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feat: allow bidirectional usb endpoint numbers #5014

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0f3d0c3
feat: allow bidirectional usb endpoint numbers
mikesmitty Aug 27, 2025
05c92e4
chore: move endpoints and NumberOfUSBEndpoints to usb.go
mikesmitty Aug 27, 2025
d9d2d02
chore: make names more consistent
mikesmitty Aug 27, 2025
ba24793
chore: fix copy/paste typo
mikesmitty Aug 27, 2025
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2 changes: 1 addition & 1 deletion builder/sizes_test.go
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Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,7 @@ func TestBinarySize(t *testing.T) {
// microcontrollers
{"hifive1b", "examples/echo", 4580, 280, 0, 2264},
{"microbit", "examples/serial", 2928, 388, 8, 2272},
{"wioterminal", "examples/pininterrupt", 7387, 1489, 116, 6912},
{"wioterminal", "examples/pininterrupt", 7442, 1502, 116, 6592},

// TODO: also check wasm. Right now this is difficult, because
// wasm binaries are run through wasm-opt and therefore the
Expand Down
78 changes: 45 additions & 33 deletions src/machine/machine_atsamd21_usb.go
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Original file line number Diff line number Diff line change
Expand Up @@ -19,21 +19,6 @@ const (

usb_DEVICE_PCKSIZE_MULTI_PACKET_SIZE_Pos = 14
usb_DEVICE_PCKSIZE_MULTI_PACKET_SIZE_Mask = 0x3FFF

NumberOfUSBEndpoints = 8
)

var (
endPoints = []uint32{
usb.CONTROL_ENDPOINT: usb.ENDPOINT_TYPE_CONTROL,
usb.CDC_ENDPOINT_ACM: (usb.ENDPOINT_TYPE_INTERRUPT | usb.EndpointIn),
usb.CDC_ENDPOINT_OUT: (usb.ENDPOINT_TYPE_BULK | usb.EndpointOut),
usb.CDC_ENDPOINT_IN: (usb.ENDPOINT_TYPE_BULK | usb.EndpointIn),
usb.HID_ENDPOINT_IN: (usb.ENDPOINT_TYPE_DISABLE), // Interrupt In
usb.HID_ENDPOINT_OUT: (usb.ENDPOINT_TYPE_DISABLE), // Interrupt Out
usb.MIDI_ENDPOINT_IN: (usb.ENDPOINT_TYPE_DISABLE), // Bulk In
usb.MIDI_ENDPOINT_OUT: (usb.ENDPOINT_TYPE_DISABLE), // Bulk Out
}
)

// Configure the USB peripheral. The config is here for compatibility with the UART interface.
Expand Down Expand Up @@ -188,7 +173,7 @@ 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 < uint32(NumberOfUSBEndpoints); i++ {
// Check if endpoint has a pending interrupt
epFlags := getEPINTFLAG(i)
setEPINTFLAG(i, epFlags)
Expand All @@ -197,7 +182,8 @@ func handleUSBIRQ(intr interrupt.Interrupt) {
if usbRxHandler[i] == nil || usbRxHandler[i](buf) {
AckUsbOutTransfer(i)
}
} else if (epFlags & sam.USB_DEVICE_EPINTFLAG_TRCPT1) > 0 {
}
if (epFlags & sam.USB_DEVICE_EPINTFLAG_TRCPT1) > 0 {
if usbTxHandler[i] != nil {
usbTxHandler[i]()
}
Expand All @@ -215,8 +201,9 @@ 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_EPCFG_EPTYPE1_Pos))
setEPCFGEPType1(ep, (usb.ENDPOINT_TYPE_INTERRUPT + 1))

// Set interrupt enable
setEPINTENSET(ep, sam.USB_DEVICE_EPINTENSET_TRCPT1)

case usb.ENDPOINT_TYPE_BULK | usb.EndpointOut:
Expand All @@ -227,7 +214,7 @@ 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_EPCFG_EPTYPE0_Pos))
setEPCFGEPType0(ep, (usb.ENDPOINT_TYPE_BULK + 1))

// receive interrupts when current transfer complete
setEPINTENSET(ep, sam.USB_DEVICE_EPINTENSET_TRCPT0)
Expand All @@ -246,7 +233,7 @@ 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_EPCFG_EPTYPE0_Pos))
setEPCFGEPType0(ep, (usb.ENDPOINT_TYPE_INTERRUPT + 1))

// receive interrupts when current transfer complete
setEPINTENSET(ep, sam.USB_DEVICE_EPINTENSET_TRCPT0)
Expand All @@ -265,11 +252,12 @@ 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_EPCFG_EPTYPE1_Pos))
setEPCFGEPType1(ep, (usb.ENDPOINT_TYPE_BULK + 1))

// NAK on endpoint IN, the bank is not yet filled in.
setEPSTATUSCLR(ep, sam.USB_DEVICE_EPSTATUSCLR_BK1RDY)

// Set interrupt enable
setEPINTENSET(ep, sam.USB_DEVICE_EPINTENSET_TRCPT1)

case usb.ENDPOINT_TYPE_CONTROL:
Expand All @@ -281,7 +269,7 @@ 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, getEPCFG(ep)|((usb.ENDPOINT_TYPE_CONTROL+1)<<sam.USB_DEVICE_EPCFG_EPTYPE0_Pos))
setEPCFGEPType0(ep, (usb.ENDPOINT_TYPE_CONTROL + 1))

// Control IN
// set packet size
Expand All @@ -291,7 +279,7 @@ 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, getEPCFG(ep)|((usb.ENDPOINT_TYPE_CONTROL+1)<<sam.USB_DEVICE_EPCFG_EPTYPE1_Pos))
setEPCFGEPType1(ep, (usb.ENDPOINT_TYPE_CONTROL + 1))

// Prepare OUT endpoint for receive
// set multi packet size for expected number of receive bytes on control OUT
Expand Down Expand Up @@ -426,7 +414,6 @@ func AckUsbOutTransfer(ep uint32) {

// set ready for next data
setEPSTATUSCLR(ep, sam.USB_DEVICE_EPSTATUSCLR_BK0RDY)

}

func SendZlp() {
Expand Down Expand Up @@ -479,24 +466,49 @@ func getEPCFG(ep uint32) uint8 {
}
}

func setEPCFG(ep uint32, val uint8) {
// Configure output endpoint in EPCFG
func setEPCFGEPType0(ep uint32, val uint8) {
switch ep {
case 0:
sam.USB_DEVICE.SetEPCFG0_EPTYPE0(val)
case 1:
sam.USB_DEVICE.SetEPCFG1_EPTYPE0(val)
case 2:
sam.USB_DEVICE.SetEPCFG2_EPTYPE0(val)
case 3:
sam.USB_DEVICE.SetEPCFG3_EPTYPE0(val)
case 4:
sam.USB_DEVICE.SetEPCFG4_EPTYPE0(val)
case 5:
sam.USB_DEVICE.SetEPCFG5_EPTYPE0(val)
case 6:
sam.USB_DEVICE.SetEPCFG6_EPTYPE0(val)
case 7:
sam.USB_DEVICE.SetEPCFG7_EPTYPE0(val)
default:
return
}
}

// Configure input endpoint in EPCFG
func setEPCFGEPType1(ep uint32, val uint8) {
switch ep {
case 0:
sam.USB_DEVICE.EPCFG0.Set(val)
sam.USB_DEVICE.SetEPCFG0_EPTYPE1(val)
case 1:
sam.USB_DEVICE.EPCFG1.Set(val)
sam.USB_DEVICE.SetEPCFG1_EPTYPE1(val)
case 2:
sam.USB_DEVICE.EPCFG2.Set(val)
sam.USB_DEVICE.SetEPCFG2_EPTYPE1(val)
case 3:
sam.USB_DEVICE.EPCFG3.Set(val)
sam.USB_DEVICE.SetEPCFG3_EPTYPE1(val)
case 4:
sam.USB_DEVICE.EPCFG4.Set(val)
sam.USB_DEVICE.SetEPCFG4_EPTYPE1(val)
case 5:
sam.USB_DEVICE.EPCFG5.Set(val)
sam.USB_DEVICE.SetEPCFG5_EPTYPE1(val)
case 6:
sam.USB_DEVICE.EPCFG6.Set(val)
sam.USB_DEVICE.SetEPCFG6_EPTYPE1(val)
case 7:
sam.USB_DEVICE.EPCFG7.Set(val)
sam.USB_DEVICE.SetEPCFG7_EPTYPE1(val)
default:
return
}
Expand Down
44 changes: 19 additions & 25 deletions src/machine/machine_atsamd51_usb.go
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Original file line number Diff line number Diff line change
Expand Up @@ -19,21 +19,6 @@ const (

usb_DEVICE_PCKSIZE_MULTI_PACKET_SIZE_Pos = 14
usb_DEVICE_PCKSIZE_MULTI_PACKET_SIZE_Mask = 0x3FFF

NumberOfUSBEndpoints = 8
)

var (
endPoints = []uint32{
usb.CONTROL_ENDPOINT: usb.ENDPOINT_TYPE_CONTROL,
usb.CDC_ENDPOINT_ACM: (usb.ENDPOINT_TYPE_INTERRUPT | usb.EndpointIn),
usb.CDC_ENDPOINT_OUT: (usb.ENDPOINT_TYPE_BULK | usb.EndpointOut),
usb.CDC_ENDPOINT_IN: (usb.ENDPOINT_TYPE_BULK | usb.EndpointIn),
usb.HID_ENDPOINT_IN: (usb.ENDPOINT_TYPE_DISABLE), // Interrupt In
usb.HID_ENDPOINT_OUT: (usb.ENDPOINT_TYPE_DISABLE), // Interrupt Out
usb.MIDI_ENDPOINT_IN: (usb.ENDPOINT_TYPE_DISABLE), // Bulk In
usb.MIDI_ENDPOINT_OUT: (usb.ENDPOINT_TYPE_DISABLE), // Bulk Out
}
)

// Configure the USB peripheral. The config is here for compatibility with the UART interface.
Expand Down Expand Up @@ -191,7 +176,7 @@ 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 < uint32(NumberOfUSBEndpoints); i++ {
// Check if endpoint has a pending interrupt
epFlags := getEPINTFLAG(i)
setEPINTFLAG(i, epFlags)
Expand All @@ -200,7 +185,8 @@ func handleUSBIRQ(intr interrupt.Interrupt) {
if usbRxHandler[i] == nil || usbRxHandler[i](buf) {
AckUsbOutTransfer(i)
}
} else if (epFlags & sam.USB_DEVICE_ENDPOINT_EPINTFLAG_TRCPT1) > 0 {
}
if (epFlags & sam.USB_DEVICE_ENDPOINT_EPINTFLAG_TRCPT1) > 0 {
if usbTxHandler[i] != nil {
usbTxHandler[i]()
}
Expand All @@ -218,8 +204,9 @@ 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))
setEPCFGEPType1(ep, (usb.ENDPOINT_TYPE_INTERRUPT + 1))

// Set interrupt enable
setEPINTENSET(ep, sam.USB_DEVICE_ENDPOINT_EPINTENSET_TRCPT1)

case usb.ENDPOINT_TYPE_BULK | usb.EndpointOut:
Expand All @@ -230,7 +217,7 @@ 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))
setEPCFGEPType0(ep, (usb.ENDPOINT_TYPE_BULK + 1))

// receive interrupts when current transfer complete
setEPINTENSET(ep, sam.USB_DEVICE_ENDPOINT_EPINTENSET_TRCPT0)
Expand All @@ -249,7 +236,7 @@ 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))
setEPCFGEPType0(ep, (usb.ENDPOINT_TYPE_INTERRUPT + 1))

// receive interrupts when current transfer complete
setEPINTENSET(ep, sam.USB_DEVICE_ENDPOINT_EPINTENSET_TRCPT0)
Expand All @@ -268,11 +255,12 @@ 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))
setEPCFGEPType1(ep, (usb.ENDPOINT_TYPE_BULK + 1))

// NAK on endpoint IN, the bank is not yet filled in.
setEPSTATUSCLR(ep, sam.USB_DEVICE_ENDPOINT_EPSTATUSCLR_BK1RDY)

// Set interrupt enable
setEPINTENSET(ep, sam.USB_DEVICE_ENDPOINT_EPINTENSET_TRCPT1)

case usb.ENDPOINT_TYPE_CONTROL:
Expand All @@ -284,7 +272,7 @@ 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, getEPCFG(ep)|((usb.ENDPOINT_TYPE_CONTROL+1)<<sam.USB_DEVICE_ENDPOINT_EPCFG_EPTYPE0_Pos))
setEPCFGEPType0(ep, (usb.ENDPOINT_TYPE_CONTROL + 1))

// Control IN
// set packet size
Expand All @@ -294,7 +282,7 @@ 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, getEPCFG(ep)|((usb.ENDPOINT_TYPE_CONTROL+1)<<sam.USB_DEVICE_ENDPOINT_EPCFG_EPTYPE1_Pos))
setEPCFGEPType1(ep, (usb.ENDPOINT_TYPE_CONTROL + 1))

// Prepare OUT endpoint for receive
// set multi packet size for expected number of receive bytes on control OUT
Expand Down Expand Up @@ -462,8 +450,14 @@ func getEPCFG(ep uint32) uint8 {
return sam.USB_DEVICE.DEVICE_ENDPOINT[ep].EPCFG.Get()
}

func setEPCFG(ep uint32, val uint8) {
sam.USB_DEVICE.DEVICE_ENDPOINT[ep].EPCFG.Set(val)
// Configure output endpoint in EPCFG
func setEPCFGEPType0(ep uint32, val uint8) {
sam.USB_DEVICE.DEVICE_ENDPOINT[ep].SetEPCFG_EPTYPE0(val)
}

// Configure input endpoint in EPCFG
func setEPCFGEPType1(ep uint32, val uint8) {
sam.USB_DEVICE.DEVICE_ENDPOINT[ep].SetEPCFG_EPTYPE1(val)
}

func setEPSTATUSCLR(ep uint32, val uint8) {
Expand Down
20 changes: 4 additions & 16 deletions src/machine/machine_nrf52840_usb.go
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -11,8 +11,6 @@ import (
"unsafe"
)

const NumberOfUSBEndpoints = 8

var (
sendOnEP0DATADONE struct {
ptr *byte
Expand All @@ -22,17 +20,6 @@ var (
epinen uint32
epouten uint32
easyDMABusy volatile.Register8

endPoints = []uint32{
usb.CONTROL_ENDPOINT: usb.ENDPOINT_TYPE_CONTROL,
usb.CDC_ENDPOINT_ACM: (usb.ENDPOINT_TYPE_INTERRUPT | usb.EndpointIn),
usb.CDC_ENDPOINT_OUT: (usb.ENDPOINT_TYPE_BULK | usb.EndpointOut),
usb.CDC_ENDPOINT_IN: (usb.ENDPOINT_TYPE_BULK | usb.EndpointIn),
usb.HID_ENDPOINT_IN: (usb.ENDPOINT_TYPE_DISABLE), // Interrupt In
usb.HID_ENDPOINT_OUT: (usb.ENDPOINT_TYPE_DISABLE), // Interrupt Out
usb.MIDI_ENDPOINT_IN: (usb.ENDPOINT_TYPE_DISABLE), // Bulk In
usb.MIDI_ENDPOINT_OUT: (usb.ENDPOINT_TYPE_DISABLE), // Bulk Out
}
)

// enterCriticalSection is used to protect access to easyDMA - only one thing
Expand Down Expand Up @@ -183,15 +170,16 @@ func handleUSBIRQ(interrupt.Interrupt) {
epDataStatus := nrf.USBD.EPDATASTATUS.Get()
nrf.USBD.EPDATASTATUS.Set(epDataStatus)
var i uint32
for i = 1; i < uint32(len(endPoints)); i++ {
for i = 1; i < uint32(NumberOfUSBEndpoints); i++ {
// Check if endpoint has a pending interrupt
inDataDone := epDataStatus&(nrf.USBD_EPDATASTATUS_EPIN1<<(i-1)) > 0
outDataDone := epDataStatus&(nrf.USBD_EPDATASTATUS_EPOUT1<<(i-1)) > 0
if inDataDone {
if usbTxHandler[i] != nil {
usbTxHandler[i]()
}
} else if outDataDone {
}
if outDataDone {
enterCriticalSection()
nrf.USBD.EPOUT[i].PTR.Set(uint32(uintptr(unsafe.Pointer(&udd_ep_out_cache_buffer[i]))))
count := nrf.USBD.SIZE.EPOUT[i].Get()
Expand All @@ -202,7 +190,7 @@ func handleUSBIRQ(interrupt.Interrupt) {
}

// ENDEPOUT[n] events
for i := 0; i < len(endPoints); i++ {
for i := 0; i < len(outEndpoints); i++ {
if nrf.USBD.EVENTS_ENDEPOUT[i].Get() > 0 {
nrf.USBD.EVENTS_ENDEPOUT[i].Set(0)
buf := handleEndpointRx(uint32(i))
Expand Down
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