - Fix VC interface parsing when `bNumEndpoints` != 0 |
| - Assert the `usbd_edpt_iso_activate()` result |
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| ### DFU |
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| - Fix the DFU functional descriptor version (1.0.1 → 1.1.0) |
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| ### Printer |
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| - Add the USB Printer device class driver |
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| ### Vendor |
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| - Omit the endpoint buffer for ports with a dedicated hardware FIFO |
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| ## Host Stack |
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| - Fully asynchronous host code: remove blocking delays from `tuh_task_ext()`, respect its `timeout_ms`, and avoid stalling one device while another enumerates |
| - Add an async control-transfer FIFO so queued control transfers are dispatched instead of dropped |
| - Hub enumeration reliability improvements; add MTT hub support |
| - Support full-speed host with a high-speed PHY (DWC2) |
| - Fix FTDI host multi-channel loop |
| - CDC host: use a local control buffer; fix `cdch_open` typo |
| - Big-endian host support for SETUP packet handling |
| - Use `TUSB_ROLE_HOST` in host stack initialization |
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| ## Controller Driver (DCD & HCD) |
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| ### DWC2 |
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| - Add `dcd_configure` for FIFO config and DWC2 deinit support |
| - Support full-speed host operation on a high-speed PHY |
| - Vbus sensing enhancement; do not modify FS PHY registers on HS PHY (ESP32-P4) |
| - Fix HCD TX FIFO full check, ISO IN endpoint disabled after incomplete transfer, and EP0 status completion before SETUP |
| - Submit SETUP on SETUP_DONE and handle v3.10a spurious RX_COMPLETE (STM32L476) |
| - HCD: correct HFIR for low-speed devices via internal FS PHY; fix split-IN NAK storm and UART starvation (STM32F723) |
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| ### FSDEV (STM32 / CH32) |
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| - Add FSDEV host (HCD) driver |
| - Refactor FSDEV; share the PMA errata delay helper between DCD/HCD with overridable timing |
| - Fix single-buffered isochronous endpoint cases, STM32U0 data stride, and PMA pointer advance on ring-buffer wrap |
| - Fix CH32V20x enumeration by enabling the D+ pull-up; work around CH32 EP0 premature OUT ACK |
| - Do not enable the unused USB wakeup EXTI IRQ (F1/F3/G4/L1) |
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| ### MUSB |
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| - Enhance driver: double packet, EP0 refactor, fix DATAEND race with EP0 |
| - Fix ZLP IN transfer, RXRDY clearing, and defer EP0 SETUP during the DATA_IN/STATUS race |
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| ### RP2040 / RP2350 |
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| - Refactor RP2 driver |
| - HCD rework: EPX for non-interrupt endpoints and ping-pong double buffering |
| - Fix RP2350 hard fault in unaligned memcpy to USB DPRAM |
| - Host: fix OUT-data control transfers sending DATA0 instead of DATA1 |
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| ### CH32 USBFS / USBHS (WCH) |
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| - Fix dropped bulk OUT packets by re-arming the EP_RX_CTRL state (usbfs) |
| - Fix endpoint stall length index and clear-stall response (usbhs) |
| - Fix CH32V103 hard fault |
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| ### RUSB2 / SAMx7x |
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| - Fix RUSB2 FIFO write |
| - Refresh `dcd_samx7x` |
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| ### New host controllers |
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| - Add NXP IP3516 HCD (EHCI-like) |
| - Add MTT (multi-TT) hub support |
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| ### nRF5x |
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| - Request HFCLK in `USB_EVT_READY` to fix the post-SoftDevice deadlock |
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| ## Testing |
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| - Expand Hardware-in-the-Loop (HIL) coverage (MTP, audio, throughput; nanoch32v203, ch32v103, stm32u083nucleo, tm4c123x) and post pass/fail/skip HIL reports as PR comments |
| - Add MemBrowse code-size CI integration and size-difference reporting |
| - Add automated Claude Code PR review and bug-fix CI workflows |
| - Add `hil`, `code-size`, `pvs`, `usbmon` and `build-doc` developer skills |
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| ## Contributors |
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| Thanks to everyone who contributed to this release: @Alex-Schaefer, @alt-0191, @andrewleech, @armusin, @bdolgov, @BrentK-ADI, @ceedriic, @chenzhihong007, @dangfan, @DavidKorczynski, @dinsfire64, @dxbjavid, @embedded-ideas, @felhub, @gab-k, @gabChouin, @HakanL, @hathach, @HiFiPhile, @igi540, @IntegraSources, @kira-live, @LeZerb, @michael-membrowse, @michaelajax, @mickabrig7, @Milek7, @morse-cedricvandenbergh, @nminaylov, @non-bin, @Phozer, @remiberthoz, @renjieah, @rhgndf, @RobertDaleSmith, @roma-jam, @sauloverissimo, @sgrunza-at-BadgerMeter, @sidcha, @StefanOroel, @Tails86, @thamul, @tore-espressif, @UMRnInside, @ValentiWorkLearning, @verylowfreq, @wjklimek1, @YixingShen, @zhiqiang-ch, @zjzhang-cn. |
