Merge pull request #927 from embassy-rs/rp-usb

rp: add usb device support.

embassy-rp/Cargo.toml

@@ -12,6 +12,7 @@ flavors = [
 ]
 
 [features]
+defmt = ["dep:defmt", "embassy-usb?/defmt"]
 
 # Reexport the PAC for the currently enabled chip at `embassy_rp::pac`.
 # This is unstable because semver-minor (non-breaking) releases of embassy-rp may major-bump (breaking) the PAC version.
@@ -20,7 +21,7 @@ flavors = [
 unstable-pac = []
 
 # Enable nightly-only features
-nightly = ["embassy-executor/nightly", "embedded-hal-1", "embedded-hal-async", "embassy-embedded-hal/nightly"]
+nightly = ["embassy-executor/nightly", "embedded-hal-1", "embedded-hal-async", "embassy-embedded-hal/nightly", "dep:embassy-usb"]
 
 # Implement embedded-hal 1.0 alpha traits.
 # Implement embedded-hal-async traits if `nightly` is set as well.
@@ -33,6 +34,7 @@ embassy-time = { version = "0.1.0", path = "../embassy-time", features = [ "tick
 embassy-cortex-m = { version = "0.1.0", path = "../embassy-cortex-m", features = ["prio-bits-2"]}
 embassy-hal-common = {version = "0.1.0", path = "../embassy-hal-common" }
 embassy-embedded-hal = {version = "0.1.0", path = "../embassy-embedded-hal" }
+embassy-usb = {version = "0.1.0", path = "../embassy-usb", optional = true }
 atomic-polyfill = "1.0.1"
 defmt = { version = "0.3", optional = true }
 log = { version = "0.4.14", optional = true }
@@ -43,8 +45,8 @@ cortex-m = "0.7.6"
 critical-section = "1.1"
 futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
 
-rp2040-pac2 = { git = "https://github.com/embassy-rs/rp2040-pac2", rev="9ad7223a48a065e612bc7dc7be5bf5bd0b41cfc4", features = ["rt"] }
+rp2040-pac2 = { git = "https://github.com/embassy-rs/rp2040-pac2", rev="017e3c9007b2d3b6965f0d85b5bf8ce3fa6d7364", features = ["rt"] }
-#rp2040-pac2 = { path = "../../rp/rp2040-pac2", features = ["rt"] }
+#rp2040-pac2 = { path = "../../rp2040-pac2", features = ["rt"] }
 
 embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = ["unproven"] }
 embedded-hal-1 = { package = "embedded-hal", version = "1.0.0-alpha.8", optional = true}

embassy-rp/src/gpio.rs

@@ -433,7 +433,7 @@ impl<'d, T: Pin> Flex<'d, T> {
             });
 
             pin.io().ctrl().write(|w| {
-                w.set_funcsel(pac::io::vals::Gpio0CtrlFuncsel::SIO_0.0);
+                w.set_funcsel(pac::io::vals::Gpio0ctrlFuncsel::SIO_0.0);
             });
         }
 
@@ -586,7 +586,7 @@ impl<'d, T: Pin> Drop for Flex<'d, T> {
         unsafe {
             self.pin.pad_ctrl().write(|_| {});
             self.pin.io().ctrl().write(|w| {
-                w.set_funcsel(pac::io::vals::Gpio0CtrlFuncsel::NULL.0);
+                w.set_funcsel(pac::io::vals::Gpio0ctrlFuncsel::NULL.0);
             });
         }
     }

embassy-rp/src/lib.rs

@@ -10,6 +10,8 @@ pub mod interrupt;
 pub mod spi;
 pub mod timer;
 pub mod uart;
+#[cfg(feature = "nightly")]
+pub mod usb;
 
 mod clocks;
 mod reset;
@@ -80,6 +82,8 @@ embassy_hal_common::peripherals! {
     DMA_CH9,
     DMA_CH10,
     DMA_CH11,
+
+    USB,
 }
 
 #[link_section = ".boot2"]
@@ -110,3 +114,36 @@ pub fn init(_config: config::Config) -> Peripherals {
 
     peripherals
 }
+
+/// Extension trait for PAC regs, adding atomic xor/bitset/bitclear writes.
+trait RegExt<T: Copy> {
+    unsafe fn write_xor<R>(&self, f: impl FnOnce(&mut T) -> R) -> R;
+    unsafe fn write_set<R>(&self, f: impl FnOnce(&mut T) -> R) -> R;
+    unsafe fn write_clear<R>(&self, f: impl FnOnce(&mut T) -> R) -> R;
+}
+
+impl<T: Default + Copy, A: pac::common::Write> RegExt<T> for pac::common::Reg<T, A> {
+    unsafe fn write_xor<R>(&self, f: impl FnOnce(&mut T) -> R) -> R {
+        let mut val = Default::default();
+        let res = f(&mut val);
+        let ptr = (self.ptr() as *mut u8).add(0x1000) as *mut T;
+        ptr.write_volatile(val);
+        res
+    }
+
+    unsafe fn write_set<R>(&self, f: impl FnOnce(&mut T) -> R) -> R {
+        let mut val = Default::default();
+        let res = f(&mut val);
+        let ptr = (self.ptr() as *mut u8).add(0x2000) as *mut T;
+        ptr.write_volatile(val);
+        res
+    }
+
+    unsafe fn write_clear<R>(&self, f: impl FnOnce(&mut T) -> R) -> R {
+        let mut val = Default::default();
+        let res = f(&mut val);
+        let ptr = (self.ptr() as *mut u8).add(0x3000) as *mut T;
+        ptr.write_volatile(val);
+        res
+    }
+}

embassy-rp/src/usb.rs

@@ -0,0 +1,846 @@
+use core::marker::PhantomData;
+use core::slice;
+use core::sync::atomic::Ordering;
+use core::task::Poll;
+
+use atomic_polyfill::compiler_fence;
+use embassy_hal_common::into_ref;
+use embassy_sync::waitqueue::AtomicWaker;
+use embassy_usb::driver::{self, EndpointAllocError, EndpointError, Event, Unsupported};
+use embassy_usb::types::{EndpointAddress, EndpointInfo, EndpointType, UsbDirection};
+use futures::future::poll_fn;
+use futures::Future;
+
+use crate::interrupt::{Interrupt, InterruptExt};
+use crate::{pac, peripherals, Peripheral, RegExt};
+
+pub(crate) mod sealed {
+    pub trait Instance {
+        fn regs() -> crate::pac::usb::Usb;
+        fn dpram() -> crate::pac::usb_dpram::UsbDpram;
+    }
+}
+
+pub trait Instance: sealed::Instance + 'static {
+    type Interrupt: Interrupt;
+}
+
+impl crate::usb::sealed::Instance for peripherals::USB {
+    fn regs() -> pac::usb::Usb {
+        pac::USBCTRL_REGS
+    }
+    fn dpram() -> crate::pac::usb_dpram::UsbDpram {
+        pac::USBCTRL_DPRAM
+    }
+}
+
+impl crate::usb::Instance for peripherals::USB {
+    type Interrupt = crate::interrupt::USBCTRL_IRQ;
+}
+
+const EP_COUNT: usize = 16;
+const EP_MEMORY_SIZE: usize = 4096;
+const EP_MEMORY: *mut u8 = pac::USBCTRL_DPRAM.0;
+
+const NEW_AW: AtomicWaker = AtomicWaker::new();
+static BUS_WAKER: AtomicWaker = NEW_AW;
+static EP_IN_WAKERS: [AtomicWaker; EP_COUNT] = [NEW_AW; EP_COUNT];
+static EP_OUT_WAKERS: [AtomicWaker; EP_COUNT] = [NEW_AW; EP_COUNT];
+
+struct EndpointBuffer<T: Instance> {
+    addr: u16,
+    len: u16,
+    _phantom: PhantomData<T>,
+}
+
+impl<T: Instance> EndpointBuffer<T> {
+    const fn new(addr: u16, len: u16) -> Self {
+        Self {
+            addr,
+            len,
+            _phantom: PhantomData,
+        }
+    }
+
+    fn read(&mut self, buf: &mut [u8]) {
+        assert!(buf.len() <= self.len as usize);
+        compiler_fence(Ordering::SeqCst);
+        let mem = unsafe { slice::from_raw_parts(EP_MEMORY.add(self.addr as _), buf.len()) };
+        buf.copy_from_slice(mem);
+        compiler_fence(Ordering::SeqCst);
+    }
+
+    fn write(&mut self, buf: &[u8]) {
+        assert!(buf.len() <= self.len as usize);
+        compiler_fence(Ordering::SeqCst);
+        let mem = unsafe { slice::from_raw_parts_mut(EP_MEMORY.add(self.addr as _), buf.len()) };
+        mem.copy_from_slice(buf);
+        compiler_fence(Ordering::SeqCst);
+    }
+}
+
+#[derive(Debug, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+struct EndpointData {
+    ep_type: EndpointType, // only valid if used
+    max_packet_size: u16,
+    used: bool,
+}
+
+impl EndpointData {
+    const fn new() -> Self {
+        Self {
+            ep_type: EndpointType::Bulk,
+            max_packet_size: 0,
+            used: false,
+        }
+    }
+}
+
+pub struct Driver<'d, T: Instance> {
+    phantom: PhantomData<&'d mut T>,
+    ep_in: [EndpointData; EP_COUNT],
+    ep_out: [EndpointData; EP_COUNT],
+    ep_mem_free: u16, // first free address in EP mem, in bytes.
+}
+
+impl<'d, T: Instance> Driver<'d, T> {
+    pub fn new(_usb: impl Peripheral<P = T> + 'd, irq: impl Peripheral<P = T::Interrupt> + 'd) -> Self {
+        into_ref!(irq);
+        irq.set_handler(Self::on_interrupt);
+        irq.unpend();
+        irq.enable();
+
+        let regs = T::regs();
+        unsafe {
+            // zero fill regs
+            let p = regs.0 as *mut u32;
+            for i in 0..0x9c / 4 {
+                p.add(i).write_volatile(0)
+            }
+
+            // zero fill epmem
+            let p = EP_MEMORY as *mut u32;
+            for i in 0..0x100 / 4 {
+                p.add(i).write_volatile(0)
+            }
+
+            regs.usb_muxing().write(|w| {
+                w.set_to_phy(true);
+                w.set_softcon(true);
+            });
+            regs.usb_pwr().write(|w| {
+                w.set_vbus_detect(true);
+                w.set_vbus_detect_override_en(true);
+            });
+            regs.main_ctrl().write(|w| {
+                w.set_controller_en(true);
+            });
+        }
+
+        // Initialize the bus so that it signals that power is available
+        BUS_WAKER.wake();
+
+        Self {
+            phantom: PhantomData,
+            ep_in: [EndpointData::new(); EP_COUNT],
+            ep_out: [EndpointData::new(); EP_COUNT],
+            ep_mem_free: 0x180, // data buffer region
+        }
+    }
+
+    fn on_interrupt(_: *mut ()) {
+        unsafe {
+            let regs = T::regs();
+            //let x = regs.istr().read().0;
+            //trace!("USB IRQ: {:08x}", x);
+
+            let ints = regs.ints().read();
+
+            if ints.bus_reset() {
+                regs.inte().write_clear(|w| w.set_bus_reset(true));
+                BUS_WAKER.wake();
+            }
+            if ints.dev_resume_from_host() {
+                regs.inte().write_clear(|w| w.set_dev_resume_from_host(true));
+                BUS_WAKER.wake();
+            }
+            if ints.dev_suspend() {
+                regs.inte().write_clear(|w| w.set_dev_suspend(true));
+                BUS_WAKER.wake();
+            }
+            if ints.setup_req() {
+                regs.inte().write_clear(|w| w.set_setup_req(true));
+                EP_OUT_WAKERS[0].wake();
+            }
+
+            if ints.buff_status() {
+                let s = regs.buff_status().read();
+                regs.buff_status().write_value(s);
+
+                for i in 0..EP_COUNT {
+                    if s.ep_in(i) {
+                        EP_IN_WAKERS[i].wake();
+                    }
+                    if s.ep_out(i) {
+                        EP_OUT_WAKERS[i].wake();
+                    }
+                }
+            }
+        }
+    }
+
+    fn alloc_endpoint<D: Dir>(
+        &mut self,
+        ep_type: EndpointType,
+        max_packet_size: u16,
+        interval: u8,
+    ) -> Result<Endpoint<'d, T, D>, driver::EndpointAllocError> {
+        trace!(
+            "allocating type={:?} mps={:?} interval={}, dir={:?}",
+            ep_type,
+            max_packet_size,
+            interval,
+            D::dir()
+        );
+
+        let alloc = match D::dir() {
+            UsbDirection::Out => &mut self.ep_out,
+            UsbDirection::In => &mut self.ep_in,
+        };
+
+        let index = alloc.iter_mut().enumerate().find(|(i, ep)| {
+            if *i == 0 {
+                return false; // reserved for control pipe
+            }
+            !ep.used
+        });
+
+        let (index, ep) = index.ok_or(EndpointAllocError)?;
+        assert!(!ep.used);
+
+        if max_packet_size > 64 {
+            warn!("max_packet_size too high: {}", max_packet_size);
+            return Err(EndpointAllocError);
+        }
+
+        // ep mem addrs must be 64-byte aligned, so there's no point in trying
+        // to allocate smaller chunks to save memory.
+        let len = 64;
+
+        let addr = self.ep_mem_free;
+        if addr + len > EP_MEMORY_SIZE as _ {
+            warn!("Endpoint memory full");
+            return Err(EndpointAllocError);
+        }
+        self.ep_mem_free += len;
+
+        let buf = EndpointBuffer {
+            addr,
+            len,
+            _phantom: PhantomData,
+        };
+
+        trace!("  index={} addr={} len={}", index, buf.addr, buf.len);
+
+        ep.ep_type = ep_type;
+        ep.used = true;
+        ep.max_packet_size = max_packet_size;
+
+        let ep_type_reg = match ep_type {
+            EndpointType::Bulk => pac::usb_dpram::vals::EpControlEndpointType::BULK,
+            EndpointType::Control => pac::usb_dpram::vals::EpControlEndpointType::CONTROL,
+            EndpointType::Interrupt => pac::usb_dpram::vals::EpControlEndpointType::INTERRUPT,
+            EndpointType::Isochronous => pac::usb_dpram::vals::EpControlEndpointType::ISOCHRONOUS,
+        };
+
+        match D::dir() {
+            UsbDirection::Out => unsafe {
+                T::dpram().ep_out_control(index - 1).write(|w| {
+                    w.set_enable(false);
+                    w.set_buffer_address(addr);
+                    w.set_interrupt_per_buff(true);
+                    w.set_endpoint_type(ep_type_reg);
+                })
+            },
+            UsbDirection::In => unsafe {
+                T::dpram().ep_in_control(index - 1).write(|w| {
+                    w.set_enable(false);
+                    w.set_buffer_address(addr);
+                    w.set_interrupt_per_buff(true);
+                    w.set_endpoint_type(ep_type_reg);
+                })
+            },
+        }
+
+        Ok(Endpoint {
+            _phantom: PhantomData,
+            info: EndpointInfo {
+                addr: EndpointAddress::from_parts(index, D::dir()),
+                ep_type,
+                max_packet_size,
+                interval,
+            },
+            buf,
+        })
+    }
+}
+
+impl<'d, T: Instance> driver::Driver<'d> for Driver<'d, T> {
+    type EndpointOut = Endpoint<'d, T, Out>;
+    type EndpointIn = Endpoint<'d, T, In>;
+    type ControlPipe = ControlPipe<'d, T>;
+    type Bus = Bus<'d, T>;
+
+    fn alloc_endpoint_in(
+        &mut self,
+        ep_type: EndpointType,
+        max_packet_size: u16,
+        interval: u8,
+    ) -> Result<Self::EndpointIn, driver::EndpointAllocError> {
+        self.alloc_endpoint(ep_type, max_packet_size, interval)
+    }
+
+    fn alloc_endpoint_out(
+        &mut self,
+        ep_type: EndpointType,
+        max_packet_size: u16,
+        interval: u8,
+    ) -> Result<Self::EndpointOut, driver::EndpointAllocError> {
+        self.alloc_endpoint(ep_type, max_packet_size, interval)
+    }
+
+    fn start(self, control_max_packet_size: u16) -> (Self::Bus, Self::ControlPipe) {
+        let regs = T::regs();
+        unsafe {
+            regs.inte().write(|w| {
+                w.set_bus_reset(true);
+                w.set_buff_status(true);
+                w.set_dev_resume_from_host(true);
+                w.set_dev_suspend(true);
+                w.set_setup_req(true);
+            });
+            regs.int_ep_ctrl().write(|w| {
+                w.set_int_ep_active(0xFFFE); // all EPs
+            });
+            regs.sie_ctrl().write(|w| {
+                w.set_ep0_int_1buf(true);
+                w.set_pullup_en(true);
+            })
+        }
+        trace!("enabled");
+
+        (
+            Bus {
+                phantom: PhantomData,
+                inited: false,
+                ep_out: self.ep_out,
+            },
+            ControlPipe {
+                _phantom: PhantomData,
+                max_packet_size: control_max_packet_size,
+            },
+        )
+    }
+}
+
+pub struct Bus<'d, T: Instance> {
+    phantom: PhantomData<&'d mut T>,
+    ep_out: [EndpointData; EP_COUNT],
+    inited: bool,
+}
+
+impl<'d, T: Instance> driver::Bus for Bus<'d, T> {
+    type PollFuture<'a> = impl Future<Output = Event> + 'a where Self: 'a;
+
+    fn poll<'a>(&'a mut self) -> Self::PollFuture<'a> {
+        poll_fn(move |cx| unsafe {
+            BUS_WAKER.register(cx.waker());
+
+            if !self.inited {
+                self.inited = true;
+                return Poll::Ready(Event::PowerDetected);
+            }
+
+            let regs = T::regs();
+            let siestatus = regs.sie_status().read();
+
+            if siestatus.resume() {
+                regs.sie_status().write(|w| w.set_resume(true));
+                return Poll::Ready(Event::Resume);
+            }
+
+            if siestatus.bus_reset() {
+                regs.sie_status().write(|w| {
+                    w.set_bus_reset(true);
+                    w.set_setup_rec(true);
+                });
+                regs.buff_status().write(|w| w.0 = 0xFFFF_FFFF);
+                regs.addr_endp().write(|w| w.set_address(0));
+
+                for i in 1..EP_COUNT {
+                    T::dpram().ep_in_control(i - 1).modify(|w| w.set_enable(false));
+                    T::dpram().ep_out_control(i - 1).modify(|w| w.set_enable(false));
+                }
+
+                for w in &EP_IN_WAKERS {
+                    w.wake()
+                }
+                for w in &EP_OUT_WAKERS {
+                    w.wake()
+                }
+                return Poll::Ready(Event::Reset);
+            }
+
+            if siestatus.suspended() {
+                regs.sie_status().write(|w| w.set_suspended(true));
+                return Poll::Ready(Event::Suspend);
+            }
+
+            // no pending event. Reenable all irqs.
+            regs.inte().write_set(|w| {
+                w.set_bus_reset(true);
+                w.set_dev_resume_from_host(true);
+                w.set_dev_suspend(true);
+            });
+            Poll::Pending
+        })
+    }
+
+    #[inline]
+    fn set_address(&mut self, addr: u8) {
+        let regs = T::regs();
+        trace!("setting addr: {}", addr);
+        unsafe { regs.addr_endp().write(|w| w.set_address(addr)) }
+    }
+
+    fn endpoint_set_stalled(&mut self, _ep_addr: EndpointAddress, _stalled: bool) {
+        todo!();
+    }
+
+    fn endpoint_is_stalled(&mut self, _ep_addr: EndpointAddress) -> bool {
+        todo!();
+    }
+
+    fn endpoint_set_enabled(&mut self, ep_addr: EndpointAddress, enabled: bool) {
+        trace!("set_enabled {:?} {}", ep_addr, enabled);
+        if ep_addr.index() == 0 {
+            return;
+        }
+
+        let n = ep_addr.index();
+        match ep_addr.direction() {
+            UsbDirection::In => unsafe {
+                T::dpram().ep_in_control(n - 1).modify(|w| w.set_enable(enabled));
+                T::dpram().ep_in_buffer_control(ep_addr.index()).write(|w| {
+                    w.set_pid(0, true); // first packet is DATA0, but PID is flipped before
+                });
+                EP_IN_WAKERS[n].wake();
+            },
+            UsbDirection::Out => unsafe {
+                T::dpram().ep_out_control(n - 1).modify(|w| w.set_enable(enabled));
+
+                T::dpram().ep_out_buffer_control(ep_addr.index()).write(|w| {
+                    w.set_pid(0, false);
+                    w.set_length(0, self.ep_out[n].max_packet_size);
+                });
+                cortex_m::asm::delay(12);
+                T::dpram().ep_out_buffer_control(ep_addr.index()).write(|w| {
+                    w.set_pid(0, false);
+                    w.set_length(0, self.ep_out[n].max_packet_size);
+                    w.set_available(0, true);
+                });
+                EP_OUT_WAKERS[n].wake();
+            },
+        }
+    }
+
+    type EnableFuture<'a> = impl Future<Output = ()> + 'a where Self: 'a;
+
+    fn enable(&mut self) -> Self::EnableFuture<'_> {
+        async move {}
+    }
+
+    type DisableFuture<'a> = impl Future<Output = ()> + 'a where Self: 'a;
+
+    fn disable(&mut self) -> Self::DisableFuture<'_> {
+        async move {}
+    }
+
+    type RemoteWakeupFuture<'a> =  impl Future<Output = Result<(), Unsupported>> + 'a where Self: 'a;
+
+    fn remote_wakeup(&mut self) -> Self::RemoteWakeupFuture<'_> {
+        async move { Err(Unsupported) }
+    }
+}
+
+trait Dir {
+    fn dir() -> UsbDirection;
+    fn waker(i: usize) -> &'static AtomicWaker;
+}
+
+pub enum In {}
+impl Dir for In {
+    fn dir() -> UsbDirection {
+        UsbDirection::In
+    }
+
+    #[inline]
+    fn waker(i: usize) -> &'static AtomicWaker {
+        &EP_IN_WAKERS[i]
+    }
+}
+
+pub enum Out {}
+impl Dir for Out {
+    fn dir() -> UsbDirection {
+        UsbDirection::Out
+    }
+
+    #[inline]
+    fn waker(i: usize) -> &'static AtomicWaker {
+        &EP_OUT_WAKERS[i]
+    }
+}
+
+pub struct Endpoint<'d, T: Instance, D> {
+    _phantom: PhantomData<(&'d mut T, D)>,
+    info: EndpointInfo,
+    buf: EndpointBuffer<T>,
+}
+
+impl<'d, T: Instance> driver::Endpoint for Endpoint<'d, T, In> {
+    fn info(&self) -> &EndpointInfo {
+        &self.info
+    }
+
+    type WaitEnabledFuture<'a> = impl Future<Output = ()> + 'a where Self: 'a;
+
+    fn wait_enabled(&mut self) -> Self::WaitEnabledFuture<'_> {
+        async move {
+            trace!("wait_enabled IN WAITING");
+            let index = self.info.addr.index();
+            poll_fn(|cx| {
+                EP_OUT_WAKERS[index].register(cx.waker());
+                let val = unsafe { T::dpram().ep_in_control(self.info.addr.index() - 1).read() };
+                if val.enable() {
+                    Poll::Ready(())
+                } else {
+                    Poll::Pending
+                }
+            })
+            .await;
+            trace!("wait_enabled IN OK");
+        }
+    }
+}
+
+impl<'d, T: Instance> driver::Endpoint for Endpoint<'d, T, Out> {
+    fn info(&self) -> &EndpointInfo {
+        &self.info
+    }
+
+    type WaitEnabledFuture<'a> = impl Future<Output = ()> + 'a where Self: 'a;
+
+    fn wait_enabled(&mut self) -> Self::WaitEnabledFuture<'_> {
+        async move {
+            trace!("wait_enabled OUT WAITING");
+            let index = self.info.addr.index();
+            poll_fn(|cx| {
+                EP_OUT_WAKERS[index].register(cx.waker());
+                let val = unsafe { T::dpram().ep_out_control(self.info.addr.index() - 1).read() };
+                if val.enable() {
+                    Poll::Ready(())
+                } else {
+                    Poll::Pending
+                }
+            })
+            .await;
+            trace!("wait_enabled OUT OK");
+        }
+    }
+}
+
+impl<'d, T: Instance> driver::EndpointOut for Endpoint<'d, T, Out> {
+    type ReadFuture<'a> = impl Future<Output = Result<usize, EndpointError>> + 'a where Self: 'a;
+
+    fn read<'a>(&'a mut self, buf: &'a mut [u8]) -> Self::ReadFuture<'a> {
+        async move {
+            trace!("READ WAITING, buf.len() = {}", buf.len());
+            let index = self.info.addr.index();
+            let val = poll_fn(|cx| unsafe {
+                EP_OUT_WAKERS[index].register(cx.waker());
+                let val = T::dpram().ep_out_buffer_control(index).read();
+                if val.available(0) {
+                    Poll::Pending
+                } else {
+                    Poll::Ready(val)
+                }
+            })
+            .await;
+
+            let rx_len = val.length(0) as usize;
+            if rx_len > buf.len() {
+                return Err(EndpointError::BufferOverflow);
+            }
+            self.buf.read(&mut buf[..rx_len]);
+
+            trace!("READ OK, rx_len = {}", rx_len);
+
+            unsafe {
+                let pid = !val.pid(0);
+                T::dpram().ep_out_buffer_control(index).write(|w| {
+                    w.set_pid(0, pid);
+                    w.set_length(0, self.info.max_packet_size);
+                });
+                cortex_m::asm::delay(12);
+                T::dpram().ep_out_buffer_control(index).write(|w| {
+                    w.set_pid(0, pid);
+                    w.set_length(0, self.info.max_packet_size);
+                    w.set_available(0, true);
+                });
+            }
+
+            Ok(rx_len)
+        }
+    }
+}
+
+impl<'d, T: Instance> driver::EndpointIn for Endpoint<'d, T, In> {
+    type WriteFuture<'a> = impl Future<Output = Result<(), EndpointError>> + 'a where Self: 'a;
+
+    fn write<'a>(&'a mut self, buf: &'a [u8]) -> Self::WriteFuture<'a> {
+        async move {
+            if buf.len() > self.info.max_packet_size as usize {
+                return Err(EndpointError::BufferOverflow);
+            }
+
+            trace!("WRITE WAITING");
+
+            let index = self.info.addr.index();
+            let val = poll_fn(|cx| unsafe {
+                EP_IN_WAKERS[index].register(cx.waker());
+                let val = T::dpram().ep_in_buffer_control(index).read();
+                if val.available(0) {
+                    Poll::Pending
+                } else {
+                    Poll::Ready(val)
+                }
+            })
+            .await;
+
+            self.buf.write(buf);
+
+            unsafe {
+                let pid = !val.pid(0);
+                T::dpram().ep_in_buffer_control(index).write(|w| {
+                    w.set_pid(0, pid);
+                    w.set_length(0, buf.len() as _);
+                    w.set_full(0, true);
+                });
+                cortex_m::asm::delay(12);
+                T::dpram().ep_in_buffer_control(index).write(|w| {
+                    w.set_pid(0, pid);
+                    w.set_length(0, buf.len() as _);
+                    w.set_full(0, true);
+                    w.set_available(0, true);
+                });
+            }
+
+            trace!("WRITE OK");
+
+            Ok(())
+        }
+    }
+}
+
+pub struct ControlPipe<'d, T: Instance> {
+    _phantom: PhantomData<&'d mut T>,
+    max_packet_size: u16,
+}
+
+impl<'d, T: Instance> driver::ControlPipe for ControlPipe<'d, T> {
+    type SetupFuture<'a> = impl Future<Output = [u8;8]> + 'a where Self: 'a;
+    type DataOutFuture<'a> = impl Future<Output = Result<usize, EndpointError>> + 'a where Self: 'a;
+    type DataInFuture<'a> = impl Future<Output = Result<(), EndpointError>> + 'a where Self: 'a;
+    type AcceptFuture<'a> = impl Future<Output = ()> + 'a where Self: 'a;
+    type RejectFuture<'a> = impl Future<Output = ()> + 'a where Self: 'a;
+
+    fn max_packet_size(&self) -> usize {
+        64
+    }
+
+    fn setup<'a>(&'a mut self) -> Self::SetupFuture<'a> {
+        async move {
+            loop {
+                trace!("SETUP read waiting");
+                let regs = T::regs();
+                unsafe { regs.inte().write_set(|w| w.set_setup_req(true)) };
+
+                poll_fn(|cx| unsafe {
+                    EP_OUT_WAKERS[0].register(cx.waker());
+                    let regs = T::regs();
+                    if regs.sie_status().read().setup_rec() {
+                        Poll::Ready(())
+                    } else {
+                        Poll::Pending
+                    }
+                })
+                .await;
+
+                let mut buf = [0; 8];
+                EndpointBuffer::<T>::new(0, 8).read(&mut buf);
+
+                let regs = T::regs();
+                unsafe {
+                    regs.sie_status().write(|w| w.set_setup_rec(true));
+
+                    // set PID to 0, so (after toggling) first DATA is PID 1
+                    T::dpram().ep_in_buffer_control(0).write(|w| w.set_pid(0, false));
+                    T::dpram().ep_out_buffer_control(0).write(|w| w.set_pid(0, false));
+                }
+
+                trace!("SETUP read ok");
+                return buf;
+            }
+        }
+    }
+
+    fn data_out<'a>(&'a mut self, buf: &'a mut [u8], _first: bool, _last: bool) -> Self::DataOutFuture<'a> {
+        async move {
+            unsafe {
+                let bufcontrol = T::dpram().ep_out_buffer_control(0);
+                let pid = !bufcontrol.read().pid(0);
+                bufcontrol.write(|w| {
+                    w.set_length(0, self.max_packet_size);
+                    w.set_pid(0, pid);
+                });
+                cortex_m::asm::delay(12);
+                bufcontrol.write(|w| {
+                    w.set_length(0, self.max_packet_size);
+                    w.set_pid(0, pid);
+                    w.set_available(0, true);
+                });
+            }
+
+            trace!("control: data_out len={} first={} last={}", buf.len(), _first, _last);
+            let val = poll_fn(|cx| unsafe {
+                EP_OUT_WAKERS[0].register(cx.waker());
+                let val = T::dpram().ep_out_buffer_control(0).read();
+                if val.available(0) {
+                    Poll::Pending
+                } else {
+                    Poll::Ready(val)
+                }
+            })
+            .await;
+
+            let rx_len = val.length(0) as _;
+            trace!("control data_out DONE, rx_len = {}", rx_len);
+
+            if rx_len > buf.len() {
+                return Err(EndpointError::BufferOverflow);
+            }
+            EndpointBuffer::<T>::new(0x100, 64).read(&mut buf[..rx_len]);
+
+            Ok(rx_len)
+        }
+    }
+
+    fn data_in<'a>(&'a mut self, buf: &'a [u8], _first: bool, _last: bool) -> Self::DataInFuture<'a> {
+        async move {
+            trace!("control: data_in len={} first={} last={}", buf.len(), _first, _last);
+
+            if buf.len() > 64 {
+                return Err(EndpointError::BufferOverflow);
+            }
+            EndpointBuffer::<T>::new(0x100, 64).write(buf);
+
+            unsafe {
+                let bufcontrol = T::dpram().ep_in_buffer_control(0);
+                let pid = !bufcontrol.read().pid(0);
+                bufcontrol.write(|w| {
+                    w.set_length(0, buf.len() as _);
+                    w.set_pid(0, pid);
+                    w.set_full(0, true);
+                });
+                cortex_m::asm::delay(12);
+                bufcontrol.write(|w| {
+                    w.set_length(0, buf.len() as _);
+                    w.set_pid(0, pid);
+                    w.set_full(0, true);
+                    w.set_available(0, true);
+                });
+            }
+
+            poll_fn(|cx| unsafe {
+                EP_IN_WAKERS[0].register(cx.waker());
+                let bufcontrol = T::dpram().ep_in_buffer_control(0);
+                if bufcontrol.read().available(0) {
+                    Poll::Pending
+                } else {
+                    Poll::Ready(())
+                }
+            })
+            .await;
+            trace!("control: data_in DONE");
+
+            if _last {
+                // prepare status phase right away.
+                unsafe {
+                    let bufcontrol = T::dpram().ep_out_buffer_control(0);
+                    bufcontrol.write(|w| {
+                        w.set_length(0, 0);
+                        w.set_pid(0, true);
+                    });
+                    cortex_m::asm::delay(12);
+                    bufcontrol.write(|w| {
+                        w.set_length(0, 0);
+                        w.set_pid(0, true);
+                        w.set_available(0, true);
+                    });
+                }
+            }
+
+            Ok(())
+        }
+    }
+
+    fn accept<'a>(&'a mut self) -> Self::AcceptFuture<'a> {
+        async move {
+            trace!("control: accept");
+
+            unsafe {
+                let bufcontrol = T::dpram().ep_in_buffer_control(0);
+                bufcontrol.write(|w| {
+                    w.set_length(0, 0);
+                    w.set_pid(0, true);
+                    w.set_full(0, true);
+                });
+                cortex_m::asm::delay(12);
+                bufcontrol.write(|w| {
+                    w.set_length(0, 0);
+                    w.set_pid(0, true);
+                    w.set_full(0, true);
+                    w.set_available(0, true);
+                });
+            }
+        }
+    }
+
+    fn reject<'a>(&'a mut self) -> Self::RejectFuture<'a> {
+        async move {
+            trace!("control: reject");
+
+            let regs = T::regs();
+            unsafe {
+                regs.ep_stall_arm().write_set(|w| {
+                    w.set_ep0_in(true);
+                    w.set_ep0_out(true);
+                });
+                T::dpram().ep_out_buffer_control(0).write(|w| w.set_stall(true));
+                T::dpram().ep_in_buffer_control(0).write(|w| w.set_stall(true));
+            }
+        }
+    }
+}

examples/rp/Cargo.toml

@@ -9,6 +9,10 @@ embassy-sync = { version = "0.1.0", path = "../../embassy-sync", features = ["de
 embassy-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["defmt", "integrated-timers"] }
 embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime"] }
 embassy-rp = { version = "0.1.0", path = "../../embassy-rp", features = ["defmt", "unstable-traits", "nightly", "unstable-pac"] }
+embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"] }
+embassy-usb-serial = { version = "0.1.0", path = "../../embassy-usb-serial", features = ["defmt"] }
+embassy-net = { version = "0.1.0", path = "../../embassy-net", features = ["defmt", "tcp", "dhcpv4", "medium-ethernet", "pool-16"] }
+embassy-usb-ncm = { version = "0.1.0", path = "../../embassy-usb-ncm", features = ["defmt"] }
 
 defmt = "0.3"
 defmt-rtt = "0.3"
@@ -25,3 +29,5 @@ byte-slice-cast = { version = "1.2.0", default-features = false }
 
 embedded-hal-1 = { package = "embedded-hal", version = "1.0.0-alpha.8" }
 embedded-hal-async = { version = "0.1.0-alpha.1" }
+embedded-io = { version = "0.3.0", features = ["async", "defmt"] }
+static_cell = "1.0.0"

examples/rp/src/bin/usb_ethernet.rs

@@ -0,0 +1,264 @@
+#![no_std]
+#![no_main]
+#![feature(generic_associated_types)]
+#![feature(type_alias_impl_trait)]
+
+use core::sync::atomic::{AtomicBool, Ordering};
+use core::task::Waker;
+
+use defmt::*;
+use embassy_executor::Spawner;
+use embassy_net::tcp::TcpSocket;
+use embassy_net::{PacketBox, PacketBoxExt, PacketBuf, Stack, StackResources};
+use embassy_rp::usb::Driver;
+use embassy_rp::{interrupt, peripherals};
+use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex;
+use embassy_sync::channel::Channel;
+use embassy_usb::{Builder, Config, UsbDevice};
+use embassy_usb_ncm::{CdcNcmClass, Receiver, Sender, State};
+use embedded_io::asynch::{Read, Write};
+use static_cell::StaticCell;
+use {defmt_rtt as _, panic_probe as _};
+
+type MyDriver = Driver<'static, peripherals::USB>;
+
+macro_rules! singleton {
+    ($val:expr) => {{
+        type T = impl Sized;
+        static STATIC_CELL: StaticCell<T> = StaticCell::new();
+        STATIC_CELL.init_with(move || $val)
+    }};
+}
+
+#[embassy_executor::task]
+async fn usb_task(mut device: UsbDevice<'static, MyDriver>) -> ! {
+    device.run().await
+}
+
+#[embassy_executor::task]
+async fn usb_ncm_rx_task(mut class: Receiver<'static, MyDriver>) {
+    loop {
+        warn!("WAITING for connection");
+        LINK_UP.store(false, Ordering::Relaxed);
+
+        class.wait_connection().await.unwrap();
+
+        warn!("Connected");
+        LINK_UP.store(true, Ordering::Relaxed);
+
+        loop {
+            let mut p = unwrap!(PacketBox::new(embassy_net::Packet::new()));
+            let n = match class.read_packet(&mut p[..]).await {
+                Ok(n) => n,
+                Err(e) => {
+                    warn!("error reading packet: {:?}", e);
+                    break;
+                }
+            };
+
+            let buf = p.slice(0..n);
+            if RX_CHANNEL.try_send(buf).is_err() {
+                warn!("Failed pushing rx'd packet to channel.");
+            }
+        }
+    }
+}
+
+#[embassy_executor::task]
+async fn usb_ncm_tx_task(mut class: Sender<'static, MyDriver>) {
+    loop {
+        let pkt = TX_CHANNEL.recv().await;
+        if let Err(e) = class.write_packet(&pkt[..]).await {
+            warn!("Failed to TX packet: {:?}", e);
+        }
+    }
+}
+
+#[embassy_executor::task]
+async fn net_task(stack: &'static Stack<Device>) -> ! {
+    stack.run().await
+}
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    let p = embassy_rp::init(Default::default());
+
+    // Create the driver, from the HAL.
+    let irq = interrupt::take!(USBCTRL_IRQ);
+    let driver = Driver::new(p.USB, irq);
+
+    // Create embassy-usb Config
+    let mut config = Config::new(0xc0de, 0xcafe);
+    config.manufacturer = Some("Embassy");
+    config.product = Some("USB-Ethernet example");
+    config.serial_number = Some("12345678");
+    config.max_power = 100;
+    config.max_packet_size_0 = 64;
+
+    // Required for Windows support.
+    config.composite_with_iads = true;
+    config.device_class = 0xEF;
+    config.device_sub_class = 0x02;
+    config.device_protocol = 0x01;
+
+    struct Resources {
+        device_descriptor: [u8; 256],
+        config_descriptor: [u8; 256],
+        bos_descriptor: [u8; 256],
+        control_buf: [u8; 128],
+        serial_state: State<'static>,
+    }
+    let res: &mut Resources = singleton!(Resources {
+        device_descriptor: [0; 256],
+        config_descriptor: [0; 256],
+        bos_descriptor: [0; 256],
+        control_buf: [0; 128],
+        serial_state: State::new(),
+    });
+
+    // Create embassy-usb DeviceBuilder using the driver and config.
+    let mut builder = Builder::new(
+        driver,
+        config,
+        &mut res.device_descriptor,
+        &mut res.config_descriptor,
+        &mut res.bos_descriptor,
+        &mut res.control_buf,
+        None,
+    );
+
+    // WARNINGS for Android ethernet tethering:
+    // - On Pixel 4a, it refused to work on Android 11, worked on Android 12.
+    // - if the host's MAC address has the "locally-administered" bit set (bit 1 of first byte),
+    //   it doesn't work! The "Ethernet tethering" option in settings doesn't get enabled.
+    //   This is due to regex spaghetti: https://android.googlesource.com/platform/frameworks/base/+/refs/tags/android-mainline-12.0.0_r84/core/res/res/values/config.xml#417
+    //   and this nonsense in the linux kernel: https://github.com/torvalds/linux/blob/c00c5e1d157bec0ef0b0b59aa5482eb8dc7e8e49/drivers/net/usb/usbnet.c#L1751-L1757
+
+    // Our MAC addr.
+    let our_mac_addr = [0xCC, 0xCC, 0xCC, 0xCC, 0xCC, 0xCC];
+    // Host's MAC addr. This is the MAC the host "thinks" its USB-to-ethernet adapter has.
+    let host_mac_addr = [0x88, 0x88, 0x88, 0x88, 0x88, 0x88];
+
+    // Create classes on the builder.
+    let class = CdcNcmClass::new(&mut builder, &mut res.serial_state, host_mac_addr, 64);
+
+    // Build the builder.
+    let usb = builder.build();
+
+    unwrap!(spawner.spawn(usb_task(usb)));
+
+    let (tx, rx) = class.split();
+    unwrap!(spawner.spawn(usb_ncm_rx_task(rx)));
+    unwrap!(spawner.spawn(usb_ncm_tx_task(tx)));
+
+    let config = embassy_net::ConfigStrategy::Dhcp;
+    //let config = embassy_net::ConfigStrategy::Static(embassy_net::Config {
+    //    address: Ipv4Cidr::new(Ipv4Address::new(10, 42, 0, 61), 24),
+    //    dns_servers: Vec::new(),
+    //    gateway: Some(Ipv4Address::new(10, 42, 0, 1)),
+    //});
+
+    // Generate random seed
+    let seed = 1234; // guaranteed random, chosen by a fair dice roll
+
+    // Init network stack
+    let device = Device { mac_addr: our_mac_addr };
+    let stack = &*singleton!(Stack::new(
+        device,
+        config,
+        singleton!(StackResources::<1, 2, 8>::new()),
+        seed
+    ));
+
+    unwrap!(spawner.spawn(net_task(stack)));
+
+    // And now we can use it!
+
+    let mut rx_buffer = [0; 4096];
+    let mut tx_buffer = [0; 4096];
+    let mut buf = [0; 4096];
+
+    loop {
+        let mut socket = TcpSocket::new(stack, &mut rx_buffer, &mut tx_buffer);
+        socket.set_timeout(Some(embassy_net::SmolDuration::from_secs(10)));
+
+        info!("Listening on TCP:1234...");
+        if let Err(e) = socket.accept(1234).await {
+            warn!("accept error: {:?}", e);
+            continue;
+        }
+
+        info!("Received connection from {:?}", socket.remote_endpoint());
+
+        loop {
+            let n = match socket.read(&mut buf).await {
+                Ok(0) => {
+                    warn!("read EOF");
+                    break;
+                }
+                Ok(n) => n,
+                Err(e) => {
+                    warn!("read error: {:?}", e);
+                    break;
+                }
+            };
+
+            info!("rxd {:02x}", &buf[..n]);
+
+            match socket.write_all(&buf[..n]).await {
+                Ok(()) => {}
+                Err(e) => {
+                    warn!("write error: {:?}", e);
+                    break;
+                }
+            };
+        }
+    }
+}
+
+static TX_CHANNEL: Channel<ThreadModeRawMutex, PacketBuf, 8> = Channel::new();
+static RX_CHANNEL: Channel<ThreadModeRawMutex, PacketBuf, 8> = Channel::new();
+static LINK_UP: AtomicBool = AtomicBool::new(false);
+
+struct Device {
+    mac_addr: [u8; 6],
+}
+
+impl embassy_net::Device for Device {
+    fn register_waker(&mut self, waker: &Waker) {
+        // loopy loopy wakey wakey
+        waker.wake_by_ref()
+    }
+
+    fn link_state(&mut self) -> embassy_net::LinkState {
+        match LINK_UP.load(Ordering::Relaxed) {
+            true => embassy_net::LinkState::Up,
+            false => embassy_net::LinkState::Down,
+        }
+    }
+
+    fn capabilities(&self) -> embassy_net::DeviceCapabilities {
+        let mut caps = embassy_net::DeviceCapabilities::default();
+        caps.max_transmission_unit = 1514; // 1500 IP + 14 ethernet header
+        caps.medium = embassy_net::Medium::Ethernet;
+        caps
+    }
+
+    fn is_transmit_ready(&mut self) -> bool {
+        true
+    }
+
+    fn transmit(&mut self, pkt: PacketBuf) {
+        if TX_CHANNEL.try_send(pkt).is_err() {
+            warn!("TX failed")
+        }
+    }
+
+    fn receive<'a>(&mut self) -> Option<PacketBuf> {
+        RX_CHANNEL.try_recv().ok()
+    }
+
+    fn ethernet_address(&self) -> [u8; 6] {
+        self.mac_addr
+    }
+}

examples/rp/src/bin/usb_serial.rs

@@ -0,0 +1,103 @@
+#![no_std]
+#![no_main]
+#![feature(generic_associated_types)]
+#![feature(type_alias_impl_trait)]
+
+use defmt::{info, panic};
+use embassy_executor::Spawner;
+use embassy_rp::interrupt;
+use embassy_rp::usb::{Driver, Instance};
+use embassy_usb::driver::EndpointError;
+use embassy_usb::{Builder, Config};
+use embassy_usb_serial::{CdcAcmClass, State};
+use futures::future::join;
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    info!("Hello there!");
+
+    let p = embassy_rp::init(Default::default());
+
+    // Create the driver, from the HAL.
+    let irq = interrupt::take!(USBCTRL_IRQ);
+    let driver = Driver::new(p.USB, irq);
+
+    // Create embassy-usb Config
+    let mut config = Config::new(0xc0de, 0xcafe);
+    config.manufacturer = Some("Embassy");
+    config.product = Some("USB-serial example");
+    config.serial_number = Some("12345678");
+    config.max_power = 100;
+    config.max_packet_size_0 = 64;
+
+    // Required for windows compatiblity.
+    // https://developer.nordicsemi.com/nRF_Connect_SDK/doc/1.9.1/kconfig/CONFIG_CDC_ACM_IAD.html#help
+    config.device_class = 0xEF;
+    config.device_sub_class = 0x02;
+    config.device_protocol = 0x01;
+    config.composite_with_iads = true;
+
+    // Create embassy-usb DeviceBuilder using the driver and config.
+    // It needs some buffers for building the descriptors.
+    let mut device_descriptor = [0; 256];
+    let mut config_descriptor = [0; 256];
+    let mut bos_descriptor = [0; 256];
+    let mut control_buf = [0; 64];
+
+    let mut state = State::new();
+
+    let mut builder = Builder::new(
+        driver,
+        config,
+        &mut device_descriptor,
+        &mut config_descriptor,
+        &mut bos_descriptor,
+        &mut control_buf,
+        None,
+    );
+
+    // Create classes on the builder.
+    let mut class = CdcAcmClass::new(&mut builder, &mut state, 64);
+
+    // Build the builder.
+    let mut usb = builder.build();
+
+    // Run the USB device.
+    let usb_fut = usb.run();
+
+    // Do stuff with the class!
+    let echo_fut = async {
+        loop {
+            class.wait_connection().await;
+            info!("Connected");
+            let _ = echo(&mut class).await;
+            info!("Disconnected");
+        }
+    };
+
+    // Run everything concurrently.
+    // If we had made everything `'static` above instead, we could do this using separate tasks instead.
+    join(usb_fut, echo_fut).await;
+}
+
+struct Disconnected {}
+
+impl From<EndpointError> for Disconnected {
+    fn from(val: EndpointError) -> Self {
+        match val {
+            EndpointError::BufferOverflow => panic!("Buffer overflow"),
+            EndpointError::Disabled => Disconnected {},
+        }
+    }
+}
+
+async fn echo<'d, T: Instance + 'd>(class: &mut CdcAcmClass<'d, Driver<'d, T>>) -> Result<(), Disconnected> {
+    let mut buf = [0; 64];
+    loop {
+        let n = class.read_packet(&mut buf).await?;
+        let data = &buf[..n];
+        info!("data: {:x}", data);
+        class.write_packet(data).await?;
+    }
+}