diff --git a/build.zig b/build.zig
index 39292a303..ace647939 100644
--- a/build.zig
+++ b/build.zig
@@ -16,6 +16,8 @@ pub const MemoryRegion = internals.MemoryRegion;
 
 const regz = @import("tools/regz");
 
+pub const tusb = @import("modules/tinyusb");
+
 // If more ports are available, the error "error: evaluation exceeded 1000 backwards branches" may occur.
 // In such cases, consider increasing the argument value for @setEvalBranchQuota().
 const port_list: []const struct {
@@ -860,6 +862,54 @@ pub fn MicroBuild(port_select: PortSelect) type {
                 .{target.cpu.model.name},
             );
         }
+        /// Adds build step for tinyUSB and adds a c translate module to app "tinyusb_api" which can be imported
+        /// input includes and c sources need to include tusb_descriptors.c (or equivalent)
+        /// and tusb_config.h at a minimum (see) tinyusb documentation for details
+        /// The api can be imported into a project: `const tinyusb = @import("tinyusb_api");`
+        /// it's contents is dependant on the configuration in tusb_config.h
+        pub fn addTinyUsbLib(
+            root_build: *Build,
+            fw: *Firmware,
+            c_sources: []const LazyPath,
+            includes: []const LazyPath,
+            debug_printing: bool,
+        ) void {
+            const tusb_dep = fw.mb.dep.builder.dependency("modules/tinyusb", .{});
+            const tusb_mod = tusb_dep.module("tinyusb");
+            const target = root_build.resolveTargetQuery(fw.target.zig_target);
+
+            if (debug_printing)
+                tusb.enableDebug(tusb_mod);
+
+            tusb_mod.resolved_target = target;
+            for (c_sources) |source| {
+                tusb_mod.addCSourceFile(.{ .file = source });
+            }
+            for (includes) |path| {
+                tusb_mod.addIncludePath(path);
+            }
+            tusb.addChip(tusb_mod.owner, tusb_mod, fw.target.chip.name);
+
+            const tinyusb = root_build.addLibrary(.{
+                .linkage = .static,
+                .name = "tinyusb",
+                .root_module = tusb_mod,
+                .use_llvm = true,
+            });
+            const lib_step = root_build.addInstallArtifact(tinyusb, .{});
+            root_build.getInstallStep().dependOn(&lib_step.step);
+            fw.add_object_file(lib_step.emitted_bin.?);
+
+            const tusb_api_c = tusb.getTinyUsbCTranslate(
+                tusb_mod.owner,
+                target,
+            );
+
+            for (includes) |path| {
+                tusb_api_c.addIncludePath(path);
+            }
+            fw.app_mod.addImport("tinyusb", tusb_api_c.addModule("tinyusb_api"));
+        }
     };
 }
 
diff --git a/build.zig.zon b/build.zig.zon
index 7a0e536a1..8fdea0d28 100644
--- a/build.zig.zon
+++ b/build.zig.zon
@@ -18,6 +18,7 @@
         .@"modules/foundation-libc" = .{ .path = "modules/foundation-libc" },
         .@"modules/riscv32-common" = .{ .path = "modules/riscv32-common" },
         .@"modules/rtt" = .{ .path = "modules/rtt" },
+        .@"modules/tinyusb" = .{ .path = "modules/tinyusb" },
 
         // simulators
         .@"sim/aviron" = .{ .path = "sim/aviron", .lazy = true },
diff --git a/modules/tinyusb/build.zig b/modules/tinyusb/build.zig
new file mode 100644
index 000000000..7923e671b
--- /dev/null
+++ b/modules/tinyusb/build.zig
@@ -0,0 +1,177 @@
+const std = @import("std");
+const Build = std.Build;
+
+// TODO: Switch to lazy dependencies?
+
+pub fn build(b: *Build) !void {
+    addTinyUSBLib(b);
+}
+const tusb_h_contents =
+    \\#include_next "tusb.h"
+    \\#define TU_ATTR_FAST_FUNC       __attribute__((section(".ram_text")))
+;
+
+pub fn addTinyUSBLib(b: *Build) void {
+    const module = b.addModule("tinyusb", .{
+        .link_libc = false,
+        // seems important to release fast to avoid some extra dependencies
+        .optimize = .ReleaseFast,
+    });
+    const wf_step = b.addWriteFile("tusb.h", tusb_h_contents);
+    module.addIncludePath(wf_step.getDirectory());
+
+    // TinyUSB src folder
+    const tusb_dep = b.dependency("tusb", .{});
+    const tusb_src = tusb_dep.path("src");
+    module.addIncludePath(tusb_src);
+    for (tinyusb_source_files) |file| {
+        module.addCSourceFile(.{ .file = tusb_src.path(b, file) });
+    }
+
+    // Add libc for embedded
+    const newlib_dep = b.dependency("newlib", .{});
+    module.addIncludePath(newlib_dep.path("newlib/libc/include"));
+}
+
+const SupportedChips = enum {
+    RP2040,
+};
+
+/// Add chip specific things to built library
+// / TODO: Can this be a build option rather than a function call?
+pub fn addChip(b: *Build, module: *Build.Module, chip_name: []const u8) void {
+    const option = std.meta.stringToEnum(
+        SupportedChips,
+        chip_name,
+    ) orelse {
+        std.debug.print("BUILD ERROR: Chip not supported: {s}\n\r", .{chip_name});
+        @panic("Chip not supported for TinyUSB yet");
+    };
+    switch (option) {
+        .RP2040 => {
+            module.addCMacro("CFG_TUSB_MCU", "OPT_MCU_RP2040");
+            module.addCMacro("CFG_TUSB_OS", "OPT_OS_NONE");
+            module.addCMacro("PICO_RP2040", "1");
+            module.addCMacro("BOARD_TUD_RHPORT", "0");
+            module.addCMacro("PICO_RP2040_USB_FAST_IRQ", "1");
+            module.addCMacro("__not_in_flash(group)", "__attribute__((section(\".ram_text\")))");
+
+            // add empty files for pico headers to be happy
+            // TODO: empty seems to work but maybe we'd prefer to add something.
+            // TODO: is the step order implicit when doing addIncludePath due to lazy directories
+            const wf_step = b.addWriteFiles();
+            _ = wf_step.add("pico/config_autogen.h", "");
+            _ = wf_step.add("pico/version.h", "");
+            module.addIncludePath(wf_step.getDirectory());
+            // pico-sdk headers
+            addPicoSdkInclude(b, module);
+        },
+    }
+}
+
+/// Enables debug logging in the generated tusb library
+/// TODO: Can this be controlled through build options somehow rather than a function like this?
+pub fn enableDebug(module: *Build.Module) void {
+    // Add printf implementation
+    const prntf_dep = module.owner.lazyDependency("printf", .{});
+    if (prntf_dep) |dep| {
+        module.addIncludePath(dep.path(""));
+        module.addCSourceFile(.{ .file = dep.path("printf.c") });
+        module.addCMacro("CFG_TUSB_DEBUG_PRINTF", "printf_");
+        module.addCMacro("snprintf", "snprintf_");
+        module.addCMacro("CFG_TUSB_DEBUG", "3");
+    }
+}
+
+pub fn getTinyUsbCTranslate(
+    b: *Build,
+    target: Build.ResolvedTarget,
+) *Build.Step.TranslateC {
+    // const target = b.standardTargetOptions(.{});
+    const tusb_dep = b.dependency("tusb", .{});
+    const tusb_src = tusb_dep.path("src");
+    const tinyusb_c = b.addTranslateC(.{
+        .root_source_file = tusb_src.path(b, "tusb.h"),
+        .target = target,
+        .optimize = .ReleaseFast,
+        .link_libc = false,
+    });
+
+    tinyusb_c.defineCMacro("CFG_TUSB_MCU", "OPT_MCU_NONE");
+    tinyusb_c.defineCMacro("CFG_TUSB_OS", "OPT_OS_NONE");
+
+    // TinyUSB src folder
+    tinyusb_c.addIncludePath(tusb_src);
+
+    // Add libc for embedded
+    const newlib_dep = b.dependency("newlib", .{});
+    tinyusb_c.addIncludePath(newlib_dep.path("newlib/libc/include"));
+
+    return tinyusb_c;
+}
+
+/// List of all .c files in the tinyUSB src directory less the portable directory files
+/// tinyusb does a good job only compiling based on options selected.
+const tinyusb_source_files = [_][]const u8{
+    "tusb.c",
+    "device/usbd.c",
+    "device/usbd_control.c",
+    "class/msc/msc_host.c",
+    "class/msc/msc_device.c",
+    "class/cdc/cdc_host.c",
+    "class/cdc/cdc_rndis_host.c",
+    "class/cdc/cdc_device.c",
+    "class/dfu/dfu_rt_device.c",
+    "class/dfu/dfu_device.c",
+    "class/video/video_device.c",
+    "class/usbtmc/usbtmc_device.c",
+    "class/vendor/vendor_host.c",
+    "class/vendor/vendor_device.c",
+    "class/net/ecm_rndis_device.c",
+    "class/net/ncm_device.c",
+    // "class/mtp/mtp_device.c", not available in older tinyusb compatible with sdk?
+    "class/audio/audio_device.c",
+    "class/bth/bth_device.c",
+    "class/midi/midi_device.c",
+    // "class/midi/midi_host.c", not available in older tinyusb compatible with sdk?
+    "class/hid/hid_device.c",
+    "class/hid/hid_host.c",
+    "host/usbh.c",
+    "host/hub.c",
+    "common/tusb_fifo.c",
+    "typec/usbc.c",
+    "portable/raspberrypi/rp2040/rp2040_usb.c",
+    "portable/raspberrypi/rp2040/dcd_rp2040.c",
+};
+
+fn addPicoSdkInclude(b: *std.Build, m: *std.Build.Module) void {
+    const pico_sdk_dep = b.lazyDependency("pico_sdk", .{});
+    if (pico_sdk_dep) |pico_dep| {
+        for (rp_2040_includes) |dir| {
+            m.addIncludePath(pico_dep.path(dir));
+        }
+    }
+}
+
+const rp_2040_includes = [_][]const u8{
+    "src",
+    "src/common/pico_base_headers/include",
+    "src/common/pico_time/include",
+    "src/rp2_common/pico_platform_compiler/include",
+    "src/rp2_common/pico_platform_sections/include",
+    "src/rp2_common/pico_platform_panic/include",
+    "src/rp2_common/pico_platform_common/include",
+    "src/rp2_common/hardware_timer/include",
+    "src/rp2_common/hardware_base/include",
+    "src/common/pico_sync/include",
+    "src/rp2_common/hardware_sync/include",
+    "src/rp2_common/hardware_sync_spin_lock/include",
+    "src/rp2_common/hardware_irq/include",
+    "src/rp2_common/hardware_resets/include",
+    // I think these are the only things that would need to change for RP2350
+    "src/rp2040/pico_platform/include",
+    "src/rp2040/hardware_structs/include",
+    "src/rp2040/hardware_regs/include",
+    "src/rp2040/hardware_regs/include",
+    "src/rp2040/hardware_structs/include",
+};
diff --git a/modules/tinyusb/build.zig.zon b/modules/tinyusb/build.zig.zon
new file mode 100644
index 000000000..d100dba93
--- /dev/null
+++ b/modules/tinyusb/build.zig.zon
@@ -0,0 +1,40 @@
+.{
+    .name = .tinyusb,
+    .version = "0.1.0",
+    .fingerprint = 0x6f11d314f5263da7, // Changing this has security and trust implications?
+    .minimum_zig_version = "0.15.1",
+    .dependencies = .{
+        .tusb = .{
+            // matches pico-sdk 2.2.0 submodule hash
+            .url = "git+https://github.com/hathach/tinyusb.git#86ad6e56c1700e85f1c5678607a762cfe3aa2f47",
+            .hash = "N-V-__8AAGUZ_gDYqxEdexw7Rfp9YENlWbwlDPQu0bCfKxws",
+            // Latest release
+            // .url = "https://github.com/hathach/tinyusb/archive/refs/tags/0.19.0.tar.gz",
+            // .hash = "N-V-__8AAJebBAH6O7lcIkrzHzcWi6qE9wZoM3BhsLLCfuZX",
+        },
+        .newlib = .{
+            .url = "https://sourceware.org/pub/newlib/newlib-4.5.0.20241231.tar.gz",
+            .sha256 = "sha256:8f6903f8ceb0f991490a1e34074443c2a72b14dbd",
+            .hash = "N-V-__8AAJH7PAM8M1Wj7e7momRRAp7hssKtI2VvX0vEz-_B",
+        },
+        .printf = .{
+            .url = "https://github.com/mpaland/printf/archive/refs/tags/v4.0.0.zip",
+            .hash = "N-V-__8AALJuCQCrdHP5WGfuWR-16g1fK2VF3WA2C5p5e-jj",
+            .lazy = true,
+        },
+        .pico_sdk = .{
+            .url = "https://github.com/raspberrypi/pico-sdk/releases/download/2.2.0/pico-sdk-2.2.0.tar.gz",
+            .sha256 = "sha256:2678fe2b176cf64a7f71cd91749fdf9134c8cf7ff84b7199dfe5ea0d6dba6fa4",
+            .hash = "N-V-__8AAJZDcwFLNdIEF1wutjiH14f8fSET5jNORZIZKCaM",
+            .lazy = true,
+        },
+    },
+    .paths = .{
+        "build.zig",
+        "build.zig.zon",
+        "src",
+        // For example...
+        //"LICENSE",
+        "README.md",
+    },
+}
diff --git a/modules/tinyusb/readme.md b/modules/tinyusb/readme.md
new file mode 100644
index 000000000..ad54852d7
--- /dev/null
+++ b/modules/tinyusb/readme.md
@@ -0,0 +1,11 @@
+# Issues
+- Only supports RP2040
+- Sometimes reset stalls when built.  If effected comment out:
+    `unreset_block_wait(RESETS_RESET_USBCTRL_BITS);`
+   in /.../rp2040_usb.c:rp2040_usb_init as a workaround
+# TODO
+- How can we move the IRQ functions into ram
+- USB Reset hang issue 
+- More chips supported
+- Probably refactor to better align with project.
+- Remove system includes dependency for arm-none-eabi
\ No newline at end of file
diff --git a/port/raspberrypi/rp2xxx/src/hal.zig b/port/raspberrypi/rp2xxx/src/hal.zig
index 2750487d2..9f5c9bcca 100644
--- a/port/raspberrypi/rp2xxx/src/hal.zig
+++ b/port/raspberrypi/rp2xxx/src/hal.zig
@@ -39,6 +39,8 @@ pub const uart = @import("hal/uart.zig");
 pub const usb = @import("hal/usb.zig");
 pub const watchdog = @import("hal/watchdog.zig");
 
+pub const tinyusb_exports = @import("hal/tusb/tusb_exports.zig");
+
 comptime {
     // HACK: tests can't access microzig. maybe there's a better way to do this.
     if (!builtin.is_test and compatibility.chip == .RP2350) {
diff --git a/port/raspberrypi/rp2xxx/src/hal/tusb/tusb_exports.zig b/port/raspberrypi/rp2xxx/src/hal/tusb/tusb_exports.zig
new file mode 100644
index 000000000..10ef0b535
--- /dev/null
+++ b/port/raspberrypi/rp2xxx/src/hal/tusb/tusb_exports.zig
@@ -0,0 +1,82 @@
+const std = @import("std");
+const microzig = @import("microzig");
+const rp2xxx = microzig.hal;
+const time = rp2xxx.time;
+const peripherals = microzig.chip.peripherals;
+
+var charbuf: [128]u8 = undefined;
+var char_index: usize = 0;
+const tusb_logger = std.log.scoped(.tusb);
+
+export fn _putchar(char: u8) void {
+    if (char_index < charbuf.len and char != '\n') {
+        if (char == '\r') {
+            return;
+        }
+        charbuf[char_index] = char;
+        char_index += 1;
+    } else {
+        tusb_logger.debug("{s}", .{charbuf[0..char_index]});
+        char_index = 0;
+    }
+}
+
+// TODO: not sure why this is needed or if it's really right but seems to work.
+export const _ctype_: u8 = undefined;
+
+export fn panic(format: [*c]const u8, ...) void {
+    const z_str: []const u8 = std.mem.span(format);
+    std.log.info("{s}", .{std.mem.trim(u8, z_str, "\n\n")});
+}
+
+export fn strlen(str: [*c]const u8) c_uint {
+    return std.mem.len(str);
+}
+export fn tusb_time_millis_api() c_uint {
+    return @truncate(time.get_time_since_boot().to_us() * 1000);
+}
+
+export fn rp2040_chip_version() c_uint {
+    const chip_id = peripherals.SYSINFO.CHIP_ID.read();
+    // TODO: should be able to switch to clear API?
+    return @intCast(chip_id.REVISION);
+}
+
+pub fn irq_handler() linksection(".ram_text") callconv(.c) void {
+    if (handler_p) |h|
+        h();
+}
+
+//void irq_add_shared_handler(uint num, irq_handler_t handler, uint8_t order_priority);
+const hdlr = *const fn () callconv(.c) void;
+
+var handler_p: ?hdlr = null;
+
+export fn irq_add_shared_handler(num: c_uint, handler: hdlr, order_priority: u8) callconv(.c) void {
+    _ = num;
+    handler_p = handler;
+    _ = order_priority;
+}
+
+// void irq_remove_handler(uint num, irq_handler_t handler);
+export fn irq_remove_handler(num: c_uint, handler: hdlr) void {
+    _ = num;
+    _ = handler;
+    handler_p = null;
+}
+
+//void irq_set_enabled(uint num, bool enabled);
+export fn irq_set_enabled(num: c_uint, enabled: bool) void {
+    _ = num; // TODO: Num should represent .usbctrl_irq
+    if (enabled) {
+        microzig.interrupt.enable(.USBCTRL_IRQ);
+    } else {
+        microzig.interrupt.disable(.USBCTRL_IRQ);
+    }
+}
+
+// void __weak hard_assertion_failure(void) {
+export fn hard_assertion_failure() void {
+    std.log.err("Probably hw_endpoint_alloc failed", .{});
+    @panic("TUSB: Hard assertion Failed!");
+}