[EV3] New USB driver, batch 1

.vscode/c_cpp_properties.json

@@ -72,7 +72,6 @@
                 "${workspaceFolder}/lib/tiam1808/tiam1808/hw",
                 "${workspaceFolder}/lib/tiam1808/tiam1808/armv5",
                 "${workspaceFolder}/lib/tiam1808/tiam1808/armv5/am1808",
-                "${workspaceFolder}/lib/tiam1808/tiam1808/usblib",
                 "${workspaceFolder}/lib/umm_malloc/src"
             ],
             "defines": [

bricks/_common/arm_none_eabi.mk

@@ -144,7 +144,6 @@ INC += -I$(PBTOP)/lib/tiam1808/tiam1808
 INC += -I$(PBTOP)/lib/tiam1808/tiam1808/hw
 INC += -I$(PBTOP)/lib/tiam1808/tiam1808/armv5
 INC += -I$(PBTOP)/lib/tiam1808/tiam1808/armv5/am1808
-INC += -I$(PBTOP)/lib/tiam1808/tiam1808/usblib
 endif
 INC += -I$(PBTOP)
 INC += -I$(BUILD)
@@ -312,30 +311,6 @@ TI_AM1808_SRC_C += $(addprefix lib/pbio/drv/uart/uart_ev3_pru_lib/,\
 	suart_utils.c \
 	)
 
-TI_AM1808_USB_SRC_C = $(addprefix lib/tiam1808/usblib/,\
-	device/usbdbulk.c \
-	device/usbdcdc.c \
-	device/usbdcdesc.c \
-	device/usbdcomp.c \
-	device/usbdconfig.c \
-	device/usbdenum.c \
-	device/usbdhandler.c \
-	device/usbdhid.c \
-	device/usbdhidmouse.c \
-	device/usbdmsc.c \
-	host/usbhhid.c \
-	host/usbhhidkeyboard.c \
-	host/usbhhidmouse.c \
-	host/usbhmsc.c \
-	host/usbhostenum.c \
-	host/usbhscsi.c \
-	usbbuffer.c \
-	usbdesc.c \
-	usbkeyboardmap.c \
-	usbringbuf.c \
-	usbtick.c \
-	)
-
 EV3_SRC_S = $(addprefix lib/pbio/platform/ev3/,\
 	exceptionhandler.S \
 	start.S \
@@ -582,7 +557,6 @@ endif
 
 ifeq ($(PB_MCU_FAMILY),TIAM1808)
 OBJ += $(addprefix $(BUILD)/, $(TI_AM1808_SRC_C:.c=.o))
-OBJ += $(addprefix $(BUILD)/, $(TI_AM1808_USB_SRC_C:.c=.o))
 OBJ += $(addprefix $(BUILD)/, $(EV3_SRC_S:.S=.o))
 $(addprefix $(BUILD)/, $(EV3_SRC_S:.S=.o)): CFLAGS += -D__ASSEMBLY__
 OBJ += $(BUILD)/pru_suart.bin.o

lib/pbio/drv/usb/usb_ch9.h

@@ -0,0 +1,163 @@
+// SPDX-License-Identifier: MIT
+// Copyright (c) 2025 The Pybricks Authors
+
+// Various bits of USB "Chapter 9" types
+
+#ifndef _INTERNAL_PBDRV_USB_CH9_H_
+#define _INTERNAL_PBDRV_USB_CH9_H_
+
+#include <stdint.h>
+#include <pbdrv/compiler.h>
+
+#if __BYTE_ORDER__ != __ORDER_LITTLE_ENDIAN__
+#error This file needs to be revisited for big-endian systems
+#endif
+
+// A number of these types additionally define a union with uint32_t.
+// This serves two functions:
+// 1. Aligns the data to a 4-byte boundary
+// 2. Explicitly enables type punning without violating strict aliasing
+//
+// The latter is important for drivers which want to efficiently copy data
+// multiple bytes at a time. The C standard considers it undefined to access
+// data behind a struct pointer by casting it to a uint32_t pointer,
+// and doing so can cause miscompiles. In order to get what we actually want,
+// GCC explicitly allows type punning via unions. This is documented in the manual:
+// https://gcc.gnu.org/onlinedocs/gcc/Optimize-Options.html#Type-punning
+//
+// The following macro helps construct these structs
+#define PBDRV_USB_TYPE_PUNNING_HELPER(type)                                     \
+    typedef union {                                                                 \
+        type##_t s;                                                                 \
+        uint32_t u[(sizeof(type##_t) + sizeof(uint32_t) - 1) / sizeof(uint32_t)];   \
+    } type##_union_t;
+
+// SETUP transaction packet structure
+typedef struct {
+    uint8_t bmRequestType;
+    uint8_t bRequest;
+    uint16_t wValue;
+    uint16_t wIndex;
+    uint16_t wLength;
+} pbdrv_usb_setup_packet_t;
+PBDRV_USB_TYPE_PUNNING_HELPER(pbdrv_usb_setup_packet)
+
+// Bitfields in bmRequestType
+#define BM_REQ_DIR_MASK         0x80
+#define BM_REQ_DIR_H2D          0x00
+#define BM_REQ_DIR_D2H          0x80
+
+#define BM_REQ_TYPE_MASK        0x60
+#define BM_REQ_TYPE_STANDARD    (0 << 5)
+#define BM_REQ_TYPE_CLASS       (1 << 5)
+#define BM_REQ_TYPE_VENDOR      (2 << 5)
+
+#define BM_REQ_RECIP_MASK       0x1f
+#define BM_REQ_RECIP_DEV        0
+#define BM_REQ_RECIP_IF         1
+#define BM_REQ_RECIP_EP         2
+#define BM_REQ_RECIP_OTHER      3
+
+// Standard USB requests
+#define GET_STATUS              0
+#define CLEAR_FEATURE           1
+#define SET_FEATURE             3
+#define SET_ADDRESS             5
+#define GET_DESCRIPTOR          6
+#define SET_DESCRIPTOR          7
+#define GET_CONFIGURATION       8
+#define SET_CONFIGURATION       9
+#define GET_INTERFACE           10
+#define SET_INTERFACE           11
+#define SYNCH_FRAME             12
+
+// Standard descriptor types
+#define DESC_TYPE_DEVICE                        1
+#define DESC_TYPE_CONFIGURATION                 2
+#define DESC_TYPE_STRING                        3
+#define DESC_TYPE_INTERFACE                     4
+#define DESC_TYPE_ENDPOINT                      5
+#define DESC_TYPE_DEVICE_QUALIFIER              6
+#define DESC_TYPE_OTHER_SPEED_CONFIGURATION     7
+#define DESC_TYPE_INTERFACE_POWER               8
+
+// Device descriptor
+typedef struct PBDRV_PACKED {
+    uint8_t bLength;
+    uint8_t bDescriptorType;
+    uint16_t bcdUSB;
+    uint8_t bDeviceClass;
+    uint8_t bDeviceSubClass;
+    uint8_t bDeviceProtocol;
+    uint8_t bMaxPacketSize0;
+    uint16_t idVendor;
+    uint16_t idProduct;
+    uint16_t bcdDevice;
+    uint8_t iManufacturer;
+    uint8_t iProduct;
+    uint8_t iSerialNumber;
+    uint8_t bNumConfigurations;
+} pbdrv_usb_dev_desc_t;
+PBDRV_USB_TYPE_PUNNING_HELPER(pbdrv_usb_dev_desc);
+
+// Configuration descriptor
+typedef struct PBDRV_PACKED {
+    uint8_t bLength;
+    uint8_t bDescriptorType;
+    uint16_t wTotalLength;
+    uint8_t bNumInterfaces;
+    uint8_t bConfigurationValue;
+    uint8_t iConfiguration;
+    uint8_t bmAttributes;
+    uint8_t bMaxPower;
+} pbdrv_usb_conf_desc_t;
+PBDRV_USB_TYPE_PUNNING_HELPER(pbdrv_usb_conf_desc);
+
+#define USB_CONF_DESC_BM_ATTR_MUST_BE_SET       0x80
+#define USB_CONF_DESC_BM_ATTR_SELF_POWERED      0x40
+#define USB_CONF_DESC_BM_ATTR_REMOTE_WAKEUP     0x20
+
+// Interface descriptor
+typedef struct PBDRV_PACKED {
+    uint8_t bLength;
+    uint8_t bDescriptorType;
+    uint8_t bInterfaceNumber;
+    uint8_t bAlternateSetting;
+    uint8_t bNumEndpoints;
+    uint8_t bInterfaceClass;
+    uint8_t bInterfaceSubClass;
+    uint8_t bInterfaceProtocol;
+    uint8_t iInterface;
+} pbdrv_usb_iface_desc_t;
+
+// Endpoint descriptor
+typedef struct PBDRV_PACKED {
+    uint8_t bLength;
+    uint8_t bDescriptorType;
+    uint8_t bEndpointAddress;
+    uint8_t bmAttributes;
+    uint16_t wMaxPacketSize;
+    uint8_t bInterval;
+} pbdrv_usb_ep_desc_t;
+
+// Endpoint types for bmAttributes
+#define EP_TYPE_CTRL    0
+#define EP_TYPE_ISOC    1
+#define EP_TYPE_BULK    2
+#define EP_TYPE_INTR    3
+
+// Device qualifier descriptor
+typedef struct PBDRV_PACKED {
+    uint8_t bLength;
+    uint8_t bDescriptorType;
+    uint16_t bcdUSB;
+    uint8_t bDeviceClass;
+    uint8_t bDeviceSubClass;
+    uint8_t bDeviceProtocol;
+    uint8_t bMaxPacketSize0;
+    uint8_t bNumConfigurations;
+    uint8_t bReserved;
+} pbdrv_usb_dev_qualifier_desc_t;
+PBDRV_USB_TYPE_PUNNING_HELPER(pbdrv_usb_dev_qualifier_desc);
+
+#endif // _INTERNAL_PBDRV_USB_CH9_H_