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Merged
deadprogram merged 3 commits into from
Jun 7, 2026
Merged

machine/usb: support bidirectional endpoints by dynamic registration #5447

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e854860
machine/usb: support bidirectional endpoints by dynamic registration
sago35 Jun 4, 2026
607fba3
fix binary size
sago35 Jun 7, 2026
63da5b6
fix binary size
sago35 Jun 7, 2026
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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", 3817, 299, 0, 2252},
{"microbit", "examples/serial", 2820, 356, 8, 2248},
{"wioterminal", "examples/pininterrupt", 7330, 1550, 120, 7248},
{"wioterminal", "examples/pininterrupt", 7930, 1650, 132, 7472},

// TODO: also check wasm. Right now this is difficult, because
// wasm binaries are run through wasm-opt and therefore the
Expand Down
13 changes: 0 additions & 13 deletions src/machine/machine_atsamd21_usb.go
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Original file line number Diff line number Diff line change
Expand Up @@ -23,19 +23,6 @@ const (
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.
func (dev *USBDevice) Configure(config UARTConfig) {
if dev.initcomplete {
Expand Down
13 changes: 0 additions & 13 deletions src/machine/machine_atsamd51_usb.go
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Original file line number Diff line number Diff line change
Expand Up @@ -23,19 +23,6 @@ const (
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.
func (dev *USBDevice) Configure(config UARTConfig) {
if dev.initcomplete {
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11 changes: 0 additions & 11 deletions src/machine/machine_nrf52840_usb.go
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Original file line number Diff line number Diff line change
Expand Up @@ -22,17 +22,6 @@ 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
11 changes: 0 additions & 11 deletions src/machine/machine_rp2_usb.go
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Original file line number Diff line number Diff line change
Expand Up @@ -16,17 +16,6 @@ var (
data []byte
pid uint32
}

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
}
)

func initEndpoint(ep, config uint32) {
Expand Down
29 changes: 25 additions & 4 deletions src/machine/usb.go
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Original file line number Diff line number Diff line change
Expand Up @@ -14,9 +14,21 @@ type USBDevice struct {
InitEndpointComplete bool
}

type usbEndpointEntry struct {
Endpoint uint32
Config uint32
}

var (
USBDev = &USBDevice{}
USBCDC Serialer

endPoints = []usbEndpointEntry{
{
Endpoint: usb.CONTROL_ENDPOINT,
Config: usb.ENDPOINT_TYPE_CONTROL,
},
}
)

func initUSB() {
Expand Down Expand Up @@ -277,8 +289,11 @@ func handleStandardSetup(setup usb.Setup) bool {

case usb.SET_CONFIGURATION:
if setup.BmRequestType&usb.REQUEST_RECIPIENT == usb.REQUEST_DEVICE {
for i := 1; i < len(endPoints); i++ {
initEndpoint(uint32(i), endPoints[i])
for _, entry := range endPoints {
if entry.Endpoint == usb.CONTROL_ENDPOINT {
continue
}
initEndpoint(uint32(entry.Endpoint), entry.Config)
}

usbConfiguration = setup.WValueL
Expand Down Expand Up @@ -359,12 +374,18 @@ func ConfigureUSBEndpoint(desc descriptor.Descriptor, epSettings []usb.EndpointC

for _, ep := range epSettings {
if ep.IsIn {
endPoints[ep.Index] = uint32(ep.Type | usb.EndpointIn)
endPoints = append(endPoints, usbEndpointEntry{
Endpoint: uint32(ep.Index),
Config: uint32(ep.Type | usb.EndpointIn),
})
if ep.TxHandler != nil {
usbTxHandler[ep.Index] = ep.TxHandler
}
} else {
endPoints[ep.Index] = uint32(ep.Type | usb.EndpointOut)
endPoints = append(endPoints, usbEndpointEntry{
Endpoint: uint32(ep.Index),
Config: uint32(ep.Type | usb.EndpointOut),
})
if ep.RxHandler != nil {
usbRxHandler[ep.Index] = func(b []byte) bool {
ep.RxHandler(b)
Expand Down
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