Worked on enhancing hardware compatibility in the zephyrproject-rtos/hal_renesas repository by expanding USB driver support to include 5-pipe USBFS peripherals, addressing integration needs for RA4E2-based platforms. Used C programming and embedded systems expertise to implement a macro-based mode that dynamically selects the appropriate find_pipes table and CFIFOx, replacing D0FIFOx where necessary. Validated these changes on real hardware using an RA4E2 development kit and a modified Zephyr device tree, ensuring robust compatibility. This update reduced integration friction for customers deploying 5-pipe USBFS configurations and demonstrated adaptability in low-level driver development for evolving embedded hardware requirements.