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fix(usb): support bidirectional endpoints on RP2 and SAMD21/51.

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Remap CDC and MSC endpoints to share physical endpoint numbers. This change separates IN/OUT directional states for RP2 endpoints to prevent cross-talk, ensures SAMD21 and SAMD51 endpoint configuration merging does not overwrite bidirectionally shared registers, implements missing SAMD endpoint stall and clear methods, and corrects SAMD interrupt loop bounds to iterate over physical endpoint numbers rather than dynamic configuration entries.
This commit is contained in:
Konstantin Sharlaimov
2026-06-08 20:37:33 +02:00
committed by Ron Evans
parent c3f1832d9a
commit eab43851ac
7 changed files with 152 additions and 77 deletions
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src/machine/machine_atsamd51_usb.go
+23 -5
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@@ -178,7 +178,7 @@ func handleUSBIRQ(intr interrupt.Interrupt) {
// Now the actual transfer handlers, ignore endpoint number 0 (setup)
var i uint32
for i = 1; i < uint32(len(endPoints)); i++ {
for i = 1; i < NumberOfUSBEndpoints; i++ {
// Check if endpoint has a pending interrupt
epFlags := getEPINTFLAG(i)
setEPINTFLAG(i, epFlags)
@@ -196,6 +196,8 @@ func handleUSBIRQ(intr interrupt.Interrupt) {
}
func initEndpoint(ep, config uint32) {
// Note: Both IN (Bank 1) and OUT (Bank 0) configurations share the same EPCFG register.
// We must use getEPCFG(ep) | ... to avoid clearing/disabling the opposite direction.
switch config {
case usb.ENDPOINT_TYPE_INTERRUPT | usb.EndpointIn:
// set packet size
@@ -205,7 +207,7 @@ func initEndpoint(ep, config uint32) {
usbEndpointDescriptors[ep].DeviceDescBank[1].ADDR.Set(uint32(uintptr(unsafe.Pointer(&udd_ep_in_cache_buffer[ep]))))
// set endpoint type
setEPCFG(ep, ((usb.ENDPOINT_TYPE_INTERRUPT + 1) << sam.USB_DEVICE_ENDPOINT_EPCFG_EPTYPE1_Pos))
setEPCFG(ep, getEPCFG(ep)|((usb.ENDPOINT_TYPE_INTERRUPT+1)<<sam.USB_DEVICE_ENDPOINT_EPCFG_EPTYPE1_Pos))
setEPINTENSET(ep, sam.USB_DEVICE_ENDPOINT_EPINTENSET_TRCPT1)
@@ -217,7 +219,7 @@ func initEndpoint(ep, config uint32) {
usbEndpointDescriptors[ep].DeviceDescBank[0].ADDR.Set(uint32(uintptr(unsafe.Pointer(&udd_ep_out_cache_buffer[ep]))))
// set endpoint type
setEPCFG(ep, ((usb.ENDPOINT_TYPE_BULK + 1) << sam.USB_DEVICE_ENDPOINT_EPCFG_EPTYPE0_Pos))
setEPCFG(ep, getEPCFG(ep)|((usb.ENDPOINT_TYPE_BULK+1)<<sam.USB_DEVICE_ENDPOINT_EPCFG_EPTYPE0_Pos))
// receive interrupts when current transfer complete
setEPINTENSET(ep, sam.USB_DEVICE_ENDPOINT_EPINTENSET_TRCPT0)
@@ -236,7 +238,7 @@ func initEndpoint(ep, config uint32) {
usbEndpointDescriptors[ep].DeviceDescBank[0].ADDR.Set(uint32(uintptr(unsafe.Pointer(&udd_ep_out_cache_buffer[ep]))))
// set endpoint type
setEPCFG(ep, ((usb.ENDPOINT_TYPE_INTERRUPT + 1) << sam.USB_DEVICE_ENDPOINT_EPCFG_EPTYPE0_Pos))
setEPCFG(ep, getEPCFG(ep)|((usb.ENDPOINT_TYPE_INTERRUPT+1)<<sam.USB_DEVICE_ENDPOINT_EPCFG_EPTYPE0_Pos))
// receive interrupts when current transfer complete
setEPINTENSET(ep, sam.USB_DEVICE_ENDPOINT_EPINTENSET_TRCPT0)
@@ -255,7 +257,7 @@ func initEndpoint(ep, config uint32) {
usbEndpointDescriptors[ep].DeviceDescBank[1].ADDR.Set(uint32(uintptr(unsafe.Pointer(&udd_ep_in_cache_buffer[ep]))))
// set endpoint type
setEPCFG(ep, ((usb.ENDPOINT_TYPE_BULK + 1) << sam.USB_DEVICE_ENDPOINT_EPCFG_EPTYPE1_Pos))
setEPCFG(ep, getEPCFG(ep)|((usb.ENDPOINT_TYPE_BULK+1)<<sam.USB_DEVICE_ENDPOINT_EPCFG_EPTYPE1_Pos))
// NAK on endpoint IN, the bank is not yet filled in.
setEPSTATUSCLR(ep, sam.USB_DEVICE_ENDPOINT_EPSTATUSCLR_BK1RDY)
@@ -481,3 +483,19 @@ func setEPINTENCLR(ep uint32, val uint8) {
func setEPINTENSET(ep uint32, val uint8) {
sam.USB_DEVICE.DEVICE_ENDPOINT[ep].EPINTENSET.Set(val)
}
func (dev *USBDevice) SetStallEPIn(ep uint32) {
setEPSTATUSSET(ep, sam.USB_DEVICE_ENDPOINT_EPSTATUSSET_STALLRQ1)
}
func (dev *USBDevice) SetStallEPOut(ep uint32) {
setEPSTATUSSET(ep, sam.USB_DEVICE_ENDPOINT_EPSTATUSSET_STALLRQ0)
}
func (dev *USBDevice) ClearStallEPIn(ep uint32) {
setEPSTATUSCLR(ep, sam.USB_DEVICE_ENDPOINT_EPSTATUSCLR_STALLRQ1)
}
func (dev *USBDevice) ClearStallEPOut(ep uint32) {
setEPSTATUSCLR(ep, sam.USB_DEVICE_ENDPOINT_EPSTATUSCLR_STALLRQ0)
}