esp-idf/components/usb/usbh.c

/*
 * SPDX-FileCopyrightText: 2015-2021 Espressif Systems (Shanghai) CO LTD
 *
 * SPDX-License-Identifier: Apache-2.0
 */

#include "sdkconfig.h"
#include <stdint.h>
#include <string.h>
#include <assert.h>
#include <sys/queue.h>
#include "freertos/FreeRTOS.h"
#include "freertos/portmacro.h"
#include "freertos/task.h"
#include "esp_err.h"
#include "esp_log.h"
#include "esp_heap_caps.h"
#include "hcd.h"
#include "usbh.h"
#include "usb/usb_helpers.h"
#include "usb/usb_types_ch9.h"

//Device action flags. Listed in the order they should handled in. Some actions are mutually exclusive
#define DEV_FLAG_ACTION_SEND_GONE_EVENT             0x01    //Send a USB_HOST_CLIENT_EVENT_DEV_GONE event
#define DEV_FLAG_ACTION_DEFAULT_PIPE_FLUSH          0x02    //Retire all URBS in the default pipe
#define DEV_FLAG_ACTION_DEFAULT_PIPE_DEQUEUE        0x04    //Dequeue all URBs from default pipe
#define DEV_FLAG_ACTION_DEFAULT_PIPE_CLEAR          0x08    //Move the default pipe to the active state
#define DEV_FLAG_ACTION_FREE                        0x10    //Free the device object
#define DEV_FLAG_ACTION_PORT_DISABLE                0x20
#define DEV_FLAG_ACTION_SEND_NEW                    0x40    //Send a new device event

#define DEV_ENUM_TODO_FLAG_DEV_ADDR                 0x01
#define DEV_ENUM_TODO_FLAG_DEV_DESC                 0x02
#define DEV_ENUM_TODO_FLAG_CONFIG_DESC              0x04

#define EP_NUM_MIN                                  1
#define EP_NUM_MAX                                  16

typedef struct device_s device_t;
struct device_s {
    //Dynamic members require a critical section
    struct {
        TAILQ_ENTRY(device_s) tailq_entry;
        union {
            struct {
                uint32_t actions: 8;
                uint32_t in_pending_list: 1;
                uint32_t is_gone: 1;
                uint32_t waiting_close: 1;
                uint32_t waiting_port_disable: 1;
                uint32_t waiting_free: 1;
                uint32_t reserved19: 19;
            };
            uint32_t val;
        } flags;
        int num_ctrl_xfers_inflight;
        usb_device_state_t state;
        uint32_t ref_count;
        usb_config_desc_t *config_desc;
        hcd_pipe_handle_t ep_in[EP_NUM_MAX - 1];    //IN EP owner contexts. -1 to exclude the default endpoint
        hcd_pipe_handle_t ep_out[EP_NUM_MAX - 1];   //OUT EP owner contexts. -1 to exclude the default endpoint
    } dynamic;
    //Constant members do no change after device allocation and enumeration thus do not require a critical section
    struct {
        hcd_pipe_handle_t default_pipe;
        hcd_port_handle_t port_hdl;
        uint8_t address;
        usb_speed_t speed;
        const usb_device_desc_t *desc;
        uint32_t enum_todo_flags;
    } constant;
};

typedef struct {
    //Dynamic members require a critical section
    struct {
        TAILQ_HEAD(tailhead_devs, device_s) devs_idle_tailq;        //Tailq of all enum and configured devices
        TAILQ_HEAD(tailhead_devs_cb, device_s) devs_pending_tailq;  //Tailq of devices that need to have their cb called
        uint8_t num_device;     //Number of enumerated devices
    } dynamic;
    //Constant members do no change after installation thus do not require a critical section
    struct {
        usb_notif_cb_t notif_cb;
        void *notif_cb_arg;
        usbh_hub_cb_t hub_cb;
        void *hub_cb_arg;
        usbh_event_cb_t event_cb;
        void *event_cb_arg;
        usbh_ctrl_xfer_cb_t ctrl_xfer_cb;
        void *ctrl_xfer_cb_arg;
    } constant;
} usbh_t;

static usbh_t *p_usbh_obj = NULL;

static portMUX_TYPE usbh_lock = portMUX_INITIALIZER_UNLOCKED;

const char *USBH_TAG = "USBH";

#define USBH_ENTER_CRITICAL_ISR()       portENTER_CRITICAL_ISR(&usbh_lock)
#define USBH_EXIT_CRITICAL_ISR()        portEXIT_CRITICAL_ISR(&usbh_lock)
#define USBH_ENTER_CRITICAL()           portENTER_CRITICAL(&usbh_lock)
#define USBH_EXIT_CRITICAL()            portEXIT_CRITICAL(&usbh_lock)
#define USBH_ENTER_CRITICAL_SAFE()      portENTER_CRITICAL_SAFE(&usbh_lock)
#define USBH_EXIT_CRITICAL_SAFE()       portEXIT_CRITICAL_SAFE(&usbh_lock)

#define USBH_CHECK(cond, ret_val) ({                                        \
            if (!(cond)) {                                                  \
                return (ret_val);                                           \
            }                                                               \
})
#define USBH_CHECK_FROM_CRIT(cond, ret_val) ({                              \
            if (!(cond)) {                                                  \
                USBH_EXIT_CRITICAL();                                       \
                return ret_val;                                             \
            }                                                               \
})

// --------------------------------------------------- Allocation ------------------------------------------------------

static esp_err_t device_alloc(hcd_port_handle_t port_hdl, usb_speed_t speed, device_t **dev_obj_ret)
{
    esp_err_t ret;
    device_t *dev_obj = heap_caps_calloc(1, sizeof(device_t), MALLOC_CAP_DEFAULT);
    usb_device_desc_t *dev_desc = heap_caps_calloc(1, sizeof(usb_device_desc_t), MALLOC_CAP_DEFAULT);
    if (dev_obj == NULL || dev_desc == NULL) {
        ret = ESP_ERR_NO_MEM;
        goto err;
    }
    //Allocate default pipe. We set the pipe callback to NULL for now
    hcd_pipe_config_t pipe_config = {
        .callback = NULL,
        .callback_arg = NULL,
        .context = (void *)dev_obj,
        .ep_desc = NULL,    //No endpoint descriptor means we're allocating a default pipe
        .dev_speed = speed,
        .dev_addr = 0,
    };
    hcd_pipe_handle_t default_pipe_hdl;
    ret = hcd_pipe_alloc(port_hdl, &pipe_config, &default_pipe_hdl);
    if (ret != ESP_OK) {
        goto err;
    }
    //Initialize device object
    dev_obj->dynamic.state = USB_DEVICE_STATE_DEFAULT;
    dev_obj->constant.default_pipe = default_pipe_hdl;
    dev_obj->constant.port_hdl = port_hdl;
    //Note: dev_obj->constant.address is assigned later during enumeration
    dev_obj->constant.speed = speed;
    dev_obj->constant.desc = dev_desc;
    dev_obj->constant.enum_todo_flags = (DEV_ENUM_TODO_FLAG_DEV_ADDR | DEV_ENUM_TODO_FLAG_DEV_DESC | DEV_ENUM_TODO_FLAG_CONFIG_DESC);
    *dev_obj_ret = dev_obj;
    ret = ESP_OK;
    return ret;

err:
    heap_caps_free(dev_desc);
    heap_caps_free(dev_obj);
    return ret;
}

static void device_free(device_t *dev_obj)
{
    if (dev_obj == NULL) {
        return;
    }
    //Configuration must be freed
    assert(dev_obj->dynamic.config_desc == NULL);
    ESP_ERROR_CHECK(hcd_pipe_free(dev_obj->constant.default_pipe));
    heap_caps_free((usb_device_desc_t *)dev_obj->constant.desc);
    heap_caps_free(dev_obj);
}

// -------------------------------------------------- Event Related ----------------------------------------------------

static bool _dev_set_actions(device_t *dev_obj, uint32_t action_flags)
{
    if (action_flags == 0) {
        return false;
    }
    bool call_notif_cb;
    //Check if device is already on the callback list
    if (!dev_obj->dynamic.flags.in_pending_list) {
        //Move device form idle device list to callback device list
        TAILQ_REMOVE(&p_usbh_obj->dynamic.devs_idle_tailq, dev_obj, dynamic.tailq_entry);
        TAILQ_INSERT_TAIL(&p_usbh_obj->dynamic.devs_pending_tailq, dev_obj, dynamic.tailq_entry);
        dev_obj->dynamic.flags.actions |= action_flags;
        dev_obj->dynamic.flags.in_pending_list = 1;
        call_notif_cb = true;
    } else {
        call_notif_cb = false;
    }
    return call_notif_cb;
}

static bool default_pipe_callback(hcd_pipe_handle_t pipe_hdl, hcd_pipe_event_t pipe_event, void *user_arg, bool in_isr)
{
    uint32_t action_flags;
    device_t *dev_obj = (device_t *)user_arg;
    switch (pipe_event) {
        case HCD_PIPE_EVENT_URB_DONE:
            //A control transfer completed on the default pipe. We need to dequeue it
            action_flags = DEV_FLAG_ACTION_DEFAULT_PIPE_DEQUEUE;
            break;
        case HCD_PIPE_EVENT_ERROR_XFER:
        case HCD_PIPE_EVENT_ERROR_URB_NOT_AVAIL:
        case HCD_PIPE_EVENT_ERROR_OVERFLOW:
            //The default pipe has encountered an error. We need to retire all URBs, dequeue them, then make the pipe active again
            action_flags = DEV_FLAG_ACTION_DEFAULT_PIPE_FLUSH |
                           DEV_FLAG_ACTION_DEFAULT_PIPE_DEQUEUE |
                           DEV_FLAG_ACTION_DEFAULT_PIPE_CLEAR;
            if (in_isr) {
                ESP_EARLY_LOGE(USBH_TAG, "Dev %d EP 0 Error", dev_obj->constant.address);
            } else {
                ESP_LOGE(USBH_TAG, "Dev %d EP 0 Error", dev_obj->constant.address);
            }
            break;
        case HCD_PIPE_EVENT_ERROR_STALL:
            //The default pipe encountered a "protocol stall". We just need to dequeue URBs then make the pipe active again
            action_flags = DEV_FLAG_ACTION_DEFAULT_PIPE_DEQUEUE | DEV_FLAG_ACTION_DEFAULT_PIPE_CLEAR;
            if (in_isr) {
                ESP_EARLY_LOGE(USBH_TAG, "Dev %d EP 0 STALL", dev_obj->constant.address);
            } else {
                ESP_LOGE(USBH_TAG, "Dev %d EP 0 STALL", dev_obj->constant.address);
            }
            break;
        default:
            action_flags = 0;
            break;
    }

    USBH_ENTER_CRITICAL_SAFE();
    bool call_notif_cb = _dev_set_actions(dev_obj, action_flags);
    USBH_EXIT_CRITICAL_SAFE();

    bool yield = false;
    if (call_notif_cb) {
        yield = p_usbh_obj->constant.notif_cb(USB_NOTIF_SOURCE_USBH, in_isr, p_usbh_obj->constant.notif_cb_arg);
    }
    return yield;
}

static bool handle_dev_free(device_t *dev_obj)
{
    USBH_ENTER_CRITICAL();
    //Remove the device object for it's containing list
    if (dev_obj->dynamic.flags.in_pending_list) {
        dev_obj->dynamic.flags.in_pending_list = 0;
        TAILQ_REMOVE(&p_usbh_obj->dynamic.devs_pending_tailq, dev_obj, dynamic.tailq_entry);
    } else {
        TAILQ_REMOVE(&p_usbh_obj->dynamic.devs_idle_tailq, dev_obj, dynamic.tailq_entry);
    }
    p_usbh_obj->dynamic.num_device--;
    bool all_free = (p_usbh_obj->dynamic.num_device == 0);
    USBH_EXIT_CRITICAL();

    heap_caps_free(dev_obj->dynamic.config_desc);
    dev_obj->dynamic.config_desc = NULL;
    device_free(dev_obj);
    return all_free;
}

// ------------------------------------------------- USBH Functions ----------------------------------------------------

esp_err_t usbh_install(const usbh_config_t *usbh_config)
{
    USBH_CHECK(usbh_config != NULL, ESP_ERR_INVALID_ARG);
    USBH_ENTER_CRITICAL();
    USBH_CHECK_FROM_CRIT(p_usbh_obj == NULL, ESP_ERR_INVALID_STATE);
    USBH_EXIT_CRITICAL();

    usbh_t *usbh_obj = heap_caps_calloc(1, sizeof(usbh_t), MALLOC_CAP_DEFAULT);
    if (usbh_obj == NULL) {
        return ESP_ERR_NO_MEM;
    }
    esp_err_t ret;
    //Install HCD
    ret = hcd_install(&usbh_config->hcd_config);
    if (ret != ESP_OK) {
        goto hcd_install_err;
    }
    //Initialize usbh object
    TAILQ_INIT(&usbh_obj->dynamic.devs_idle_tailq);
    TAILQ_INIT(&usbh_obj->dynamic.devs_pending_tailq);
    usbh_obj->constant.notif_cb = usbh_config->notif_cb;
    usbh_obj->constant.notif_cb_arg = usbh_config->notif_cb_arg;
    usbh_obj->constant.event_cb = usbh_config->event_cb;
    usbh_obj->constant.event_cb_arg = usbh_config->event_cb_arg;
    usbh_obj->constant.ctrl_xfer_cb = usbh_config->ctrl_xfer_cb;
    usbh_obj->constant.ctrl_xfer_cb_arg = usbh_config->ctrl_xfer_cb_arg;

    //Assign usbh object pointer
    USBH_ENTER_CRITICAL();
    if (p_usbh_obj != NULL) {
        USBH_EXIT_CRITICAL();
        ret = ESP_ERR_INVALID_STATE;
        goto assign_err;
    }
    p_usbh_obj = usbh_obj;
    USBH_EXIT_CRITICAL();

    ret = ESP_OK;
    return ret;

assign_err:
    ESP_ERROR_CHECK(hcd_uninstall());
hcd_install_err:
    heap_caps_free(usbh_obj);
    return ret;
}

esp_err_t usbh_uninstall(void)
{
    USBH_ENTER_CRITICAL();
    USBH_CHECK_FROM_CRIT(p_usbh_obj != NULL, ESP_ERR_INVALID_STATE);
    //Check that USBH is in a state to be uninstalled
    USBH_CHECK_FROM_CRIT(p_usbh_obj->dynamic.num_device == 0, ESP_ERR_INVALID_STATE);
    usbh_t *usbh_obj = p_usbh_obj;
    p_usbh_obj = NULL;
    USBH_EXIT_CRITICAL();

    //Uninstall HCD
    ESP_ERROR_CHECK(hcd_uninstall());
    heap_caps_free(usbh_obj);
    return ESP_OK;
}

esp_err_t usbh_process(void)
{
    USBH_ENTER_CRITICAL();
    USBH_CHECK_FROM_CRIT(p_usbh_obj != NULL, ESP_ERR_INVALID_STATE);
    //Keep clearing devices with events
    while (!TAILQ_EMPTY(&p_usbh_obj->dynamic.devs_pending_tailq)){
        //Move the device back into the idle device list,
        device_t *dev_obj = TAILQ_FIRST(&p_usbh_obj->dynamic.devs_pending_tailq);
        TAILQ_REMOVE(&p_usbh_obj->dynamic.devs_pending_tailq, dev_obj, dynamic.tailq_entry);
        TAILQ_INSERT_TAIL(&p_usbh_obj->dynamic.devs_idle_tailq, dev_obj, dynamic.tailq_entry);
        //Clear the device's flags
        uint32_t action_flags = dev_obj->dynamic.flags.actions;
        dev_obj->dynamic.flags.actions = 0;
        dev_obj->dynamic.flags.in_pending_list = 0;

        USBH_EXIT_CRITICAL();
        ESP_LOGD(USBH_TAG, "Processing actions 0x%x", action_flags);
        //Sanity check. If the device is being freed, there must not be any other action flags set
        assert(!(action_flags & DEV_FLAG_ACTION_FREE) || action_flags == DEV_FLAG_ACTION_FREE);
        if (action_flags & DEV_FLAG_ACTION_SEND_GONE_EVENT) {
            //Flush the default pipe. Then do an event gone
            ESP_LOGE(USBH_TAG, "Device %d gone", dev_obj->constant.address);
            p_usbh_obj->constant.event_cb((usb_device_handle_t)dev_obj, USBH_EVENT_DEV_GONE, p_usbh_obj->constant.event_cb_arg);
        }
        if (action_flags & DEV_FLAG_ACTION_DEFAULT_PIPE_FLUSH) {
            ESP_ERROR_CHECK(hcd_pipe_command(dev_obj->constant.default_pipe, HCD_PIPE_CMD_HALT));
            ESP_ERROR_CHECK(hcd_pipe_command(dev_obj->constant.default_pipe, HCD_PIPE_CMD_FLUSH));
        }
        if (action_flags & DEV_FLAG_ACTION_DEFAULT_PIPE_DEQUEUE) {
            //Empty URBs from default pipe and trigger a control transfer callback
            ESP_LOGD(USBH_TAG, "Default pipe device %d", dev_obj->constant.address);
            int num_urbs = 0;
            urb_t *urb = hcd_urb_dequeue(dev_obj->constant.default_pipe);
            while (urb != NULL) {
                num_urbs++;
                p_usbh_obj->constant.ctrl_xfer_cb((usb_device_handle_t)dev_obj, urb, p_usbh_obj->constant.ctrl_xfer_cb_arg);
                urb = hcd_urb_dequeue(dev_obj->constant.default_pipe);
            }
            USBH_ENTER_CRITICAL();
            dev_obj->dynamic.num_ctrl_xfers_inflight -= num_urbs;
            USBH_EXIT_CRITICAL();
        }
        if (action_flags & DEV_FLAG_ACTION_DEFAULT_PIPE_CLEAR) {
            //We allow the pipe command to fail just in case the pipe becomes invalid mid command
            hcd_pipe_command(dev_obj->constant.default_pipe, HCD_PIPE_CMD_CLEAR);
        }
        /*
        Note: We make these action flags mutually exclusive in case they happen in rapid succession. They are handled
        in the order of precedence
        For example
        - New device event is requested followed immediately by a disconnection
        - Port disable requested followed immediately by a disconnection
        */
        if (action_flags & DEV_FLAG_ACTION_FREE) {
            ESP_LOGD(USBH_TAG, "Freeing device %d", dev_obj->constant.address);
            if (handle_dev_free(dev_obj)) {
                ESP_LOGD(USBH_TAG, "Device all free");
                p_usbh_obj->constant.event_cb((usb_device_handle_t)NULL, USBH_EVENT_DEV_ALL_FREE, p_usbh_obj->constant.event_cb_arg);
            }
        } else if (action_flags & DEV_FLAG_ACTION_PORT_DISABLE) {
            //Request that the HUB disables this device's port
            ESP_LOGD(USBH_TAG, "Disable device port %d", dev_obj->constant.address);
            p_usbh_obj->constant.hub_cb(dev_obj->constant.port_hdl, USBH_HUB_EVENT_DISABLE_PORT, p_usbh_obj->constant.hub_cb_arg);
        } else if (action_flags & DEV_FLAG_ACTION_SEND_NEW) {
            ESP_LOGD(USBH_TAG, "New device %d", dev_obj->constant.address);
            p_usbh_obj->constant.event_cb((usb_device_handle_t)dev_obj, USBH_EVENT_DEV_NEW, p_usbh_obj->constant.event_cb_arg);
        }
        USBH_ENTER_CRITICAL();

    }
    USBH_EXIT_CRITICAL();
    return ESP_OK;
}

// ------------------------------------------------ Device Functions ---------------------------------------------------

// --------------------- Device Pool -----------------------

esp_err_t usbh_dev_open(uint8_t dev_addr, usb_device_handle_t *dev_hdl)
{
    USBH_CHECK(dev_hdl != NULL, ESP_ERR_INVALID_ARG);
    esp_err_t ret;

    USBH_ENTER_CRITICAL();
    //Go through the device lists to find the device with the specified address
    device_t *found_dev_obj = NULL;
    device_t *dev_obj;
    TAILQ_FOREACH(dev_obj, &p_usbh_obj->dynamic.devs_idle_tailq, dynamic.tailq_entry) {
        if (dev_obj->constant.address == dev_addr) {
            found_dev_obj = dev_obj;
            goto exit;
        }
    }
    TAILQ_FOREACH(dev_obj, &p_usbh_obj->dynamic.devs_idle_tailq, dynamic.tailq_entry) {
        if (dev_obj->constant.address == dev_addr) {
            found_dev_obj = dev_obj;
            goto exit;
        }
    }
exit:
    if (found_dev_obj != NULL) {
        //The device is not in a state to be referenced
        if (dev_obj->dynamic.flags.is_gone || dev_obj->dynamic.flags.waiting_port_disable || dev_obj->dynamic.flags.waiting_free) {
            ret = ESP_ERR_INVALID_STATE;
        } else {
            dev_obj->dynamic.ref_count++;
            *dev_hdl = (usb_device_handle_t)found_dev_obj;
            ret = ESP_OK;
        }
    } else {
        ret = ESP_ERR_NOT_FOUND;
    }
    USBH_EXIT_CRITICAL();

    return ret;
}

esp_err_t usbh_dev_close(usb_device_handle_t dev_hdl)
{
    USBH_CHECK(dev_hdl != NULL, ESP_ERR_INVALID_ARG);
    device_t *dev_obj = (device_t *)dev_hdl;

    USBH_ENTER_CRITICAL();
    USBH_CHECK_FROM_CRIT(dev_obj->dynamic.num_ctrl_xfers_inflight == 0, ESP_ERR_INVALID_STATE);
    dev_obj->dynamic.ref_count--;
    bool call_notif_cb = false;
    if (dev_obj->dynamic.ref_count == 0) {
        //Sanity check. This can only be set when ref count reaches 0
        assert(!dev_obj->dynamic.flags.waiting_free);
        if (dev_obj->dynamic.flags.is_gone) {
            //Device is already gone so it's port is already disabled. Trigger the USBH process to free the device
            dev_obj->dynamic.flags.waiting_free = 1;
            call_notif_cb = _dev_set_actions(dev_obj, DEV_FLAG_ACTION_FREE);
        } else if (dev_obj->dynamic.flags.waiting_close) {
            //Device is still connected but is no longer needed. Trigger the USBH process to request device's port be disabled
            dev_obj->dynamic.flags.waiting_port_disable = 1;
            call_notif_cb = _dev_set_actions(dev_obj, DEV_FLAG_ACTION_PORT_DISABLE);
        }
        //Else, there's nothing to do. Leave the device allocated
    }
    USBH_EXIT_CRITICAL();

    if (call_notif_cb) {
        p_usbh_obj->constant.notif_cb(USB_NOTIF_SOURCE_USBH, false, p_usbh_obj->constant.notif_cb_arg);
    }
    return ESP_OK;
}

esp_err_t usbh_dev_mark_all_free(void)
{
    USBH_ENTER_CRITICAL();
    /*
    Go through the device list and mark each device as waiting to be closed. If the device is not opened at all, we can
    disable it immediately.
    Note: We manually traverse the list because we need to add/remove items while traversing
    */
    bool call_notif_cb = false;
    for (int i = 0; i < 2; i++) {
        device_t *dev_obj_cur;
        device_t *dev_obj_next;
        //Go through pending list first as it's more efficient
        if (i == 0) {
            dev_obj_cur = TAILQ_FIRST(&p_usbh_obj->dynamic.devs_pending_tailq);
        } else {
            dev_obj_cur = TAILQ_FIRST(&p_usbh_obj->dynamic.devs_idle_tailq);
        }
        while (dev_obj_cur != NULL) {
            assert(!dev_obj_cur->dynamic.flags.waiting_close);  //Sanity check
            //Keep a copy of the next item first in case we remove the current item
            dev_obj_next = TAILQ_NEXT(dev_obj_cur, dynamic.tailq_entry);
            if (dev_obj_cur->dynamic.ref_count == 0 && !dev_obj_cur->dynamic.flags.is_gone) {
                //Device is not opened as is not gone, so we can disable it now
                dev_obj_cur->dynamic.flags.waiting_port_disable = 1;
                call_notif_cb |= _dev_set_actions(dev_obj_cur, DEV_FLAG_ACTION_PORT_DISABLE);
            } else {
                //Device is still opened. Just mark it as waiting to be closed
                dev_obj_cur->dynamic.flags.waiting_close = 1;
            }
            dev_obj_cur = dev_obj_next;
        }
    }
    USBH_EXIT_CRITICAL();

    if (call_notif_cb) {
        p_usbh_obj->constant.notif_cb(USB_NOTIF_SOURCE_USBH, false, p_usbh_obj->constant.notif_cb_arg);
    }
    return ESP_OK;
}

// ------------------- Single Device  ----------------------

esp_err_t usbh_dev_get_addr(usb_device_handle_t dev_hdl, uint8_t *dev_addr)
{
    USBH_CHECK(dev_hdl != NULL && dev_addr != NULL, ESP_ERR_INVALID_ARG);
    device_t *dev_obj = (device_t *)dev_hdl;

    USBH_ENTER_CRITICAL();
    USBH_CHECK_FROM_CRIT(dev_obj->constant.address > 0, ESP_ERR_INVALID_STATE);
    *dev_addr = dev_obj->constant.address;
    USBH_EXIT_CRITICAL();

    return ESP_OK;
}

esp_err_t usbh_dev_get_info(usb_device_handle_t dev_hdl, usb_device_info_t *dev_info)
{
    USBH_CHECK(dev_hdl != NULL && dev_info != NULL, ESP_ERR_INVALID_ARG);
    device_t *dev_obj = (device_t *)dev_hdl;

    USBH_ENTER_CRITICAL();
    USBH_CHECK_FROM_CRIT(dev_obj->dynamic.state == USB_DEVICE_STATE_CONFIGURED || dev_obj->dynamic.state == USB_DEVICE_STATE_NOT_ATTACHED, ESP_ERR_INVALID_STATE);
    dev_info->speed = dev_obj->constant.speed;
    dev_info->dev_addr = dev_obj->constant.address;
    dev_info->bMaxPacketSize0 = dev_obj->constant.desc->bMaxPacketSize0;
    if (dev_obj->dynamic.config_desc == NULL) {
        dev_info->bConfigurationValue = 0;
    } else {
        dev_info->bConfigurationValue = dev_obj->dynamic.config_desc->bConfigurationValue;
    }
    USBH_EXIT_CRITICAL();

    return ESP_OK;
}

esp_err_t usbh_dev_get_desc(usb_device_handle_t dev_hdl, const usb_device_desc_t **dev_desc_ret)
{
    USBH_CHECK(dev_hdl != NULL && dev_desc_ret != NULL, ESP_ERR_INVALID_ARG);
    device_t *dev_obj = (device_t *)dev_hdl;

    USBH_ENTER_CRITICAL();
    USBH_CHECK_FROM_CRIT(dev_obj->dynamic.state == USB_DEVICE_STATE_CONFIGURED, ESP_ERR_INVALID_STATE);
    USBH_EXIT_CRITICAL();

    *dev_desc_ret = dev_obj->constant.desc;
    return ESP_OK;
}

esp_err_t usbh_dev_get_config_desc(usb_device_handle_t dev_hdl, const usb_config_desc_t **config_desc_ret)
{
    USBH_CHECK(dev_hdl != NULL && config_desc_ret != NULL, ESP_ERR_INVALID_ARG);
    device_t *dev_obj = (device_t *)dev_hdl;

    USBH_ENTER_CRITICAL();
    USBH_CHECK_FROM_CRIT(dev_obj->dynamic.state == USB_DEVICE_STATE_CONFIGURED, ESP_ERR_INVALID_STATE);
    *config_desc_ret = dev_obj->dynamic.config_desc;
    USBH_EXIT_CRITICAL();

    return ESP_OK;
}

esp_err_t usbh_dev_submit_ctrl_urb(usb_device_handle_t dev_hdl, urb_t *urb)
{
    USBH_CHECK(dev_hdl != NULL && urb != NULL, ESP_ERR_INVALID_ARG);
    device_t *dev_obj = (device_t *)dev_hdl;

    USBH_ENTER_CRITICAL();
    USBH_CHECK_FROM_CRIT(dev_obj->dynamic.state == USB_DEVICE_STATE_CONFIGURED, ESP_ERR_INVALID_STATE);
    //Increment the control transfer count first
    dev_obj->dynamic.num_ctrl_xfers_inflight++;
    USBH_EXIT_CRITICAL();

    esp_err_t ret;
    if (hcd_pipe_get_state(dev_obj->constant.default_pipe) != HCD_PIPE_STATE_ACTIVE) {
        ret = ESP_ERR_INVALID_STATE;
        goto hcd_err;
    }
    ret = hcd_urb_enqueue(dev_obj->constant.default_pipe, urb);
    if (ret != ESP_OK) {
        goto hcd_err;
    }
    ret = ESP_OK;
    return ret;

hcd_err:
    USBH_ENTER_CRITICAL();
    dev_obj->dynamic.num_ctrl_xfers_inflight--;
    USBH_EXIT_CRITICAL();
    return ret;
}

// ----------------------------------------------- Interface Functions -------------------------------------------------

esp_err_t usbh_ep_alloc(usb_device_handle_t dev_hdl, usbh_ep_config_t *ep_config, hcd_pipe_handle_t *pipe_hdl_ret)
{
    USBH_CHECK(dev_hdl != NULL && ep_config != NULL && pipe_hdl_ret != NULL, ESP_ERR_INVALID_ARG);
    device_t *dev_obj = (device_t *)dev_hdl;

    USBH_ENTER_CRITICAL();
    USBH_CHECK_FROM_CRIT(dev_obj->dynamic.state == USB_DEVICE_STATE_CONFIGURED, ESP_ERR_INVALID_STATE);
    dev_obj->dynamic.ref_count++;   //Increase the ref_count to keep the device alive while allocating the endpoint
    USBH_EXIT_CRITICAL();

    esp_err_t ret;
    //Allocate HCD pipe
    hcd_pipe_config_t pipe_config = {
        .callback = ep_config->pipe_cb,
        .callback_arg = ep_config->pipe_cb_arg,
        .context = ep_config->context,
        .ep_desc = ep_config->ep_desc,
        .dev_speed = dev_obj->constant.speed,
        .dev_addr = dev_obj->constant.address,
    };
    hcd_pipe_handle_t pipe_hdl;
    ret = hcd_pipe_alloc(dev_obj->constant.port_hdl, &pipe_config, &pipe_hdl);
    if (ret != ESP_OK) {
        goto pipe_alloc_err;
    }

    USBH_ENTER_CRITICAL();
    //Check that endpoint has not be allocated yet
    bool is_in = ep_config->ep_desc->bEndpointAddress & USB_B_ENDPOINT_ADDRESS_EP_DIR_MASK;
    uint8_t addr = ep_config->ep_desc->bEndpointAddress & USB_B_ENDPOINT_ADDRESS_EP_NUM_MASK;
    //Assign the pipe handle
    bool assigned = false;
    if (is_in && dev_obj->dynamic.ep_in[addr - 1] == NULL) {    //Is an IN EP
        dev_obj->dynamic.ep_in[addr - 1] = pipe_hdl;
        assigned = true;
    } else {
        dev_obj->dynamic.ep_out[addr - 1] = pipe_hdl;
        assigned = true;
    }
    dev_obj->dynamic.ref_count--;   //Restore ref_count
    USBH_EXIT_CRITICAL();

    if (!assigned) {
        ret = ESP_ERR_INVALID_STATE;
        goto assign_err;
    }
    //Write back output
    *pipe_hdl_ret = pipe_hdl;
    ret = ESP_OK;
    return ret;

assign_err:
    ESP_ERROR_CHECK(hcd_pipe_free(pipe_hdl));
pipe_alloc_err:
    return ret;
}

esp_err_t usbh_ep_free(usb_device_handle_t dev_hdl, uint8_t bEndpointAddress)
{
    USBH_CHECK(dev_hdl != NULL, ESP_ERR_INVALID_ARG);
    device_t *dev_obj = (device_t *)dev_hdl;

    USBH_ENTER_CRITICAL();
    //Un-assign the pipe handle from the endpoint
    bool is_in = bEndpointAddress & USB_B_ENDPOINT_ADDRESS_EP_DIR_MASK;
    uint8_t addr = bEndpointAddress & USB_B_ENDPOINT_ADDRESS_EP_NUM_MASK;
    hcd_pipe_handle_t pipe_hdl;
    if (is_in) {
        USBH_CHECK_FROM_CRIT(dev_obj->dynamic.ep_in[addr - 1] != NULL, ESP_ERR_INVALID_STATE);
        pipe_hdl = dev_obj->dynamic.ep_in[addr - 1];
        dev_obj->dynamic.ep_in[addr - 1] = NULL;
    } else {
        USBH_CHECK_FROM_CRIT(dev_obj->dynamic.ep_out[addr - 1] != NULL, ESP_ERR_INVALID_STATE);
        pipe_hdl = dev_obj->dynamic.ep_out[addr - 1];
        dev_obj->dynamic.ep_out[addr - 1] = NULL;
    }
    USBH_EXIT_CRITICAL();

    ESP_ERROR_CHECK(hcd_pipe_free(pipe_hdl));
    return ESP_OK;
}

esp_err_t usbh_ep_get_context(usb_device_handle_t dev_hdl, uint8_t bEndpointAddress, void **context_ret)
{
    bool is_in = bEndpointAddress & USB_B_ENDPOINT_ADDRESS_EP_DIR_MASK;
    uint8_t addr = bEndpointAddress & USB_B_ENDPOINT_ADDRESS_EP_NUM_MASK;
    USBH_CHECK(dev_hdl != NULL &&
               addr >= EP_NUM_MIN &&    //Control endpoints are owned by the USBH
               addr <= EP_NUM_MAX &&
               context_ret != NULL,
               ESP_ERR_INVALID_ARG);
    device_t *dev_obj = (device_t *)dev_hdl;

    USBH_ENTER_CRITICAL();
    //Get the endpoint's corresponding pipe
    hcd_pipe_handle_t pipe_hdl;
    if (is_in) {
        pipe_hdl = dev_obj->dynamic.ep_in[addr - 1];
    } else {
        pipe_hdl = dev_obj->dynamic.ep_out[addr - 1];
    }
    esp_err_t ret;
    if (pipe_hdl == NULL) {
        USBH_EXIT_CRITICAL();
        ret = ESP_ERR_NOT_FOUND;
        goto exit;
    }
    //Return the context of the pipe
    void *context = hcd_pipe_get_context(pipe_hdl);
    *context_ret = context;
    USBH_EXIT_CRITICAL();

    ret = ESP_OK;
exit:
    return ret;
}

// -------------------------------------------------- Hub Functions ----------------------------------------------------

// ------------------- Device Related ----------------------

esp_err_t usbh_hub_is_installed(usbh_hub_cb_t hub_callback, void *callback_arg)
{
    USBH_CHECK(hub_callback != NULL, ESP_ERR_INVALID_ARG);

    USBH_ENTER_CRITICAL();
    //Check that USBH is already installed
    USBH_CHECK_FROM_CRIT(p_usbh_obj != NULL, ESP_ERR_INVALID_STATE);
    //Check that Hub has not be installed yet
    USBH_CHECK_FROM_CRIT(p_usbh_obj->constant.hub_cb == NULL, ESP_ERR_INVALID_STATE);
    p_usbh_obj->constant.hub_cb = hub_callback;
    p_usbh_obj->constant.hub_cb_arg = callback_arg;
    USBH_EXIT_CRITICAL();

    return ESP_OK;
}

esp_err_t usbh_hub_add_dev(hcd_port_handle_t port_hdl, usb_speed_t dev_speed, usb_device_handle_t *new_dev_hdl, hcd_pipe_handle_t *default_pipe_hdl)
{
    //Note: Parent device handle can be NULL if it's connected to the root hub
    USBH_CHECK(new_dev_hdl != NULL, ESP_ERR_INVALID_ARG);
    esp_err_t ret;
    device_t *dev_obj;
    ret = device_alloc(port_hdl, dev_speed, &dev_obj);
    if (ret != ESP_OK) {
        return ret;
    }
    //Write-back device handle
    *new_dev_hdl = (usb_device_handle_t)dev_obj;
    *default_pipe_hdl = dev_obj->constant.default_pipe;
    ret = ESP_OK;
    return ret;
}

esp_err_t usbh_hub_mark_dev_gone(usb_device_handle_t dev_hdl)
{
    USBH_CHECK(dev_hdl != NULL, ESP_ERR_INVALID_ARG);
    device_t *dev_obj = (device_t *)dev_hdl;

    USBH_ENTER_CRITICAL();
    dev_obj->dynamic.flags.is_gone = 1;
    bool call_notif_cb;
    //Check if the device can be freed now
    if (dev_obj->dynamic.ref_count == 0) {
        dev_obj->dynamic.flags.waiting_free = 1;
        call_notif_cb = _dev_set_actions(dev_obj, DEV_FLAG_ACTION_FREE);
    } else {
        call_notif_cb = _dev_set_actions(dev_obj, DEV_FLAG_ACTION_SEND_GONE_EVENT |
                                                  DEV_FLAG_ACTION_DEFAULT_PIPE_FLUSH |
                                                  DEV_FLAG_ACTION_DEFAULT_PIPE_DEQUEUE);
    }
    USBH_EXIT_CRITICAL();

    if (call_notif_cb) {
        p_usbh_obj->constant.notif_cb(USB_NOTIF_SOURCE_USBH, false, p_usbh_obj->constant.notif_cb_arg);
    }
    return ESP_OK;
}

esp_err_t usbh_hub_dev_port_disabled(usb_device_handle_t dev_hdl)
{
    USBH_CHECK(dev_hdl != NULL, ESP_ERR_INVALID_ARG);
    device_t *dev_obj = (device_t *)dev_hdl;

    USBH_ENTER_CRITICAL();
    assert(dev_obj->dynamic.ref_count == 0);    //At this stage, the device should have been closed by all users
    dev_obj->dynamic.flags.waiting_free = 1;
    bool call_notif_cb = _dev_set_actions(dev_obj, DEV_FLAG_ACTION_FREE);
    USBH_EXIT_CRITICAL();

    if (call_notif_cb) {
        ESP_LOGD(USBH_TAG, "Notif free");
        p_usbh_obj->constant.notif_cb(USB_NOTIF_SOURCE_USBH, false, p_usbh_obj->constant.notif_cb_arg);
    }
    return ESP_OK;
}

// ----------------- Enumeration Related -------------------

esp_err_t usbh_hub_enum_fill_dev_addr(usb_device_handle_t dev_hdl, uint8_t dev_addr)
{
    USBH_CHECK(dev_hdl != NULL, ESP_ERR_INVALID_ARG);
    device_t *dev_obj = (device_t *)dev_hdl;

    USBH_ENTER_CRITICAL();
    USBH_CHECK_FROM_CRIT(dev_obj->constant.enum_todo_flags & DEV_ENUM_TODO_FLAG_DEV_ADDR, ESP_ERR_INVALID_STATE);
    dev_obj->dynamic.state = USB_DEVICE_STATE_ADDRESS;
    USBH_EXIT_CRITICAL();

    //We can modify the info members outside the critical section
    dev_obj->constant.enum_todo_flags &= ~DEV_ENUM_TODO_FLAG_DEV_ADDR;
    dev_obj->constant.address = dev_addr;
    return ESP_OK;
}

esp_err_t usbh_hub_enum_fill_dev_desc(usb_device_handle_t dev_hdl, const usb_device_desc_t *device_desc)
{
    USBH_CHECK(dev_hdl != NULL && device_desc != NULL, ESP_ERR_INVALID_ARG);
    device_t *dev_obj = (device_t *)dev_hdl;
    //We can modify the info members outside the critical section
    USBH_CHECK(dev_obj->constant.enum_todo_flags & DEV_ENUM_TODO_FLAG_DEV_DESC, ESP_ERR_INVALID_STATE);
    dev_obj->constant.enum_todo_flags &= ~DEV_ENUM_TODO_FLAG_DEV_DESC;
    memcpy((usb_device_desc_t *)dev_obj->constant.desc, device_desc, sizeof(usb_device_desc_t));
    return ESP_OK;
}

esp_err_t usbh_hub_enum_fill_config_desc(usb_device_handle_t dev_hdl, const usb_config_desc_t *config_desc_full)
{
    USBH_CHECK(dev_hdl != NULL && config_desc_full != NULL, ESP_ERR_INVALID_ARG);
    device_t *dev_obj = (device_t *)dev_hdl;
    esp_err_t ret;
    //Allocate memory to store the configuration descriptor
    usb_config_desc_t *config_desc = heap_caps_malloc(config_desc_full->wTotalLength, MALLOC_CAP_DEFAULT);  //Buffer to copy over full configuration descriptor (wTotalLength)
    if (config_desc == NULL) {
        ret = ESP_ERR_NO_MEM;
        goto err;
    }
    //Copy the configuration descriptor
    memcpy(config_desc, config_desc_full, config_desc_full->wTotalLength);
    //Assign the config object to the device object
    if (!(dev_obj->constant.enum_todo_flags & DEV_ENUM_TODO_FLAG_CONFIG_DESC)) {
        ret = ESP_ERR_INVALID_STATE;
        goto assign_err;
    }

    USBH_ENTER_CRITICAL();
    assert(dev_obj->dynamic.config_desc == NULL);
    dev_obj->dynamic.config_desc = config_desc;
    USBH_EXIT_CRITICAL();

    //We can modify the info members outside the critical section
    dev_obj->constant.enum_todo_flags &= ~DEV_ENUM_TODO_FLAG_CONFIG_DESC;
    ret = ESP_OK;
    return ret;

assign_err:
    heap_caps_free(config_desc);
err:
    return ret;
}

esp_err_t usbh_hub_enum_done(usb_device_handle_t dev_hdl)
{
    USBH_CHECK(dev_hdl != NULL, ESP_ERR_INVALID_ARG);
    device_t *dev_obj = (device_t *)dev_hdl;
    USBH_CHECK(dev_obj->constant.enum_todo_flags == 0, ESP_ERR_INVALID_STATE);  //All enumeration stages to be done

    USBH_ENTER_CRITICAL();
    dev_obj->dynamic.state = USB_DEVICE_STATE_CONFIGURED;
    //Add the device to list of devices, then trigger a device event
    TAILQ_INSERT_TAIL(&p_usbh_obj->dynamic.devs_idle_tailq, dev_obj, dynamic.tailq_entry);   //Add it to the idle device list first
    p_usbh_obj->dynamic.num_device++;
    bool call_notif_cb = _dev_set_actions(dev_obj, DEV_FLAG_ACTION_SEND_NEW);
    USBH_EXIT_CRITICAL();

    //Update the default pipe callback
    ESP_ERROR_CHECK(hcd_pipe_update_callback(dev_obj->constant.default_pipe, default_pipe_callback, (void *)dev_obj));
    //Call the notification callback
    if (call_notif_cb) {
        p_usbh_obj->constant.notif_cb(USB_NOTIF_SOURCE_USBH, false, p_usbh_obj->constant.notif_cb_arg);
    }
    return ESP_OK;
}

esp_err_t usbh_hub_enum_failed(usb_device_handle_t dev_hdl)
{
    USBH_CHECK(dev_hdl != NULL, ESP_ERR_INVALID_ARG);
    device_t *dev_obj = (device_t *)dev_hdl;

    USBH_ENTER_CRITICAL();
    usb_config_desc_t *config_desc = dev_obj->dynamic.config_desc;
    dev_obj->dynamic.config_desc = NULL;
    USBH_EXIT_CRITICAL();

    if (config_desc) {
        heap_caps_free(config_desc);
    }
    device_free(dev_obj);
    return ESP_OK;
}