machine/usb: support bidirectional endpoints by dynamic registration by sago35 · Pull Request #5447 · tinygo-org/tinygo

sago35 · 2026-06-07T03:22:10Z

This change is for enabling bidirectional endpoints.

Before the change, the endPoints could only be configured as either In or Out for the same endpoint. This change removes that restriction.
By merging this change, the modifications in #5405 will work properly.

The tests were conducted in the following environment. I have verified that HID works using the actual examples/hid-keyboard. Furthermore, I have confirmed that it functions correctly even when HID_ENDPOINT_IN is changed to a different number, or when it is defined in a bidirectional format.

rp2040
- waveshare-rp2040-zero
rp2350
- pico2
atsamd51
- wioterminal
atsamd21
- qtpy
nrf52840
- feathre-nrf52840

~~I didn't have it on hand, so I would appreciate it if someone could test it. I think it should be fine as long as the hid-keyboard works.~~
I found a Pico 2, so I was able to confirm that it works correctly on the RP2350 as well.

sago35 · 2026-06-07T03:22:57Z

I have appended the changes from #5405 after this modification and confirmed that it works on the RP2040. However, it did not work on the Wio Terminal. This seems to require a bit more investigation.

github-actions · 2026-06-07T03:38:10Z

Size difference with the dev branch:

Binary size difference

 flash                          ram
 before   after   diff          before   after   diff
   7516    7516      0   0.00%    2296    2296      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/at24cx/main.go
  71440   71440      0   0.00%    3640    3640      0   0.00% tinygo build -size short -o ./build/test.hex -target=pinetime     ./examples/bma42x/main.go
   7948    7948      0   0.00%    3336    3336      0   0.00% tinygo build -size short -o ./build/test.hex -target=bluepill ./examples/ds1307/sram/main.go
  21980   21980      0   0.00%    3532    3532      0   0.00% tinygo build -size short -o ./build/test.hex -target=bluepill ./examples/ds1307/time/main.go
   4540    4540      0   0.00%    2256    2256      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/easystepper/main.go
   7204    7204      0   0.00%    2260    2260      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/gc9a01/main.go
   5648    5648      0   0.00%    2256    2256      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/hd44780/customchar/main.go
   5688    5688      0   0.00%    2256    2256      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/hd44780/text/main.go
  16132   16132      0   0.00%    2340    2340      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/hub75/main.go
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  27784   27784      0   0.00%    5852    5852      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit-v2 ./examples/microbitmatrix/main.go
   6380    6380      0   0.00%    3268    3268      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/pcd8544/setbuffer/main.go
   4764    4764      0   0.00%    2260    2260      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/pcd8544/setpixel/main.go
   3113    3113      0   0.00%     560     560      0   0.00% tinygo build -size short -o ./build/test.hex -target=arduino ./examples/servo
  57688   57688      0   0.00%    3672    3672      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/sht3x/main.go
  57688   57688      0   0.00%    3680    3680      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/sht4x/main.go
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   6080    6080      0   0.00%    2292    2292      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/waveshare-epd/epd2in13x/main.go
   6384    6384      0   0.00%    2300    2300      0   0.00% tinygo build -size short -o ./build/test.hex -target=microbit ./examples/waveshare-epd/epd4in2/main.go
   5668    5668      0   0.00%    9706    9706      0   0.00% tinygo build -size short -o ./build/test.bin -target=m5stamp-c3          ./examples/ws2812
   1997    1997      0   0.00%     600     600      0   0.00% tinygo build -size short -o ./build/test.hex -target=arduino   ./examples/ws2812
   1488    1488      0   0.00%     182     182      0   0.00% tinygo build -size short -o ./build/test.hex -target=digispark ./examples/ws2812
   7116    7116      0   0.00%   10182   10182      0   0.00% tinygo build -size short -o ./build/test.bin -target=xiao-esp32c3 ./examples/ws2812
   7492    7492      0   0.00%    3308    3308      0   0.00% tinygo build -size short -o ./build/test.hex -target=nucleo-f103rb ./examples/shiftregister/main.go
   7184    7184      0   0.00%    2256    2256      0   0.00% tinygo build -size short -o ./build/test.hex -target=hifive1b ./examples/ssd1351/main.go
   9564    9564      0   0.00%    5232    5232      0   0.00% tinygo build -size short -o ./build/test.hex -target=nucleo-l432kc ./examples/aht20/main.go
  13384   13384      0   0.00%    4924    4924      0   0.00% tinygo build -size short -o ./build/test.hex -target=nucleo-wl55jc ./examples/sx126x/lora_rxtx/
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 344936  345356    420   0.12%   22468   22716    248   1.10% tinygo build -size short -o ./build/test.hex -target=wioterminal -stack-size 8kb ./examples/net/webserver/
  62348   62948    600   0.96%    8576    8812    236   2.75% tinygo build -size short -o ./build/test.hex -target=feather-m4 ./examples/i2csoft/adt7410/
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  64664   65312    648   1.00%    6568    6804    236   3.59% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/bmp280/main.go
 353216  353868    652   0.18%   17376   17624    248   1.43% tinygo build -size short -o ./build/test.hex -target=pyportal -stack-size 8kb ./examples/net/http-get/
  63192   63848    656   1.04%    6296    6540    244   3.88% tinygo build -size short -o ./build/test.hex -target=feather-nrf52840 ./examples/is31fl3731/main.go
  62948   63604    656   1.04%    6332    6568    236   3.73% tinygo build -size short -o ./build/test.hex -target=feather-nrf52840 ./examples/max6675/main.go
 121036  121700    664   0.55%    8428    8664    236   2.80% tinygo build -size short -o ./build/test.hex -target=arduino-nano33 -stack-size 8kb ./examples/net/tcpclient/
  10396   11064    668   6.43%    7264    7500    236   3.25% tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/ili9341/basic
  10428   11100    672   6.44%    7256    7492    236   3.25% tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/ili9341/scroll
  62132   62812    680   1.09%    6528    6764    236   3.62% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/adt7410/main.go
  77024   77704    680   0.88%    7804    8040    236   3.02% tinygo build -size short -o ./build/test.hex -target=p1am-100 ./examples/p1am/main.go
  65648   66328    680   1.04%    6600    6836    236   3.58% tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/ndir/main_ndir.go
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  29664   30356    692   2.33%   38424   38660    236   0.61% tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/ili9341/pyportal_boing
  10264   10960    696   6.78%    5080    5316    236   4.65% tinygo build -size short -o ./build/test.hex -target=arduino-nano33 ./examples/tm1637/main.go
  42808   43504    696   1.63%    8964    9200    236   2.63% tinygo build -size short -o ./build/test.hex -target=pybadge ./examples/sx127x/lora_rxtx/
  13876   14584    708   5.10%    7136    7372    236   3.31% tinygo build -size short -o ./build/test.hex -target=pybadge ./examples/amg88xx
   8232    8944    712   8.65%    7128    7364    236   3.31% tinygo build -size short -o ./build/test.hex -target=pybadge ./examples/shifter/main.go
  10400   11112    712   6.85%    7128    7364    236   3.31% tinygo build -size short -o ./build/test.elf -target=wioterminal ./examples/axp192/m5stack-core2-blinky/
  12368   13080    712   5.76%    4900    5136    236   4.82% tinygo build -size short -o ./build/test.uf2 -target=nicenano ./examples/sharpmem/main.go
 120596  121308    712   0.59%   12516   12752    236   1.89% tinygo build -size short -o ./build/test.hex -target=elecrow-rp2350 -stack-size 8kb ./examples/net/ntpclient/
   9056    9772    716   7.91%    7128    7364    236   3.31% tinygo build -size short -o ./build/test.hex -target=pyportal ./examples/touch/resistive/fourwire/main.go
  28152   28872    720   2.56%    7168    7404    236   3.29% tinygo build -size short -o ./build/test.hex -target=feather-m4 ./examples/lsm303dlhc/main.go
  32248   32968    720   2.23%    5120    5356    236   4.61% tinygo build -size short -o ./build/test.hex -target=trinket-m0 ./examples/bme280/main.go
  69140   69860    720   1.04%    7436    7672    236   3.17% tinygo build -size short -o ./build/test.hex -target=pico ./examples/ndir/main_ndir.go
  68828   69548    720   1.05%    7404    7640    236   3.19% tinygo build -size short -o ./build/test.uf2 -target=pico ./examples/mcp9808/main.go
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  70748   71476    728   1.03%    7328    7564    236   3.22% tinygo build -size short -o ./build/test.hex -target=itsybitsy-m0 ./examples/flash/console/spi
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  24916   25648    732   2.94%   14076   14312    236   1.68% tinygo build -size short -o ./build/test.hex -target=feather-nrf52840-sense ./examples/waveshare-epd/epd1in54/main.go
  14532   15268    736   5.06%    6928    7164    236   3.41% tinygo build -size short -o ./build/test.hex -target=nano-33-ble ./examples/hts221/main.go
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 315444  316192    748   0.24%   16648   16892    244   1.47% tinygo build -size short -o ./build/test.hex -target=nano-rp2040 -stack-size 8kb ./examples/net/websocket/dial/
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sago35 · 2026-06-07T03:39:53Z

Although I have marked this PR as a draft, it looks good to me so far. However, while incorporating #5405 works fine on the RP2040, it did not work on the ATSAMD51. I think this will require a bit more investigation.

sago35 · 2026-06-07T05:19:16Z

When I configured the HID settings on the Wio Terminal to use EP4 In/Out, it worked. There might be a limitation with the USB Device on the ATSAMD51.

In the original configuration of #5405, it is set to use EP2/IN and EP4/OUT.

sago35 · 2026-06-07T05:26:57Z

Also, the following code worked on the Wio Terminal as well. From this, it appears to be an Endpoint limitation on the ATSAMD51.
And it also works on the RP2040, ATSAMD21, and nRF52840.

	Configuration: Append([][]byte{
		ConfigurationCDCHID.Bytes(),
		InterfaceAssociationCDC.Bytes(),
		InterfaceCDCControl.Bytes(),
		ClassSpecificCDCHeader.Bytes(),
		ClassSpecificCDCACM.Bytes(),
		ClassSpecificCDCUnion.Bytes(),
		ClassSpecificCDCCallManagement.Bytes(),
		EndpointIN(EndpointEP1, TransferTypeInterrupt, 0x10, 0x10).Bytes(),
		InterfaceCDCData.Bytes(),
		EndpointOUT(EndpointEP2, TransferTypeBulk, 0x40, 0x00).Bytes(),
		EndpointIN(EndpointEP2, TransferTypeBulk, 0x40, 0x00).Bytes(), // CDC: EP3IN -> EP2IN
		InterfaceHID.Bytes(),
		ClassHID.Bytes(),
		EndpointIN(EndpointEP3, TransferTypeInterrupt, 0x40, 0x01).Bytes(), // HID: EP2IN -> EP3IN
		EndpointOUT(EndpointEP3, TransferTypeInterrupt, 0x40, 0x01).Bytes(), // HID: EP4OUT -> EP3IN
	}),

sago35 · 2026-06-07T05:59:37Z

Since it has been confirmed to work correctly on the RP2350 as well, this PR is ready for review.

digitalentity

Thanks for the great debugging! I totally missed the endPoints index in the #5405.

digitalentity

Comfirmed working on RP2

deadprogram · 2026-06-07T11:31:57Z

So we need both #5405 and also this PR for everything to work as expected, is that correct @sago35 and @digitalentity? If so then #5405 needs to also be moved out of draft.

digitalentity · 2026-06-07T11:45:15Z

I think this PR alone is fine, the #5405 will need to change to make sure EPs are mapped in a supported way on all platforms (or even allocated fully dynamically in other of initialization).

deadprogram · 2026-06-07T11:48:05Z

I think this PR alone is fine, the #5405 will need to change to make sure EPs are mapped in a supported way on all platforms (or even allocated fully dynamically in other of initialization).

OK thanks. @sago35 can you please rebase against the latest dev and resolve the merge conflict and then we can get this merged.

sago35 · 2026-06-07T13:12:38Z

I don't know how to run the tests in builder/sizes_test.go, so for now, I need to wait for the CI to run at least once.

digitalentity · 2026-06-07T13:18:43Z

I don't know how to run the tests in builder/sizes_test.go, so for now, I need to wait for the CI to run at least once.

make test runs them as well.

sago35 · 2026-06-07T13:28:49Z

Based on the CI results, I have fixed the binary size test for the Wio Terminal. Unfortunately, there is an overall increase in size. With this, the CI should pass as well.

deadprogram · 2026-06-07T18:32:58Z

Thank you very much for working on this @sago35 and @digitalentity awesome collaboration! Now squash/merging.

sago35 marked this pull request as draft June 7, 2026 03:23

sago35 changed the title ~~machine/usb: dynamically register USB endpoints using slice~~ machine/usb: support bidirectional endpoints by dynamic registration Jun 7, 2026

sago35 force-pushed the usb-endpoint-with-slice branch from e9be5cb to b828b3f Compare June 7, 2026 05:51

sago35 marked this pull request as ready for review June 7, 2026 05:59

digitalentity mentioned this pull request Jun 7, 2026

refactor(usb): dynamic endpoint descriptor generation #5405

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digitalentity reviewed Jun 7, 2026

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digitalentity approved these changes Jun 7, 2026

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sago35 added 2 commits June 7, 2026 22:06

machine/usb: support bidirectional endpoints by dynamic registration

e854860

fix binary size

607fba3

sago35 force-pushed the usb-endpoint-with-slice branch from b828b3f to 607fba3 Compare June 7, 2026 13:09

fix binary size

63da5b6

deadprogram merged commit ca584de into dev Jun 7, 2026
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deadprogram deleted the usb-endpoint-with-slice branch June 7, 2026 18:33

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