Worked on the nxp-upstream/hal_nxp repository, delivering a comprehensive refactor of the USB Peripheral Configuration for the MIMX9352 header. The effort focused on aligning header definitions with updated USB driver interfaces, using C to implement unions within the USB_Type structure for supporting both device and host configurations. By consolidating endpoint control registers into an array, the changes improved code organization and simplified future maintenance. This work enhanced the maintainability of the Hardware Abstraction Layer and reduced the risk of regression as the driver evolves. The project demonstrated skills in driver development and embedded systems, emphasizing careful synchronization between hardware and software.