TinyusbAn open source cross-platform USB stack for embedded system
tinyuf2UF2 bootloader based on TinyUSB for embedded devices such as ESP32S2, STM32F4 and iMX RT10xx
Seeed Arduino DAPLinkAn open-source DAPLink Arduino Library supports Keil MDK, IAR Embedded Workbench, OpenOCD, and other commonly used IDE.
EspTinyUSBESP32S2 native USB library. Implemented few common classes, like MIDI, CDC, HID or DFU (update).