Merge remote-tracking branch 'origin/master' into CCRX_Port

# Conflicts:
#	src/portable/renesas/usba/dcd_usba.c
#	src/tusb_option.h

.github/ISSUE_TEMPLATE/bug_report.md

@@ -1,35 +0,0 @@
----
-name: Bug Report
-about: Create a report to help us improve
-title: 'Please provide all details at least for Setup/Describe/Reproduce'
-labels: Bug 🐞
-assignees: ''
-
----
-
-**Set Up**
-
-- **PC OS** e.g Ubuntu 20.04 / Windows 10 / macOS 10.15
-- **Board** e.g Feather nRF52840 Express (if custom specify your MCUs)
-- **TinyUSB version** relase version or git hash (preferrably running with master for lastest code) 
-- **Firmware** e.g examples/device/cdc_msc
-
-**Describe The Bug**
-
-A clear and concise description of what the bug is.
-
-**To Reproduce**
-
-Steps to reproduce the behavior:
-1. Go to '...'
-2. Click on '....'
-3. See error
-
-**Screenshots**
-
-If applicable, add screenshots, bus capture to help explain your problem. 
-
-**Log**
-
-If applicable, provide the stack's log (uart/rtt/swo) where the issue occurred as attached txt file, best with comments to explain the actual events.
-Note: To enable logging, add `LOG=2` to to the make command if building with stock examples or set `CFG_TUSB_DEBUG=2` in your tusb_config.h. More information can be found at [example's readme](/docs/getting_started.md)

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -0,0 +1,74 @@
+name: Bug Report
+description: Report a problem with TinyUSB
+labels: 'Bug 🐞'
+body:
+  - type: markdown
+    attributes:
+      value: |
+        Thanks for taking the time to fill out this bug report!
+        It's okay to leave some blank if it doesn't apply to your problem.
+
+  - type: dropdown
+    attributes:
+      label: Operating System
+      options:
+              - Linux
+              - MacOS
+              - RaspberryPi OS
+              - Windows 7
+              - Windows 10
+              - Windows 11
+              - Others
+    validations:
+      required: true
+
+  - type: input
+    attributes:
+      label: Board
+      placeholder: e.g Feather nRF52840 Express
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Firmware
+      placeholder: |
+        e.g examples/device/cdc_msc.
+        If it is custom firmware, please provide links to your minimal sources or as attached files.
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: What happened ?
+      placeholder: A clear and concise description of what the bug is.
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: How to reproduce ?
+      placeholder: |
+        1. Go to '...'
+        2. Click on '....'
+        3. See error      
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Debug Log
+      placeholder: |
+        TinyUSB debug log where the issue occurred as attached txt file, best with comments to explain the actual events.
+
+        Note: To enable logging, add `LOG=3` to to the make command if building with stock examples or set `CFG_TUSB_DEBUG=3` in your tusb_config.h. 
+        More information can be found at [example's readme](https://github.com/hathach/tinyusb/blob/master/docs/getting_started.md)
+    validations:
+      required: false
+
+  - type: textarea
+    attributes:
+      label: Screenshots
+      description: If applicable, add screenshots to help explain your problem.
+    validations:
+      required: false

.github/workflows/build.yml

@@ -49,8 +49,7 @@ jobs:
         - 'samd11'
         - 'samd21'
         - 'samd51'
-        - 'saml21'
-        - 'saml22'
+        - 'saml2x'
         - 'stm32f0'
         - 'stm32f4'
         - 'stm32f7'

.github/workflows/build_esp.yml

@@ -16,10 +16,10 @@ jobs:
         board:
         # Alphabetical order
         # ESP32-S2
-        - 'adafruit_metro_esp32s2'
         - 'espressif_saola_1'
         # ESP32-S3
-        - 'espressif_addax_1'
+        # latest IDF does not define USB0 in linker
+        #- 'espressif_addax_1'
 
     steps:
     - name: Setup Python

.github/workflows/build_renesas.yml

@@ -15,7 +15,7 @@ jobs:
       matrix:
         family:
         # Alphabetical order
-        - 'rx63n'
+        - 'rx'
     steps:
     - name: Setup Python
       uses: actions/setup-python@v2

README.md

@@ -32,7 +32,7 @@ The stack supports the following MCUs:
 
 - **Dialog:** DA1469x
 - **Espressif:** ESP32-S2, ESP32-S3
-- **MicroChip:** SAMD11, SAMD21, SAMD51, SAME5x, SAMG55
+- **MicroChip:** SAMD11, SAMD21, SAMD51, SAME5x, SAMG55, SAML21, SAML22
 - **NordicSemi:** nRF52833, nRF52840
 - **Nuvoton:** NUC120, NUC121/NUC125, NUC126, NUC505
 - **NXP:**
@@ -40,7 +40,7 @@ The stack supports the following MCUs:
   - Kinetis: KL25
   - LPC Series: 11u, 13, 15, 17, 18, 40, 43, 51u, 54, 55
 - **Raspberry Pi:** RP2040
-- **Renesas:** RX63N
+- **Renesas:** RX63N, RX65N
 - **Silabs:** EFM32GG12
 - **Sony:** CXD56
 - **ST:** STM32 series: L0, F0, F1, F2, F3, F4, F7, H7 both FullSpeed and HighSpeed

docs/boards.md

@@ -47,8 +47,9 @@ This code base already had supported for a handful of following boards (sorted a
 
 - [Microchip SAMG55 Xplained Pro](https://www.microchip.com/DevelopmentTools/ProductDetails/PartNO/ATSAMG55-XPRO)
 
-### MicroChip SAML22
+### MicroChip SAML2x
 
+- [SAML21 Xplaind Pro](https://www.microchip.com/DevelopmentTools/ProductDetails/ATSAML21-XPRO-B)
 - [SAML22 Feather](https://github.com/joeycastillo/Feather-Projects/tree/main/SAML22%20Feather)
 - [Sensor Watch](https://github.com/joeycastillo/Sensor-Watch)
 
@@ -126,6 +127,7 @@ This code base already had supported for a handful of following boards (sorted a
 ### Renesas RX
 
 - [GR-CITRUS](https://www.renesas.com/us/en/products/gadget-renesas/boards/gr-citrus)
+- [Renesas RX65N Cloud Kit](https://www.renesas.com/us/en/products/microcontrollers-microprocessors/rx-32-bit-performance-efficiency-mcus/rx65n-cloud-kit-renesas-rx65n-cloud-kit)
 
 ### Raspberry Pi RP2040
 

examples/device/cdc_msc_freertos/src/freertos_hook.c

@@ -94,7 +94,7 @@ void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, Stack
   *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
 }
 
-#if CFG_TUSB_MCU == OPT_MCU_RX63X
+#if CFG_TUSB_MCU == OPT_MCU_RX63X | CFG_TUSB_MCU == OPT_MCU_RX65X
 #include "iodefine.h"
 void vApplicationSetupTimerInterrupt(void)
 {

examples/device/hid_composite_freertos/src/freertos_hook.c

@@ -94,7 +94,7 @@ void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, Stack
   *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
 }
 
-#if CFG_TUSB_MCU == OPT_MCU_RX63X
+#if CFG_TUSB_MCU == OPT_MCU_RX63X | CFG_TUSB_MCU == OPT_MCU_RX65X
 #include "iodefine.h"
 void vApplicationSetupTimerInterrupt(void)
 {

examples/host/cdc_msc_hid/src/hid_app.c

@@ -30,7 +30,8 @@
 // MACRO TYPEDEF CONSTANT ENUM DECLARATION
 //--------------------------------------------------------------------+
 
-// If your host terminal support ansi escape code, it can be use to simulate mouse cursor
+// If your host terminal support ansi escape code such as TeraTerm
+// it can be use to simulate mouse cursor movement within terminal
 #define USE_ANSI_ESCAPE   0
 
 #define MAX_REPORT  4
@@ -113,6 +114,13 @@ void tuh_hid_report_received_cb(uint8_t dev_addr, uint8_t instance, uint8_t cons
     return;
   }
 
+  // For complete list of Usage Page & Usage checkout src/class/hid/hid.h. For examples:
+  // - Keyboard                     : Desktop, Keyboard
+  // - Mouse                        : Desktop, Mouse
+  // - Gamepad                      : Desktop, Gamepad
+  // - Consumer Control (Media Key) : Consumer, Consumer Control
+  // - System Control (Power key)   : Desktop, System Control
+  // - Generic (vendor)             : 0xFFxx, xx
   if ( rpt_info->usage_page == HID_USAGE_PAGE_DESKTOP )
   {
     switch (rpt_info->usage)
@@ -164,7 +172,7 @@ static void process_kbd_report(hid_keyboard_report_t const *report)
       }else
       {
         // not existed in previous report means the current key is pressed
-        bool const is_shift =  report->modifier & (KEYBOARD_MODIFIER_LEFTSHIFT | KEYBOARD_MODIFIER_RIGHTSHIFT);
+        bool const is_shift = report->modifier & (KEYBOARD_MODIFIER_LEFTSHIFT | KEYBOARD_MODIFIER_RIGHTSHIFT);
         uint8_t ch = keycode2ascii[report->keycode[i]][is_shift ? 1 : 0];
         putchar(ch);
         if ( ch == '\r' ) putchar('\n'); // added new line for enter key

examples/host/cdc_msc_hid/src/tusb_config.h

@@ -76,7 +76,7 @@
 
 #define CFG_TUH_HUB                 1
 #define CFG_TUH_CDC                 1
-#define CFG_TUH_HID                 2
+#define CFG_TUH_HID                 4
 #define CFG_TUH_MSC                 1
 #define CFG_TUH_VENDOR              0
 

hw/bsp/board_mcu.h

@@ -127,7 +127,7 @@
 #elif CFG_TUSB_MCU == OPT_MCU_EFM32GG || CFG_TUSB_MCU == OPT_MCU_EFM32GG11 || CFG_TUSB_MCU == OPT_MCU_EFM32GG12
   #include "em_device.h"
 
-#elif CFG_TUSB_MCU == OPT_MCU_RX63X
+#elif CFG_TUSB_MCU == OPT_MCU_RX63X || CFG_TUSB_MCU == OPT_MCU_RX65X
   // no header needed
 
 #else

hw/bsp/rx/boards/gr_citrus/board.mk

@@ -0,0 +1,24 @@
+DEPS_SUBMODULES += hw/mcu/renesas/rx
+
+CFLAGS += \
+  -mcpu=rx610 \
+  -misa=v1 \
+  -DCFG_TUSB_MCU=OPT_MCU_RX63X
+
+MCU_DIR = hw/mcu/renesas/rx/rx63n
+
+# All source paths should be relative to the top level.
+LD_FILE = $(BOARD_PATH)/r5f5631fd.ld
+
+# For freeRTOS port source
+FREERTOS_PORT = RX600
+
+# For flash-jlink target
+JLINK_DEVICE = R5F5631F
+JLINK_IF     = JTAG
+
+# For flash-pyocd target
+PYOCD_TARGET =
+
+# flash using jlink
+flash: flash-jlink

hw/bsp/rx/boards/rx65n_cloud_kit/board.mk

@@ -0,0 +1,25 @@
+CFLAGS += \
+  -mcpu=rx64m \
+  -misa=v2 \
+  -DCFG_TUSB_MCU=OPT_MCU_RX65X \
+  -DIR_USB0_USBI0=IR_PERIB_INTB185 \
+  -DIER_USB0_USBI0=IER_PERIB_INTB185 \
+  -DIEN_USB0_USBI0=IEN_PERIB_INTB185
+
+MCU_DIR = hw/mcu/renesas/rx/rx65n
+
+# All source paths should be relative to the top level.
+LD_FILE = $(BOARD_PATH)/r5f565ne.ld
+
+# For freeRTOS port source
+FREERTOS_PORT = RX600
+
+# For flash-jlink target
+JLINK_DEVICE = R5F565NE
+JLINK_IF     = JTAG
+
+# For flash-pyocd target
+PYOCD_TARGET =
+
+# flash using rfp-cli
+flash: flash-rfp

hw/bsp/rx/boards/rx65n_cloud_kit/r5f565ne.ld

@@ -0,0 +1,168 @@
+__USTACK_SIZE = 0x00000200;
+__ISTACK_SIZE = 0x00000200;
+
+MEMORY
+{
+	RAM  : ORIGIN = 0x4,        LENGTH = 0x3fffc
+	RAM2 : ORIGIN = 0x00800000, LENGTH = 0x60000
+	OFS  : ORIGIN = 0xFE7F5D00, LENGTH = 128
+	ROM  : ORIGIN = 0xFFE00000, LENGTH = 0x200000
+}
+SECTIONS
+{
+	.exvectors 0xFFFFFF80: AT(0xFFFFFF80)
+	{
+		"_exvectors_start" = .;
+		KEEP(*(.exvectors))
+		"_exvectors_end" = .;
+	} >ROM
+	.fvectors 0xFFFFFFFC: AT(0xFFFFFFFC)
+	{
+		KEEP(*(.fvectors))
+	} > ROM
+	.text 0xFFE00000: AT(0xFFE00000)
+	{
+		*(.text)
+		*(.text.*)
+		*(P)
+		KEEP(*(.text.*_isr))
+		etext = .;
+	} > ROM
+	.rvectors ALIGN(4):
+	{
+		_rvectors_start = .;
+		KEEP(*(.rvectors))
+		_rvectors_end = .;
+	} > ROM
+	.init :
+	{
+		KEEP(*(.init))
+		__preinit_array_start = .;
+		KEEP(*(.preinit_array))
+		__preinit_array_end = .;
+		__init_array_start = (. + 3) & ~ 3;
+		KEEP(*(.init_array))
+		KEEP(*(SORT(.init_array.*)))
+		__init_array_end = .;
+		__fini_array_start = .;
+		KEEP(*(.fini_array))
+		KEEP(*(SORT(.fini_array.*)))
+		__fini_array_end = .;
+	} > ROM
+	.fini :
+	{
+		KEEP(*(.fini))
+	} > ROM
+	.got :
+	{
+		*(.got)
+		*(.got.plt)
+	} > ROM
+	.rodata :
+	{
+		*(.rodata)
+		*(.rodata.*)
+		*(C_1)
+		*(C_2)
+		*(C)
+		_erodata = .;
+	} > ROM
+	.eh_frame_hdr :
+	{
+		*(.eh_frame_hdr)
+	} > ROM
+	.eh_frame :
+	{
+		*(.eh_frame)
+	} > ROM
+	.jcr :
+	{
+		*(.jcr)
+	} > ROM
+	.tors :
+	{
+		__CTOR_LIST__ = .;
+		. = ALIGN(2);
+		___ctors = .;
+		*(.ctors)
+		___ctors_end = .;
+		__CTOR_END__ = .;
+		__DTOR_LIST__ = .;
+		___dtors = .;
+		*(.dtors)
+		___dtors_end = .;
+		__DTOR_END__ = .;
+		. = ALIGN(2);
+		_mdata = .;
+	} > ROM
+	.data : AT(_mdata)
+	{
+		_data = .;
+		*(.data)
+		*(.data.*)
+		*(D)
+		*(D_1)
+		*(D_2)
+		_edata = .;
+	} > RAM
+	.gcc_exc :
+	{
+		*(.gcc_exc)
+	} > RAM
+	.bss :
+	{
+		_bss = .;
+		*(.bss)
+		*(.bss.**)
+		*(COMMON)
+		*(B)
+		*(B_1)
+		*(B_2)
+		_ebss = .;
+		_end = .;
+	} > RAM
+	.ustack :
+	{
+		. = ALIGN(8);
+		. = . + __USTACK_SIZE;
+		PROVIDE(_ustack = .);
+	} > RAM
+	.istack :
+	{
+		. = ALIGN(8);
+		. = . + __ISTACK_SIZE;
+		PROVIDE(_istack = .);
+	} > RAM
+	.ofs1 0xFE7F5D00: AT(0xFE7F5D00)
+	{
+		KEEP(*(.ofs1))
+	} > OFS
+	.ofs2 0xFE7F5D10: AT(0xFE7F5D10)
+	{
+		KEEP(*(.ofs2))
+	} > OFS
+	.ofs3 0xFE7F5D20: AT(0xFE7F5D20)
+	{
+		KEEP(*(.ofs3))
+	} > OFS
+	.ofs4 0xFE7F5D40: AT(0xFE7F5D40)
+	{
+		KEEP(*(.ofs4))
+	} > OFS
+	.ofs5 0xFE7F5D48: AT(0xFE7F5D48)
+	{
+		KEEP(*(.ofs5))
+	} > OFS
+	.ofs6 0xFE7F5D50: AT(0xFE7F5D50)
+	{
+		KEEP(*(.ofs6))
+	} > OFS
+	.ofs7 0xFE7F5D64: AT(0xFE7F5D64)
+	{
+		KEEP(*(.ofs7))
+	} > OFS
+	.ofs8 0xFE7F5D70: AT(0xFE7F5D70)
+	{
+		KEEP(*(.ofs8))
+	} > OFS
+}

hw/bsp/rx/boards/rx65n_cloud_kit/rx65n_cloud_kit.c

@@ -0,0 +1,270 @@
+/*
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2021, Koji Kitayama
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * This file is part of the TinyUSB stack.
+ */
+
+#include "bsp/board.h"
+#include "iodefine.h"
+#include "interrupt_handlers.h"
+
+#define IRQ_PRIORITY_CMT0     5
+#define IRQ_PRIORITY_USBI0    6
+#define IRQ_PRIORITY_SCI5     5
+
+#define SYSTEM_PRCR_PRC1      (1<<1)
+#define SYSTEM_PRCR_PRKEY     (0xA5u<<8)
+
+#define CMT_PCLK              60000000
+#define CMT_CMCR_CKS_DIV_128  2
+#define CMT_CMCR_CMIE         (1<<6)
+#define MPC_PFS_ISEL          (1<<6)
+
+#define SCI_PCLK              60000000
+#define SCI_SSR_FER           (1<<4)
+#define SCI_SSR_ORER          (1<<5)
+
+#define SCI_SCR_TEIE          (1u<<2)
+#define SCI_SCR_RE            (1u<<4)
+#define SCI_SCR_TE            (1u<<5)
+#define SCI_SCR_RIE           (1u<<6)
+#define SCI_SCR_TIE           (1u<<7)
+#define INT_Excep_SCI5_TEI5   INT_Excep_ICU_GROUPBL0
+
+#define IRQ_USB0_USBI0        62
+#define SLIBR_USBI0           SLIBR185
+#define IPR_USB0_USBI0        IPR_PERIB_INTB185
+#define INT_Excep_USB0_USBI0  INT_Excep_PERIB_INTB185
+
+void HardwareSetup(void)
+{
+  FLASH.ROMCIV.WORD = 1;
+  while (FLASH.ROMCIV.WORD) ;
+  FLASH.ROMCE.WORD = 1;
+  while (!FLASH.ROMCE.WORD) ;
+
+  SYSTEM.PRCR.WORD = 0xA503u;
+  if (!SYSTEM.RSTSR1.BYTE) {
+    RTC.RCR4.BYTE = 0;
+    RTC.RCR3.BYTE = 12;
+    while (12 != RTC.RCR3.BYTE) ;
+  }
+  SYSTEM.SOSCCR.BYTE = 1;
+
+  if (SYSTEM.HOCOCR.BYTE) {
+    SYSTEM.HOCOCR.BYTE = 0;
+    while (!SYSTEM.OSCOVFSR.BIT.HCOVF) ;
+  }
+  SYSTEM.PLLCR.WORD  = 0x1D10u; /* HOCO x 15 */
+  SYSTEM.PLLCR2.BYTE = 0;
+  while (!SYSTEM.OSCOVFSR.BIT.PLOVF) ;
+
+  SYSTEM.SCKCR.LONG  = 0x21C11222u;
+  SYSTEM.SCKCR2.WORD = 0x0041u;
+  SYSTEM.ROMWT.BYTE  = 0x02u;
+  while (0x02u != SYSTEM.ROMWT.BYTE) ;
+  SYSTEM.SCKCR3.WORD = 0x400u;
+  SYSTEM.PRCR.WORD   = 0xA500u;
+}
+
+//--------------------------------------------------------------------+
+// SCI handling
+//--------------------------------------------------------------------+
+typedef struct {
+  uint8_t *buf;
+  uint32_t cnt;
+} sci_buf_t;
+static volatile sci_buf_t sci_buf[2];
+
+void INT_Excep_SCI5_TXI5(void)
+{
+  uint8_t *buf = sci_buf[0].buf;
+  uint32_t cnt = sci_buf[0].cnt;
+  
+  if (!buf || !cnt) {
+    SCI5.SCR.BYTE &= ~(SCI_SCR_TEIE | SCI_SCR_TE | SCI_SCR_TIE);
+    return;
+  }
+  SCI5.TDR = *buf;
+  if (--cnt) {
+    ++buf;
+  } else {
+    buf = NULL;
+    SCI5.SCR.BIT.TIE  = 0;
+    SCI5.SCR.BIT.TEIE = 1;
+  }
+  sci_buf[0].buf = buf;
+  sci_buf[0].cnt = cnt;
+}
+
+void INT_Excep_SCI5_TEI5(void)
+{
+  SCI5.SCR.BYTE &= ~(SCI_SCR_TEIE | SCI_SCR_TE | SCI_SCR_TIE);
+}
+
+void INT_Excep_SCI5_RXI5(void)
+{
+  uint8_t *buf = sci_buf[1].buf;
+  uint32_t cnt = sci_buf[1].cnt;
+
+  if (!buf || !cnt ||
+      (SCI5.SSR.BYTE & (SCI_SSR_FER | SCI_SSR_ORER))) {
+    sci_buf[1].buf = NULL;
+    SCI5.SSR.BYTE   = 0;
+    SCI5.SCR.BYTE  &= ~(SCI_SCR_RE | SCI_SCR_RIE);
+    return;
+  }
+  *buf = SCI5.RDR;
+  if (--cnt) {
+    ++buf;
+  } else {
+    buf = NULL;
+    SCI5.SCR.BYTE &= ~(SCI_SCR_RE | SCI_SCR_RIE);
+  }
+  sci_buf[1].buf = buf;
+  sci_buf[1].cnt = cnt;
+}
+
+//--------------------------------------------------------------------+
+// Forward USB interrupt events to TinyUSB IRQ Handler
+//--------------------------------------------------------------------+
+void INT_Excep_USB0_USBI0(void)
+{
+  tud_int_handler(0);
+}
+
+void board_init(void)
+{
+  /* setup software configurable interrupts */
+  ICU.SLIBR_USBI0.BYTE = IRQ_USB0_USBI0;
+  ICU.SLIPRCR.BYTE     = 1;
+
+#if CFG_TUSB_OS == OPT_OS_NONE
+  /* Enable CMT0 */
+  SYSTEM.PRCR.WORD = SYSTEM_PRCR_PRKEY | SYSTEM_PRCR_PRC1;
+  MSTP(CMT0)       = 0;
+  SYSTEM.PRCR.WORD = SYSTEM_PRCR_PRKEY;
+  /* Setup 1ms tick timer */
+  CMT0.CMCNT      = 0;
+  CMT0.CMCOR      = CMT_PCLK / 1000 / 128;
+  CMT0.CMCR.WORD  = CMT_CMCR_CMIE | CMT_CMCR_CKS_DIV_128;
+  IR(CMT0, CMI0)  = 0;
+  IPR(CMT0, CMI0) = IRQ_PRIORITY_CMT0;
+  IEN(CMT0, CMI0) = 1;
+  CMT.CMSTR0.BIT.STR0 = 1;
+#endif
+
+  /* Unlock MPC registers */
+  MPC.PWPR.BIT.B0WI  = 0;
+  MPC.PWPR.BIT.PFSWE = 1;
+  // SW PB1
+  PORTB.PMR.BIT.B1 = 0U;
+  PORTB.PDR.BIT.B1 = 0U;
+  // LED PD6
+  PORTD.PODR.BIT.B6 = 1U;
+  PORTD.ODR1.BIT.B4 = 1U;
+  PORTD.PMR.BIT.B6  = 0U;
+  PORTD.PDR.BIT.B6  = 1U;
+  /* UART TXD5 => PA4, RXD5 => PA3 */
+  PORTA.PMR.BIT.B4 = 1U;
+  PORTA.PCR.BIT.B4 = 1U;
+  MPC.PA4PFS.BYTE  = 0b01010;
+  PORTA.PMR.BIT.B3 = 1U;
+  MPC.PA5PFS.BYTE  = 0b01010;
+  /* USB VBUS -> P16 */
+  PORT1.PMR.BIT.B6 = 1U;
+  MPC.P16PFS.BYTE  = MPC_PFS_ISEL | 0b10001;
+  /* Lock MPC registers */
+  MPC.PWPR.BIT.PFSWE = 0;
+  MPC.PWPR.BIT.B0WI  = 1;
+
+  /* Enable SCI5 */
+  SYSTEM.PRCR.WORD   = SYSTEM_PRCR_PRKEY | SYSTEM_PRCR_PRC1;
+  MSTP(SCI5)         = 0;
+  SYSTEM.PRCR.WORD   = SYSTEM_PRCR_PRKEY;
+  SCI5.SEMR.BIT.ABCS = 1;
+  SCI5.SEMR.BIT.BGDM = 1;
+  SCI5.BRR           = (SCI_PCLK / (8 * 115200)) - 1;
+  IR(SCI5,  RXI5)    = 0;
+  IR(SCI5,  TXI5)    = 0;
+  IS(SCI5,  TEI5)    = 0;
+  IR(ICU, GROUPBL0)  = 0;
+  IPR(SCI5, RXI5)    = IRQ_PRIORITY_SCI5;
+  IPR(SCI5, TXI5)    = IRQ_PRIORITY_SCI5;
+  IPR(ICU,GROUPBL0)  = IRQ_PRIORITY_SCI5;
+  IEN(SCI5, RXI5)    = 1;
+  IEN(SCI5, TXI5)    = 1;
+  IEN(ICU,GROUPBL0)  = 1;
+  EN(SCI5, TEI5)     = 1;
+
+  /* setup USBI0 interrupt. */
+  IR(USB0, USBI0)  = 0;
+  IPR(USB0, USBI0) = IRQ_PRIORITY_USBI0;
+}
+
+//--------------------------------------------------------------------+
+// Board porting API
+//--------------------------------------------------------------------+
+
+void board_led_write(bool state)
+{
+  PORTD.PODR.BIT.B6 = state ? 0 : 1;
+}
+
+uint32_t board_button_read(void)
+{
+  return PORTB.PIDR.BIT.B1 ? 0 : 1;
+}
+
+int board_uart_read(uint8_t* buf, int len)
+{
+  sci_buf[1].buf = buf;
+  sci_buf[1].cnt = len;
+  SCI5.SCR.BYTE |= SCI_SCR_RE | SCI_SCR_RIE;
+  while (SCI5.SCR.BIT.RE) ;
+  return len - sci_buf[1].cnt;
+}
+
+int board_uart_write(void const *buf, int len)
+{
+  sci_buf[0].buf = (uint8_t*)buf;
+  sci_buf[0].cnt = len;
+  SCI5.SCR.BYTE |= SCI_SCR_TE | SCI_SCR_TIE;
+  while (SCI5.SCR.BIT.TE) ;
+  return len;
+}
+
+#if CFG_TUSB_OS == OPT_OS_NONE
+volatile uint32_t system_ticks = 0;
+void INT_Excep_CMT0_CMI0(void)
+{
+  ++system_ticks;
+}
+
+uint32_t board_millis(void)
+{
+  return system_ticks;
+}
+#else
+uint32_t SystemCoreClock = 120000000;
+#endif

hw/bsp/rx/family.mk

@@ -0,0 +1,50 @@
+DEPS_SUBMODULES += hw/mcu/renesas/rx
+
+# Cross Compiler for RX
+CROSS_COMPILE = rx-elf-
+
+include $(TOP)/$(BOARD_PATH)/board.mk
+
+CFLAGS += \
+  -nostartfiles \
+  -ffunction-sections \
+  -fdata-sections \
+  -fshort-enums \
+  -mlittle-endian-data \
+
+RX_NEWLIB ?= 1
+
+ifeq ($(CMDEXE),1)
+  OPTLIBINC="$(shell for /F "usebackq delims=" %%i in (`where rx-elf-gcc`) do echo %%~dpi..\rx-elf\optlibinc)"
+else
+  OPTLIBINC=$(shell dirname `which rx-elf-gcc`)../rx-elf/optlibinc
+endif
+
+ifeq ($(RX_NEWLIB),1)
+  CFLAGS += -DSSIZE_MAX=__INT_MAX__
+else
+  # setup for optlib
+  CFLAGS += -nostdinc \
+    -isystem $(OPTLIBINC) \
+    -DLWIP_NO_INTTYPES_H
+
+  LIBS += -loptc -loptm
+endif
+
+SRC_C += \
+	src/portable/renesas/usba/dcd_usba.c \
+	$(MCU_DIR)/vects.c
+
+INC += \
+	$(TOP)/$(BOARD_PATH) \
+	$(TOP)/$(MCU_DIR)
+
+SRC_S += $(MCU_DIR)/start.S
+
+$(BUILD)/$(PROJECT).mot: $(BUILD)/$(PROJECT).elf
+	@echo CREATE $@
+	$(OBJCOPY) -O srec -I elf32-rx-be-ns $^ $@
+
+# flash using rfp-cli
+flash-rfp: $(BUILD)/$(PROJECT).mot
+	rfp-cli -device rx65x -tool e2l -if fine -fo id FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF -auth id FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF -auto $^

hw/bsp/rx63n/boards/gr_citrus/board.mk

@@ -1,61 +0,0 @@
-DEPS_SUBMODULES += hw/mcu/renesas/rx
-
-CFLAGS += \
-  -nostartfiles \
-  -ffunction-sections \
-  -fdata-sections \
-  -fshort-enums \
-  -mcpu=rx610 \
-  -misa=v1 \
-  -mlittle-endian-data \
-  -DCFG_TUSB_MCU=OPT_MCU_RX63X
-
-# Cross Compiler for RX
-CROSS_COMPILE = rx-elf-
-
-RX_NEWLIB ?= 1
-
-ifeq ($(CMDEXE),1)
-OPTLIBINC="$(shell for /F "usebackq delims=" %%i in (`where rx-elf-gcc`) do echo %%~dpi..\rx-elf\optlibinc)"
-else
-OPTLIBINC=$(shell dirname `which rx-elf-gcc`)../rx-elf/optlibinc
-endif
-
-ifeq ($(RX_NEWLIB),1)
-CFLAGS += -DSSIZE_MAX=__INT_MAX__
-else
-# setup for optlib
-CFLAGS += -nostdinc \
-  -isystem $(OPTLIBINC) \
-  -DLWIP_NO_INTTYPES_H
-
-LIBS += -loptc -loptm
-endif
-
-MCU_DIR = hw/mcu/renesas/rx/rx63n
-
-# All source paths should be relative to the top level.
-LD_FILE = $(BOARD_PATH)/r5f5631fd.ld
-
-SRC_C += \
-	src/portable/renesas/usba/dcd_usba.c \
-	$(MCU_DIR)/vects.c
-
-INC += \
-	$(TOP)/$(BOARD_PATH) \
-	$(TOP)/$(MCU_DIR)
-
-SRC_S += $(MCU_DIR)/start.S
-
-# For freeRTOS port source
-FREERTOS_PORT = RX600
-
-# For flash-jlink target
-JLINK_DEVICE = R5F5631F
-JLINK_IF     = JTAG
-
-# For flash-pyocd target
-PYOCD_TARGET =
-
-# flash using jlink
-flash: flash-jlink

hw/bsp/rx63n/family.mk

@@ -1 +0,0 @@
-include $(TOP)/$(BOARD_PATH)/board.mk

hw/bsp/saml21/family.mk

@@ -1,50 +0,0 @@
-UF2_FAMILY_ID = 0x68ed2b88
-DEPS_SUBMODULES += hw/mcu/microchip
-
-include $(TOP)/$(BOARD_PATH)/board.mk
-
-CFLAGS += \
-  -mthumb \
-  -mabi=aapcs \
-  -mcpu=cortex-m0plus \
-  -nostdlib -nostartfiles \
-  -DCONF_OSC32K_CALIB_ENABLE=0 \
-  -DCFG_TUSB_MCU=OPT_MCU_SAML21
-
-SRC_C += \
-	src/portable/microchip/samd/dcd_samd.c \
-	hw/mcu/microchip/saml21/gcc/gcc/startup_saml21.c \
-	hw/mcu/microchip/saml21/gcc/system_saml21.c \
-	hw/mcu/microchip/saml21/hpl/gclk/hpl_gclk.c \
-	hw/mcu/microchip/saml21/hpl/mclk/hpl_mclk.c \
-	hw/mcu/microchip/saml21/hpl/pm/hpl_pm.c \
-	hw/mcu/microchip/saml21/hpl/osc32kctrl/hpl_osc32kctrl.c \
-	hw/mcu/microchip/saml21/hpl/oscctrl/hpl_oscctrl.c \
-	hw/mcu/microchip/saml21/hal/src/hal_atomic.c
-
-INC += \
-	$(TOP)/$(BOARD_PATH) \
-	$(TOP)/hw/mcu/microchip/saml21/ \
-	$(TOP)/hw/mcu/microchip/saml21/config \
-	$(TOP)/hw/mcu/microchip/saml21/include \
-	$(TOP)/hw/mcu/microchip/saml21/hal/include \
-	$(TOP)/hw/mcu/microchip/saml21/hal/utils/include \
-	$(TOP)/hw/mcu/microchip/saml21/hpl/port \
-	$(TOP)/hw/mcu/microchip/saml21/hri \
-	$(TOP)/hw/mcu/microchip/saml21/CMSIS/Include
-
-# For TinyUSB port source 
-VENDOR = microchip
-CHIP_FAMILY = samd
-
-# For freeRTOS port source
-FREERTOS_PORT = ARM_CM0
-
-# flash using bossac at least version 1.8
-# can be found in arduino15/packages/arduino/tools/bossac/
-# Add it to your PATH or change BOSSAC variable to match your installation
-BOSSAC = bossac
-
-flash-bossac: $(BUILD)/$(PROJECT).bin
-	@:$(call check_defined, SERIAL, example: SERIAL=/dev/ttyACM0)
-	$(BOSSAC) --port=$(SERIAL) -U -i --offset=0x2000 -e -w $^ -R

hw/bsp/saml22/family.c

@@ -1,163 +0,0 @@
-/* 
- * The MIT License (MIT)
- *
- * Copyright (c) 2019 Ha Thach (tinyusb.org)
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- *
- * This file is part of the TinyUSB stack.
- */
-
-#include "sam.h"
-#include "bsp/board.h"
-#include "board.h"
-
-#include "hal/include/hal_gpio.h"
-#include "hal/include/hal_init.h"
-#include "hpl/gclk/hpl_gclk_base.h"
-#include "hpl_mclk_config.h"
-
-//--------------------------------------------------------------------+
-// Forward USB interrupt events to TinyUSB IRQ Handler
-//--------------------------------------------------------------------+
-void USB_Handler(void)
-{
-  tud_int_handler(0);
-}
-
-//--------------------------------------------------------------------+
-// MACRO TYPEDEF CONSTANT ENUM DECLARATION
-//--------------------------------------------------------------------+
-
-/* Referenced GCLKs (out of 0~4), should be initialized firstly */
-#define _GCLK_INIT_1ST 0x00000000
-/* Not referenced GCLKs, initialized last */
-#define _GCLK_INIT_LAST 0x0000001F
-
-void board_init(void)
-{
-  // Clock init ( follow hpl_init.c )
-  hri_nvmctrl_set_CTRLB_RWS_bf(NVMCTRL, CONF_NVM_WAIT_STATE);
-
-  _set_performance_level(2);
-
-  _osc32kctrl_init_sources();
-  _oscctrl_init_sources();
-  _mclk_init();
-#if _GCLK_INIT_1ST
-  _gclk_init_generators_by_fref(_GCLK_INIT_1ST);
-#endif
-  _oscctrl_init_referenced_generators();
-  _gclk_init_generators_by_fref(_GCLK_INIT_LAST);
-
-#if (CONF_PORT_EVCTRL_PORT_0 | CONF_PORT_EVCTRL_PORT_1 | CONF_PORT_EVCTRL_PORT_2 | CONF_PORT_EVCTRL_PORT_3)
-  hri_port_set_EVCTRL_reg(PORT, 0, CONF_PORTA_EVCTRL);
-  hri_port_set_EVCTRL_reg(PORT, 1, CONF_PORTB_EVCTRL);
-#endif
-
-  // Update SystemCoreClock since it is hard coded with asf4 and not correct
-  // Init 1ms tick timer (samd SystemCoreClock may not correct)
-  SystemCoreClock = CONF_CPU_FREQUENCY;
-  SysTick_Config(CONF_CPU_FREQUENCY / 1000);
-
-  // Led init
-  gpio_set_pin_direction(LED_PIN, GPIO_DIRECTION_OUT);
-  gpio_set_pin_level(LED_PIN, !LED_STATE_ON);
-
-  // Button init
-  gpio_set_pin_direction(BUTTON_PIN, GPIO_DIRECTION_IN);
-  gpio_set_pin_pull_mode(BUTTON_PIN, BUTTON_STATE_ACTIVE ? GPIO_PULL_DOWN : GPIO_PULL_UP);
-
-#if CFG_TUSB_OS  == OPT_OS_FREERTOS
-  // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
-  NVIC_SetPriority(USB_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
-#endif
-
-  /* USB Clock init
-   * The USB module requires a GCLK_USB of 48 MHz ~ 0.25% clock
-   * for low speed and full speed operation. */
-  hri_gclk_write_PCHCTRL_reg(GCLK, USB_GCLK_ID, GCLK_PCHCTRL_GEN_GCLK1_Val | GCLK_PCHCTRL_CHEN);
-  hri_mclk_set_AHBMASK_USB_bit(MCLK);
-  hri_mclk_set_APBBMASK_USB_bit(MCLK);
-
-  // USB Pin Init
-  gpio_set_pin_direction(PIN_PA24, GPIO_DIRECTION_OUT);
-  gpio_set_pin_level(PIN_PA24, false);
-  gpio_set_pin_pull_mode(PIN_PA24, GPIO_PULL_OFF);
-  gpio_set_pin_direction(PIN_PA25, GPIO_DIRECTION_OUT);
-  gpio_set_pin_level(PIN_PA25, false);
-  gpio_set_pin_pull_mode(PIN_PA25, GPIO_PULL_OFF);
-
-  gpio_set_pin_function(PIN_PA24, PINMUX_PA24G_USB_DM);
-  gpio_set_pin_function(PIN_PA25, PINMUX_PA25G_USB_DP);
-
-  // Output 500hz PWM on PB23 (TCC0 WO[3]) so we can validate the GCLK1 clock speed
-  hri_mclk_set_APBCMASK_TCC0_bit(MCLK);
-  TCC0->PER.bit.PER = 48000000 / 1000;
-  TCC0->CC[3].bit.CC = 48000000 / 2000;
-  TCC0->CTRLA.bit.ENABLE = true;
-
-  gpio_set_pin_function(PIN_PB23, PINMUX_PB23F_TCC0_WO3);
-  hri_gclk_write_PCHCTRL_reg(GCLK, TCC0_GCLK_ID, GCLK_PCHCTRL_GEN_GCLK1_Val | GCLK_PCHCTRL_CHEN);
-}
-
-//--------------------------------------------------------------------+
-// Board porting API
-//--------------------------------------------------------------------+
-
-void board_led_write(bool state)
-{
-  gpio_set_pin_level(LED_PIN, state);
-}
-
-uint32_t board_button_read(void)
-{
-  // button is active low
-  return gpio_get_pin_level(BUTTON_PIN) ? 0 : 1;
-}
-
-int board_uart_read(uint8_t* buf, int len)
-{
-  (void) buf; (void) len;
-  return 0;
-}
-
-int board_uart_write(void const * buf, int len)
-{
-  (void) buf; (void) len;
-  return 0;
-}
-
-#if CFG_TUSB_OS  == OPT_OS_NONE
-volatile uint32_t system_ticks = 0;
-
-void SysTick_Handler (void)
-{
-  system_ticks++;
-}
-
-uint32_t board_millis(void)
-{
-  return system_ticks;
-}
-#endif
-void _init(void)
-{
-
-}

hw/bsp/saml22/family.mk

@@ -1,50 +0,0 @@
-UF2_FAMILY_ID = 0x68ed2b88
-DEPS_SUBMODULES += hw/mcu/microchip
-
-include $(TOP)/$(BOARD_PATH)/board.mk
-
-CFLAGS += \
-  -mthumb \
-  -mabi=aapcs \
-  -mcpu=cortex-m0plus \
-  -nostdlib -nostartfiles \
-  -DCONF_OSC32K_CALIB_ENABLE=0 \
-  -DCFG_TUSB_MCU=OPT_MCU_SAML22
-
-SRC_C += \
-	src/portable/microchip/samd/dcd_samd.c \
-	hw/mcu/microchip/saml22/gcc/gcc/startup_saml22.c \
-	hw/mcu/microchip/saml22/gcc/system_saml22.c \
-	hw/mcu/microchip/saml22/hpl/gclk/hpl_gclk.c \
-	hw/mcu/microchip/saml22/hpl/mclk/hpl_mclk.c \
-	hw/mcu/microchip/saml22/hpl/pm/hpl_pm.c \
-	hw/mcu/microchip/saml22/hpl/osc32kctrl/hpl_osc32kctrl.c \
-	hw/mcu/microchip/saml22/hpl/oscctrl/hpl_oscctrl.c \
-	hw/mcu/microchip/saml22/hal/src/hal_atomic.c
-
-INC += \
-	$(TOP)/$(BOARD_PATH) \
-	$(TOP)/hw/mcu/microchip/saml22/ \
-	$(TOP)/hw/mcu/microchip/saml22/config \
-	$(TOP)/hw/mcu/microchip/saml22/include \
-	$(TOP)/hw/mcu/microchip/saml22/hal/include \
-	$(TOP)/hw/mcu/microchip/saml22/hal/utils/include \
-	$(TOP)/hw/mcu/microchip/saml22/hpl/port \
-	$(TOP)/hw/mcu/microchip/saml22/hri \
-	$(TOP)/hw/mcu/microchip/saml22/CMSIS/Core/Include
-
-# For TinyUSB port source 
-VENDOR = microchip
-CHIP_FAMILY = samd
-
-# For freeRTOS port source
-FREERTOS_PORT = ARM_CM0
-
-# flash using bossac at least version 1.8
-# can be found in arduino15/packages/arduino/tools/bossac/
-# Add it to your PATH or change BOSSAC variable to match your installation
-BOSSAC = bossac
-
-flash-bossac: $(BUILD)/$(PROJECT).bin
-	@:$(call check_defined, SERIAL, example: SERIAL=/dev/ttyACM0)
-	$(BOSSAC) --port=$(SERIAL) -U -i --offset=0x2000 -e -w $^ -R

hw/bsp/saml21/boards/atsaml21_xpro/board.mk → hw/bsp/saml2x/boards/atsaml21_xpro/board.mk

@@ -1,5 +1,7 @@
 CFLAGS += -D__SAML21J18B__
 
+SAML_VARIANT = saml21
+
 # All source paths should be relative to the top level.
 LD_FILE = $(BOARD_PATH)/saml21j18b_flash.ld
 

hw/bsp/saml22/boards/saml22_feather/board.mk → hw/bsp/saml2x/boards/saml22_feather/board.mk

@@ -1,5 +1,7 @@
 CFLAGS += -D__SAML22J18A__
 
+SAML_VARIANT = saml22
+
 # All source paths should be relative to the top level.
 LD_FILE = $(BOARD_PATH)/$(BOARD).ld
 

hw/bsp/saml22/boards/sensorwatch_m0/board.mk → hw/bsp/saml2x/boards/sensorwatch_m0/board.mk

@@ -1,5 +1,7 @@
 CFLAGS += -D__SAML22J18A__
 
+SAML_VARIANT = saml22
+
 # All source paths should be relative to the top level.
 LD_FILE = $(BOARD_PATH)/$(BOARD).ld
 

hw/bsp/saml21/family.c → hw/bsp/saml2x/family.c

@@ -108,13 +108,13 @@ void board_init(void)
   gpio_set_pin_function(PIN_PA25, PINMUX_PA25G_USB_DP);
 
   // Output 500hz PWM on PB23 (TCC0 WO[3]) so we can validate the GCLK1 clock speed
-  hri_mclk_set_APBCMASK_TCC0_bit(MCLK);
-  TCC0->PER.bit.PER = 48000000 / 1000;
-  TCC0->CC[3].bit.CC = 48000000 / 2000;
-  TCC0->CTRLA.bit.ENABLE = true;
-
-  gpio_set_pin_function(PIN_PA19, PINMUX_PA19F_TCC0_WO3);
-  hri_gclk_write_PCHCTRL_reg(GCLK, TCC0_GCLK_ID, GCLK_PCHCTRL_GEN_GCLK1_Val | GCLK_PCHCTRL_CHEN);
+//  hri_mclk_set_APBCMASK_TCC0_bit(MCLK);
+//  TCC0->PER.bit.PER = 48000000 / 1000;
+//  TCC0->CC[3].bit.CC = 48000000 / 2000;
+//  TCC0->CTRLA.bit.ENABLE = true;
+//
+//  gpio_set_pin_function(PIN_PB23, PINMUX_PB23F_TCC0_WO3);
+//  hri_gclk_write_PCHCTRL_reg(GCLK, TCC0_GCLK_ID, GCLK_PCHCTRL_GEN_GCLK1_Val | GCLK_PCHCTRL_CHEN);
 }
 
 //--------------------------------------------------------------------+
@@ -160,4 +160,4 @@ uint32_t board_millis(void)
 void _init(void)
 {
 
-}
+}

hw/bsp/saml2x/family.mk

@@ -0,0 +1,48 @@
+UF2_FAMILY_ID = 0x68ed2b88
+DEPS_SUBMODULES += lib/CMSIS_5 hw/mcu/microchip
+
+include $(TOP)/$(BOARD_PATH)/board.mk
+
+MCU_DIR = hw/mcu/microchip/$(SAML_VARIANT)
+
+CFLAGS += \
+  -mthumb \
+  -mabi=aapcs \
+  -mcpu=cortex-m0plus \
+  -nostdlib -nostartfiles \
+  -DCONF_OSC32K_CALIB_ENABLE=0 \
+  -DCFG_TUSB_MCU=OPT_MCU_SAML22
+
+SRC_C += \
+	src/portable/microchip/samd/dcd_samd.c \
+	$(MCU_DIR)/gcc/gcc/startup_$(SAML_VARIANT).c \
+	$(MCU_DIR)/gcc/system_$(SAML_VARIANT).c \
+	$(MCU_DIR)/hpl/gclk/hpl_gclk.c \
+	$(MCU_DIR)/hpl/mclk/hpl_mclk.c \
+	$(MCU_DIR)/hpl/pm/hpl_pm.c \
+	$(MCU_DIR)/hpl/osc32kctrl/hpl_osc32kctrl.c \
+	$(MCU_DIR)/hpl/oscctrl/hpl_oscctrl.c \
+	$(MCU_DIR)/hal/src/hal_atomic.c
+
+INC += \
+	$(TOP)/$(BOARD_PATH) \
+	$(TOP)/$(MCU_DIR)/ \
+	$(TOP)/$(MCU_DIR)/config \
+	$(TOP)/$(MCU_DIR)/include \
+	$(TOP)/$(MCU_DIR)/hal/include \
+	$(TOP)/$(MCU_DIR)/hal/utils/include \
+	$(TOP)/$(MCU_DIR)/hpl/port \
+	$(TOP)/$(MCU_DIR)/hri \
+	$(TOP)/lib/CMSIS_5/CMSIS/Core/Include
+
+# For freeRTOS port source
+FREERTOS_PORT = ARM_CM0
+
+# flash using bossac at least version 1.8
+# can be found in arduino15/packages/arduino/tools/bossac/
+# Add it to your PATH or change BOSSAC variable to match your installation
+BOSSAC = bossac
+
+flash-bossac: $(BUILD)/$(PROJECT).bin
+	@:$(call check_defined, SERIAL, example: SERIAL=/dev/ttyACM0)
+	$(BOSSAC) --port=$(SERIAL) -U -i --offset=0x2000 -e -w $^ -R

hw/mcu/renesas/rx

@@ -1 +1 @@
-Subproject commit 4a51dfe6ecdf936d2d89f223f069e24a2d109207
+Subproject commit 706b4e0cf485605c32351e2f90f5698267996023

src/class/hid/hid_host.c

@@ -37,16 +37,6 @@
 // MACRO CONSTANT TYPEDEF
 //--------------------------------------------------------------------+
 
-/*
- "KEYBOARD"               : in_len=8 , out_len=1, usage_page=0x01, usage=0x06   # Generic Desktop, Keyboard
- "MOUSE"                  : in_len=4 , out_len=0, usage_page=0x01, usage=0x02   # Generic Desktop, Mouse
- "CONSUMER"               : in_len=2 , out_len=0, usage_page=0x0C, usage=0x01   # Consumer, Consumer Control
- "SYS_CONTROL"            : in_len=1 , out_len=0, usage_page=0x01, usage=0x80   # Generic Desktop, Sys Control
- "GAMEPAD"                : in_len=6 , out_len=0, usage_page=0x01, usage=0x05   # Generic Desktop, Game Pad
- "DIGITIZER"              : in_len=5 , out_len=0, usage_page=0x0D, usage=0x02   # Digitizers, Pen
- "XAC_COMPATIBLE_GAMEPAD" : in_len=3 , out_len=0, usage_page=0x01, usage=0x05   # Generic Desktop, Game Pad
- "RAW"                    : in_len=64, out_len=0, usage_page=0xFFAF, usage=0xAF # Vendor 0xFFAF "Adafruit", 0xAF
- */
 typedef struct
 {
   uint8_t itf_num;
@@ -452,9 +442,9 @@ uint8_t tuh_hid_parse_report_descriptor(tuh_hid_report_info_t* report_info_arr,
 
     uint8_t const data8 = desc_report[0];
 
-    TU_LOG2("tag = %d, type = %d, size = %d, data = ", tag, type, size);
-    for(uint32_t i=0; i<size; i++) TU_LOG2("%02X ", desc_report[i]);
-    TU_LOG2("\r\n");
+    TU_LOG(3, "tag = %d, type = %d, size = %d, data = ", tag, type, size);
+    for(uint32_t i=0; i<size; i++) TU_LOG(3, "%02X ", desc_report[i]);
+    TU_LOG(3, "\r\n");
 
     switch(type)
     {

src/common/tusb_common.h

@@ -123,7 +123,7 @@ TU_ATTR_ALWAYS_INLINE static inline uint32_t tu_align4k (uint32_t value) { retur
 TU_ATTR_ALWAYS_INLINE static inline uint32_t tu_offset4k(uint32_t value) { return (value & 0xFFFUL); }
 
 //------------- Mathematics -------------//
-TU_ATTR_ALWAYS_INLINE static inline uint32_t tu_abs(int32_t value) { return (uint32_t)((value < 0) ? (-value) : value); }
+TU_ATTR_ALWAYS_INLINE static inline uint32_t tu_div_ceil(uint32_t v, uint32_t d) { return (v + d -1)/d; }
 
 /// inclusive range checking TODO remove
 TU_ATTR_ALWAYS_INLINE static inline bool tu_within(uint32_t lower, uint32_t value, uint32_t upper)
@@ -317,8 +317,8 @@ void tu_print_var(uint8_t const* buf, uint32_t bufsize)
 #define TU_LOG1               tu_printf
 #define TU_LOG1_MEM           tu_print_mem
 #define TU_LOG1_VAR(_x)       tu_print_var((uint8_t const*)(_x), sizeof(*(_x)))
-#define TU_LOG1_INT(_x)       tu_printf(#_x " = %ld\n", (uint32_t) (_x) )
-#define TU_LOG1_HEX(_x)       tu_printf(#_x " = %lX\n", (uint32_t) (_x) )
+#define TU_LOG1_INT(_x)       tu_printf(#_x " = %ld\r\n", (uint32_t) (_x) )
+#define TU_LOG1_HEX(_x)       tu_printf(#_x " = %lX\r\n", (uint32_t) (_x) )
 
 // Log Level 2: Warn
 #if CFG_TUSB_DEBUG >= 2

src/common/tusb_verify.h

@@ -75,7 +75,7 @@
 #if CFG_TUSB_DEBUG
   #include <stdio.h>
   #define _MESS_ERR(_err)   tu_printf("%s %d: failed, error = %s\r\n", __func__, __LINE__, tusb_strerr[_err])
-  #define _MESS_FAILED()    tu_printf("%s %d: assert failed\r\n", __func__, __LINE__)
+  #define _MESS_FAILED()    tu_printf("%s %d: ASSERT FAILED\r\n", __func__, __LINE__)
 #else
   #define _MESS_ERR(_err) do {} while (0)
   #define _MESS_FAILED() do {} while (0)

src/device/usbd.c

@@ -1260,14 +1260,13 @@ bool usbd_edpt_xfer(uint8_t rhport, uint8_t ep_addr, uint8_t * buffer, uint16_t
 
   if ( dcd_edpt_xfer(rhport, ep_addr, buffer, total_bytes) )
   {
-    TU_LOG2("OK\r\n");
     return true;
   }else
   {
     // DCD error, mark endpoint as ready to allow next transfer
     _usbd_dev.ep_status[epnum][dir].busy = false;
     _usbd_dev.ep_status[epnum][dir].claimed = 0;
-    TU_LOG2("failed\r\n");
+    TU_LOG2("FAILED\r\n");
     TU_BREAKPOINT();
     return false;
   }

src/host/usbh.c

@@ -795,6 +795,8 @@ static bool enum_get_addr0_device_desc_complete(uint8_t dev_addr, tusb_control_r
     return false;
   }
 
+  TU_ASSERT(tu_desc_type(_usbh_ctrl_buf) == TUSB_DESC_DEVICE);
+
   // Reset device again before Set Address
   TU_LOG2("Port reset \r\n");
 
@@ -938,7 +940,7 @@ static bool enum_get_config_desc_complete(uint8_t dev_addr, tusb_control_request
 
   // Parse configuration & set up drivers
   // Driver open aren't allowed to make any usb transfer yet
-  parse_configuration_descriptor(dev_addr, (tusb_desc_configuration_t*) _usbh_ctrl_buf);
+  TU_ASSERT( parse_configuration_descriptor(dev_addr, (tusb_desc_configuration_t*) _usbh_ctrl_buf) );
 
   TU_LOG2("Set Configuration = %d\r\n", CONFIG_NUM);
   tusb_control_request_t const new_request =
@@ -988,49 +990,54 @@ static bool parse_configuration_descriptor(uint8_t dev_addr, tusb_desc_configura
   // parse each interfaces
   while( p_desc < _usbh_ctrl_buf + desc_cfg->wTotalLength )
   {
-    // skip until we see interface descriptor
-    if ( TUSB_DESC_INTERFACE != tu_desc_type(p_desc) )
+    // TODO Do we need to use IAD
+    // tusb_desc_interface_assoc_t const * desc_itf_assoc = NULL;
+
+    // Class will always starts with Interface Association (if any) and then Interface descriptor
+    if ( TUSB_DESC_INTERFACE_ASSOCIATION == tu_desc_type(p_desc) )
     {
-      p_desc = tu_desc_next(p_desc); // skip the descriptor, increase by the descriptor's length
-    }else
+      // desc_itf_assoc = (tusb_desc_interface_assoc_t const *) p_desc;
+      p_desc = tu_desc_next(p_desc);
+    }
+
+    TU_ASSERT( TUSB_DESC_INTERFACE == tu_desc_type(p_desc) );
+
+    tusb_desc_interface_t const* desc_itf = (tusb_desc_interface_t const*) p_desc;
+
+    // Check if class is supported
+    uint8_t drv_id;
+    for (drv_id = 0; drv_id < USBH_CLASS_DRIVER_COUNT; drv_id++)
     {
-      tusb_desc_interface_t const* desc_itf = (tusb_desc_interface_t const*) p_desc;
+      if ( usbh_class_drivers[drv_id].class_code == desc_itf->bInterfaceClass ) break;
+    }
 
-      // Check if class is supported
-      uint8_t drv_id;
-      for (drv_id = 0; drv_id < USBH_CLASS_DRIVER_COUNT; drv_id++)
-      {
-        if ( usbh_class_drivers[drv_id].class_code == desc_itf->bInterfaceClass ) break;
-      }
+    if( drv_id >= USBH_CLASS_DRIVER_COUNT )
+    {
+      // skip unsupported class
+      p_desc = tu_desc_next(p_desc);
+    }
+    else
+    {
+      usbh_class_driver_t const * driver = &usbh_class_drivers[drv_id];
 
-      if( drv_id >= USBH_CLASS_DRIVER_COUNT )
+      // Interface number must not be used already TODO alternate interface
+      TU_ASSERT( dev->itf2drv[desc_itf->bInterfaceNumber] == 0xff );
+      dev->itf2drv[desc_itf->bInterfaceNumber] = drv_id;
+
+      if (desc_itf->bInterfaceClass == TUSB_CLASS_HUB && dev->hub_addr != 0)
       {
-        // skip unsupported class
+        // TODO Attach hub to Hub is not currently supported
+        // skip this interface
         p_desc = tu_desc_next(p_desc);
       }
       else
       {
-        usbh_class_driver_t const * driver = &usbh_class_drivers[drv_id];
-
-        // Interface number must not be used already TODO alternate interface
-        TU_ASSERT( dev->itf2drv[desc_itf->bInterfaceNumber] == 0xff );
-        dev->itf2drv[desc_itf->bInterfaceNumber] = drv_id;
+        TU_LOG2("%s open\r\n", driver->name);
 
-        if (desc_itf->bInterfaceClass == TUSB_CLASS_HUB && dev->hub_addr != 0)
-        {
-          // TODO Attach hub to Hub is not currently supported
-          // skip this interface
-          p_desc = tu_desc_next(p_desc);
-        }
-        else
-        {
-          TU_LOG2("%s open\r\n", driver->name);
-
-          uint16_t itf_len = 0;
-          TU_ASSERT( driver->open(dev->rhport, dev_addr, desc_itf, &itf_len) );
-          TU_ASSERT( itf_len >= sizeof(tusb_desc_interface_t) );
-          p_desc += itf_len;
-        }
+        uint16_t itf_len = 0;
+        TU_ASSERT( driver->open(dev->rhport, dev_addr, desc_itf, &itf_len) );
+        TU_ASSERT( itf_len >= sizeof(tusb_desc_interface_t) );
+        p_desc += itf_len;
       }
     }
   }

src/host/usbh_control.c

@@ -68,7 +68,7 @@ bool tuh_control_xfer (uint8_t dev_addr, tusb_control_request_t const* request,
   _ctrl_xfer.stage       = STAGE_SETUP;
   _ctrl_xfer.complete_cb = complete_cb;
 
-  TU_LOG2("Control Setup: ");
+  TU_LOG2("Control Setup (addr = %u): ", dev_addr);
   TU_LOG2_VAR(request);
   TU_LOG2("\r\n");
 
@@ -119,7 +119,7 @@ bool usbh_control_xfer_cb (uint8_t dev_addr, uint8_t ep_addr, xfer_result_t resu
 
         if (request->wLength)
         {
-          TU_LOG2("Control data:\r\n");
+          TU_LOG2("Control data (addr = %u):\r\n", dev_addr);
           TU_LOG2_MEM(_ctrl_xfer.buffer, request->wLength, 2);
         }
 

src/portable/nordic/nrf5x/dcd_nrf5x.c

@@ -787,7 +787,7 @@ static bool hfclk_running(void)
 #ifdef SOFTDEVICE_PRESENT
   if ( is_sd_enabled() )
   {
-    uint32_t is_running;
+    uint32_t is_running = 0;
     (void) sd_clock_hfclk_is_running(&is_running);
     return (is_running ? true : false);
   }

src/portable/raspberrypi/rp2040/dcd_rp2040.c

@@ -64,67 +64,48 @@ static struct hw_endpoint *hw_endpoint_get_by_addr(uint8_t ep_addr)
 
 static void _hw_endpoint_alloc(struct hw_endpoint *ep)
 {
-    uint16_t size = tu_min16(64, ep->wMaxPacketSize);
+  // size must be multiple of 64
+  uint16_t size = tu_div_ceil(ep->wMaxPacketSize, 64) * 64u;
 
-    // Assumes single buffered for now
-    ep->hw_data_buf = next_buffer_ptr;
-    next_buffer_ptr += size;
-    // Bits 0-5 are ignored by the controller so make sure these are 0
-    if ((uintptr_t)next_buffer_ptr & 0b111111u)
-    {
-        // Round up to the next 64
-        uint32_t fixptr = (uintptr_t)next_buffer_ptr;
-        fixptr &= ~0b111111u;
-        fixptr += 64;
-        pico_info("Rounding non 64 byte boundary buffer up from %x to %x\n", (uintptr_t)next_buffer_ptr, fixptr);
-        next_buffer_ptr = (uint8_t*)fixptr;
-    }
-    assert(((uintptr_t)next_buffer_ptr & 0b111111u) == 0);
-    uint dpram_offset = hw_data_offset(ep->hw_data_buf);
-    assert(hw_data_offset(next_buffer_ptr) <= USB_DPRAM_MAX);
-
-    pico_info("Alloced %d bytes at offset 0x%x (0x%p) for ep %d %s\n",
-                size,
-                dpram_offset,
-                ep->hw_data_buf,
-                ep->num,
-                ep_dir_string[ep->in]);
-
-    // Fill in endpoint control register with buffer offset
-    uint32_t reg =  EP_CTRL_ENABLE_BITS
-                  | EP_CTRL_INTERRUPT_PER_BUFFER
-                  | (ep->transfer_type << EP_CTRL_BUFFER_TYPE_LSB)
-                  | dpram_offset;
-
-    *ep->endpoint_control = reg;
+  // double buffered for Control and Bulk endpoint
+  if ( ep->transfer_type == TUSB_XFER_CONTROL || ep->transfer_type == TUSB_XFER_BULK)
+  {
+    size *= 2u;
+  }
+
+  ep->hw_data_buf = next_buffer_ptr;
+  next_buffer_ptr += size;
+
+  assert(((uintptr_t )next_buffer_ptr & 0b111111u) == 0);
+  uint dpram_offset = hw_data_offset(ep->hw_data_buf);
+  assert(hw_data_offset(next_buffer_ptr) <= USB_DPRAM_MAX);
+
+  pico_info("Alloced %d bytes at offset 0x%x (0x%p) for ep %d %s\n",
+            size,
+            dpram_offset,
+            ep->hw_data_buf,
+            tu_edpt_number(ep->ep_addr),
+            ep_dir_string[tu_edpt_dir(ep->ep_addr)]);
+
+  // Fill in endpoint control register with buffer offset
+  uint32_t const reg = EP_CTRL_ENABLE_BITS | (ep->transfer_type << EP_CTRL_BUFFER_TYPE_LSB) | dpram_offset;
+
+  *ep->endpoint_control = reg;
 }
 
 static void _hw_endpoint_init(struct hw_endpoint *ep, uint8_t ep_addr, uint16_t wMaxPacketSize, uint8_t transfer_type)
 {
     const uint8_t num = tu_edpt_number(ep_addr);
     const tusb_dir_t dir = tu_edpt_dir(ep_addr);
+
     ep->ep_addr = ep_addr;
+
     // For device, IN is a tx transfer and OUT is an rx transfer
     ep->rx = (dir == TUSB_DIR_OUT);
+
     // Response to a setup packet on EP0 starts with pid of 1
     ep->next_pid = num == 0 ? 1u : 0u;
 
-    // Add some checks around the max packet size
-    if (transfer_type == TUSB_XFER_ISOCHRONOUS)
-    {
-        if (wMaxPacketSize > USB_MAX_ISO_PACKET_SIZE)
-        {
-            panic("Isochronous wMaxPacketSize %d too large", wMaxPacketSize);
-        }
-    }
-    else
-    {
-        if (wMaxPacketSize > USB_MAX_PACKET_SIZE)
-        {
-            panic("Isochronous wMaxPacketSize %d too large", wMaxPacketSize);
-        }
-    }
-
     ep->wMaxPacketSize = wMaxPacketSize;
     ep->transfer_type = transfer_type;
 
@@ -164,6 +145,7 @@ static void _hw_endpoint_init(struct hw_endpoint *ep, uint8_t ep_addr, uint16_t
 
         // Now if it hasn't already been done
         //alloc a buffer and fill in endpoint control register
+        // TODO device may change configuration (dynamic), should clear and reallocate
         if(!(ep->configured))
         {
             _hw_endpoint_alloc(ep);
@@ -198,10 +180,10 @@ static void hw_endpoint_init(uint8_t ep_addr, uint16_t wMaxPacketSize, uint8_t b
     _hw_endpoint_init(ep, ep_addr, wMaxPacketSize, bmAttributes);
 }
 
-static void hw_endpoint_xfer(uint8_t ep_addr, uint8_t *buffer, uint16_t total_bytes, bool start)
+static void hw_endpoint_xfer(uint8_t ep_addr, uint8_t *buffer, uint16_t total_bytes)
 {
     struct hw_endpoint *ep = hw_endpoint_get_by_addr(ep_addr);
-    _hw_endpoint_xfer(ep, buffer, total_bytes, start);
+    hw_endpoint_xfer_start(ep, buffer, total_bytes);
 }
 
 static void hw_handle_buff_status(void)
@@ -213,19 +195,16 @@ static void hw_handle_buff_status(void)
     {
         if (remaining_buffers & bit)
         {
-            uint __unused which = (usb_hw->buf_cpu_should_handle & bit) ? 1 : 0;
-            // Should be single buffered
-            assert(which == 0);
             // clear this in advance
             usb_hw_clear->buf_status = bit;
             // IN transfer for even i, OUT transfer for odd i
             struct hw_endpoint *ep = hw_endpoint_get_by_num(i >> 1u, !(i & 1u));
             // Continue xfer
-            bool done = _hw_endpoint_xfer_continue(ep);
+            bool done = hw_endpoint_xfer_continue(ep);
             if (done)
             {
                 // Notify
-                dcd_event_xfer_complete(0, ep->ep_addr, ep->len, XFER_RESULT_SUCCESS, true);
+                dcd_event_xfer_complete(0, ep->ep_addr, ep->xferred_len, XFER_RESULT_SUCCESS, true);
                 hw_endpoint_reset_transfer(ep);
             }
             remaining_buffers &= ~bit;
@@ -251,7 +230,7 @@ static void ep0_0len_status(void)
 {
     // Send 0len complete response on EP0 IN
     reset_ep0();
-    hw_endpoint_xfer(0x80, NULL, 0, true);
+    hw_endpoint_xfer(0x80, NULL, 0);
 }
 
 static void _hw_endpoint_stall(struct hw_endpoint *ep)
@@ -339,10 +318,7 @@ static void dcd_rp2040_irq(void)
 
 #if TUD_OPT_RP2040_USB_DEVICE_ENUMERATION_FIX
         // Only run enumeration walk-around if pull up is enabled
-        if ( usb_hw->sie_ctrl & USB_SIE_CTRL_PULLUP_EN_BITS )
-        {
-          rp2040_usb_device_enumeration_fix();
-        }
+        if ( usb_hw->sie_ctrl & USB_SIE_CTRL_PULLUP_EN_BITS ) rp2040_usb_device_enumeration_fix();
 #endif
     }
 
@@ -402,9 +378,9 @@ void dcd_init (uint8_t rhport)
 
     // EP0 always exists so init it now
     // EP0 OUT
-    hw_endpoint_init(0x0, 64, 0);
+    hw_endpoint_init(0x0, 64, TUSB_XFER_CONTROL);
     // EP0 IN
-    hw_endpoint_init(0x80, 64, 0);
+    hw_endpoint_init(0x80, 64, TUSB_XFER_CONTROL);
 
     // Initializes the USB peripheral for device mode and enables it.
     // Don't need to enable the pull up here. Force VBUS
@@ -470,23 +446,22 @@ void dcd_connect(uint8_t rhport)
 
 void dcd_edpt0_status_complete(uint8_t rhport, tusb_control_request_t const * request)
 {
-    pico_trace("dcd_edpt0_status_complete %d\n", rhport);
-    assert(rhport == 0);
+  (void) rhport;
 
-    if (request->bmRequestType_bit.recipient == TUSB_REQ_RCPT_DEVICE &&
-        request->bmRequestType_bit.type == TUSB_REQ_TYPE_STANDARD &&
-        request->bRequest == TUSB_REQ_SET_ADDRESS)
-    {
-        pico_trace("Set HW address %d\n", assigned_address);
-        usb_hw->dev_addr_ctrl = (uint8_t) request->wValue;
-    }
+  if ( request->bmRequestType_bit.recipient == TUSB_REQ_RCPT_DEVICE &&
+       request->bmRequestType_bit.type == TUSB_REQ_TYPE_STANDARD &&
+       request->bRequest == TUSB_REQ_SET_ADDRESS )
+  {
+    pico_trace("Set HW address %d\n", request->wValue);
+    usb_hw->dev_addr_ctrl = (uint8_t) request->wValue;
+  }
 
-    reset_ep0();
+  reset_ep0();
 }
 
 bool dcd_edpt_open (uint8_t rhport, tusb_desc_endpoint_t const * desc_edpt)
 {
-    pico_info("dcd_edpt_open %d %02x\n", rhport, desc_edpt->bEndpointAddress);
+    pico_info("dcd_edpt_open %02x\n", desc_edpt->bEndpointAddress);
     assert(rhport == 0);
     hw_endpoint_init(desc_edpt->bEndpointAddress, desc_edpt->wMaxPacketSize.size, desc_edpt->bmAttributes.xfer);
     return true;
@@ -495,21 +470,20 @@ bool dcd_edpt_open (uint8_t rhport, tusb_desc_endpoint_t const * desc_edpt)
 bool dcd_edpt_xfer(uint8_t rhport, uint8_t ep_addr, uint8_t * buffer, uint16_t total_bytes)
 {
     assert(rhport == 0);
-    // True means start new xfer
-    hw_endpoint_xfer(ep_addr, buffer, total_bytes, true);
+    hw_endpoint_xfer(ep_addr, buffer, total_bytes);
     return true;
 }
 
 void dcd_edpt_stall (uint8_t rhport, uint8_t ep_addr)
 {
-    pico_trace("dcd_edpt_stall %d %02x\n", rhport, ep_addr);
+    pico_trace("dcd_edpt_stall %02x\n", ep_addr);
     assert(rhport == 0);
     hw_endpoint_stall(ep_addr);
 }
 
 void dcd_edpt_clear_stall (uint8_t rhport, uint8_t ep_addr)
 {
-    pico_trace("dcd_edpt_clear_stall %d %02x\n", rhport, ep_addr);
+    pico_trace("dcd_edpt_clear_stall %02x\n", ep_addr);
     assert(rhport == 0);
     hw_endpoint_clear_stall(ep_addr);
 }
@@ -517,9 +491,11 @@ void dcd_edpt_clear_stall (uint8_t rhport, uint8_t ep_addr)
 
 void dcd_edpt_close (uint8_t rhport, uint8_t ep_addr)
 {
-    // usbd.c says: In progress transfers on this EP may be delivered after this call
-    pico_trace("dcd_edpt_close %d %02x\n", rhport, ep_addr);
+    (void) rhport;
+    (void) ep_addr;
 
+    // usbd.c says: In progress transfers on this EP may be delivered after this call
+    pico_trace("dcd_edpt_close %02x\n", ep_addr);
 }
 
 void dcd_int_handler(uint8_t rhport)

src/portable/raspberrypi/rp2040/hcd_rp2040.c

@@ -2,6 +2,7 @@
  * The MIT License (MIT)
  *
  * Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
+ * Copyright (c) 2021 Ha Thach (tinyusb.org) for Double Buffered
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
@@ -52,46 +53,30 @@
 static_assert(PICO_USB_HOST_INTERRUPT_ENDPOINTS <= USB_MAX_ENDPOINTS, "");
 
 // Host mode uses one shared endpoint register for non-interrupt endpoint
-struct hw_endpoint eps[1 + PICO_USB_HOST_INTERRUPT_ENDPOINTS];
-#define epx (eps[0])
+static struct hw_endpoint ep_pool[1 + PICO_USB_HOST_INTERRUPT_ENDPOINTS];
+#define epx (ep_pool[0])
 
-#define usb_hw_set hw_set_alias(usb_hw)
+#define usb_hw_set   hw_set_alias(usb_hw)
 #define usb_hw_clear hw_clear_alias(usb_hw)
 
-// Used for hcd pipe busy.
-// todo still a bit wasteful
-// top bit set if valid
-uint8_t dev_ep_map[CFG_TUSB_HOST_DEVICE_MAX][1 + PICO_USB_HOST_INTERRUPT_ENDPOINTS][2];
-
 // Flags we set by default in sie_ctrl (we add other bits on top)
-static uint32_t sie_ctrl_base = USB_SIE_CTRL_SOF_EN_BITS | 
-                                USB_SIE_CTRL_KEEP_ALIVE_EN_BITS | 
-                                USB_SIE_CTRL_PULLDOWN_EN_BITS | 
-                                USB_SIE_CTRL_EP0_INT_1BUF_BITS;
+enum {
+  SIE_CTRL_BASE = USB_SIE_CTRL_SOF_EN_BITS        | USB_SIE_CTRL_KEEP_ALIVE_EN_BITS |
+                  USB_SIE_CTRL_PULLDOWN_EN_BITS   | USB_SIE_CTRL_EP0_INT_1BUF_BITS
+};
 
 static struct hw_endpoint *get_dev_ep(uint8_t dev_addr, uint8_t ep_addr)
 {
-    uint8_t num = tu_edpt_number(ep_addr);
-    if (num == 0) {
-        return &epx;
-    }
-    uint8_t in = (ep_addr & TUSB_DIR_IN_MASK) ? 1 : 0;
-    uint mapping = dev_ep_map[dev_addr-1][num][in];
-    pico_trace("Get dev addr %d ep %d = %d\n", dev_addr, ep_addr, mapping);
-    return mapping >= 128 ? eps + (mapping & 0x7fu) : NULL;
-}
+  uint8_t num = tu_edpt_number(ep_addr);
+  if ( num == 0 ) return &epx;
 
-static void set_dev_ep(uint8_t dev_addr, uint8_t ep_addr, struct hw_endpoint *ep)
-{
-    uint8_t num = tu_edpt_number(ep_addr);
-    uint8_t in = (ep_addr & TUSB_DIR_IN_MASK) ? 1 : 0;
-    uint32_t index = ep - eps;
-    hard_assert(index < TU_ARRAY_SIZE(eps));
-    // todo revisit why dev_addr can be 0 here
-    if (dev_addr) {
-        dev_ep_map[dev_addr-1][num][in] = 128u | index;
-    }
-    pico_trace("Set dev addr %d ep %d = %d\n", dev_addr, ep_addr, index);
+  for ( uint32_t i = 1; i < TU_ARRAY_SIZE(ep_pool); i++ )
+  {
+    struct hw_endpoint *ep = &ep_pool[i];
+    if ( ep->configured && (ep->dev_addr == dev_addr) && (ep->ep_addr == ep_addr) ) return ep;
+  }
+
+  return NULL;
 }
 
 static inline uint8_t dev_speed(void)
@@ -111,15 +96,15 @@ static void hw_xfer_complete(struct hw_endpoint *ep, xfer_result_t xfer_result)
     // Mark transfer as done before we tell the tinyusb stack
     uint8_t dev_addr = ep->dev_addr;
     uint8_t ep_addr = ep->ep_addr;
-    uint total_len = ep->total_len;
+    uint xferred_len = ep->xferred_len;
     hw_endpoint_reset_transfer(ep);
-    hcd_event_xfer_complete(dev_addr, ep_addr, total_len, xfer_result, true);
+    hcd_event_xfer_complete(dev_addr, ep_addr, xferred_len, xfer_result, true);
 }
 
 static void _handle_buff_status_bit(uint bit, struct hw_endpoint *ep)
 {
     usb_hw_clear->buf_status = bit;
-    bool done = _hw_endpoint_xfer_continue(ep);
+    bool done = hw_endpoint_xfer_continue(ep);
     if (done)
     {
         hw_xfer_complete(ep, XFER_RESULT_SUCCESS);
@@ -137,6 +122,17 @@ static void hw_handle_buff_status(void)
     {
         remaining_buffers &= ~bit;
         struct hw_endpoint *ep = &epx;
+
+        uint32_t ep_ctrl = *ep->endpoint_control;
+        if (ep_ctrl & EP_CTRL_DOUBLE_BUFFERED_BITS)
+        {
+          TU_LOG(3, "Double Buffered: ");
+        }else
+        {
+          TU_LOG(3, "Single Buffered: ");
+        }
+        TU_LOG_HEX(3, ep_ctrl);
+
         _handle_buff_status_bit(bit, ep);
     }
 
@@ -153,7 +149,7 @@ static void hw_handle_buff_status(void)
         if (remaining_buffers & bit)
         {
             remaining_buffers &= ~bit;
-            _handle_buff_status_bit(bit, &eps[i]);
+            _handle_buff_status_bit(bit, &ep_pool[i]);
         }
     }
 
@@ -165,19 +161,19 @@ static void hw_handle_buff_status(void)
 
 static void hw_trans_complete(void)
 {
-    struct hw_endpoint *ep = &epx;
-    assert(ep->active);
-
-    if (ep->sent_setup)
-    {
-        pico_trace("Sent setup packet\n");
-        hw_xfer_complete(ep, XFER_RESULT_SUCCESS);
-    }
-    else
-    {
-        // Don't care. Will handle this in buff status
-        return;
-    }
+  struct hw_endpoint *ep = &epx;
+  assert(ep->active);
+
+  if (usb_hw->sie_ctrl & USB_SIE_CTRL_SEND_SETUP_BITS)
+  {
+    pico_trace("Sent setup packet\n");
+    hw_xfer_complete(ep, XFER_RESULT_SUCCESS);
+  }
+  else
+  {
+    // Don't care. Will handle this in buff status
+    return;
+  }
 }
 
 static void hcd_rp2040_irq(void)
@@ -202,20 +198,22 @@ static void hcd_rp2040_irq(void)
         usb_hw_clear->sie_status = USB_SIE_STATUS_SPEED_BITS;
     }
 
-    if (status & USB_INTS_TRANS_COMPLETE_BITS)
-    {
-        handled |= USB_INTS_TRANS_COMPLETE_BITS;
-        usb_hw_clear->sie_status = USB_SIE_STATUS_TRANS_COMPLETE_BITS;
-        hw_trans_complete();
-    }
-
     if (status & USB_INTS_BUFF_STATUS_BITS)
     {
         handled |= USB_INTS_BUFF_STATUS_BITS;
+        TU_LOG(2, "Buffer complete\n");
         // print_bufctrl32(*epx.buffer_control);
         hw_handle_buff_status();
     }
 
+    if (status & USB_INTS_TRANS_COMPLETE_BITS)
+    {
+        handled |= USB_INTS_TRANS_COMPLETE_BITS;
+        usb_hw_clear->sie_status = USB_SIE_STATUS_TRANS_COMPLETE_BITS;
+        TU_LOG(2, "Transfer complete\n");
+        hw_trans_complete();
+    }
+
     if (status & USB_INTS_STALL_BITS)
     {
         // We have rx'd a stall from the device
@@ -234,7 +232,7 @@ static void hcd_rp2040_irq(void)
     if (status & USB_INTS_ERROR_DATA_SEQ_BITS)
     {
         usb_hw_clear->sie_status = USB_SIE_STATUS_DATA_SEQ_ERROR_BITS;
-        // print_bufctrl32(*epx.buffer_control);
+        print_bufctrl32(*epx.buffer_control);
         panic("Data Seq Error \n");
     }
 
@@ -247,9 +245,9 @@ static void hcd_rp2040_irq(void)
 static struct hw_endpoint *_next_free_interrupt_ep(void)
 {
     struct hw_endpoint *ep = NULL;
-    for (uint i = 1; i < TU_ARRAY_SIZE(eps); i++)
+    for (uint i = 1; i < TU_ARRAY_SIZE(ep_pool); i++)
     {
-        ep = &eps[i];
+        ep = &ep_pool[i];
         if (!ep->configured)
         {
             // Will be configured by _hw_endpoint_init / _hw_endpoint_allocate
@@ -263,6 +261,7 @@ static struct hw_endpoint *_next_free_interrupt_ep(void)
 static struct hw_endpoint *_hw_endpoint_allocate(uint8_t transfer_type)
 {
     struct hw_endpoint *ep = NULL;
+
     if (transfer_type == TUSB_XFER_INTERRUPT)
     {
         ep = _next_free_interrupt_ep();
@@ -270,11 +269,11 @@ static struct hw_endpoint *_hw_endpoint_allocate(uint8_t transfer_type)
         assert(ep);
         ep->buffer_control = &usbh_dpram->int_ep_buffer_ctrl[ep->interrupt_num].ctrl;
         ep->endpoint_control = &usbh_dpram->int_ep_ctrl[ep->interrupt_num].ctrl;
-        // 0x180 for epx
-        // 0x1c0 for intep0
-        // 0x200 for intep1
+        // 0 for epx (double buffered): TODO increase to 1024 for ISO
+        // 2x64 for intep0
+        // 3x64 for intep1
         // etc
-        ep->hw_data_buf = &usbh_dpram->epx_data[64 * (ep->interrupt_num + 1)];
+        ep->hw_data_buf = &usbh_dpram->epx_data[64 * (ep->interrupt_num + 2)];
     }
     else
     {
@@ -283,6 +282,7 @@ static struct hw_endpoint *_hw_endpoint_allocate(uint8_t transfer_type)
         ep->endpoint_control = &usbh_dpram->epx_ctrl;
         ep->hw_data_buf = &usbh_dpram->epx_data[0];
     }
+
     return ep;
 }
 
@@ -303,7 +303,7 @@ static void _hw_endpoint_init(struct hw_endpoint *ep, uint8_t dev_addr, uint8_t
     ep->rx = (dir == TUSB_DIR_IN);
 
     // Response to a setup packet on EP0 starts with pid of 1
-    ep->next_pid = num == 0 ? 1u : 0u;
+    ep->next_pid = (num == 0 ? 1u : 0u);
     ep->wMaxPacketSize = wMaxPacketSize;
     ep->transfer_type = transfer_type;
 
@@ -332,6 +332,7 @@ static void _hw_endpoint_init(struct hw_endpoint *ep, uint8_t dev_addr, uint8_t
         // preamble
         uint32_t reg = dev_addr | (num << USB_ADDR_ENDP1_ENDPOINT_LSB);
         // Assert the interrupt endpoint is IN_TO_HOST
+        // TODO Interrupt can also be OUT
         assert(dir == TUSB_DIR_IN);
 
         if (need_pre(dev_addr))
@@ -345,24 +346,9 @@ static void _hw_endpoint_init(struct hw_endpoint *ep, uint8_t dev_addr, uint8_t
 
         // If it's an interrupt endpoint we need to set up the buffer control
         // register
-
     }
 }
 
-static void hw_endpoint_init(uint8_t dev_addr, const tusb_desc_endpoint_t *ep_desc)
-{
-    // Allocated differently based on if it's an interrupt endpoint or not
-    struct hw_endpoint *ep = _hw_endpoint_allocate(ep_desc->bmAttributes.xfer);
-    _hw_endpoint_init(ep,
-        dev_addr,
-        ep_desc->bEndpointAddress,
-        ep_desc->wMaxPacketSize.size,
-        ep_desc->bmAttributes.xfer,
-        ep_desc->bInterval);
-    // Map this struct to ep@device address
-    set_dev_ep(dev_addr, ep_desc->bEndpointAddress, ep);
-}
-
 //--------------------------------------------------------------------+
 // HCD API
 //--------------------------------------------------------------------+
@@ -377,11 +363,11 @@ bool hcd_init(uint8_t rhport)
     irq_set_exclusive_handler(USBCTRL_IRQ, hcd_rp2040_irq);
 
     // clear epx and interrupt eps
-    memset(&eps, 0, sizeof(eps));
+    memset(&ep_pool, 0, sizeof(ep_pool));
 
     // Enable in host mode with SOF / Keep alive on
     usb_hw->main_ctrl = USB_MAIN_CTRL_CONTROLLER_EN_BITS | USB_MAIN_CTRL_HOST_NDEVICE_BITS;
-    usb_hw->sie_ctrl = sie_ctrl_base;
+    usb_hw->sie_ctrl = SIE_CTRL_BASE;
     usb_hw->inte = USB_INTE_BUFF_STATUS_BITS      | 
                    USB_INTE_HOST_CONN_DIS_BITS    | 
                    USB_INTE_HOST_RESUME_BITS      | 
@@ -409,7 +395,6 @@ bool hcd_port_connect_status(uint8_t rhport)
 
 tusb_speed_t hcd_port_speed_get(uint8_t rhport)
 {
-    pico_trace("hcd_port_speed_get\n");
     assert(rhport == 0);
     // TODO: Should enumval this register
     switch (dev_speed())
@@ -420,15 +405,25 @@ tusb_speed_t hcd_port_speed_get(uint8_t rhport)
             return TUSB_SPEED_FULL;
         default:
             panic("Invalid speed\n");
+            return TUSB_SPEED_INVALID;
     }
 }
 
 // Close all opened endpoint belong to this device
 void hcd_device_close(uint8_t rhport, uint8_t dev_addr)
 {
+    (void) rhport;
+    (void) dev_addr;
+
     pico_trace("hcd_device_close %d\n", dev_addr);
 }
 
+uint32_t hcd_frame_number(uint8_t rhport)
+{
+    (void) rhport;
+    return usb_hw->sof_rd;
+}
+
 void hcd_int_enable(uint8_t rhport)
 {
     assert(rhport == 0);
@@ -442,36 +437,70 @@ void hcd_int_disable(uint8_t rhport)
     irq_set_enabled(USBCTRL_IRQ, false);
 }
 
+//--------------------------------------------------------------------+
+// Endpoint API
+//--------------------------------------------------------------------+
+
+bool hcd_edpt_open(uint8_t rhport, uint8_t dev_addr, tusb_desc_endpoint_t const * ep_desc)
+{
+    (void) rhport;
+
+    pico_trace("hcd_edpt_open dev_addr %d, ep_addr %d\n", dev_addr, ep_desc->bEndpointAddress);
+
+    // Allocated differently based on if it's an interrupt endpoint or not
+    struct hw_endpoint *ep = _hw_endpoint_allocate(ep_desc->bmAttributes.xfer);
+
+    _hw_endpoint_init(ep,
+        dev_addr,
+        ep_desc->bEndpointAddress,
+        ep_desc->wMaxPacketSize.size,
+        ep_desc->bmAttributes.xfer,
+        ep_desc->bInterval);
+
+    return true;
+}
+
 bool hcd_edpt_xfer(uint8_t rhport, uint8_t dev_addr, uint8_t ep_addr, uint8_t * buffer, uint16_t buflen)
 {
-    pico_info("hcd_edpt_xfer dev_addr %d, ep_addr 0x%x, len %d\n", dev_addr, ep_addr, buflen);
+    (void) rhport;
+
+    pico_trace("hcd_edpt_xfer dev_addr %d, ep_addr 0x%x, len %d\n", dev_addr, ep_addr, buflen);
     
+    uint8_t const ep_num = tu_edpt_number(ep_addr);
+    tusb_dir_t const ep_dir = tu_edpt_dir(ep_addr);
+
     // Get appropriate ep. Either EPX or interrupt endpoint
     struct hw_endpoint *ep = get_dev_ep(dev_addr, ep_addr);
     assert(ep);
 
-    if (ep_addr != ep->ep_addr)
+    // Control endpoint can change direction 0x00 <-> 0x80
+    if ( ep_addr != ep->ep_addr )
     {
-        // Direction has flipped so re init it but with same properties
-        // TODO treat IN and OUT as invidual endpoints
-        _hw_endpoint_init(ep, dev_addr, ep_addr, ep->wMaxPacketSize, ep->transfer_type, 0);
-    }
+      assert(ep_num == 0);
 
-    // True indicates this is the start of the transfer
-    _hw_endpoint_xfer(ep, buffer, buflen, true);
+      // Direction has flipped on endpoint control so re init it but with same properties
+      _hw_endpoint_init(ep, dev_addr, ep_addr, ep->wMaxPacketSize, ep->transfer_type, 0);
+    }
 
     // If a normal transfer (non-interrupt) then initiate using
     // sie ctrl registers. Otherwise interrupt ep registers should
     // already be configured
     if (ep == &epx) {
+        hw_endpoint_xfer_start(ep, buffer, buflen);
+
         // That has set up buffer control, endpoint control etc
         // for host we have to initiate the transfer
-        usb_hw->dev_addr_ctrl = dev_addr | (tu_edpt_number(ep_addr) << USB_ADDR_ENDP_ENDPOINT_LSB);
-        uint32_t flags = USB_SIE_CTRL_START_TRANS_BITS | sie_ctrl_base;
-        flags |= ep->rx ? USB_SIE_CTRL_RECEIVE_DATA_BITS : USB_SIE_CTRL_SEND_DATA_BITS;
+        usb_hw->dev_addr_ctrl = dev_addr | (ep_num << USB_ADDR_ENDP_ENDPOINT_LSB);
+
+        uint32_t flags = USB_SIE_CTRL_START_TRANS_BITS | SIE_CTRL_BASE |
+                         (ep_dir ? USB_SIE_CTRL_RECEIVE_DATA_BITS : USB_SIE_CTRL_SEND_DATA_BITS);
         // Set pre if we are a low speed device on full speed hub
         flags |= need_pre(dev_addr) ? USB_SIE_CTRL_PREAMBLE_EN_BITS : 0;
+
         usb_hw->sie_ctrl = flags;
+    }else
+    {
+      hw_endpoint_xfer_start(ep, buffer, buflen);
     }
 
     return true;
@@ -479,42 +508,34 @@ bool hcd_edpt_xfer(uint8_t rhport, uint8_t dev_addr, uint8_t ep_addr, uint8_t *
 
 bool hcd_setup_send(uint8_t rhport, uint8_t dev_addr, uint8_t const setup_packet[8])
 {
-    pico_info("hcd_setup_send dev_addr %d\n", dev_addr);
-    
+    (void) rhport;
+
     // Copy data into setup packet buffer
     memcpy((void*)&usbh_dpram->setup_packet[0], setup_packet, 8);
 
     // Configure EP0 struct with setup info for the trans complete
     struct hw_endpoint *ep = _hw_endpoint_allocate(0);
+
     // EP0 out
     _hw_endpoint_init(ep, dev_addr, 0x00, ep->wMaxPacketSize, 0, 0);
     assert(ep->configured);
-    ep->total_len = 8;
-    ep->transfer_size = 8;
-    ep->active = true;
-    ep->sent_setup = true;
+
+    ep->remaining_len = 8;
+    ep->active        = true;
 
     // Set device address
     usb_hw->dev_addr_ctrl = dev_addr;
+
     // Set pre if we are a low speed device on full speed hub
-    uint32_t flags = sie_ctrl_base | USB_SIE_CTRL_SEND_SETUP_BITS | USB_SIE_CTRL_START_TRANS_BITS;
-    flags |= need_pre(dev_addr) ? USB_SIE_CTRL_PREAMBLE_EN_BITS : 0;
-    usb_hw->sie_ctrl = flags;
-    return true;
-}
+    uint32_t const flags = SIE_CTRL_BASE | USB_SIE_CTRL_SEND_SETUP_BITS | USB_SIE_CTRL_START_TRANS_BITS |
+                           (need_pre(dev_addr) ? USB_SIE_CTRL_PREAMBLE_EN_BITS : 0);
 
-uint32_t hcd_frame_number(uint8_t rhport)
-{
-    return usb_hw->sof_rd;
-}
+    usb_hw->sie_ctrl = flags;
 
-bool hcd_edpt_open(uint8_t rhport, uint8_t dev_addr, tusb_desc_endpoint_t const * ep_desc)
-{
-    pico_trace("hcd_edpt_open dev_addr %d, ep_addr %d\n", dev_addr, ep_desc->bEndpointAddress);
-    hw_endpoint_init(dev_addr, ep_desc);
     return true;
 }
 
+
 //bool hcd_edpt_busy(uint8_t dev_addr, uint8_t ep_addr)
 //{
 //    // EPX is shared, so multiple device addresses and endpoint addresses share that
@@ -531,6 +552,9 @@ bool hcd_edpt_open(uint8_t rhport, uint8_t dev_addr, tusb_desc_endpoint_t const
 
 bool hcd_edpt_clear_stall(uint8_t dev_addr, uint8_t ep_addr)
 {
+    (void) dev_addr;
+    (void) ep_addr;
+
     panic("hcd_clear_stall");
     return true;
 }

src/portable/raspberrypi/rp2040/rp2040_usb.c

@@ -2,6 +2,7 @@
  * The MIT License (MIT)
  *
  * Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
+ * Copyright (c) 2021 Ha Thach (tinyusb.org) for Double Buffered
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
@@ -43,42 +44,38 @@ static inline void _hw_endpoint_lock_update(struct hw_endpoint *ep, int delta) {
     //  sense to have worker and IRQ on same core, however I think using critsec is about equivalent.
 }
 
-#if TUSB_OPT_HOST_ENABLED
-static inline void _hw_endpoint_update_last_buf(struct hw_endpoint *ep)
-{
-    ep->last_buf = (ep->len + ep->transfer_size == ep->total_len);
-}
-#endif
+static void _hw_endpoint_xfer_sync(struct hw_endpoint *ep);
+static void _hw_endpoint_start_next_buffer(struct hw_endpoint *ep);
+
+//--------------------------------------------------------------------+
+//
+//--------------------------------------------------------------------+
 
 void rp2040_usb_init(void)
 {
-    // Reset usb controller
-    reset_block(RESETS_RESET_USBCTRL_BITS);
-    unreset_block_wait(RESETS_RESET_USBCTRL_BITS);
+  // Reset usb controller
+  reset_block(RESETS_RESET_USBCTRL_BITS);
+  unreset_block_wait(RESETS_RESET_USBCTRL_BITS);
 
-    // Clear any previous state just in case
-    memset(usb_hw, 0, sizeof(*usb_hw));
-    memset(usb_dpram, 0, sizeof(*usb_dpram));
+  // Clear any previous state just in case
+  memset(usb_hw, 0, sizeof(*usb_hw));
+  memset(usb_dpram, 0, sizeof(*usb_dpram));
 
-    // Mux the controller to the onboard usb phy
-    usb_hw->muxing    = USB_USB_MUXING_TO_PHY_BITS    | USB_USB_MUXING_SOFTCON_BITS;
+  // Mux the controller to the onboard usb phy
+  usb_hw->muxing = USB_USB_MUXING_TO_PHY_BITS    | USB_USB_MUXING_SOFTCON_BITS;
 
-    // Force VBUS detect so the device thinks it is plugged into a host
-    // TODO support VBUs detect
-    usb_hw->pwr       = USB_USB_PWR_VBUS_DETECT_BITS  | USB_USB_PWR_VBUS_DETECT_OVERRIDE_EN_BITS;
+  // Force VBUS detect so the device thinks it is plugged into a host
+  // TODO support VBUs detect
+  usb_hw->pwr    = USB_USB_PWR_VBUS_DETECT_BITS  | USB_USB_PWR_VBUS_DETECT_OVERRIDE_EN_BITS;
 }
 
 void hw_endpoint_reset_transfer(struct hw_endpoint *ep)
 {
-    ep->stalled = false;
-    ep->active = false;
-#if TUSB_OPT_HOST_ENABLED
-    ep->sent_setup = false;
-#endif
-    ep->total_len = 0;
-    ep->len = 0;
-    ep->transfer_size = 0;
-    ep->user_buf = 0;
+  ep->stalled = false;
+  ep->active = false;
+  ep->remaining_len = 0;
+  ep->xferred_len = 0;
+  ep->user_buf = 0;
 }
 
 void _hw_endpoint_buffer_control_update32(struct hw_endpoint *ep, uint32_t and_mask, uint32_t or_mask) {
@@ -111,215 +108,223 @@ void _hw_endpoint_buffer_control_update32(struct hw_endpoint *ep, uint32_t and_m
     *ep->buffer_control = value;
 }
 
-void _hw_endpoint_start_next_buffer(struct hw_endpoint *ep)
+// prepare buffer, return buffer control
+static uint32_t prepare_ep_buffer(struct hw_endpoint *ep, uint8_t buf_id)
 {
-    // Prepare buffer control register value
-    uint32_t val = ep->transfer_size | USB_BUF_CTRL_AVAIL;
-
-    if (!ep->rx)
-    {
-        // Copy data from user buffer to hw buffer
-        memcpy(ep->hw_data_buf, &ep->user_buf[ep->len], ep->transfer_size);
-        // Mark as full
-        val |= USB_BUF_CTRL_FULL;
-    }
+  uint16_t const buflen = tu_min16(ep->remaining_len, ep->wMaxPacketSize);
+  ep->remaining_len -= buflen;
 
-    // PID
-    val |= ep->next_pid ? USB_BUF_CTRL_DATA1_PID : USB_BUF_CTRL_DATA0_PID;
+  uint32_t buf_ctrl = buflen | USB_BUF_CTRL_AVAIL;
 
-#if TUSB_OPT_DEVICE_ENABLED
-    ep->next_pid ^= 1u;
+  // PID
+  buf_ctrl |= ep->next_pid ? USB_BUF_CTRL_DATA1_PID : USB_BUF_CTRL_DATA0_PID;
+  ep->next_pid ^= 1u;
 
-#else
-    // For Host (also device but since we dictate the endpoint size, following scenario does not occur)
-    // Next PID depends on the number of packet in case wMaxPacketSize < 64 (e.g Interrupt Endpoint 8, or 12)
-    // Special case with control status stage where PID is always DATA1
-    if ( ep->transfer_size == 0 )
-    {
-      // ZLP also toggle data
-      ep->next_pid ^= 1u;
-    }else
-    {
-      uint32_t packet_count = 1 + ((ep->transfer_size - 1) / ep->wMaxPacketSize);
+  if ( !ep->rx )
+  {
+    // Copy data from user buffer to hw buffer
+    memcpy(ep->hw_data_buf + buf_id*64, ep->user_buf, buflen);
+    ep->user_buf += buflen;
 
-      if ( packet_count & 0x01 )
-      {
-        ep->next_pid ^= 1u;
-      }
-    }
-#endif
+    // Mark as full
+    buf_ctrl |= USB_BUF_CTRL_FULL;
+  }
 
+  // Is this the last buffer? Only really matters for host mode. Will trigger
+  // the trans complete irq but also stop it polling. We only really care about
+  // trans complete for setup packets being sent
+  if (ep->remaining_len == 0)
+  {
+    buf_ctrl |= USB_BUF_CTRL_LAST;
+  }
 
-#if TUSB_OPT_HOST_ENABLED
-    // Is this the last buffer? Only really matters for host mode. Will trigger
-    // the trans complete irq but also stop it polling. We only really care about
-    // trans complete for setup packets being sent
-    if (ep->last_buf)
-    {
-        pico_trace("Last buf (%d bytes left)\n", ep->transfer_size);
-        val |= USB_BUF_CTRL_LAST;
-    }
-#endif
+  if (buf_id) buf_ctrl = buf_ctrl << 16;
 
-    // Finally, write to buffer_control which will trigger the transfer
-    // the next time the controller polls this dpram address
-    _hw_endpoint_buffer_control_set_value32(ep, val);
-    pico_trace("buffer control (0x%p) <- 0x%x\n", ep->buffer_control, val);
-    //print_bufctrl16(val);
+  return buf_ctrl;
 }
 
-
-void _hw_endpoint_xfer_start(struct hw_endpoint *ep, uint8_t *buffer, uint16_t total_len)
+// Prepare buffer control register value
+static void _hw_endpoint_start_next_buffer(struct hw_endpoint *ep)
 {
-    _hw_endpoint_lock_update(ep, 1);
-    pico_trace("Start transfer of total len %d on ep %d %s\n", total_len, tu_edpt_number(ep->ep_addr), ep_dir_string[tu_edpt_dir(ep->ep_addr)]);
-    if (ep->active)
-    {
-        // TODO: Is this acceptable for interrupt packets?
-        pico_warn("WARN: starting new transfer on already active ep %d %s\n", tu_edpt_number(ep->ep_addr), ep_dir_string[tu_edpt_dir(ep->ep_addr)]);
+  uint32_t ep_ctrl = *ep->endpoint_control;
 
-        hw_endpoint_reset_transfer(ep);
-    }
+  // always compute and start with buffer 0
+  uint32_t buf_ctrl = prepare_ep_buffer(ep, 0) | USB_BUF_CTRL_SEL;
 
-    // Fill in info now that we're kicking off the hw
-    ep->total_len = total_len;
-    ep->len = 0;
+  // For now: skip double buffered for Device mode, OUT endpoint since
+  // host could send < 64 bytes and cause short packet on buffer0
+  // NOTE this could happen to Host mode IN endpoint
+  bool const force_single = !(usb_hw->main_ctrl & USB_MAIN_CTRL_HOST_NDEVICE_BITS) && !tu_edpt_dir(ep->ep_addr);
 
-    // Limit by packet size but not less 64 (i.e low speed 8 bytes EP0)
-    ep->transfer_size = tu_min16(total_len, tu_max16(64, ep->wMaxPacketSize));
+  if(ep->remaining_len && !force_single)
+  {
+    // Use buffer 1 (double buffered) if there is still data
+    // TODO: Isochronous for buffer1 bit-field is different than CBI (control bulk, interrupt)
 
-    ep->active = true;
-    ep->user_buf = buffer;
-#if TUSB_OPT_HOST_ENABLED
-    // Recalculate if this is the last buffer
-    _hw_endpoint_update_last_buf(ep);
-    ep->buf_sel = 0;
-#endif
+    buf_ctrl |= prepare_ep_buffer(ep, 1);
 
-    _hw_endpoint_start_next_buffer(ep);
-    _hw_endpoint_lock_update(ep, -1);
+    // Set endpoint control double buffered bit if needed
+    ep_ctrl &= ~EP_CTRL_INTERRUPT_PER_BUFFER;
+    ep_ctrl |= EP_CTRL_DOUBLE_BUFFERED_BITS | EP_CTRL_INTERRUPT_PER_DOUBLE_BUFFER;
+  }else
+  {
+    // Single buffered since 1 is enough
+    ep_ctrl &= ~(EP_CTRL_DOUBLE_BUFFERED_BITS | EP_CTRL_INTERRUPT_PER_DOUBLE_BUFFER);
+    ep_ctrl |= EP_CTRL_INTERRUPT_PER_BUFFER;
+  }
+
+  *ep->endpoint_control = ep_ctrl;
+
+  TU_LOG(3, "Prepare Buffer Control:\r\n");
+  print_bufctrl32(buf_ctrl);
+
+  // Finally, write to buffer_control which will trigger the transfer
+  // the next time the controller polls this dpram address
+  _hw_endpoint_buffer_control_set_value32(ep, buf_ctrl);
 }
 
-void _hw_endpoint_xfer_sync(struct hw_endpoint *ep)
+void hw_endpoint_xfer_start(struct hw_endpoint *ep, uint8_t *buffer, uint16_t total_len)
 {
-    // Update hw endpoint struct with info from hardware
-    // after a buff status interrupt
+  _hw_endpoint_lock_update(ep, 1);
 
-    uint32_t buf_ctrl = _hw_endpoint_buffer_control_get_value32(ep);
+  if ( ep->active )
+  {
+    // TODO: Is this acceptable for interrupt packets?
+    TU_LOG(1, "WARN: starting new transfer on already active ep %d %s\n", tu_edpt_number(ep->ep_addr),
+              ep_dir_string[tu_edpt_dir(ep->ep_addr)]);
 
-#if TUSB_OPT_HOST_ENABLED
-    // RP2040-E4
-    // tag::host_buf_sel_fix[]
-    // TODO need changes to support double buffering
-    if (ep->buf_sel == 1)
-    {
-        // Host can erroneously write status to top half of buf_ctrl register
-        buf_ctrl = buf_ctrl >> 16;
+    hw_endpoint_reset_transfer(ep);
+  }
 
-        // update buf1 -> buf0 to prevent panic with "already available"
-        *ep->buffer_control = buf_ctrl;
-    }
-    // Flip buf sel for host
-    ep->buf_sel ^= 1u;
-    // end::host_buf_sel_fix[]
-#endif
+  // Fill in info now that we're kicking off the hw
+  ep->remaining_len = total_len;
+  ep->xferred_len   = 0;
+  ep->active        = true;
+  ep->user_buf      = buffer;
 
-    // Get tranferred bytes after adjusted buf sel
-    uint16_t const transferred_bytes = buf_ctrl & USB_BUF_CTRL_LEN_MASK;
+  _hw_endpoint_start_next_buffer(ep);
+  _hw_endpoint_lock_update(ep, -1);
+}
 
-    // We are continuing a transfer here. If we are TX, we have successfullly
-    // sent some data can increase the length we have sent
-    if (!ep->rx)
-    {
-        assert(!(buf_ctrl & USB_BUF_CTRL_FULL));
-        pico_trace("tx %d bytes (buf_ctrl 0x%08x)\n", transferred_bytes, buf_ctrl);
-        ep->len += transferred_bytes;
-    }
-    else
-    {
-        // If we are OUT we have recieved some data, so can increase the length
-        // we have recieved AFTER we have copied it to the user buffer at the appropriate
-        // offset
-        pico_trace("rx %d bytes (buf_ctrl 0x%08x)\n", transferred_bytes, buf_ctrl);
-        assert(buf_ctrl & USB_BUF_CTRL_FULL);
-        memcpy(&ep->user_buf[ep->len], ep->hw_data_buf, transferred_bytes);
-        ep->len += transferred_bytes;
-    }
+// sync endpoint buffer and return transferred bytes
+static uint16_t sync_ep_buffer(struct hw_endpoint *ep, uint8_t buf_id)
+{
+  uint32_t buf_ctrl = _hw_endpoint_buffer_control_get_value32(ep);
+  if (buf_id)  buf_ctrl = buf_ctrl >> 16;
 
-    // Sometimes the host will send less data than we expect...
-    // If this is a short out transfer update the total length of the transfer
-    // to be the current length
-    if ((ep->rx) && (transferred_bytes < ep->wMaxPacketSize))
-    {
-        pico_trace("Short rx transfer\n");
-        // Reduce total length as this is last packet
-        ep->total_len = ep->len;
-    }
+  uint16_t xferred_bytes = buf_ctrl & USB_BUF_CTRL_LEN_MASK;
+
+  if ( !ep->rx )
+  {
+    // We are continuing a transfer here. If we are TX, we have successfully
+    // sent some data can increase the length we have sent
+    assert(!(buf_ctrl & USB_BUF_CTRL_FULL));
+
+    ep->xferred_len += xferred_bytes;
+  }else
+  {
+    // If we have received some data, so can increase the length
+    // we have received AFTER we have copied it to the user buffer at the appropriate offset
+    assert(buf_ctrl & USB_BUF_CTRL_FULL);
+
+    memcpy(ep->user_buf, ep->hw_data_buf + buf_id*64, xferred_bytes);
+    ep->xferred_len += xferred_bytes;
+    ep->user_buf += xferred_bytes;
+  }
+
+  // Short packet
+  if (xferred_bytes < ep->wMaxPacketSize)
+  {
+    pico_trace("Short rx transfer on buffer %d with %u bytes\n", buf_id, xferred_bytes);
+    // Reduce total length as this is last packet
+    ep->remaining_len = 0;
+  }
+
+  return xferred_bytes;
 }
 
-// Returns true if transfer is complete
-bool _hw_endpoint_xfer_continue(struct hw_endpoint *ep)
+static void _hw_endpoint_xfer_sync (struct hw_endpoint *ep)
 {
-    _hw_endpoint_lock_update(ep, 1);
-    // Part way through a transfer
-    if (!ep->active)
-    {
-        panic("Can't continue xfer on inactive ep %d %s", tu_edpt_number(ep->ep_addr), ep_dir_string);
-    }
+  // Update hw endpoint struct with info from hardware
+  // after a buff status interrupt
 
-    // Update EP struct from hardware state
-    _hw_endpoint_xfer_sync(ep);
-
-    // Now we have synced our state with the hardware. Is there more data to transfer?
-    // Limit by packet size but not less 64 (i.e low speed 8 bytes EP0)
-    uint16_t remaining_bytes = ep->total_len - ep->len;
-    ep->transfer_size = tu_min16(remaining_bytes, tu_max16(64, ep->wMaxPacketSize));
-#if TUSB_OPT_HOST_ENABLED
-    _hw_endpoint_update_last_buf(ep);
-#endif
+  uint32_t buf_ctrl = _hw_endpoint_buffer_control_get_value32(ep);
+  TU_LOG(3, "_hw_endpoint_xfer_sync:\r\n");
+  print_bufctrl32(buf_ctrl);
 
-    // Can happen because of programmer error so check for it
-    if (ep->len > ep->total_len)
-    {
-        panic("Transferred more data than expected");
-    }
+  // always sync buffer 0
+  uint16_t buf0_bytes = sync_ep_buffer(ep, 0);
 
-    // If we are done then notify tinyusb
-    if (ep->len == ep->total_len)
+  // sync buffer 1 if double buffered
+  if ( (*ep->endpoint_control) & EP_CTRL_DOUBLE_BUFFERED_BITS )
+  {
+    if (buf0_bytes == ep->wMaxPacketSize)
     {
-        pico_trace("Completed transfer of %d bytes on ep %d %s\n",
-                   ep->len, tu_edpt_number(ep->ep_addr), ep_dir_string[tu_edpt_dir(ep->ep_addr)]);
-        // Notify caller we are done so it can notify the tinyusb stack
-        _hw_endpoint_lock_update(ep, -1);
-        return true;
-    }
-    else
+      // sync buffer 1 if not short packet
+      sync_ep_buffer(ep, 1);
+    }else
     {
-        _hw_endpoint_start_next_buffer(ep);
-    }
+      // short packet on buffer 0
+      // TODO couldn't figure out how to handle this case which happen with net_lwip_webserver example
+      // At this time (currently trigger per 2 buffer), the buffer1 is probably filled with data from
+      // the next transfer (not current one). For now we disable double buffered for device OUT
+      // NOTE this could happen to Host IN
+#if 0
+      uint8_t const ep_num = tu_edpt_number(ep->ep_addr);
+      uint8_t const dir =  (uint8_t) tu_edpt_dir(ep->ep_addr);
+      uint8_t const ep_id = 2*ep_num + (dir ? 0 : 1);
 
-    _hw_endpoint_lock_update(ep, -1);
-    // More work to do
-    return false;
-}
+      // abort queued transfer on buffer 1
+      usb_hw->abort |= TU_BIT(ep_id);
 
-void _hw_endpoint_xfer(struct hw_endpoint *ep, uint8_t *buffer, uint16_t total_len, bool start)
-{
-    // Trace
-    pico_trace("hw_endpoint_xfer ep %d %s", tu_edpt_number(ep->ep_addr), ep_dir_string[tu_edpt_dir(ep->ep_addr)]);
-    pico_trace(" total_len %d, start=%d\n", total_len, start);
+      while ( !(usb_hw->abort_done & TU_BIT(ep_id)) ) {}
 
-    assert(ep->configured);
+      uint32_t ep_ctrl = *ep->endpoint_control;
+      ep_ctrl &= ~(EP_CTRL_DOUBLE_BUFFERED_BITS | EP_CTRL_INTERRUPT_PER_DOUBLE_BUFFER);
+      ep_ctrl |= EP_CTRL_INTERRUPT_PER_BUFFER;
 
+      _hw_endpoint_buffer_control_set_value32(ep, 0);
 
-    if (start)
-    {
-        _hw_endpoint_xfer_start(ep, buffer, total_len);
-    }
-    else
-    {
-        _hw_endpoint_xfer_continue(ep);
+      usb_hw->abort &= ~TU_BIT(ep_id);
+
+      TU_LOG(3, "----SHORT PACKET buffer0 on EP %02X:\r\n", ep->ep_addr);
+      print_bufctrl32(buf_ctrl);
+#endif
     }
+  }
+}
+
+// Returns true if transfer is complete
+bool hw_endpoint_xfer_continue(struct hw_endpoint *ep)
+{
+  _hw_endpoint_lock_update(ep, 1);
+  // Part way through a transfer
+  if (!ep->active)
+  {
+    panic("Can't continue xfer on inactive ep %d %s", tu_edpt_number(ep->ep_addr), ep_dir_string);
+  }
+
+  // Update EP struct from hardware state
+  _hw_endpoint_xfer_sync(ep);
+
+  // Now we have synced our state with the hardware. Is there more data to transfer?
+  // If we are done then notify tinyusb
+  if (ep->remaining_len == 0)
+  {
+    pico_trace("Completed transfer of %d bytes on ep %d %s\n",
+               ep->xferred_len, tu_edpt_number(ep->ep_addr), ep_dir_string[tu_edpt_dir(ep->ep_addr)]);
+    // Notify caller we are done so it can notify the tinyusb stack
+    _hw_endpoint_lock_update(ep, -1);
+    return true;
+  }
+  else
+  {
+    _hw_endpoint_start_next_buffer(ep);
+  }
+
+  _hw_endpoint_lock_update(ep, -1);
+  // More work to do
+  return false;
 }
 
 #endif

src/portable/raspberrypi/rp2040/rp2040_usb.h

@@ -17,23 +17,8 @@
 #endif
 
 
-#if false && !defined(NDEBUG)
-#define pico_trace(format,args...) printf(format, ## args)
-#else
-#define pico_trace(format,...) ((void)0)
-#endif
-
-#if false && !defined(NDEBUG)
-#define pico_info(format,args...) printf(format, ## args)
-#else
-#define pico_info(format,...) ((void)0)
-#endif
-
-#if false && !defined(NDEBUG)
-#define pico_warn(format,args...) printf(format, ## args)
-#else
-#define pico_warn(format,...) ((void)0)
-#endif
+#define pico_info(...)  TU_LOG(2, __VA_ARGS__)
+#define pico_trace(...) TU_LOG(3, __VA_ARGS__)
 
 // Hardware information per endpoint
 struct hw_endpoint
@@ -50,6 +35,7 @@ struct hw_endpoint
 
     // Endpoint control register
     io_rw_32 *endpoint_control;
+
     // Buffer control register
     io_rw_32 *buffer_control;
 
@@ -61,27 +47,22 @@ struct hw_endpoint
 
     // Current transfer information
     bool active;
-    uint16_t total_len;
-    uint16_t len;
-    // Amount of data with the hardware
-    uint16_t transfer_size;
+    uint16_t remaining_len;
+    uint16_t xferred_len;
+
     // User buffer in main memory
     uint8_t *user_buf;
 
     // Data needed from EP descriptor
     uint16_t wMaxPacketSize;
+
     // Interrupt, bulk, etc
     uint8_t transfer_type;
     
 #if TUSB_OPT_HOST_ENABLED
-    // Only needed for host mode
-    bool last_buf;
-    // RP2040-E4: HOST BUG. Host will incorrect write status to top half of buffer
-    // control register when doing transfers > 1 packet
-    uint8_t buf_sel;
     // Only needed for host
     uint8_t dev_addr;
-    bool sent_setup;
+
     // If interrupt endpoint
     uint8_t interrupt_num;
 #endif
@@ -89,12 +70,10 @@ struct hw_endpoint
 
 void rp2040_usb_init(void);
 
+void hw_endpoint_xfer_start(struct hw_endpoint *ep, uint8_t *buffer, uint16_t total_len);
+bool hw_endpoint_xfer_continue(struct hw_endpoint *ep);
 void hw_endpoint_reset_transfer(struct hw_endpoint *ep);
-void _hw_endpoint_xfer(struct hw_endpoint *ep, uint8_t *buffer, uint16_t total_len, bool start);
-void _hw_endpoint_start_next_buffer(struct hw_endpoint *ep);
-void _hw_endpoint_xfer_start(struct hw_endpoint *ep, uint8_t *buffer, uint16_t total_len);
-void _hw_endpoint_xfer_sync(struct hw_endpoint *ep);
-bool _hw_endpoint_xfer_continue(struct hw_endpoint *ep);
+
 void _hw_endpoint_buffer_control_update32(struct hw_endpoint *ep, uint32_t and_mask, uint32_t or_mask);
 static inline uint32_t _hw_endpoint_buffer_control_get_value32(struct hw_endpoint *ep) {
     return *ep->buffer_control;
@@ -134,14 +113,15 @@ typedef union TU_ATTR_PACKED
 
 TU_VERIFY_STATIC(sizeof(rp2040_buffer_control_t) == 2, "size is not correct");
 
-static inline void print_bufctrl16(uint32_t __unused u16)
+#if CFG_TUSB_DEBUG >= 3
+static inline void print_bufctrl16(uint32_t u16)
 {
-  rp2040_buffer_control_t __unused bufctrl = {
+  rp2040_buffer_control_t bufctrl = {
       .u16 = u16
   };
 
-  TU_LOG(2, "len = %u, available = %u, stall = %u, reset = %u, toggle = %u, last = %u, full = %u\r\n",
-         bufctrl.xfer_len, bufctrl.available, bufctrl.stall, bufctrl.reset_bufsel, bufctrl.data_toggle, bufctrl.last_buf, bufctrl.full);
+  TU_LOG(3, "len = %u, available = %u, full = %u, last = %u, stall = %u, reset = %u, toggle = %u\r\n",
+         bufctrl.xfer_len, bufctrl.available, bufctrl.full, bufctrl.last_buf, bufctrl.stall, bufctrl.reset_bufsel, bufctrl.data_toggle);
 }
 
 static inline void print_bufctrl32(uint32_t u32)
@@ -149,12 +129,19 @@ static inline void print_bufctrl32(uint32_t u32)
   uint16_t u16;
 
   u16 = u32 >> 16;
-  TU_LOG(2, "Buffer Control 1 0x%x: ", u16);
+  TU_LOG(3, "  Buffer Control 1 0x%x: ", u16);
   print_bufctrl16(u16);
 
   u16 = u32 & 0x0000ffff;
-  TU_LOG(2, "Buffer Control 0 0x%x: ", u16);
+  TU_LOG(3, "  Buffer Control 0 0x%x: ", u16);
   print_bufctrl16(u16);
 }
 
+#else
+
+#define print_bufctrl16(u16)
+#define print_bufctrl32(u32)
+
+#endif
+
 #endif

src/portable/renesas/usba/dcd_usba.c

@@ -26,8 +26,13 @@
 
 #include "tusb_option.h"
 
+<<<<<<< HEAD
 #if TUSB_OPT_DEVICE_ENABLED && (( CFG_TUSB_MCU == OPT_MCU_RX63X ) || ( CFG_TUSB_MCU == OPT_MCU_RX72N ))
 
+=======
+#if TUSB_OPT_DEVICE_ENABLED && ( CFG_TUSB_MCU == OPT_MCU_RX63X || \
+                                 CFG_TUSB_MCU == OPT_MCU_RX65X)
+>>>>>>> origin/master
 #include "device/dcd.h"
 #include "iodefine.h"
 

src/tusb_option.h

@@ -113,7 +113,11 @@
 
 // Renesas RX
 #define OPT_MCU_RX63X            1400 ///< Renesas RX63N/631
+<<<<<<< HEAD
 #define OPT_MCU_RX72N            1401 ///< Renesas RX72N
+=======
+#define OPT_MCU_RX65X            1401 ///< Renesas RX65N/RX651
+>>>>>>> origin/master
 
 // Mind Motion
 #define OPT_MCU_MM32F327X        1500 ///< Mind Motion MM32F327