CherryUSB/port/dwc2/usb_hc_dwc2.c

/*
 * Copyright (c) 2022, sakumisu
 *
 * SPDX-License-Identifier: Apache-2.0
 */
#include "usbh_core.h"
#include "usbh_hub.h"
#include "usb_dwc2_reg.h"
#include "usb_dwc2_param.h"

#define USB_OTG_GLB     ((DWC2_GlobalTypeDef *)(bus->hcd.reg_base))
#define USB_OTG_PCGCCTL *(__IO uint32_t *)((uint32_t)bus->hcd.reg_base + USB_OTG_PCGCCTL_BASE)
#define USB_OTG_HPRT    *(__IO uint32_t *)((uint32_t)bus->hcd.reg_base + USB_OTG_HOST_PORT_BASE)
#define USB_OTG_HOST    ((DWC2_HostTypeDef *)(bus->hcd.reg_base + USB_OTG_HOST_BASE))
#define USB_OTG_HC(i)   ((DWC2_HostChannelTypeDef *)(bus->hcd.reg_base + USB_OTG_HOST_CHANNEL_BASE + ((i)*USB_OTG_HOST_CHANNEL_SIZE)))

struct dwc2_chan {
    uint8_t ep0_state;
    uint16_t num_packets;
    uint32_t xferlen;
    uint8_t chidx;
    bool inuse;
    bool do_ssplit;
    bool do_csplit;
    uint8_t hub_addr;
    uint8_t hub_port;
    uint16_t ssplit_frame;
    usb_osal_sem_t waitsem;
    struct usbh_urb *urb;
    uint32_t iso_frame_idx;
};

struct dwc2_hcd {
    volatile bool port_csc;
    volatile bool port_pec;
    volatile bool port_occ;
    struct dwc2_hw_params hw_params;
    struct dwc2_user_params user_params;
    struct dwc2_chan chan_pool[16];
} g_dwc2_hcd[CONFIG_USBHOST_MAX_BUS];

#define DWC2_EP0_STATE_SETUP     0
#define DWC2_EP0_STATE_INDATA    1
#define DWC2_EP0_STATE_OUTDATA   2
#define DWC2_EP0_STATE_INSTATUS  3
#define DWC2_EP0_STATE_OUTSTATUS 4

static inline int dwc2_reset(struct usbh_bus *bus)
{
    volatile uint32_t count = 0U;

    /* Wait for AHB master IDLE state. */
    do {
        if (++count > 200000U) {
            return -1;
        }
    } while ((USB_OTG_GLB->GRSTCTL & USB_OTG_GRSTCTL_AHBIDL) == 0U);

    /* Core Soft Reset */
    count = 0U;
    USB_OTG_GLB->GRSTCTL |= USB_OTG_GRSTCTL_CSRST;

    if (g_dwc2_hcd[bus->hcd.hcd_id].hw_params.snpsid < 0x4F54420AU) {
        do {
            if (++count > 200000U) {
                USB_LOG_ERR("DWC2 reset timeout\r\n");
                return -1;
            }
        } while ((USB_OTG_GLB->GRSTCTL & USB_OTG_GRSTCTL_CSRST) == USB_OTG_GRSTCTL_CSRST);
    } else {
        do {
            if (++count > 200000U) {
                USB_LOG_ERR("DWC2 reset timeout\r\n");
                return -1;
            }
        } while ((USB_OTG_GLB->GRSTCTL & USB_OTG_GRSTCTL_CSRSTDONE) != USB_OTG_GRSTCTL_CSRSTDONE);

        USB_OTG_GLB->GRSTCTL &= ~USB_OTG_GRSTCTL_CSRST;
        USB_OTG_GLB->GRSTCTL |= USB_OTG_GRSTCTL_CSRSTDONE;
    }

    return 0;
}

static inline int dwc2_core_init(struct usbh_bus *bus)
{
    int ret;
    uint32_t regval;

    if (g_dwc2_hcd[bus->hcd.hcd_id].user_params.phy_type == DWC2_PHY_TYPE_PARAM_FS) {
        /* Select FS Embedded PHY */
        USB_OTG_GLB->GUSBCFG |= USB_OTG_GUSBCFG_PHYSEL;
    } else {
        regval = USB_OTG_GLB->GUSBCFG;
        regval &= ~USB_OTG_GUSBCFG_PHYSEL;
        /* disable external vbus source */
        regval &= ~(USB_OTG_GUSBCFG_ULPIEVBUSD | USB_OTG_GUSBCFG_ULPIEVBUSI);
        /* disable ULPI FS/LS */
        regval &= ~(USB_OTG_GUSBCFG_ULPIFSLS | USB_OTG_GUSBCFG_ULPICSM);

        switch (g_dwc2_hcd[bus->hcd.hcd_id].user_params.phy_type) {
            case DWC2_PHY_TYPE_PARAM_ULPI:
                regval |= USB_OTG_GUSBCFG_ULPI_UTMI_SEL;
                regval &= ~USB_OTG_GUSBCFG_PHYIF16;
                regval &= ~USB_OTG_GUSBCFG_DDR_SEL;

                break;
            case DWC2_PHY_TYPE_PARAM_UTMI:
                regval &= ~USB_OTG_GUSBCFG_ULPI_UTMI_SEL;
                regval &= ~USB_OTG_GUSBCFG_PHYIF16;

                if (g_dwc2_hcd[bus->hcd.hcd_id].user_params.phy_utmi_width == 16) {
                    regval |= USB_OTG_GUSBCFG_PHYIF16;
                }
                break;

            default:
                break;
        }
        USB_OTG_GLB->GUSBCFG = regval;
    }

    /* Reset after a PHY select */
    ret = dwc2_reset(bus);
    return ret;
}

static inline void dwc2_set_mode(struct usbh_bus *bus, uint8_t mode)
{
    USB_OTG_GLB->GUSBCFG &= ~(USB_OTG_GUSBCFG_FHMOD | USB_OTG_GUSBCFG_FDMOD);

    if (mode == USB_OTG_MODE_HOST) {
        USB_OTG_GLB->GUSBCFG |= USB_OTG_GUSBCFG_FHMOD;
    } else if (mode == USB_OTG_MODE_DEVICE) {
        USB_OTG_GLB->GUSBCFG |= USB_OTG_GUSBCFG_FDMOD;
    }

    while (1) {
        if ((USB_OTG_GLB->GINTSTS & 0x1U) == USB_OTG_MODE_HOST) {
            break;
        }
        usb_osal_msleep(10);
    }
}

static inline int dwc2_flush_rxfifo(struct usbh_bus *bus)
{
    volatile uint32_t count = 0U;

    /* Wait for AHB master IDLE state. */
    do {
        if (++count > 200000U) {
            return -1;
        }
    } while ((USB_OTG_GLB->GRSTCTL & USB_OTG_GRSTCTL_AHBIDL) == 0U);

    count = 0;
    USB_OTG_GLB->GRSTCTL = USB_OTG_GRSTCTL_RXFFLSH;

    do {
        if (++count > 200000U) {
            return -1;
        }
    } while ((USB_OTG_GLB->GRSTCTL & USB_OTG_GRSTCTL_RXFFLSH) == USB_OTG_GRSTCTL_RXFFLSH);

    return 0;
}

static inline int dwc2_flush_txfifo(struct usbh_bus *bus, uint32_t num)
{
    volatile uint32_t count = 0U;

    /* Wait for AHB master IDLE state. */
    do {
        if (++count > 200000U) {
            return -1;
        }
    } while ((USB_OTG_GLB->GRSTCTL & USB_OTG_GRSTCTL_AHBIDL) == 0U);

    count = 0;
    USB_OTG_GLB->GRSTCTL = (USB_OTG_GRSTCTL_TXFFLSH | (num << 6));

    do {
        if (++count > 200000U) {
            return -1;
        }
    } while ((USB_OTG_GLB->GRSTCTL & USB_OTG_GRSTCTL_TXFFLSH) == USB_OTG_GRSTCTL_TXFFLSH);

    return 0;
}

static inline void dwc2_drivebus(struct usbh_bus *bus, uint8_t state)
{
    __IO uint32_t hprt0 = 0U;

    hprt0 = USB_OTG_HPRT;

    hprt0 &= ~(USB_OTG_HPRT_PENA | USB_OTG_HPRT_PCDET |
               USB_OTG_HPRT_PENCHNG | USB_OTG_HPRT_POCCHNG);

    if (((hprt0 & USB_OTG_HPRT_PPWR) == 0U) && (state == 1U)) {
        USB_OTG_HPRT = (USB_OTG_HPRT_PPWR | hprt0);
    }
    if (((hprt0 & USB_OTG_HPRT_PPWR) == USB_OTG_HPRT_PPWR) && (state == 0U)) {
        USB_OTG_HPRT = ((~USB_OTG_HPRT_PPWR) & hprt0);
    }
}

static inline uint8_t usbh_get_port_speed(struct usbh_bus *bus, const uint8_t port)
{
    __IO uint32_t hprt0 = 0U;
    uint8_t speed;

    hprt0 = USB_OTG_HPRT;

    speed = (hprt0 & USB_OTG_HPRT_PSPD) >> 17;

    if (speed == HPRT0_PRTSPD_HIGH_SPEED) {
        return USB_SPEED_HIGH;
    } else if (speed == HPRT0_PRTSPD_FULL_SPEED) {
        return USB_SPEED_FULL;
    } else if (speed == HPRT0_PRTSPD_LOW_SPEED) {
        return USB_SPEED_LOW;
    } else {
        return USB_SPEED_UNKNOWN;
    }
}

static inline void dwc2_chan_char_init(struct usbh_bus *bus,
                                       uint8_t ch_num,
                                       uint8_t dev_addr,
                                       uint8_t ep_addr,
                                       uint8_t ep_type,
                                       uint16_t ep_mps,
                                       uint8_t ep_mult,
                                       uint8_t speed)
{
    uint32_t regval;

    /* Program the HCCHAR register */
    regval = (((uint32_t)ep_mps << USB_OTG_HCCHAR_MPSIZ_Pos) & USB_OTG_HCCHAR_MPSIZ) |
             ((((uint32_t)ep_addr & 0x7FU) << USB_OTG_HCCHAR_EPNUM_Pos) & USB_OTG_HCCHAR_EPNUM) |
             (((uint32_t)ep_type << USB_OTG_HCCHAR_EPTYP_Pos) & USB_OTG_HCCHAR_EPTYP) |
             (((uint32_t)ep_mult << USB_OTG_HCCHAR_MC_Pos) & USB_OTG_HCCHAR_MC) |
             (((uint32_t)dev_addr << USB_OTG_HCCHAR_DAD_Pos) & USB_OTG_HCCHAR_DAD);

    if ((ep_addr & 0x80U) == 0x80U) {
        regval |= USB_OTG_HCCHAR_EPDIR;
    }

    /* LS device plugged to HUB */
    if ((speed == USB_SPEED_LOW) && (usbh_get_port_speed(bus, 0) != USB_SPEED_LOW)) {
        regval |= USB_OTG_HCCHAR_LSDEV;
    }

    if (ep_type == USB_ENDPOINT_TYPE_INTERRUPT) {
        regval |= USB_OTG_HCCHAR_ODDFRM;
    }

    USB_OTG_HC((uint32_t)ch_num)->HCCHAR = regval;
}

static inline void dwc2_chan_splt_init(struct usbh_bus *bus, uint8_t ch_num)
{
    struct dwc2_chan *chan;
    uint32_t hcsplt;

    chan = &g_dwc2_hcd[bus->hcd.hcd_id].chan_pool[ch_num];

    if (chan->do_ssplit) {
        hcsplt = USB_OTG_HCSPLT_SPLITEN;
        hcsplt |= (chan->hub_addr << USB_OTG_HCSPLT_HUBADDR_Pos);
        hcsplt |= chan->hub_port;

        if (chan->do_csplit) {
            hcsplt |= USB_OTG_HCSPLT_COMPLSPLT;
        } else {
            hcsplt &= ~USB_OTG_HCSPLT_COMPLSPLT;
        }

        USB_OTG_HC((uint32_t)ch_num)->HCSPLT = hcsplt;
    } else {
        USB_OTG_HC((uint32_t)ch_num)->HCSPLT = 0U;
    }
}

static void dwc2_chan_init(struct usbh_bus *bus,
                           uint8_t ch_num,
                           uint8_t dev_addr,
                           uint8_t ep_addr,
                           uint8_t ep_type,
                           uint16_t ep_mps,
                           uint8_t ep_mult,
                           uint8_t speed)
{
    /* Clear old interrupt conditions for this host channel. */
    USB_OTG_HC((uint32_t)ch_num)->HCINT = 0xFFFFFFFFU;

    /* Enable channel interrupts required for this transfer. */
    USB_OTG_HC((uint32_t)ch_num)->HCINTMSK = USB_OTG_HCINTMSK_CHHM;

    /* Enable the top level host channel interrupt. */
    USB_OTG_HOST->HAINTMSK |= 1UL << (ch_num & 0xFU);

    dwc2_chan_char_init(bus, ch_num, dev_addr, ep_addr, ep_type, ep_mps, ep_mult, speed);
    dwc2_chan_splt_init(bus, ch_num);
}

static inline void dwc2_chan_transfer(struct usbh_bus *bus, uint8_t ch_num, uint8_t ep_addr, uint8_t *buf, uint32_t size, uint16_t num_packets, uint8_t pid)
{
    __IO uint32_t tmpreg;
    uint8_t is_oddframe;

    /* Initialize the HCTSIZn register */
    USB_OTG_HC(ch_num)->HCTSIZ = (size & USB_OTG_HCTSIZ_XFRSIZ) |
                                 (((uint32_t)num_packets << 19) & USB_OTG_HCTSIZ_PKTCNT) |
                                 (((uint32_t)pid << 29) & USB_OTG_HCTSIZ_DPID);

    /* xfer_buff MUST be 32-bits aligned */
    USB_OTG_HC(ch_num)->HCDMA = (uint32_t)buf;

    is_oddframe = (((uint32_t)USB_OTG_HOST->HFNUM & 0x01U) != 0U) ? 0U : 1U;
    USB_OTG_HC(ch_num)->HCCHAR &= ~USB_OTG_HCCHAR_ODDFRM;
    USB_OTG_HC(ch_num)->HCCHAR |= (uint32_t)is_oddframe << 29;

    /* Set host channel enable */
    tmpreg = USB_OTG_HC(ch_num)->HCCHAR;
    tmpreg &= ~USB_OTG_HCCHAR_CHDIS;
    tmpreg |= USB_OTG_HCCHAR_CHENA;
    USB_OTG_HC(ch_num)->HCCHAR = tmpreg;
}

static inline void dwc2_chan_enable_csplit(struct usbh_bus *bus, uint8_t ch_num, bool enable)
{
    if (enable) {
        USB_OTG_HC((uint32_t)ch_num)->HCSPLT |= USB_OTG_HCSPLT_COMPLSPLT;
    } else {
        USB_OTG_HC((uint32_t)ch_num)->HCSPLT &= ~USB_OTG_HCSPLT_COMPLSPLT;
    }
}

static void dwc2_halt(struct usbh_bus *bus, uint8_t ch_num)
{
    volatile uint32_t ChannelEna = (USB_OTG_HC(ch_num)->HCCHAR & USB_OTG_HCCHAR_CHENA) >> 31;
    volatile uint32_t count = 0U;
    volatile uint32_t value;

    if (((USB_OTG_GLB->GAHBCFG & USB_OTG_GAHBCFG_DMAEN) == USB_OTG_GAHBCFG_DMAEN) &&
        (ChannelEna == 0U)) {
        return;
    }

    USB_OTG_HC(ch_num)->HCINTMSK = 0;

    value = USB_OTG_HC(ch_num)->HCCHAR;
    value |= USB_OTG_HCCHAR_CHDIS;
    value |= USB_OTG_HCCHAR_CHENA;
    USB_OTG_HC(ch_num)->HCCHAR = value;
    do {
        if (++count > 200000U) {
            break;
        }
    } while (USB_OTG_HC(ch_num)->HCCHAR & USB_OTG_HCCHAR_CHENA);

    USB_OTG_HC(ch_num)->HCINT = USB_OTG_HC(ch_num)->HCINT;
}

static int usbh_reset_port(struct usbh_bus *bus, const uint8_t port)
{
    __IO uint32_t hprt0 = 0U;
    volatile uint32_t timeout = 0;

    hprt0 = USB_OTG_HPRT;

    hprt0 &= ~(USB_OTG_HPRT_PENA | USB_OTG_HPRT_PCDET |
               USB_OTG_HPRT_PENCHNG | USB_OTG_HPRT_POCCHNG);

    USB_OTG_HPRT = (USB_OTG_HPRT_PRST | hprt0);
    usb_osal_msleep(100U);
    USB_OTG_HPRT = ((~USB_OTG_HPRT_PRST) & hprt0);
    usb_osal_msleep(10U);

    while (!(USB_OTG_HPRT & USB_OTG_HPRT_PENA)) {
        if (!(USB_OTG_HPRT & USB_OTG_HPRT_PCSTS)) {
            return -USB_ERR_NOTCONN; /* Port not connected */
        }
        timeout++;
        if (timeout > 10) {
            USB_LOG_ERR("Reset port timeout\r\n");
            return -USB_ERR_TIMEOUT;
        }
        usb_osal_msleep(10U);
    }
    return 0;
}

/**
  * @brief  dwc2_get_glb_intstatus: return the global USB interrupt status
  * @retval status
  */
static inline uint32_t dwc2_get_glb_intstatus(struct usbh_bus *bus)
{
    uint32_t tmpreg;

    tmpreg = USB_OTG_GLB->GINTSTS;
    tmpreg &= USB_OTG_GLB->GINTMSK;

    return tmpreg;
}

static inline uint16_t dwc2_get_full_frame_num(struct usbh_bus *bus)
{
    uint16_t frame = usbh_get_frame_number(bus);

    /* USB_OTG_HFNUM_FRNUM_Msk is 0xFFFF but max frame num is 0x3FFF */
    return ((frame & 0x3FFF) >> 3);
}

/**
 * dwc2_calc_frame_interval() - Calculates the correct frame Interval value for
 * the HFIR register according to PHY type and speed
 *
 * NOTE: The caller can modify the value of the HFIR register only after the
 * Port Enable bit of the Host Port Control and Status register (HPRT.EnaPort)
 * has been set
 */
uint32_t dwc2_calc_frame_interval(struct usbh_bus *bus)
{
    uint32_t usbcfg;
    uint32_t hprt0;
    int clock = 60; /* default value */

    usbcfg = USB_OTG_GLB->GUSBCFG;
    hprt0 = USB_OTG_HPRT;

    if (!(usbcfg & USB_OTG_GUSBCFG_PHYSEL) && (usbcfg & USB_OTG_GUSBCFG_ULPI_UTMI_SEL) &&
        !(usbcfg & USB_OTG_GUSBCFG_PHYIF16))
        clock = 60;
    if ((usbcfg & USB_OTG_GUSBCFG_PHYSEL) && g_dwc2_hcd[bus->hcd.hcd_id].hw_params.fs_phy_type ==
                                                 GHWCFG2_FS_PHY_TYPE_SHARED_ULPI)
        clock = 48;
    if (!(usbcfg & USB_OTG_GUSBCFG_PHYLPCS) && !(usbcfg & USB_OTG_GUSBCFG_PHYSEL) &&
        !(usbcfg & USB_OTG_GUSBCFG_ULPI_UTMI_SEL) && (usbcfg & USB_OTG_GUSBCFG_PHYIF16))
        clock = 30;
    if (!(usbcfg & USB_OTG_GUSBCFG_PHYLPCS) && !(usbcfg & USB_OTG_GUSBCFG_PHYSEL) &&
        !(usbcfg & USB_OTG_GUSBCFG_ULPI_UTMI_SEL) && !(usbcfg & USB_OTG_GUSBCFG_PHYIF16))
        clock = 60;
    if ((usbcfg & USB_OTG_GUSBCFG_PHYLPCS) && !(usbcfg & USB_OTG_GUSBCFG_PHYSEL) &&
        !(usbcfg & USB_OTG_GUSBCFG_ULPI_UTMI_SEL) && (usbcfg & USB_OTG_GUSBCFG_PHYIF16))
        clock = 48;
    if ((usbcfg & USB_OTG_GUSBCFG_PHYSEL) && !(usbcfg & USB_OTG_GUSBCFG_PHYIF16) &&
        g_dwc2_hcd[bus->hcd.hcd_id].hw_params.fs_phy_type == GHWCFG2_FS_PHY_TYPE_SHARED_UTMI)
        clock = 48;
    if ((usbcfg & USB_OTG_GUSBCFG_PHYSEL) &&
        g_dwc2_hcd[bus->hcd.hcd_id].hw_params.fs_phy_type == GHWCFG2_FS_PHY_TYPE_DEDICATED)
        clock = 48;

    if ((hprt0 & USB_OTG_HPRT_PSPD) >> USB_OTG_HPRT_PSPD_Pos == HPRT0_PRTSPD_HIGH_SPEED)
        /* High speed case */
        return 125 * clock - 1;

    /* FS/LS case */
    return 1000 * clock - 1;
}

static int dwc2_chan_alloc(struct usbh_bus *bus)
{
    size_t flags;
    int chidx;

    flags = usb_osal_enter_critical_section();
    for (chidx = 0; chidx < g_dwc2_hcd[bus->hcd.hcd_id].hw_params.host_channels; chidx++) {
        if (!g_dwc2_hcd[bus->hcd.hcd_id].chan_pool[chidx].inuse) {
            g_dwc2_hcd[bus->hcd.hcd_id].chan_pool[chidx].inuse = true;
            usb_osal_leave_critical_section(flags);

            g_dwc2_hcd[bus->hcd.hcd_id].chan_pool[chidx].do_ssplit = 0;
            g_dwc2_hcd[bus->hcd.hcd_id].chan_pool[chidx].do_csplit = 0;
            return chidx;
        }
    }
    usb_osal_leave_critical_section(flags);
    return -1;
}

static void dwc2_chan_free(struct dwc2_chan *chan)
{
    size_t flags;

    flags = usb_osal_enter_critical_section();
    if (chan->urb) {
        chan->urb->hcpriv = NULL;
        chan->urb = NULL;
    }
    chan->inuse = false;
    usb_osal_leave_critical_section(flags);
}

static uint16_t dwc2_calculate_packet_num(uint32_t input_size, uint8_t ep_addr, uint16_t ep_mps, uint32_t *output_size)
{
    uint16_t num_packets;

    num_packets = (uint16_t)((input_size + ep_mps - 1U) / ep_mps);

    if (num_packets > 0x3FF) {
        num_packets = 0x3FF; // pktcnt 10bits
    }

    if (input_size == 0) {
        num_packets = 1;
    }

    if (ep_addr & 0x80) {
        input_size = num_packets * ep_mps;
    } else {
    }

    *output_size = input_size;
    return num_packets;
}

static void dwc2_control_urb_init(struct usbh_bus *bus, uint8_t chidx, struct usbh_urb *urb, struct usb_setup_packet *setup, uint8_t *buffer, uint32_t buflen)
{
    struct dwc2_chan *chan;
    uint32_t datalen;
    uint8_t data_pid;

    chan = &g_dwc2_hcd[bus->hcd.hcd_id].chan_pool[chidx];

    /* split buflen with ep mps */
    if (chan->do_ssplit && (chan->ep0_state == DWC2_EP0_STATE_INDATA || chan->ep0_state == DWC2_EP0_STATE_OUTDATA)) {
        if (buflen > USB_GET_MAXPACKETSIZE(urb->ep->wMaxPacketSize)) {
            datalen = USB_GET_MAXPACKETSIZE(urb->ep->wMaxPacketSize);
        } else {
            datalen = buflen;
        }

        if (urb->data_toggle == 0) {
            data_pid = HC_PID_DATA0;
        } else {
            data_pid = HC_PID_DATA1;
        }
    } else {
        datalen = buflen; // buflen = setup->wLength
        data_pid = HC_PID_DATA1;
    }

    if (chan->ep0_state == DWC2_EP0_STATE_SETUP) /* fill setup */
    {
        chan->num_packets = dwc2_calculate_packet_num(8, 0x00, USB_GET_MAXPACKETSIZE(urb->ep->wMaxPacketSize), &chan->xferlen);
        dwc2_chan_init(bus,
                       chidx,
                       urb->hport->dev_addr,
                       0x00,
                       USB_ENDPOINT_TYPE_CONTROL,
                       USB_GET_MAXPACKETSIZE(urb->ep->wMaxPacketSize),
                       1,
                       urb->hport->speed);
        dwc2_chan_transfer(bus, chidx, 0x00, (uint8_t *)setup, chan->xferlen, chan->num_packets, HC_PID_SETUP);
    } else if (chan->ep0_state == DWC2_EP0_STATE_INDATA) /* fill in data */
    {
        chan->num_packets = dwc2_calculate_packet_num(datalen, 0x80, USB_GET_MAXPACKETSIZE(urb->ep->wMaxPacketSize), &chan->xferlen);
        dwc2_chan_init(bus,
                       chidx,
                       urb->hport->dev_addr,
                       0x80,
                       USB_ENDPOINT_TYPE_CONTROL,
                       USB_GET_MAXPACKETSIZE(urb->ep->wMaxPacketSize),
                       1,
                       urb->hport->speed);
        dwc2_chan_transfer(bus, chidx, 0x80, buffer, chan->xferlen, chan->num_packets, data_pid);
    } else if (chan->ep0_state == DWC2_EP0_STATE_OUTDATA) /* fill out data */
    {
        chan->num_packets = dwc2_calculate_packet_num(datalen, 0x00, USB_GET_MAXPACKETSIZE(urb->ep->wMaxPacketSize), &chan->xferlen);
        dwc2_chan_init(bus,
                       chidx,
                       urb->hport->dev_addr,
                       0x00,
                       USB_ENDPOINT_TYPE_CONTROL,
                       USB_GET_MAXPACKETSIZE(urb->ep->wMaxPacketSize),
                       1,
                       urb->hport->speed);
        dwc2_chan_transfer(bus, chidx, 0x00, buffer, chan->xferlen, chan->num_packets, data_pid);
    } else if (chan->ep0_state == DWC2_EP0_STATE_INSTATUS) /* fill in status */
    {
        chan->num_packets = dwc2_calculate_packet_num(0, 0x80, USB_GET_MAXPACKETSIZE(urb->ep->wMaxPacketSize), &chan->xferlen);
        dwc2_chan_init(bus,
                       chidx,
                       urb->hport->dev_addr,
                       0x80,
                       USB_ENDPOINT_TYPE_CONTROL,
                       USB_GET_MAXPACKETSIZE(urb->ep->wMaxPacketSize),
                       1,
                       urb->hport->speed);
        dwc2_chan_transfer(bus, chidx, 0x80, NULL, chan->xferlen, chan->num_packets, HC_PID_DATA1);
    } else if (chan->ep0_state == DWC2_EP0_STATE_OUTSTATUS) /* fill out status */
    {
        chan->num_packets = dwc2_calculate_packet_num(0, 0x00, USB_GET_MAXPACKETSIZE(urb->ep->wMaxPacketSize), &chan->xferlen);
        dwc2_chan_init(bus,
                       chidx,
                       urb->hport->dev_addr,
                       0x00,
                       USB_ENDPOINT_TYPE_CONTROL,
                       USB_GET_MAXPACKETSIZE(urb->ep->wMaxPacketSize),
                       1,
                       urb->hport->speed);
        dwc2_chan_transfer(bus, chidx, 0x00, NULL, chan->xferlen, chan->num_packets, HC_PID_DATA1);
    }
}

static void dwc2_bulk_intr_urb_init(struct usbh_bus *bus, uint8_t chidx, struct usbh_urb *urb, uint8_t *buffer, uint32_t buflen)
{
    struct dwc2_chan *chan;
    uint32_t datalen;

    chan = &g_dwc2_hcd[bus->hcd.hcd_id].chan_pool[chidx];

    if (chan->do_ssplit) {
        if (buflen > USB_GET_MAXPACKETSIZE(urb->ep->wMaxPacketSize)) {
            datalen = USB_GET_MAXPACKETSIZE(urb->ep->wMaxPacketSize);
        } else {
            datalen = buflen;
        }
    } else {
        datalen = buflen;
    }

    chan->num_packets = dwc2_calculate_packet_num(datalen, urb->ep->bEndpointAddress, USB_GET_MAXPACKETSIZE(urb->ep->wMaxPacketSize), &chan->xferlen);
    dwc2_chan_init(bus,
                   chidx,
                   urb->hport->dev_addr,
                   urb->ep->bEndpointAddress,
                   USB_GET_ENDPOINT_TYPE(urb->ep->bmAttributes),
                   USB_GET_MAXPACKETSIZE(urb->ep->wMaxPacketSize),
                   USB_GET_MULT(urb->ep->wMaxPacketSize) + 1,
                   urb->hport->speed);
    dwc2_chan_transfer(bus, chidx, urb->ep->bEndpointAddress, buffer, chan->xferlen, chan->num_packets, urb->data_toggle == 0 ? HC_PID_DATA0 : HC_PID_DATA1);
}

#if 0
static void dwc2_iso_urb_init(struct usbh_bus *bus, uint8_t chidx, struct usbh_urb *urb, struct usbh_iso_frame_packet *iso_packet)
{
    struct dwc2_chan *chan;

    chan = &g_dwc2_hcd[bus->hcd.hcd_id].chan_pool[chidx];

    chan->num_packets = dwc2_calculate_packet_num(iso_packet->transfer_buffer_length, urb->ep->bEndpointAddress, USB_GET_MAXPACKETSIZE(urb->ep->wMaxPacketSize), &chan->xferlen);
    dwc2_chan_init(bus, chidx, urb->hport->dev_addr, urb->ep->bEndpointAddress, USB_ENDPOINT_TYPE_ISOCHRONOUS, USB_GET_MAXPACKETSIZE(urb->ep->wMaxPacketSize), urb->hport->speed);
    dwc2_chan_transfer(bus, chidx, urb->ep->bEndpointAddress, iso_packet->transfer_buffer, chan->xferlen, chan->num_packets, HC_PID_DATA0);
}
#endif

__WEAK void usb_hc_low_level_init(struct usbh_bus *bus)
{
    (void)bus;
}

__WEAK void usb_hc_low_level_deinit(struct usbh_bus *bus)
{
    (void)bus;
}

int usb_hc_init(struct usbh_bus *bus)
{
    int ret;

    memset(&g_dwc2_hcd[bus->hcd.hcd_id], 0, sizeof(struct dwc2_hcd));

    usb_hc_low_level_init(bus);

    USB_LOG_INFO("========== dwc2 hcd params ==========\r\n");
    USB_LOG_INFO("CID:%08x\r\n", (unsigned int)USB_OTG_GLB->CID);
    USB_LOG_INFO("GSNPSID:%08x\r\n", (unsigned int)USB_OTG_GLB->GSNPSID);
    USB_LOG_INFO("GHWCFG1:%08x\r\n", (unsigned int)USB_OTG_GLB->GHWCFG1);
    USB_LOG_INFO("GHWCFG2:%08x\r\n", (unsigned int)USB_OTG_GLB->GHWCFG2);
    USB_LOG_INFO("GHWCFG3:%08x\r\n", (unsigned int)USB_OTG_GLB->GHWCFG3);
    USB_LOG_INFO("GHWCFG4:%08x\r\n", (unsigned int)USB_OTG_GLB->GHWCFG4);

    dwc2_get_hwparams(bus->hcd.reg_base, &g_dwc2_hcd[bus->hcd.hcd_id].hw_params);
    dwc2_get_user_params(bus->hcd.reg_base, &g_dwc2_hcd[bus->hcd.hcd_id].user_params);

    if (g_dwc2_hcd[bus->hcd.hcd_id].user_params.phy_utmi_width == 0) {
        g_dwc2_hcd[bus->hcd.hcd_id].user_params.phy_utmi_width = 8;
    }
    if (g_dwc2_hcd[bus->hcd.hcd_id].user_params.total_fifo_size == 0) {
        g_dwc2_hcd[bus->hcd.hcd_id].user_params.total_fifo_size = g_dwc2_hcd[bus->hcd.hcd_id].hw_params.total_fifo_size;
    }

    for (uint8_t chidx = 0; chidx < g_dwc2_hcd[bus->hcd.hcd_id].hw_params.host_channels; chidx++) {
        g_dwc2_hcd[bus->hcd.hcd_id].chan_pool[chidx].waitsem = usb_osal_sem_create(0);
    }

    USB_LOG_INFO("dwc2 has %d channels and dfifo depth(32-bit words) is %d\r\n",
                 g_dwc2_hcd[bus->hcd.hcd_id].hw_params.host_channels,
                 g_dwc2_hcd[bus->hcd.hcd_id].user_params.total_fifo_size);

    USB_ASSERT_MSG(g_dwc2_hcd[bus->hcd.hcd_id].hw_params.arch == GHWCFG2_INT_DMA_ARCH, "This dwc2 version does not support dma mode, so stop working");
    USB_ASSERT_MSG((g_dwc2_hcd[bus->hcd.hcd_id].user_params.host_rx_fifo_size +
                    g_dwc2_hcd[bus->hcd.hcd_id].user_params.host_nperio_tx_fifo_size +
                    g_dwc2_hcd[bus->hcd.hcd_id].user_params.host_perio_tx_fifo_size) <=
                       g_dwc2_hcd[bus->hcd.hcd_id].user_params.total_fifo_size,
                   "Your fifo config is overflow, please check");

    USB_OTG_GLB->GAHBCFG &= ~USB_OTG_GAHBCFG_GINT;

    /* This is vendor register */
    USB_OTG_GLB->GCCFG = g_dwc2_hcd[bus->hcd.hcd_id].user_params.host_gccfg;

    if (g_dwc2_hcd[bus->hcd.hcd_id].user_params.phy_type != DWC2_PHY_TYPE_PARAM_FS) {
        USB_ASSERT_MSG(g_dwc2_hcd[bus->hcd.hcd_id].hw_params.hs_phy_type != 0, "This dwc2 version does not support hs, so stop working");
    }

    ret = dwc2_core_init(bus);

    /* Force Host Mode*/
    dwc2_set_mode(bus, USB_OTG_MODE_HOST);

    /* B-peripheral session valid override enable */
    USB_OTG_GLB->GOTGCTL &= ~USB_OTG_GOTGCTL_BVALOEN;
    USB_OTG_GLB->GOTGCTL &= ~USB_OTG_GOTGCTL_BVALOVAL;

    USB_OTG_GLB->GUSBCFG |= USB_OTG_GUSBCFG_TOCAL;

    /* Restart the Phy Clock */
    USB_OTG_PCGCCTL = 0U;

    /* Set default Max speed support */
    USB_OTG_HOST->HCFG &= ~USB_OTG_HCFG_FSLSS;

    USB_OTG_HOST->HCFG &= ~USB_OTG_HCFG_FSLSPCS;
    if (g_dwc2_hcd[bus->hcd.hcd_id].user_params.phy_type == DWC2_PHY_TYPE_PARAM_FS) {
        bus->hcd.roothub.speed = USB_SPEED_FULL;
        USB_OTG_HOST->HCFG |= USB_OTG_HCFG_FSLSPCLKSEL_48_MHZ;
    } else {
        bus->hcd.roothub.speed = USB_SPEED_HIGH;
        USB_OTG_HOST->HCFG |= USB_OTG_HCFG_FSLSPCLKSEL_30_60_MHZ;
    }

    if (g_dwc2_hcd[bus->hcd.hcd_id].hw_params.snpsid > 0x4F54292AU) {
        USB_OTG_HOST->HFIR |= USB_OTG_HFIR_RELOAD_CTRL;
    }

    /* Clear all pending HC Interrupts */
    for (uint8_t i = 0U; i < g_dwc2_hcd[bus->hcd.hcd_id].hw_params.host_channels; i++) {
        USB_OTG_HC(i)->HCINT = 0xFFFFFFFFU;
        USB_OTG_HC(i)->HCINTMSK = 0U;
    }

    /* Disable all interrupts. */
    USB_OTG_GLB->GINTMSK = 0U;

    /* Clear any pending interrupts */
    USB_OTG_GLB->GINTSTS = 0xFFFFFFFFU;

    /* set Rx FIFO size */
    USB_OTG_GLB->GRXFSIZ = g_dwc2_hcd[bus->hcd.hcd_id].user_params.host_rx_fifo_size;
    USB_OTG_GLB->DIEPTXF0_HNPTXFSIZ = (uint32_t)(((g_dwc2_hcd[bus->hcd.hcd_id].user_params.host_nperio_tx_fifo_size << 16) & USB_OTG_NPTXFD) |
                                                 g_dwc2_hcd[bus->hcd.hcd_id].user_params.host_rx_fifo_size);
    USB_OTG_GLB->HPTXFSIZ = (uint32_t)(((g_dwc2_hcd[bus->hcd.hcd_id].user_params.host_perio_tx_fifo_size << 16) & USB_OTG_HPTXFSIZ_PTXFD) |
                                       (g_dwc2_hcd[bus->hcd.hcd_id].user_params.host_rx_fifo_size + g_dwc2_hcd[bus->hcd.hcd_id].user_params.host_nperio_tx_fifo_size));

    ret = dwc2_flush_txfifo(bus, 0x10U);
    ret = dwc2_flush_rxfifo(bus);

    USB_OTG_GLB->GAHBCFG &= ~USB_OTG_GAHBCFG_HBSTLEN;
    USB_OTG_GLB->GAHBCFG |= USB_OTG_GAHBCFG_HBSTLEN_4;
    USB_OTG_GLB->GAHBCFG |= USB_OTG_GAHBCFG_DMAEN;

    /* Enable interrupts matching to the Host mode ONLY */
    USB_OTG_GLB->GINTMSK |= (USB_OTG_GINTMSK_PRTIM | USB_OTG_GINTMSK_HCIM |
                             USB_OTG_GINTSTS_DISCINT);

    dwc2_drivebus(bus, 1);
    usb_osal_msleep(200);

    USB_OTG_GLB->GAHBCFG |= USB_OTG_GAHBCFG_GINT;

    return ret;
}

int usb_hc_deinit(struct usbh_bus *bus)
{
    USB_OTG_GLB->GAHBCFG &= ~USB_OTG_GAHBCFG_GINT;

    dwc2_flush_txfifo(bus, 0x10U);
    dwc2_flush_rxfifo(bus);

    /* Flush out any leftover queued requests. */
    for (uint8_t chidx = 0; chidx < g_dwc2_hcd[bus->hcd.hcd_id].hw_params.host_channels; chidx++) {
        dwc2_halt(bus, chidx);
    }

    /* Disable all interrupts. */
    USB_OTG_GLB->GINTMSK = 0U;

    /* Clear any pending Host interrupts */
    USB_OTG_HOST->HAINT = 0xFFFFFFFFU;
    USB_OTG_GLB->GINTSTS = 0xFFFFFFFFU;

    dwc2_drivebus(bus, 0);
    usb_osal_msleep(200);

    for (uint8_t chidx = 0; chidx < g_dwc2_hcd[bus->hcd.hcd_id].hw_params.host_channels; chidx++) {
        usb_osal_sem_delete(g_dwc2_hcd[bus->hcd.hcd_id].chan_pool[chidx].waitsem);
    }

    usb_hc_low_level_deinit(bus);
    return 0;
}

uint16_t usbh_get_frame_number(struct usbh_bus *bus)
{
    return (USB_OTG_HOST->HFNUM & USB_OTG_HFNUM_FRNUM);
}

int usbh_roothub_control(struct usbh_bus *bus, struct usb_setup_packet *setup, uint8_t *buf)
{
    __IO uint32_t hprt0;
    uint8_t nports;
    uint8_t port;
    uint32_t status;

    nports = CONFIG_USBHOST_MAX_RHPORTS;
    port = setup->wIndex;
    if (setup->bmRequestType & USB_REQUEST_RECIPIENT_DEVICE) {
        switch (setup->bRequest) {
            case HUB_REQUEST_CLEAR_FEATURE:
                switch (setup->wValue) {
                    case HUB_FEATURE_HUB_C_LOCALPOWER:
                        break;
                    case HUB_FEATURE_HUB_C_OVERCURRENT:
                        break;
                    default:
                        return -USB_ERR_NOTSUPP;
                }
                break;
            case HUB_REQUEST_SET_FEATURE:
                switch (setup->wValue) {
                    case HUB_FEATURE_HUB_C_LOCALPOWER:
                        break;
                    case HUB_FEATURE_HUB_C_OVERCURRENT:
                        break;
                    default:
                        return -USB_ERR_NOTSUPP;
                }
                break;
            case HUB_REQUEST_GET_DESCRIPTOR:
                break;
            case HUB_REQUEST_GET_STATUS:
                memset(buf, 0, 4);
                break;
            default:
                break;
        }
    } else if (setup->bmRequestType & USB_REQUEST_RECIPIENT_OTHER) {
        switch (setup->bRequest) {
            case HUB_REQUEST_CLEAR_FEATURE:
                if (!port || port > nports) {
                    return -USB_ERR_INVAL;
                }

                switch (setup->wValue) {
                    case HUB_PORT_FEATURE_ENABLE:
                        USB_OTG_HPRT &= ~USB_OTG_HPRT_PENA;
                        break;
                    case HUB_PORT_FEATURE_SUSPEND:
                    case HUB_PORT_FEATURE_C_SUSPEND:
                        break;
                    case HUB_PORT_FEATURE_POWER:
                        dwc2_drivebus(bus, 0);
                        break;
                    case HUB_PORT_FEATURE_C_CONNECTION:
                        g_dwc2_hcd[bus->hcd.hcd_id].port_csc = 0;
                        break;
                    case HUB_PORT_FEATURE_C_ENABLE:
                        g_dwc2_hcd[bus->hcd.hcd_id].port_pec = 0;
                        break;
                    case HUB_PORT_FEATURE_C_OVER_CURREN:
                        g_dwc2_hcd[bus->hcd.hcd_id].port_occ = 0;
                        break;
                    case HUB_PORT_FEATURE_C_RESET:
                        break;
                    default:
                        return -USB_ERR_NOTSUPP;
                }
                break;
            case HUB_REQUEST_SET_FEATURE:
                if (!port || port > nports) {
                    return -USB_ERR_INVAL;
                }

                switch (setup->wValue) {
                    case HUB_PORT_FEATURE_SUSPEND:
                        break;
                    case HUB_PORT_FEATURE_POWER:
                        dwc2_drivebus(bus, 1);
                        break;
                    case HUB_PORT_FEATURE_RESET:
                        return usbh_reset_port(bus, port);

                    default:
                        return -USB_ERR_NOTSUPP;
                }
                break;
            case HUB_REQUEST_GET_STATUS:
                if (!port || port > nports) {
                    return -USB_ERR_INVAL;
                }
                hprt0 = USB_OTG_HPRT;

                status = 0;
                if (g_dwc2_hcd[bus->hcd.hcd_id].port_csc) {
                    status |= (1 << HUB_PORT_FEATURE_C_CONNECTION);
                }
                if (g_dwc2_hcd[bus->hcd.hcd_id].port_pec) {
                    status |= (1 << HUB_PORT_FEATURE_C_ENABLE);
                }
                if (g_dwc2_hcd[bus->hcd.hcd_id].port_occ) {
                    status |= (1 << HUB_PORT_FEATURE_C_OVER_CURREN);
                }

                if (hprt0 & USB_OTG_HPRT_PCSTS) {
                    status |= (1 << HUB_PORT_FEATURE_CONNECTION);
                }
                if (hprt0 & USB_OTG_HPRT_PENA) {
                    status |= (1 << HUB_PORT_FEATURE_ENABLE);
                    if (usbh_get_port_speed(bus, port) == USB_SPEED_LOW) {
                        status |= (1 << HUB_PORT_FEATURE_LOWSPEED);
                    } else if (usbh_get_port_speed(bus, port) == USB_SPEED_HIGH) {
                        status |= (1 << HUB_PORT_FEATURE_HIGHSPEED);
                    }
                }
                if (hprt0 & USB_OTG_HPRT_POCA) {
                    status |= (1 << HUB_PORT_FEATURE_OVERCURRENT);
                }
                if (hprt0 & USB_OTG_HPRT_PRST) {
                    status |= (1 << HUB_PORT_FEATURE_RESET);
                }
                if (hprt0 & USB_OTG_HPRT_PPWR) {
                    status |= (1 << HUB_PORT_FEATURE_POWER);
                }

                memcpy(buf, &status, 4);
                break;
            default:
                break;
        }
    }
    return 0;
}

int usbh_submit_urb(struct usbh_urb *urb)
{
    struct dwc2_chan *chan;
    struct usbh_bus *bus;
    size_t flags;
    int ret = 0;
    int chidx;

    if (!urb || !urb->hport || !urb->ep || !urb->hport->bus) {
        return -USB_ERR_INVAL;
    }

    /* dma addr must be aligned 4 bytes */
    USB_ASSERT_MSG(!((uintptr_t)urb->setup % 4) && !((uintptr_t)urb->transfer_buffer % 4),
                   "urb->setup or urb->transfer_buffer is not aligned 4 bytes");

#ifdef CONFIG_USB_DCACHE_ENABLE
    USB_ASSERT_MSG(!((uintptr_t)urb->setup % CONFIG_USB_ALIGN_SIZE) &&
                       !((uintptr_t)urb->transfer_buffer % CONFIG_USB_ALIGN_SIZE),
                   "urb->setup or urb->transfer_buffer is not aligned %d", CONFIG_USB_ALIGN_SIZE);
#endif
    bus = urb->hport->bus;

    if (!(USB_OTG_HPRT & USB_OTG_HPRT_PCSTS) || !urb->hport->connected) {
        return -USB_ERR_NOTCONN;
    }

    if (urb->errorcode == -USB_ERR_BUSY) {
        return -USB_ERR_BUSY;
    }

    if (urb->ep->bEndpointAddress & 0x80) {
        /* Check if pipe rx fifo is overflow */
        if (USB_GET_MAXPACKETSIZE(urb->ep->wMaxPacketSize) > (g_dwc2_hcd[bus->hcd.hcd_id].user_params.host_rx_fifo_size * 4)) {
            return -USB_ERR_RANGE;
        }
    } else {
        /* Check if intr and iso pipe tx fifo is overflow */
        if (((USB_GET_ENDPOINT_TYPE(urb->ep->bmAttributes) == USB_ENDPOINT_TYPE_ISOCHRONOUS) ||
             (USB_GET_ENDPOINT_TYPE(urb->ep->bmAttributes) == USB_ENDPOINT_TYPE_INTERRUPT)) &&
            USB_GET_MAXPACKETSIZE(urb->ep->wMaxPacketSize) > (g_dwc2_hcd[bus->hcd.hcd_id].user_params.host_perio_tx_fifo_size * 4)) {
            return -USB_ERR_RANGE;
        } else {
            /* Check if control and bulk pipe tx fifo is overflow */
            if (USB_GET_MAXPACKETSIZE(urb->ep->wMaxPacketSize) > (g_dwc2_hcd[bus->hcd.hcd_id].user_params.host_nperio_tx_fifo_size * 4)) {
                return -USB_ERR_RANGE;
            }
        }
    }

    chidx = dwc2_chan_alloc(bus);
    if (chidx == -1) {
        return -USB_ERR_NOMEM;
    }

    flags = usb_osal_enter_critical_section();

    chan = &g_dwc2_hcd[bus->hcd.hcd_id].chan_pool[chidx];
    chan->chidx = chidx;
    chan->urb = urb;
    chan->do_ssplit = 0;

    if (urb->hport->speed != USB_SPEED_HIGH &&
        usbh_get_port_speed(bus, 0) == USB_SPEED_HIGH) {
        chan->do_ssplit = 1;
        chan->do_csplit = 0;
        chan->hub_port = urb->hport->port;
        chan->hub_addr = urb->hport->parent->hub_addr;
    }

    urb->hcpriv = chan;
    urb->errorcode = -USB_ERR_BUSY;
    urb->actual_length = 0;

    usb_osal_leave_critical_section(flags);

    if (urb->setup) {
        usb_dcache_clean((uintptr_t)urb->setup, USB_ALIGN_UP(sizeof(struct usb_setup_packet), CONFIG_USB_ALIGN_SIZE));

        if (urb->transfer_buffer) {
            if (urb->setup->bmRequestType & 0x80) {
                usb_dcache_invalidate((uintptr_t)urb->transfer_buffer, USB_ALIGN_UP(urb->transfer_buffer_length, CONFIG_USB_ALIGN_SIZE));
            } else {
                usb_dcache_clean((uintptr_t)urb->transfer_buffer, USB_ALIGN_UP(urb->transfer_buffer_length, CONFIG_USB_ALIGN_SIZE));
            }
        }
    } else if (urb->transfer_buffer && (USB_GET_ENDPOINT_TYPE(urb->ep->bmAttributes) != USB_ENDPOINT_TYPE_ISOCHRONOUS)) {
        if (urb->ep->bEndpointAddress & 0x80) {
            usb_dcache_invalidate((uintptr_t)urb->transfer_buffer, USB_ALIGN_UP(urb->transfer_buffer_length, CONFIG_USB_ALIGN_SIZE));
        } else {
            usb_dcache_clean((uintptr_t)urb->transfer_buffer, USB_ALIGN_UP(urb->transfer_buffer_length, CONFIG_USB_ALIGN_SIZE));
        }
    } else {
    }

    switch (USB_GET_ENDPOINT_TYPE(urb->ep->bmAttributes)) {
        case USB_ENDPOINT_TYPE_CONTROL:
            chan->ep0_state = DWC2_EP0_STATE_SETUP;
            dwc2_control_urb_init(bus, chidx, urb, urb->setup, urb->transfer_buffer, urb->transfer_buffer_length);
            break;
        case USB_ENDPOINT_TYPE_BULK:
        case USB_ENDPOINT_TYPE_INTERRUPT:
            dwc2_bulk_intr_urb_init(bus, chidx, urb, urb->transfer_buffer, urb->transfer_buffer_length);
            break;
        case USB_ENDPOINT_TYPE_ISOCHRONOUS:
            break;
        default:
            break;
    }

    if (urb->timeout > 0) {
        /* wait until timeout or sem give */
        ret = usb_osal_sem_take(chan->waitsem, urb->timeout);
        if (ret < 0) {
            goto errout_timeout;
        }
        urb->timeout = 0;
        ret = urb->errorcode;
        /* we can free chan when waitsem is done */
        dwc2_chan_free(chan);
    }
    return ret;
errout_timeout:
    urb->timeout = 0;
    usbh_kill_urb(urb);
    return ret;
}

int usbh_kill_urb(struct usbh_urb *urb)
{
    struct dwc2_chan *chan;
    struct usbh_bus *bus;
    size_t flags;

    if (!urb || !urb->hcpriv || !urb->hport->bus) {
        return -USB_ERR_INVAL;
    }

    bus = urb->hport->bus;

    flags = usb_osal_enter_critical_section();

    chan = (struct dwc2_chan *)urb->hcpriv;

    dwc2_halt(bus, chan->chidx);

    urb->errorcode = -USB_ERR_SHUTDOWN;

    if (urb->timeout) {
        usb_osal_sem_give(chan->waitsem);
    } else {
        dwc2_chan_free(chan);
    }

    if (urb->complete) {
        urb->complete(urb->arg, urb->errorcode);
    }

    usb_osal_leave_critical_section(flags);

    return 0;
}

static inline void dwc2_urb_waitup(struct usbh_urb *urb)
{
    struct dwc2_chan *chan;

    chan = (struct dwc2_chan *)urb->hcpriv;

    if (urb->timeout) {
        usb_osal_sem_give(chan->waitsem);
    } else {
        dwc2_chan_free(chan);
    }

    if (urb->complete) {
        if (urb->errorcode < 0) {
            urb->complete(urb->arg, urb->errorcode);
        } else {
            urb->complete(urb->arg, urb->actual_length);
        }
    }
}

static void dwc2_inchan_irq_handler(struct usbh_bus *bus, uint8_t ch_num)
{
    uint32_t chan_intstatus;
    struct dwc2_chan *chan;
    struct usbh_urb *urb;

    chan_intstatus = USB_OTG_HC(ch_num)->HCINT;

    chan = &g_dwc2_hcd[bus->hcd.hcd_id].chan_pool[ch_num];
    urb = chan->urb;
    //printf("s1:%08x\r\n", chan_intstatus);

    if (chan_intstatus & USB_OTG_HCINT_CHH) {
        USB_OTG_HC(ch_num)->HCINT = chan_intstatus;
        if (chan_intstatus & USB_OTG_HCINT_XFRC) {
            uint32_t count = chan->xferlen - (USB_OTG_HC(ch_num)->HCTSIZ & USB_OTG_HCTSIZ_XFRSIZ); /* how many size has received */
            uint8_t data_toggle = ((USB_OTG_HC(ch_num)->HCTSIZ & USB_OTG_HCTSIZ_DPID) >> USB_OTG_HCTSIZ_DPID_Pos);

            urb->actual_length += count;
            urb->transfer_buffer_length -= count;

            if (data_toggle == HC_PID_DATA0) {
                urb->data_toggle = 0;
            } else {
                urb->data_toggle = 1;
            }

            if (chan->do_csplit) {
                chan->do_csplit = 0;
                dwc2_chan_enable_csplit(bus, ch_num, false);
            }

            if (USB_GET_ENDPOINT_TYPE(urb->ep->bmAttributes) == USB_ENDPOINT_TYPE_CONTROL) {
                if (chan->ep0_state == DWC2_EP0_STATE_INDATA) {
                    if (chan->do_ssplit && urb->transfer_buffer_length > 0 && (count == USB_GET_MAXPACKETSIZE(urb->ep->wMaxPacketSize))) {
                        dwc2_control_urb_init(bus, ch_num, urb, urb->setup, urb->transfer_buffer + urb->actual_length - 8, urb->transfer_buffer_length);
                    } else {
                        chan->ep0_state = DWC2_EP0_STATE_OUTSTATUS;
                        dwc2_control_urb_init(bus, ch_num, urb, urb->setup, urb->transfer_buffer, urb->transfer_buffer_length);
                    }
                } else if (chan->ep0_state == DWC2_EP0_STATE_INSTATUS) {
                    chan->ep0_state = DWC2_EP0_STATE_SETUP;
                    urb->errorcode = 0;
                    dwc2_urb_waitup(urb);
                }
            } else if (USB_GET_ENDPOINT_TYPE(urb->ep->bmAttributes) == USB_ENDPOINT_TYPE_ISOCHRONOUS) {
            } else {
                if (chan->do_ssplit && urb->transfer_buffer_length > 0 && (count == USB_GET_MAXPACKETSIZE(urb->ep->wMaxPacketSize))) {
                    dwc2_bulk_intr_urb_init(bus, ch_num, urb, urb->transfer_buffer + urb->actual_length, urb->transfer_buffer_length);
                } else {
                    usb_dcache_invalidate((uintptr_t)urb->transfer_buffer, USB_ALIGN_UP(urb->actual_length, CONFIG_USB_ALIGN_SIZE));
                    urb->errorcode = 0;
                    dwc2_urb_waitup(urb);
                }
            }
        } else if (chan_intstatus & USB_OTG_HCINT_AHBERR) {
            urb->errorcode = -USB_ERR_IO;
            dwc2_urb_waitup(urb);
        } else if (chan_intstatus & USB_OTG_HCINT_STALL) {
            urb->errorcode = -USB_ERR_STALL;
            dwc2_urb_waitup(urb);
        } else if (chan_intstatus & USB_OTG_HCINT_NAK) {
            if (chan->do_ssplit) {
                /* restart ssplit transfer */
                switch (USB_GET_ENDPOINT_TYPE(urb->ep->bmAttributes)) {
                    case USB_ENDPOINT_TYPE_CONTROL:
                        chan->do_csplit = 0;
                        dwc2_control_urb_init(bus, ch_num, urb, urb->setup, urb->transfer_buffer + urb->actual_length - 8, urb->transfer_buffer_length);
                        break;
                    case USB_ENDPOINT_TYPE_BULK:
                        chan->do_csplit = 0;
                        dwc2_bulk_intr_urb_init(bus, ch_num, urb, urb->transfer_buffer + urb->actual_length, urb->transfer_buffer_length);
                        break;
                    case USB_ENDPOINT_TYPE_INTERRUPT:
                        chan->do_csplit = 0;
                        dwc2_chan_enable_csplit(bus, ch_num, false);
                        urb->errorcode = -USB_ERR_NAK;
                        dwc2_urb_waitup(urb);
                        break;

                    default:
                        break;
                }
            } else {
                urb->errorcode = -USB_ERR_NAK;
                dwc2_urb_waitup(urb);
            }
        } else if (chan_intstatus & USB_OTG_HCINT_ACK) {
            if (chan->do_ssplit) {
                /* start csplit transfer */
                chan->do_csplit = 1;
                chan->ssplit_frame = dwc2_get_full_frame_num(bus);
                switch (USB_GET_ENDPOINT_TYPE(urb->ep->bmAttributes)) {
                    case USB_ENDPOINT_TYPE_CONTROL:
                        dwc2_control_urb_init(bus, ch_num, urb, urb->setup, urb->transfer_buffer + urb->actual_length - 8, urb->transfer_buffer_length);
                        break;
                    case USB_ENDPOINT_TYPE_BULK:
                    case USB_ENDPOINT_TYPE_INTERRUPT:
                        dwc2_bulk_intr_urb_init(bus, ch_num, urb, urb->transfer_buffer + urb->actual_length, urb->transfer_buffer_length);
                        break;

                    default:
                        break;
                }
            }
        } else if (chan_intstatus & USB_OTG_HCINT_NYET) {
            if (chan->do_ssplit) {
                /* restart csplit transfer */
                chan->do_csplit = 1;
                chan->ssplit_frame = dwc2_get_full_frame_num(bus);
                switch (USB_GET_ENDPOINT_TYPE(urb->ep->bmAttributes)) {
                    case USB_ENDPOINT_TYPE_CONTROL:
                        dwc2_control_urb_init(bus, ch_num, urb, urb->setup, urb->transfer_buffer + urb->actual_length - 8, urb->transfer_buffer_length);
                        break;
                    case USB_ENDPOINT_TYPE_BULK:
                    case USB_ENDPOINT_TYPE_INTERRUPT:
                        dwc2_bulk_intr_urb_init(bus, ch_num, urb, urb->transfer_buffer + urb->actual_length, urb->transfer_buffer_length);
                        break;

                    default:
                        break;
                }
            } else {
                urb->errorcode = -USB_ERR_NAK;
                dwc2_urb_waitup(urb);
            }
        } else if (chan_intstatus & USB_OTG_HCINT_TXERR) {
            urb->errorcode = -USB_ERR_IO;
            dwc2_urb_waitup(urb);
        } else if (chan_intstatus & USB_OTG_HCINT_BBERR) {
            urb->errorcode = -USB_ERR_BABBLE;
            dwc2_urb_waitup(urb);
        } else if (chan_intstatus & USB_OTG_HCINT_DTERR) {
            urb->errorcode = -USB_ERR_DT;
            dwc2_urb_waitup(urb);
        } else if (chan_intstatus & USB_OTG_HCINT_FRMOR) {
            urb->errorcode = -USB_ERR_IO;
            dwc2_urb_waitup(urb);
        }
    }
}

static void dwc2_outchan_irq_handler(struct usbh_bus *bus, uint8_t ch_num)
{
    uint32_t chan_intstatus;
    struct dwc2_chan *chan;
    struct usbh_urb *urb;

    chan_intstatus = USB_OTG_HC(ch_num)->HCINT;

    chan = &g_dwc2_hcd[bus->hcd.hcd_id].chan_pool[ch_num];
    urb = chan->urb;
    //printf("s2:%08x\r\n", chan_intstatus);

    if (chan_intstatus & USB_OTG_HCINT_CHH) {
        USB_OTG_HC(ch_num)->HCINT = chan_intstatus;
        if (chan_intstatus & USB_OTG_HCINT_XFRC) {
            uint32_t count = USB_OTG_HC(ch_num)->HCTSIZ & USB_OTG_HCTSIZ_XFRSIZ;                                          /* last packet size */
            uint32_t has_used_packets = chan->num_packets - ((USB_OTG_HC(ch_num)->HCTSIZ & USB_OTG_HCTSIZ_PKTCNT) >> 19); /* how many packets have used */
            uint32_t olen = (has_used_packets - 1) * USB_GET_MAXPACKETSIZE(urb->ep->wMaxPacketSize) + count;              /* the same with urb->actual_length += chan->xferlen; */
            uint8_t data_toggle = ((USB_OTG_HC(ch_num)->HCTSIZ & USB_OTG_HCTSIZ_DPID) >> USB_OTG_HCTSIZ_DPID_Pos);

            urb->actual_length += olen;

            if (chan->ep0_state == DWC2_EP0_STATE_OUTDATA || urb->setup == NULL) {
                if (urb->transfer_buffer_length > olen) {
                    urb->transfer_buffer_length -= olen;
                } else {
                    urb->transfer_buffer_length = 0;
                }
            }

            if (data_toggle == HC_PID_DATA0) {
                urb->data_toggle = 0;
            } else {
                urb->data_toggle = 1;
            }

            if (chan->do_csplit) {
                chan->do_csplit = 0;
                dwc2_chan_enable_csplit(bus, ch_num, false);
            }

            if (USB_GET_ENDPOINT_TYPE(urb->ep->bmAttributes) == USB_ENDPOINT_TYPE_CONTROL) {
                if (chan->ep0_state == DWC2_EP0_STATE_SETUP) {
                    if (urb->setup->wLength) {
                        if (urb->setup->bmRequestType & 0x80) {
                            chan->ep0_state = DWC2_EP0_STATE_INDATA;
                        } else {
                            chan->ep0_state = DWC2_EP0_STATE_OUTDATA;
                        }
                    } else {
                        chan->ep0_state = DWC2_EP0_STATE_INSTATUS;
                    }
                    dwc2_control_urb_init(bus, ch_num, urb, urb->setup, urb->transfer_buffer, urb->transfer_buffer_length);
                } else if (chan->ep0_state == DWC2_EP0_STATE_OUTDATA) {
                    if (chan->do_ssplit && urb->transfer_buffer_length > 0) {
                        dwc2_control_urb_init(bus, ch_num, urb, urb->setup, urb->transfer_buffer + urb->actual_length - 8, urb->transfer_buffer_length);
                    } else {
                        chan->ep0_state = DWC2_EP0_STATE_INSTATUS;
                        dwc2_control_urb_init(bus, ch_num, urb, urb->setup, urb->transfer_buffer, urb->transfer_buffer_length);
                    }
                } else if (chan->ep0_state == DWC2_EP0_STATE_OUTSTATUS) {
                    usb_dcache_invalidate((uintptr_t)urb->transfer_buffer, USB_ALIGN_UP(urb->actual_length - 8, CONFIG_USB_ALIGN_SIZE));
                    chan->ep0_state = DWC2_EP0_STATE_SETUP;
                    urb->errorcode = 0;
                    dwc2_urb_waitup(urb);
                }
            } else if (USB_GET_ENDPOINT_TYPE(urb->ep->bmAttributes) == USB_ENDPOINT_TYPE_ISOCHRONOUS) {
            } else {
                if (chan->do_ssplit && urb->transfer_buffer_length > 0) {
                    dwc2_bulk_intr_urb_init(bus, ch_num, urb, urb->transfer_buffer + urb->actual_length, urb->transfer_buffer_length);
                } else {
                    urb->errorcode = 0;
                    dwc2_urb_waitup(urb);
                }
            }
        } else if (chan_intstatus & USB_OTG_HCINT_AHBERR) {
            urb->errorcode = -USB_ERR_IO;
            dwc2_urb_waitup(urb);
        } else if (chan_intstatus & USB_OTG_HCINT_STALL) {
            urb->errorcode = -USB_ERR_STALL;
            dwc2_urb_waitup(urb);
        } else if (chan_intstatus & USB_OTG_HCINT_NAK) {
            if (chan->do_ssplit) {
                /* restart ssplit transfer */
                switch (USB_GET_ENDPOINT_TYPE(urb->ep->bmAttributes)) {
                    case USB_ENDPOINT_TYPE_CONTROL:
                        chan->do_csplit = 0;
                        dwc2_control_urb_init(bus, ch_num, urb, urb->setup, urb->transfer_buffer + urb->actual_length - 8, urb->transfer_buffer_length);
                        break;
                    case USB_ENDPOINT_TYPE_BULK:
                        chan->do_csplit = 0;
                        dwc2_bulk_intr_urb_init(bus, ch_num, urb, urb->transfer_buffer + urb->actual_length, urb->transfer_buffer_length);
                        break;
                    case USB_ENDPOINT_TYPE_INTERRUPT:
                        chan->do_csplit = 0;
                        dwc2_chan_enable_csplit(bus, ch_num, false);
                        urb->errorcode = -USB_ERR_NAK;
                        dwc2_urb_waitup(urb);
                        break;

                    default:
                        break;
                }
            } else {
                urb->errorcode = -USB_ERR_NAK;
                dwc2_urb_waitup(urb);
            }
        } else if (chan_intstatus & USB_OTG_HCINT_ACK) {
            if (chan->do_ssplit) {
                /* start csplit transfer */
                chan->do_csplit = 1;
                chan->ssplit_frame = dwc2_get_full_frame_num(bus);
                switch (USB_GET_ENDPOINT_TYPE(urb->ep->bmAttributes)) {
                    case USB_ENDPOINT_TYPE_CONTROL:
                        dwc2_control_urb_init(bus, ch_num, urb, urb->setup, urb->transfer_buffer + urb->actual_length - 8, urb->transfer_buffer_length);
                        break;
                    case USB_ENDPOINT_TYPE_BULK:
                    case USB_ENDPOINT_TYPE_INTERRUPT:
                        dwc2_bulk_intr_urb_init(bus, ch_num, urb, urb->transfer_buffer + urb->actual_length, urb->transfer_buffer_length);
                        break;

                    default:
                        break;
                }
            }
        } else if (chan_intstatus & USB_OTG_HCINT_NYET) {
            if (chan->do_ssplit) {
                /* restart csplit transfer */
                chan->do_csplit = 1;
                chan->ssplit_frame = dwc2_get_full_frame_num(bus);
                switch (USB_GET_ENDPOINT_TYPE(urb->ep->bmAttributes)) {
                    case USB_ENDPOINT_TYPE_CONTROL:
                        dwc2_control_urb_init(bus, ch_num, urb, urb->setup, urb->transfer_buffer + urb->actual_length - 8, urb->transfer_buffer_length);
                        break;
                    case USB_ENDPOINT_TYPE_BULK:
                    case USB_ENDPOINT_TYPE_INTERRUPT:
                        dwc2_bulk_intr_urb_init(bus, ch_num, urb, urb->transfer_buffer + urb->actual_length, urb->transfer_buffer_length);
                        break;

                    default:
                        break;
                }
            } else {
                urb->errorcode = -USB_ERR_NAK;
                dwc2_urb_waitup(urb);
            }
        } else if (chan_intstatus & USB_OTG_HCINT_TXERR) {
            urb->errorcode = -USB_ERR_IO;
            dwc2_urb_waitup(urb);
        } else if (chan_intstatus & USB_OTG_HCINT_BBERR) {
            urb->errorcode = -USB_ERR_BABBLE;
            dwc2_urb_waitup(urb);
        } else if (chan_intstatus & USB_OTG_HCINT_DTERR) {
            urb->errorcode = -USB_ERR_DT;
            dwc2_urb_waitup(urb);
        } else if (chan_intstatus & USB_OTG_HCINT_FRMOR) {
            urb->errorcode = -USB_ERR_IO;
            dwc2_urb_waitup(urb);
        }
    }
}

static void dwc2_port_irq_handler(struct usbh_bus *bus)
{
    __IO uint32_t hprt0, hprt0_dup, regval;

    /* Handle Host Port Interrupts */
    hprt0 = USB_OTG_HPRT;
    hprt0_dup = USB_OTG_HPRT;

    hprt0_dup &= ~(USB_OTG_HPRT_PENA | USB_OTG_HPRT_PCDET |
                   USB_OTG_HPRT_PENCHNG | USB_OTG_HPRT_POCCHNG);

    /* Check whether Port Connect detected */
    if ((hprt0 & USB_OTG_HPRT_PCDET) == USB_OTG_HPRT_PCDET) {
        if ((hprt0 & USB_OTG_HPRT_PCSTS) == USB_OTG_HPRT_PCSTS) {
            bus->hcd.roothub.int_buffer[0] = (1 << 1);
            usbh_hub_thread_wakeup(&bus->hcd.roothub);
        }
        hprt0_dup |= USB_OTG_HPRT_PCDET;
        g_dwc2_hcd[bus->hcd.hcd_id].port_csc = 1;
    }

    /* Check whether Port Enable Changed */
    if ((hprt0 & USB_OTG_HPRT_PENCHNG) == USB_OTG_HPRT_PENCHNG) {
        hprt0_dup |= USB_OTG_HPRT_PENCHNG;
        g_dwc2_hcd[bus->hcd.hcd_id].port_pec = 1;

        if ((hprt0 & USB_OTG_HPRT_PENA) == USB_OTG_HPRT_PENA) {
            regval = USB_OTG_HOST->HFIR;
            regval &= ~USB_OTG_HFIR_FRIVL;
            regval |= dwc2_calc_frame_interval(bus) & USB_OTG_HFIR_FRIVL;
            USB_OTG_HOST->HFIR = regval;

            if (g_dwc2_hcd[bus->hcd.hcd_id].user_params.phy_type == DWC2_PHY_TYPE_PARAM_FS) {
                if ((hprt0 & USB_OTG_HPRT_PSPD) == (HPRT0_PRTSPD_LOW_SPEED << 17)) {
                    if ((USB_OTG_HOST->HCFG & USB_OTG_HCFG_FSLSPCS) != USB_OTG_HCFG_FSLSPCLKSEL_6_MHZ) {
                        regval = USB_OTG_HOST->HCFG;
                        regval &= ~USB_OTG_HCFG_FSLSPCS;
                        regval |= USB_OTG_HCFG_FSLSPCLKSEL_6_MHZ;
                        USB_OTG_HOST->HCFG = regval;
                    }
                } else {
                    if ((USB_OTG_HOST->HCFG & USB_OTG_HCFG_FSLSPCS) != USB_OTG_HCFG_FSLSPCLKSEL_48_MHZ) {
                        regval = USB_OTG_HOST->HCFG;
                        regval &= ~USB_OTG_HCFG_FSLSPCS;
                        regval |= USB_OTG_HCFG_FSLSPCLKSEL_48_MHZ;
                        USB_OTG_HOST->HCFG = regval;
                    }
                }
            }
        } else {
        }
    }

    /* Check for an overcurrent */
    if ((hprt0 & USB_OTG_HPRT_POCCHNG) == USB_OTG_HPRT_POCCHNG) {
        hprt0_dup |= USB_OTG_HPRT_POCCHNG;
        g_dwc2_hcd[bus->hcd.hcd_id].port_occ = 1;
    }
    /* Clear Port Interrupts */
    USB_OTG_HPRT = hprt0_dup;
}

void USBH_IRQHandler(uint8_t busid)
{
    uint32_t gint_status, chan_int;
    struct usbh_bus *bus;

    bus = &g_usbhost_bus[busid];
    gint_status = dwc2_get_glb_intstatus(bus);
    if ((USB_OTG_GLB->GINTSTS & 0x1U) == USB_OTG_MODE_HOST) {
        /* Avoid spurious interrupt */
        if (gint_status == 0) {
            return;
        }

        if (gint_status & USB_OTG_GINTSTS_HPRTINT) {
            dwc2_port_irq_handler(bus);
        }
        if (gint_status & USB_OTG_GINTSTS_DISCINT) {
            g_dwc2_hcd[bus->hcd.hcd_id].port_csc = 1;
            bus->hcd.roothub.int_buffer[0] = (1 << 1);
            usbh_hub_thread_wakeup(&bus->hcd.roothub);

            USB_OTG_GLB->GINTSTS = USB_OTG_GINTSTS_DISCINT;
        }
        if (gint_status & USB_OTG_GINTSTS_HCINT) {
            chan_int = (USB_OTG_HOST->HAINT & USB_OTG_HOST->HAINTMSK) & 0xFFFFU;
            for (uint8_t i = 0U; i < g_dwc2_hcd[bus->hcd.hcd_id].hw_params.host_channels; i++) {
                if ((chan_int & (1UL << (i & 0xFU))) != 0U) {
                    if ((USB_OTG_HC(i)->HCCHAR & USB_OTG_HCCHAR_EPDIR) == USB_OTG_HCCHAR_EPDIR) {
                        dwc2_inchan_irq_handler(bus, i);
                    } else {
                        dwc2_outchan_irq_handler(bus, i);
                    }
                }
            }
            USB_OTG_GLB->GINTSTS = USB_OTG_GINTSTS_HCINT;
        }
    }
}