diff --git a/.github/workflows/build_and_test.yml b/.github/workflows/build_and_test.yml index 08d0833..9e2d73f 100644 --- a/.github/workflows/build_and_test.yml +++ b/.github/workflows/build_and_test.yml @@ -6,7 +6,7 @@ jobs: runs-on: ubuntu-20.04 strategy: matrix: - features: ["", "--features eh1_0_alpha", "--features chrono"] + features: ["", "--features eh1_0_alpha", "--features chrono", "--features rp2040-e5"] mode: ["", "--release"] steps: - uses: actions/checkout@v2 diff --git a/boards/rp-pico/CHANGELOG.md b/boards/rp-pico/CHANGELOG.md index 2703025..30e5668 100644 --- a/boards/rp-pico/CHANGELOG.md +++ b/boards/rp-pico/CHANGELOG.md @@ -9,7 +9,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0 ### Added -- None +- `rp2040-e5` feature enabling the workaround for errata 5 on the USB device peripheral. ### Changed diff --git a/boards/rp-pico/Cargo.toml b/boards/rp-pico/Cargo.toml index 9e5a9c2..e350a0e 100644 --- a/boards/rp-pico/Cargo.toml +++ b/boards/rp-pico/Cargo.toml @@ -44,3 +44,4 @@ defmt-rtt = "0.3.0" default = ["boot2", "rt"] boot2 = ["rp2040-boot2"] rt = ["cortex-m-rt","rp2040-hal/rt"] +rp2040-e5 = ["rp2040-hal/rp2040-e5"] diff --git a/boards/rp-pico/examples/pico_usb_serial.rs b/boards/rp-pico/examples/pico_usb_serial.rs index c2724bd..bdc5305 100644 --- a/boards/rp-pico/examples/pico_usb_serial.rs +++ b/boards/rp-pico/examples/pico_usb_serial.rs @@ -63,6 +63,17 @@ fn main() -> ! { .ok() .unwrap(); + #[cfg(feature = "rp2040-e5")] + { + let sio = hal::Sio::new(pac.SIO); + let _pins = rp_pico::Pins::new( + pac.IO_BANK0, + pac.PADS_BANK0, + sio.gpio_bank0, + &mut pac.RESETS, + ); + } + // Set up the USB driver let usb_bus = UsbBusAllocator::new(hal::usb::UsbBus::new( pac.USBCTRL_REGS, diff --git a/boards/rp-pico/examples/pico_usb_twitchy_mouse.rs b/boards/rp-pico/examples/pico_usb_twitchy_mouse.rs index 6c22649..56de286 100644 --- a/boards/rp-pico/examples/pico_usb_twitchy_mouse.rs +++ b/boards/rp-pico/examples/pico_usb_twitchy_mouse.rs @@ -83,6 +83,17 @@ fn main() -> ! { .ok() .unwrap(); + #[cfg(feature = "rp2040-e5")] + { + let sio = hal::Sio::new(pac.SIO); + let _pins = rp_pico::Pins::new( + pac.IO_BANK0, + pac.PADS_BANK0, + sio.gpio_bank0, + &mut pac.RESETS, + ); + } + // Set up the USB driver let usb_bus = UsbBusAllocator::new(hal::usb::UsbBus::new( pac.USBCTRL_REGS, diff --git a/rp2040-hal/CHANGELOG.md b/rp2040-hal/CHANGELOG.md index 896291a..7ca7162 100644 --- a/rp2040-hal/CHANGELOG.md +++ b/rp2040-hal/CHANGELOG.md @@ -7,6 +7,10 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0 ## [Unreleased] +### Added + +- `rp2040-e5` feature enabling the workaround for errata 5 on the USB device peripheral. + ### Changed - Update embedded-hal alpha support to version 1.0.0-alpha.8 diff --git a/rp2040-hal/Cargo.toml b/rp2040-hal/Cargo.toml index 1f64041..30d5503 100644 --- a/rp2040-hal/Cargo.toml +++ b/rp2040-hal/Cargo.toml @@ -45,6 +45,7 @@ rt = ["rp2040-pac/rt"] rom-func-cache = [] disable-intrinsics = [] rom-v2-intrinsics = [] +rp2040-e5 = [] # USB errata 5: USB device fails to exit RESET state on busy USB bus. [[example]] # irq example uses cortex-m-rt::interrupt, need rt feature for that diff --git a/rp2040-hal/src/usb.rs b/rp2040-hal/src/usb.rs index 39445d7..9c4b9ed 100644 --- a/rp2040-hal/src/usb.rs +++ b/rp2040-hal/src/usb.rs @@ -10,7 +10,6 @@ //! const XOSC_CRYSTAL_FREQ: u32 = 12_000_000; // Typically found in BSP crates //! //! let mut pac = pac::Peripherals::take().unwrap(); -//! let sio = Sio::new(pac.SIO); //! let mut watchdog = Watchdog::new(pac.WATCHDOG); //! let mut clocks = init_clocks_and_plls( //! XOSC_CRYSTAL_FREQ, @@ -39,7 +38,7 @@ //! //! During enumeration Windows hosts send a `StatusOut` after the `DataIn` packet of the first //! `Get Descriptor` resquest even if the `DataIn` isn't completed (typically when the `max_packet_size_ep0` -//! is less than 18bytes). The next request request is a `Set Address` that expect a `StatusIn`. +//! is less than 18bytes). The next request is a `Set Address` that expect a `StatusIn`. //! //! The issue is that by the time the previous `DataIn` packet is acknoledged and the `StatusOut` //! followed by `Setup` are received, the usb stack may have already prepared the next `DataIn` payload @@ -54,6 +53,57 @@ //! //! If the required timing cannot be met, using an maximum packet size of the endpoint 0 above 18bytes //! (e.g. `.max_packet_size_ep0(64)`) should avoid that issue. +//! +//! ## Issue on RP2040B0 and RP2040B1: USB device fails to exit RESET state on busy USB bus. +//! +//! The feature `rp2040-e5`implements the workaround described by [RP2040-E5](https://datasheets.raspberrypi.com/rp2040/rp2040-datasheet.pdf#%5B%7B%22num%22%3A630%2C%22gen%22%3A0%7D%2C%7B%22name%22%3A%22XYZ%22%7D%2C115%2C158.848%2Cnull%5D). +//! +//! The workaround requires the GPIO block to be released from its reset and has for side effect +//! that GPIO15 will be stolen for a few hundred microseconds each time a Reset is detected on the +//! USB bus. +//! +//! The pin will be temporarily put in "bus keep" mode, weakly pulling the output towards its current +//! logic level. In absence of external loads, the current logic level will be maintained. +//! A user will lose control of the pin's output and reading from it may not reflect the actual state +//! of the external pin. +//! +//! ```no_run +//! # use rp2040_hal::{clocks::init_clocks_and_plls, pac, usb::UsbBus, watchdog::Watchdog}; +//! # use usb_device::class_prelude::UsbBusAllocator; +//! use rp2040_hal::{gpio::Pins, Sio}; +//! +//! # const XOSC_CRYSTAL_FREQ: u32 = 12_000_000; // Typically found in BSP crates +//! # +//! # let mut pac = pac::Peripherals::take().unwrap(); +//! # let mut watchdog = Watchdog::new(pac.WATCHDOG); +//! # let mut clocks = init_clocks_and_plls( +//! # XOSC_CRYSTAL_FREQ, +//! # pac.XOSC, +//! # pac.CLOCKS, +//! # pac.PLL_SYS, +//! # pac.PLL_USB, +//! # &mut pac.RESETS, +//! # &mut watchdog +//! # ).ok().unwrap(); +//! # +//! // required for the errata 5's workaround to function properly. +//! let sio = Sio::new(pac.SIO); +//! let _pins = Pins::new( +//! pac.IO_BANK0, +//! pac.PADS_BANK0, +//! sio.gpio_bank0, +//! &mut pac.RESETS, +//! ); +//! # +//! # let usb_bus = UsbBusAllocator::new(UsbBus::new( +//! # pac.USBCTRL_REGS, +//! # pac.USBCTRL_DPRAM, +//! # clocks.usb_clock, +//! # true, +//! # &mut pac.RESETS, +//! # )); +//! # // Use the usb_bus as usual. +//! ``` use core::cell::RefCell; @@ -71,6 +121,9 @@ use usb_device::{ Result as UsbResult, UsbDirection, UsbError, }; +#[cfg(feature = "rp2040-e5")] +mod errata5; + fn ep_addr_to_ep_buf_ctrl_idx(ep_addr: EndpointAddress) -> usize { ep_addr.index() * 2 + (if ep_addr.is_in() { 0 } else { 1 }) } @@ -114,6 +167,8 @@ struct Inner { out_endpoints: [Option; 16], next_offset: u16, read_setup: bool, + #[cfg(feature = "rp2040-e5")] + errata5_state: Option, } impl Inner { fn new(ctrl_reg: USBCTRL_REGS, ctrl_dpram: USBCTRL_DPRAM) -> Self { @@ -124,6 +179,8 @@ impl Inner { out_endpoints: Default::default(), next_offset: 0, read_setup: false, + #[cfg(feature = "rp2040-e5")] + errata5_state: None, } } @@ -544,43 +601,68 @@ impl UsbBusTrait for UsbBus { interrupt::free(|cs| { let mut inner = self.inner.borrow(cs).borrow_mut(); - // check for bus reset + #[cfg(feature = "rp2040-e5")] + if let Some(state) = inner.errata5_state.take() { + unsafe { + inner.errata5_state = state.update(); + } + return if inner.errata5_state.is_some() { + PollResult::None + } else { + PollResult::Reset + }; + } + + // check for bus reset and/or suspended states. let sie_status = inner.ctrl_reg.sie_status.read(); + let mut buff_status = inner.ctrl_reg.buff_status.read().bits(); + if sie_status.bus_reset().bit_is_set() { + #[cfg(feature = "rp2040-e5")] + if sie_status.connected().bit_is_clear() { + inner.errata5_state = Some(errata5::Errata5State::start()); + return PollResult::None; + } else { + return PollResult::Reset; + } + + #[cfg(not(feature = "rp2040-e5"))] return PollResult::Reset; - } else if sie_status.suspended().bit_is_set() { - inner.ctrl_reg.sie_status.write(|w| w.suspended().set_bit()); - return PollResult::Suspend; - } else if sie_status.resume().bit_is_set() { - inner.ctrl_reg.sie_status.write(|w| w.resume().set_bit()); - return PollResult::Resume; + } else if buff_status == 0 && sie_status.setup_rec().bit_is_clear() { + if sie_status.suspended().bit_is_set() { + inner.ctrl_reg.sie_status.write(|w| w.suspended().set_bit()); + return PollResult::Suspend; + } else if sie_status.resume().bit_is_set() { + inner.ctrl_reg.sie_status.write(|w| w.resume().set_bit()); + return PollResult::Resume; + } + return PollResult::None; } let (mut ep_out, mut ep_in_complete, mut ep_setup): (u16, u16, u16) = (0, 0, 0); - let buff_status = inner.ctrl_reg.buff_status.read().bits(); - if buff_status != 0 { - // IN Complete shall only be reported once. - inner - .ctrl_reg - .buff_status - .write(|w| unsafe { w.bits(0x5555_5555) }); + // IN Complete shall only be reported once. + inner + .ctrl_reg + .buff_status + .write(|w| unsafe { w.bits(0x5555_5555) }); - for i in 0..32u32 { - let mask = 1 << i; - if (buff_status & mask) == mask { - let is_in = (i & 1) == 0; - let ep_idx = i / 2; - if is_in { - ep_in_complete |= 1 << ep_idx; - } else { - ep_out |= 1 << ep_idx; - } + for i in 0..32u32 { + if buff_status == 0 { + break; + } else if (buff_status & 1) == 1 { + let is_in = (i & 1) == 0; + let ep_idx = i / 2; + if is_in { + ep_in_complete |= 1 << ep_idx; + } else { + ep_out |= 1 << ep_idx; } } + buff_status >>= 1; } + // check for setup request - // Only report setup if OUT has been cleared. if sie_status.setup_rec().bit_is_set() { // Small max_packet_size_ep0 Work-Around inner.ctrl_dpram.ep_buffer_control[0].modify(|_, w| w.available_0().clear_bit()); @@ -589,9 +671,6 @@ impl UsbBusTrait for UsbBus { inner.read_setup = true; } - if let (0, 0, 0) = (ep_out, ep_in_complete, ep_setup) { - return PollResult::None; - } PollResult::Data { ep_out, ep_in_complete, diff --git a/rp2040-hal/src/usb/errata5.rs b/rp2040-hal/src/usb/errata5.rs new file mode 100644 index 0000000..29bfcab --- /dev/null +++ b/rp2040-hal/src/usb/errata5.rs @@ -0,0 +1,150 @@ +//! After coming out of reset, the hardware expects 800us of LS_J (linestate J) time +//! before it will move to the connected state. However on a hub that broadcasts packets +//! for other devices this isn't the case. The plan here is to wait for the end of the bus +//! reset, force an LS_J for 1ms and then switch control back to the USB phy. Unfortunately +//! this requires us to use GPIO15 as there is no other way to force the input path. +//! We only need to force DP as DM can be left at zero. It will be gated off by GPIO +//! logic if it isn't func selected. + +use rp2040_pac::Peripherals; + +pub struct ForceLineStateJ { + prev_pads: u32, + prev_io_ctrls: u32, +} +pub enum Errata5State { + WaitEndOfReset, + ForceLineStateJ(ForceLineStateJ), +} + +impl Errata5State { + pub fn start() -> Self { + Self::WaitEndOfReset + } + /// SAFETY: This method steals the peripherals. + /// It makes read only use of TIMER and read/write access to USBCTRL_REGS. + /// Both peripherals must be initialized & running. + pub unsafe fn update(self) -> Option { + let pac = crate::pac::Peripherals::steal(); + match self { + Self::WaitEndOfReset => { + if pac.USBCTRL_REGS.sie_status.read().line_state().is_se0() { + Some(self) + } else { + let reset_state = pac.RESETS.reset.read(); + assert!( + reset_state.io_bank0().bit_is_clear() + && reset_state.pads_bank0().bit_is_clear(), + "IO Bank 0 must be out of reset for this work around to function properly." + ); + Some(Self::ForceLineStateJ(start_force_j(&pac))) + } + } + Self::ForceLineStateJ(ref state) => { + if pac + .USBCTRL_REGS + .sie_status + .read() + .connected() + .bit_is_clear() + { + Some(self) + } else { + finish(&pac, state.prev_pads, state.prev_io_ctrls); + None + } + } + } + } +} + +fn start_force_j(pac: &Peripherals) -> ForceLineStateJ { + let pads = &pac.PADS_BANK0.gpio[15]; + let io = &pac.IO_BANK0.gpio[15]; + let usb_ctrl = &pac.USBCTRL_REGS; + + assert!(!usb_ctrl.sie_status.read().line_state().is_se0()); + assert!( + pac.IO_BANK0.gpio[16].gpio_ctrl.read().funcsel().bits() != 8, + "Not expecting DM to be function 8" + ); + + // backup io ctrl & pad ctrl + let prev_pads = pads.read().bits(); + let prev_io_ctrls = io.gpio_ctrl.read().bits(); + + // Enable bus keep and force pin to tristate, so USB DP muxing doesn't affect + // pin state + pads.modify(|_, w| w.pue().set_bit().pde().set_bit()); + io.gpio_ctrl.modify(|_, w| w.oeover().disable()); + + // Select function 8 (USB debug muxing) without disturbing other controls + io.gpio_ctrl.modify(|_, w| unsafe { w.funcsel().bits(8) }); + + // J state is a differential 1 for a full speed device so + // DP = 1 and DM = 0. Don't actually need to set DM low as it + // is already gated assuming it isn't funcseld. + io.gpio_ctrl.modify(|_, w| w.inover().high()); + + // Force PHY pull up to stay before switching away from the phy + //usb_ctrl + // .usbphy_direct + // .modify(|_, w| w.dp_pullup_en().set_bit()); + //usb_ctrl + // .usbphy_direct_override + // .modify(|_, w| w.dp_pullup_en_override_en().set_bit()); + // Use the "SET" alias region to only write rather than "read/modify/write" + unsafe { + let ctrl_regs_set_alias: &pac::usbctrl_regs::RegisterBlock = + &*(((pac::USBCTRL_REGS::ptr() as usize) | (2 << 12)) as *const _); + ctrl_regs_set_alias + .usbphy_direct + .write_with_zero(|w| w.dp_pullup_en().set_bit()); + ctrl_regs_set_alias + .usbphy_direct_override + .write_with_zero(|w| w.dp_pullup_en_override_en().set_bit()); + } + + // Switch to GPIO phy with LS_J forced + unsafe { + usb_ctrl + .usb_muxing + .write_with_zero(|w| w.to_digital_pad().set_bit().softcon().set_bit()); + } + + // LS_J is now forced, wait until the signal propagates through the usb logic. + loop { + let status = usb_ctrl.sie_status.read(); + if status.line_state().is_j() { + break; + } + } + + ForceLineStateJ { + prev_pads, + prev_io_ctrls, + } +} +fn finish(pac: &Peripherals, prev_pads: u32, prev_io_ctrls: u32) { + let pads = &pac.PADS_BANK0.gpio[15]; + let io = &pac.IO_BANK0.gpio[15]; + + // Switch back to USB phy + pac.USBCTRL_REGS + .usb_muxing + .write(|w| w.to_phy().set_bit().softcon().set_bit()); + + // Get rid of DP pullup override + unsafe { + let ctrl_regs_clear_alias: &pac::usbctrl_regs::RegisterBlock = + &*(((pac::USBCTRL_REGS::ptr() as usize) | (3 << 12)) as *const _); + ctrl_regs_clear_alias + .usbphy_direct_override + .write_with_zero(|w| w.dp_pullup_en_override_en().set_bit()); + + // Finally, restore the gpio ctrl value back to GPIO15 + io.gpio_ctrl.write(|w| w.bits(prev_io_ctrls)); + // Restore the pad ctrl value + pads.write(|w| w.bits(prev_pads)); + } +}