Merge noOS and FreeRTOS examples

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[github-actions]

Size Difference Report

Because TinyUSB code size varies by port and configuration, the metrics below represent the averaged totals across all example builds.

Note: If there is no change, only one value is shown.

Changes >1% in size

file	.text	.rodata	.data	.bss	size	% diff
audio_device.c	2885 ➙ 2924 (+39)	0	1252 ➙ 1276 (+24)	1621 ➙ 1751 (+130)	4501 ➙ 4670 (+169)	+3.8%
cdc_host.c	6479 ➙ 6460 (-19)	487	15	946 ➙ 879 (-67)	7639 ➙ 7553 (-86)	-1.1%
dcd_lpc17_40.c	1842 ➙ 1901 (+59)	0	0	792 ➙ 790 (-2)	2238 ➙ 2296 (+58)	+2.6%
ehci.c	2763	0	0	6274 ➙ 6043 (-231)	7783 ➙ 7597 (-186)	-2.4%
hcd_ci_hs.c	186 ➙ 192 (+6)	0	0	0	186 ➙ 192 (+6)	+3.2%
hid_host.c	1247 ➙ 1241 (-6)	0	0	1288 ➙ 1155 (-133)	2534 ➙ 2396 (-138)	-5.4%
midi_device.c	1148 ➙ 1131 (-17)	0	1007 ➙ 990 (-17)	614 ➙ 566 (-48)	1759 ➙ 1695 (-64)	-3.6%
ohci.c	1925 ➙ 1966 (+41)	0	0	2503 ➙ 2414 (-89)	4428 ➙ 4380 (-48)	-1.1%
tusb.c	449 ➙ 438 (-11)	0	389 ➙ 376 (-13)	3	451 ➙ 440 (-11)	-2.4%
tusb_fifo.c	855 ➙ 833 (-22)	0	486 ➙ 456 (-30)	0	850 ➙ 828 (-22)	-2.6%
usbh.c	4979 ➙ 4898 (-81)	57 ➙ 48 (-9)	81 ➙ 58 (-23)	1173 ➙ 1174 (+1)	6256 ➙ 6150 (-106)	-1.7%
TOTAL	24758 ➙ 24747 (-11)	544 ➙ 535 (-9)	3230 ➙ 3171 (-59)	15214 ➙ 14775 (-439)	38625 ➙ 38197 (-428)	-1.1%

Changes <1% in size

file	.text	.rodata	.data	.bss	size	% diff
cdc_device.c	1235 ➙ 1229 (-6)	16	1092 ➙ 1085 (-7)	722 ➙ 716 (-6)	1955 ➙ 1943 (-12)	-0.6%
dcd_ci_fs.c	1955 ➙ 1956 (+1)	0	0	1290	3245 ➙ 3246 (+1)	+0.0%
dcd_ci_hs.c	1932 ➙ 1940 (+8)	0	0	779 ➙ 781 (+2)	2712 ➙ 2720 (+8)	+0.3%
dcd_da146xx.c	3067 ➙ 3070 (+3)	0	0	144	3211 ➙ 3214 (+3)	+0.1%
dcd_dwc2.c	4230 ➙ 4234 (+4)	19	0	265	4514 ➙ 4517 (+3)	+0.1%
dcd_lpc_ip3511.c	1580 ➙ 1592 (+12)	0	0	264	1800 ➙ 1812 (+12)	+0.7%
dcd_mm32f327x_otg.c	1474 ➙ 1476 (+2)	0	0	1290	2764 ➙ 2766 (+2)	+0.1%
dcd_musb.c	2667 ➙ 2669 (+2)	0	0	179	2846 ➙ 2848 (+2)	+0.1%
dcd_nrf5x.c	2974 ➙ 2984 (+10)	0	0	292	3266 ➙ 3276 (+10)	+0.3%
dcd_nuc120.c	1096 ➙ 1102 (+6)	0	0	78	1174 ➙ 1180 (+6)	+0.5%
dcd_nuc121.c	1170 ➙ 1172 (+2)	0	0	101	1271 ➙ 1272 (+1)	+0.1%
dcd_nuc505.c	0	0	1533 ➙ 1542 (+9)	157	1690 ➙ 1699 (+9)	+0.5%
dcd_rp2040.c	1004 ➙ 1000 (-4)	0	764	653 ➙ 654 (+1)	2420 ➙ 2418 (-2)	-0.1%
dcd_samd.c	1071 ➙ 1077 (+6)	0	0	266	1337 ➙ 1343 (+6)	+0.4%
dcd_samg.c	1326 ➙ 1339 (+13)	0	0	72	1398 ➙ 1411 (+13)	+0.9%
dcd_stm32_fsdev.c	2568 ➙ 2571 (+3)	0	0	291	2859 ➙ 2862 (+3)	+0.1%
hcd_dwc2.c	5071 ➙ 5080 (+9)	25	1	545	5642 ➙ 5650 (+8)	+0.1%
hcd_musb.c	3071 ➙ 3077 (+6)	0	0	157	3228 ➙ 3234 (+6)	+0.2%
hcd_stm32_fsdev.c	3248 ➙ 3254 (+6)	0	1	420	3670 ➙ 3674 (+4)	+0.1%
hid_device.c	1121 ➙ 1125 (+4)	44	997 ➙ 1002 (+5)	119 ➙ 127 (+8)	1240 ➙ 1252 (+12)	+1.0%
msc_device.c	2522 ➙ 2506 (-16)	108	2293 ➙ 2272 (-21)	802 ➙ 843 (+41)	3325 ➙ 3348 (+23)	+0.7%
msc_host.c	1625 ➙ 1628 (+3)	0	0	395	2020 ➙ 2023 (+3)	+0.1%
rp2040_usb.c	386 ➙ 389 (+3)	35	632 ➙ 629 (-3)	11	1065 ➙ 1064 (-1)	-0.1%
usbd.c	3708 ➙ 3695 (-13)	57 ➙ 56 (-1)	92 ➙ 83 (-9)	354 ➙ 344 (-10)	4126 ➙ 4094 (-32)	-0.8%
TOTAL	50101 ➙ 50165 (+64)	304 ➙ 303 (-1)	7405 ➙ 7379 (-26)	9646 ➙ 9682 (+36)	62778 ➙ 62866 (+88)	+0.1%

No changes

file	.text	.rodata	.data	.bss	size	% diff
dcd_ch32_usbfs.c	1708	0	0	1364	3072	+0.0%
dcd_ch32_usbhs.c	1922	0	0	481	2404	+0.0%
dcd_eptri.c	2281	0	0	259	2540	+0.0%
dcd_ft9xx.c	3284	0	0	172	3456	+0.0%
dcd_msp430x5xx.c	1801	0	0	176	1977	+0.0%
dcd_rusb2.c	3346	0	0	156	3502	+0.0%
dfu_device.c	776	28	712	134	910	+0.0%
dfu_rt_device.c	157	0	134	0	157	+0.0%
dwc2_common.c	603	22	0	0	615	+0.0%
ecm_rndis_device.c	1067	0	1	2759	3826	+0.0%
fsdev_common.c	182	0	0	0	182	+0.0%
hcd_ch32_usbfs.c	2491	0	0	502	2993	+0.0%
hcd_ci_fs.c	2466	0	0	469	2936	+0.0%
hcd_pio_usb.c	262	0	240	0	502	+0.0%
hcd_rp2040.c	1996	17	4	321	2338	+0.0%
hcd_rusb2.c	2951	0	0	245	3196	+0.0%
hcd_samd.c	2220	0	0	324	2544	+0.0%
hub.c	1385	8	8	30	1419	+0.0%
midi2_device.c	3608	34	1600	563	4183	+0.0%
midi2_host.c	1802	0	0	5921	7723	+0.0%
midi_host.c	1339	7	7	3538	4880	+0.0%
mtp_device.c	1781	22	771	589	2378	+0.0%
ncm_device.c	1791	28	833	4393	6197	+0.0%
printer_device.c	827	0	706	555	1380	+0.0%
rusb2_common.c	160	0	16	0	176	+0.0%
typec_stm32.c	1230	8	2	19	1255	+0.0%
usbc.c	500	2	20	166	688	+0.0%
usbtmc_device.c	2283	24	69	311	2625	+0.0%
vendor_device.c	1132	0	538	1561	2685	+0.0%
video_device.c	4477	5	1245	480	4949	+0.0%
TOTAL	51828	205	6906	25488	77688	+0.0%

[github-actions]

Hardware-in-the-loop (HIL) Test Report

hfp-iar

✅ 48 passed · ❌ 0 failed · ⚪ 8 skipped · blank not run

Board	usbtest	cdc_msc_throughput	audio_test_freertos	cdc_dual_ports	cdc_msc	cdc_msc_freertos	dfu	dfu_runtime	hid_boot_interface	hid_generic_inout	midi_test	msc_dual_lun	mtp	printer_to_cdc	duration
stm32l412nucleo	✅ 30/30	✅ C 500/510k M 511/511k	⚪	✅	✅	⚪	✅	✅	✅	✅	✅	✅	✅	✅	107s
lpcxpresso43s67	✅ 30/30	✅ C 10.6/10.2M M 33.5/31.5M	⚪	✅	✅	⚪	✅	✅	✅	✅	✅	✅	✅	✅	155s
stm32f746disco	✅ 30/30	✅ C 13.5/14.3M M 21.8/30.8M	⚪	✅	✅	⚪	✅	✅	✅	✅	✅	✅	✅	✅	115s
stm32f746disco-DMA	✅ 30/30	✅ C 13.5/12.7M M 25.9/32.5M	⚪	✅	✅	⚪	✅	✅	✅	✅	✅	✅	✅	✅	84s

hfp.json

✅ 48 passed · ❌ 0 failed · ⚪ 8 skipped · blank not run

Board	usbtest	cdc_msc_throughput	audio_test_freertos	cdc_dual_ports	cdc_msc	cdc_msc_freertos	dfu	dfu_runtime	hid_boot_interface	hid_generic_inout	midi_test	msc_dual_lun	mtp	printer_to_cdc	duration
stm32l412nucleo	✅ 30/30	✅ C 519/511k M 527/518k	⚪	✅	✅	⚪	✅	✅	✅	✅	✅	✅	✅	✅	103s
lpcxpresso43s67	✅ 30/30	✅ C 11.9/10.5M M 32.2/29.7M	⚪	✅	✅	⚪	✅	✅	✅	✅	✅	✅	✅	✅	165s
stm32f746disco	✅ 30/30	✅ C 13.8/12.8M M 23.8/30.5M	⚪	✅	✅	⚪	✅	✅	✅	✅	✅	✅	✅	✅	97s
stm32f746disco-DMA	✅ 30/30	✅ C 15/13.5M M 25.5/33.3M	⚪	✅	✅	⚪	✅	✅	✅	✅	✅	✅	✅	✅	80s

tinyusb-esp.json

✅ 7 passed · ❌ 1 failed · ⚪ 16 skipped · blank not run

Board	usbtest	msc_file_explorer_freertos	audio_test_freertos	cdc_msc_freertos	device_info	hid_composite_freertos	duration
espressif_p4_function_ev	✅ 30/30	⚪	⚪	⚪	✅	⚪	85s
espressif_p4_function_ev-DMA	✅ 30/30	⚪	⚪	⚪	✅	⚪	88s
espressif_s3_devkitm	✅ 30/30	⚪	⚪	⚪	❌	⚪	119s
espressif_s3_devkitm-DMA	✅ 30/30	⚪	⚪	⚪	✅	⚪	75s

tinyusb.json

Not all verdicts are evidence. 1 board(s) ran on a worker that went blind on sysfs -- too many bounded reads stranded on a wedged device -- so "not found" from them means "could not tell": stm32f723disco. See the usb-kernel-recover skill.

✅ 320 passed · ❌ 18 failed · ⚪ 60 skipped · blank not run

Board	usbtest	cdc_msc_throughput	msc_file_explorer	msc_file_explorer_freertos	audio_test_freertos	cdc_dual_ports	cdc_msc	cdc_msc_freertos	cdc_msc_hid	device_info	dfu	dfu_runtime	hid_boot_interface	hid_generic_inout	host_info_to_device_cdc	midi_test	msc_dual_lun	mtp	printer_to_cdc	duration
frdm_k64f			⚪	⚪					✅	✅										19s
raspberry_pi_pico_w			1103 KB/s	⚪					✅	✅										20s
raspberry_pi_pico2			❌	⚪					❌	❌										58s
stm32f072disco	❌	✅ C 489/263k M 511/501k			⚪	✅	✅	⚪			✅	✅	✅	✅		✅	✅	✅	✅	99s
ek_tm4c123gxl	✅ 30/30	✅ C 499/512k M 511/517k			⚪	✅	✅	⚪			✅	✅	✅	✅		✅	✅	✅	✅	161s
stm32g0b1nucleo	✅ 30/30	✅ C 507/511k M 595/601k			⚪	✅	✅	⚪			✅	✅	✅	✅		✅	✅	✅	✅	176s
stm32l476disco	❌ 0/30	✅ C 507/511k M 511/511k			⚪	✅	✅	⚪			✅	✅	✅	✅		✅	✅	✅	✅	148s
lpcxpresso55s28	✅ 30/30	✅ C 8.1/8.2M M 31/30.7M			⚪	✅	✅	⚪			✅	✅	✅	✅		✅	✅	✅	✅	197s
metro_m4_express	✅ 30/30	✅ C 507/511k M 516/596k				✅	✅	⚪			✅	✅	✅	✅	❌	✅	✅	✅	✅	237s
max32666fthr	✅ 30/30	✅ C 7/14.3M M 13.5/19.8M			⚪	✅	✅	⚪			✅	✅	✅	✅		✅	✅	✅	✅	248s
stm32f407disco	✅ 30/30	✅ C 508/513k M 539/599k			⚪	⚪	✅	⚪			✅	✅	✅	✅		✅	✅	✅	✅	274s
raspberry_pi_pico	✅ 30/30	✅ C 498/584k M 569/515k	62 KB/s	⚪	⚪	✅	✅	⚪	❌	❌	✅	✅	✅	✅	❌	✅	✅	✅	✅	256s
stm32h743nucleo	✅ 30/30	✅ C 615/620k M 560/555k			⚪	✅	✅	⚪			✅	✅	✅	✅		✅	✅	✅	✅	170s
stm32h743nucleo-DMA	✅ 30/30	✅ C 501/511k M 541/533k			⚪	✅	✅	⚪			✅	✅	✅	✅		✅	✅	✅	✅	130s
ra4m1_ek	✅ 30/30	✅ C 507/511k M 566/543k			⚪	✅	✅	⚪			✅	✅	✅	✅		✅	✅	❌	✅	284s
feather_nrf52840_express	✅ 30/30	❌			⚪	✅	✅	⚪			✅	✅	✅	✅		✅	✅	❌	✅	304s
ch32v103r_r1_1v0	✅ 30/30	❌			⚪	✅	✅	⚪			✅	✅	✅	✅		❌	✅	✅	✅	266s
adafruit_fruit_jam	✅ 30/30	✅ C 507/511k M 511/515k	62 KB/s	⚪	⚪	✅	✅	⚪	✅	✅	✅	✅	✅	✅	✅	✅	✅	✅	✅	230s
lpcxpresso11u37	✅ 30/30	✅ C 507/268k M 514/511k			⚪	✅	✅	⚪			✅	✅	✅	✅		✅	✅	✅	✅	343s
stm32u083nucleo	✅ 30/30	✅ C 501/511k M 511/511k			⚪	✅	✅	⚪			✅	✅	✅	✅		✅	✅	✅	✅	192s
mimxrt1064_evk	✅ 30/30	✅ C 21.1/13.6M M 29.4/25.2M	1365 KB/s	⚪	⚪	✅	✅	⚪	✅	❌	✅	✅	✅	✅	✅	✅	✅	✅	✅	202s
nanoch32v203-fsdev	✅ 30/30	✅ C 499/511k M 512/515k			⚪	✅	✅	⚪			✅	✅	✅	✅		✅	✅	✅	✅	153s
nanoch32v203-usbfs	✅ 30/30	❌			⚪	✅	✅	⚪			✅	✅	✅	✅		✅	✅	✅	✅	270s
stm32f723disco	✅ 30/30	✅ C 500/511k M 532/512k	13797 KB/s	⚪	⚪	✅	✅	⚪	❌	✅	✅	✅	✅	✅		✅	✅	✅	✅	282s
stm32f723disco-DMA	❌ 0/30	✅ C 507/511k M 511/511k	14979 KB/s	⚪	⚪	✅	✅	⚪	✅	✅	✅	✅	✅	✅		✅	✅	✅	✅	160s
nrf54lm20dk	✅ 30/30	✅ C 1.9/4.1M M 7.2/8.1M				✅	✅	⚪			✅	✅	✅	✅		✅	✅	✅	✅	202s
ch582m_evt	✅ 30/30	✅ C 229/215k M 479/481k			⚪	✅	✅	⚪			✅	✅	✅	✅		✅	✅	✅	✅	262s
ch32v307v_r1_1v0-usbhs	✅ 30/30	✅ C 7/8.1M M 20.7/12.5M			⚪	✅	✅	⚪			✅	✅	✅	✅		✅	✅	✅	✅	247s
ch32v307v_r1_1v0-usbfs	✅ 30/30	✅ C 507/510k M 511/511k			⚪	✅	✅	⚪			✅	✅	✅	✅		✅	✅	✅	✅	105s

[github-actions]

MemBrowse Memory Report

Top 10 targets by memory change (%) (out of 2178 targets) View Project Dashboard →

target	.text	.rodata	.data	.bss	total	% diff
raspberry_pi_pico/cdc_msc	18,464 → 18,728 (+264)	—	—	—	19,340 → 19,604 (+264)	+1.4%
fomu/cdc_msc	18,852 → 18,952 (+100)	—	—	—	27,072 → 27,172 (+100)	+0.4%
xmc4500_relax/cdc_msc	17,612 → 17,676 (+64)	—	—	—	43,472 → 43,600 (+128)	+0.3%
mm900evxb/cdc_msc	23,772 → 23,868 (+96)	—	—	—	32,672 → 32,768 (+96)	+0.3%
portenta_c33/msc_file_explorer	35,733 → 35,837 (+104)	—	—	—	35,897 → 36,001 (+104)	+0.3%
lpcxpresso1769/msc_file_explorer	32,784 → 32,880 (+96)	—	—	—	33,312 → 33,408 (+96)	+0.3%
ch32v203c_r0_1v0/msc_file_explorer	40,164 → 40,280 (+116)	—	—	—	40,592 → 40,708 (+116)	+0.3%
ea4357/msc_file_explorer	36,340 → 36,444 (+104)	—	—	—	36,998 → 37,102 (+104)	+0.3%
lpcxpresso18s37/msc_file_explorer	35,024 → 35,124 (+100)	—	—	—	35,626 → 35,726 (+100)	+0.3%
ch32v103c_bluepill/cdc_msc	14,304 → 14,368 (+64)	—	—	—	22,864 → 22,928 (+64)	+0.3%

[hathach]

@claude review

[claude]

Claude finished @hathach's task in 3m 55s —— View job

---

Code Review: PR #3744 — Merge noOS and FreeRTOS examples

• Gather PR context
• Read key changed files (main.c merge patterns, CMakeLists.txt, tusb_config.h)
• Analyze RTOS selection mechanism
• Review todo files and completeness
• Check HIL failures
• Post comprehensive review

---

Summary

Good cleanup PR. Merging paired no-OS / FreeRTOS examples into unified directories eliminates ~5300 lines of near-duplicate code with a clean, consistent #if CFG_TUSB_OS == OPT_OS_FREERTOS gating pattern. The approach works well: single source file handles both paths, rtos:freertos / rtos:noos entries in skip.txt make the build system RTOS-aware, and FreeRTOS-specific structures (async IO queue in msc_disk.c, timer-based blinky in host examples) are neatly conditionally compiled. HIL passes on all tested boards except mimxrt1064_evk (3 failures — see below).

---

Issues

1. Stale README references to deleted _freertos directories (must fix)

Five device example READMEs still point to directories that no longer exist:

File	Stale reference
examples/device/cdc_msc/README.md:53	examples/device/cdc_msc_freertos
examples/device/hid_composite/README.md:50	examples/device/hid_composite_freertos
examples/device/audio_test/README.md:50	examples/device/audio_test_freertos
examples/device/audio_4_channel_mic/README.md:52	examples/device/audio_4_channel_mic_freertos
examples/device/midi_test/README.md:45	examples/device/midi_test_freertos

Each of these should say something like: "Build this example with RTOS=freertos / -DRTOS=freertos for the FreeRTOS variant." — the same language used in cdc_msc_hid/README.md:52, which was updated correctly. Fix this →

2. AGENTS.md / CLAUDE.md reference cdc_msc_freertos (should fix)

Both AGENTS.md:53–56 and .claude-pr/CLAUDE.md:53–56 still use cdc_msc_freertos as the Espressif IDF example. That directory is gone — the example is now cdc_msc (built with idf.py -DBOARD=... build in examples/device/cdc_msc). Fix this →

3. TODO .md files committed to source tree (consider removing)

Three tracking artifacts were committed:

• examples/device/freertos_noos_merge_todo.md
• examples/host/freertos_noos_merge_todo.md
• examples/device/uac2_speaker_fb/freertos_merge_todo.md

All their items are checked off. These will rot after merge. If they're there to help reviewers follow the work, that's fine for now — but they should probably be removed before merging to avoid confusion.

4. HIL failures on mimxrt1064_evk — needs triage

Three tests fail: cdc_msc_hid, msc_file_explorer, device_info. These examples were all touched in this PR. It would be worth confirming whether these were already failing on master before this branch, or whether the merges introduced a regression. The device_info failure is notable because that example has nothing to do with the RTOS merge.

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Nits

• msc_disk.c:63: void msc_disk_init(void); is a forward declaration inside the same .c file where the function is defined below. This is redundant since the only external user (main.c) already has extern void msc_disk_init(void);. Harmless but unnecessary.

• audio_test/src/main.c:455: USBD_STACK_SIZE is defined as ((4 * configMINIMAL_STACK_SIZE / 2) * (CFG_TUSB_DEBUG ? 2 : 1)). The 4/2 is an unusual way to write 2. The result is 2×minimal (non-debug) or 4×minimal (debug), which is correct — just an odd expression.

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What's good

• Consistent pattern: every merged example uses the same #if CFG_TUSB_OS == OPT_OS_FREERTOS structure with a freertos_init() + usb_*_task() block. Easy to follow and extend.
• rtos: prefix in skip.txt is a clean new mechanism for RTOS-conditional build filtering.
• Async IO queue in msc_disk.c: the single-item queue with TUD_MSC_RET_ASYNC return is correct — the stack won't issue a new I/O until tud_msc_async_io_done() is called, so the queue never overflows.
• Static allocation (configSUPPORT_STATIC_ALLOCATION) maintained in all merged examples.
• ESP32 platform handled consistently: app_main() wrapper + #ifdef ESP_PLATFORM guards.
• Net reduction: -5344 lines of near-duplicate code.

[hathach]

this is lots of changes :D, will review this after the release :D