Add OTG_HS support for STM32H7R/S

7 files changed, 405 insertions, 4 deletions

diff --git a/embassy-stm32/Cargo.toml b/embassy-stm32/Cargo.toml
index 3f4a5e3c4..2f7f373af 100644
--- a/embassy-stm32/Cargo.toml
+++ b/embassy-stm32/Cargo.toml
@@ -72,7 +72,8 @@ rand_core = "0.6.3"
 sdio-host = "0.5.0"
 critical-section = "1.1"
 #stm32-metapac = { version = "15" }
-stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-ad00827345b4b758b2453082809d6e3b634b5364" }
+# stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-ad00827345b4b758b2453082809d6e3b634b5364" }
+stm32-metapac = { path = "../../stm32-data/build/stm32-metapac" }
 
 vcell = "0.1.3"
 nb = "1.0.0"
@@ -99,7 +100,8 @@ proc-macro2 = "1.0.36"
 quote = "1.0.15"
 
 #stm32-metapac = { version = "15", default-features = false, features = ["metadata"]}
-stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-ad00827345b4b758b2453082809d6e3b634b5364", default-features = false, features = ["metadata"] }
+# stm32-metapac = { git = "https://github.com/embassy-rs/stm32-data-generated", tag = "stm32-data-ad00827345b4b758b2453082809d6e3b634b5364", default-features = false, features = ["metadata"] }
+stm32-metapac = { path = "../../stm32-data/build/stm32-metapac", default-features = false, features = ["metadata"] }
 
 [features]
 default = ["rt"]
diff --git a/embassy-stm32/src/rcc/h.rs b/embassy-stm32/src/rcc/h.rs
index 376a0b454..27fc2b8d7 100644
--- a/embassy-stm32/src/rcc/h.rs
+++ b/embassy-stm32/src/rcc/h.rs
@@ -698,7 +698,7 @@ pub(crate) unsafe fn init(config: Config) {
         #[cfg(stm32h7rs)]
         clk48mohci: None, // TODO
         #[cfg(stm32h7rs)]
-        usb: None, // TODO
+        usb: Some(Hertz(48_000_000)),
     );
 }
 
@@ -769,7 +769,7 @@ fn init_pll(num: usize, config: Option<Pll>, input: &PllInput) -> PllOutput {
         if num == 0 {
             // on PLL1, DIVP must be even for most series.
             // The enum value is 1 less than the divider, so check it's odd.
-            #[cfg(not(pwr_h7rm0468))]
+            #[cfg(not(any(pwr_h7rm0468, stm32h7rs)))]
             assert!(div.to_bits() % 2 == 1);
             #[cfg(pwr_h7rm0468)]
             assert!(div.to_bits() % 2 == 1 || div.to_bits() == 0);
diff --git a/embassy-stm32/src/usb/mod.rs b/embassy-stm32/src/usb/mod.rs
index ce9fe0a9b..7d8c79618 100644
--- a/embassy-stm32/src/usb/mod.rs
+++ b/embassy-stm32/src/usb/mod.rs
@@ -48,6 +48,26 @@ fn common_init<T: Instance>() {
         while !crate::pac::PWR.cr3().read().usb33rdy() {}
     }
 
+    #[cfg(stm32h7rs)]
+    {
+        // If true, VDD33USB is generated by internal regulator from VDD50USB
+        // If false, VDD33USB and VDD50USB must be suplied directly with 3.3V (default on nucleo)
+        // TODO: unhardcode
+        let internal_regulator = false;
+
+        // Enable USB power
+        critical_section::with(|_| {
+            crate::pac::PWR.csr2().modify(|w| {
+                w.set_usbregen(internal_regulator);
+                w.set_usb33den(true);
+                w.set_usbhsregen(true);
+            })
+        });
+
+        // Wait for USB power to stabilize
+        while !crate::pac::PWR.csr2().read().usb33rdy() {}
+    }
+
     #[cfg(stm32u5)]
     {
         // Enable USB power
diff --git a/embassy-stm32/src/usb/otg.rs b/embassy-stm32/src/usb/otg.rs
index e27b164e4..59b5401cc 100644
--- a/embassy-stm32/src/usb/otg.rs
+++ b/embassy-stm32/src/usb/otg.rs
@@ -97,6 +97,45 @@ impl<'d, T: Instance> Driver<'d, T> {
         }
     }
 
+    /// Initializes USB OTG peripheral with internal High-Speed PHY.
+    ///
+    /// # Arguments
+    ///
+    /// * `ep_out_buffer` - An internal buffer used to temporarily store received packets.
+    /// Must be large enough to fit all OUT endpoint max packet sizes.
+    /// Endpoint allocation will fail if it is too small.
+    pub fn new_hs(
+        _peri: impl Peripheral<P = T> + 'd,
+        _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
+        dp: impl Peripheral<P = impl DpPin<T>> + 'd,
+        dm: impl Peripheral<P = impl DmPin<T>> + 'd,
+        ep_out_buffer: &'d mut [u8],
+        config: Config,
+    ) -> Self {
+        into_ref!(dp, dm);
+
+        dp.set_as_af(dp.af_num(), AfType::output(OutputType::PushPull, Speed::VeryHigh));
+        dm.set_as_af(dm.af_num(), AfType::output(OutputType::PushPull, Speed::VeryHigh));
+
+        let regs = T::regs();
+
+        let instance = OtgInstance {
+            regs,
+            state: T::state(),
+            fifo_depth_words: T::FIFO_DEPTH_WORDS,
+            extra_rx_fifo_words: RX_FIFO_EXTRA_SIZE_WORDS,
+            endpoint_count: T::ENDPOINT_COUNT,
+            phy_type: PhyType::InternalHighSpeed,
+            quirk_setup_late_cnak: quirk_setup_late_cnak(regs),
+            calculate_trdt_fn: calculate_trdt::<T>,
+        };
+
+        Self {
+            inner: OtgDriver::new(ep_out_buffer, instance, config),
+            phantom: PhantomData,
+        }
+    }
+
     /// Initializes USB OTG peripheral with external Full-speed PHY (usually, a High-speed PHY in Full-speed mode).
     ///
     /// # Arguments
@@ -272,6 +311,19 @@ impl<'d, T: Instance> Bus<'d, T> {
             }
         });
 
+        #[cfg(stm32h7rs)]
+        critical_section::with(|_| {
+            let rcc = crate::pac::RCC;
+            rcc.ahb1enr().modify(|w| {
+                w.set_usbphycen(true);
+                w.set_usb_otg_hsen(true);
+            });
+            rcc.ahb1lpenr().modify(|w| {
+                w.set_usbphyclpen(true);
+                w.set_usb_otg_hslpen(true);
+            });
+        });
+
         let r = T::regs();
         let core_id = r.cid().read().0;
         trace!("Core id {:08x}", core_id);
@@ -286,6 +338,7 @@ impl<'d, T: Instance> Bus<'d, T> {
         match core_id {
             0x0000_1200 | 0x0000_1100 => self.inner.config_v1(),
             0x0000_2000 | 0x0000_2100 | 0x0000_2300 | 0x0000_3000 | 0x0000_3100 => self.inner.config_v2v3(),
+            0x0000_5000 => self.inner.config_v5(),
             _ => unimplemented!("Unknown USB core id {:X}", core_id),
         }
     }
diff --git a/embassy-usb-synopsys-otg/src/lib.rs b/embassy-usb-synopsys-otg/src/lib.rs
index b145f4aa8..3ff965149 100644
--- a/embassy-usb-synopsys-otg/src/lib.rs
+++ b/embassy-usb-synopsys-otg/src/lib.rs
@@ -584,6 +584,22 @@ impl<'d, const MAX_EP_COUNT: usize> Bus<'d, MAX_EP_COUNT> {
         });
     }
 
+    pub fn config_v5(&mut self) {
+        let r = self.instance.regs;
+
+        r.gccfg_v3().modify(|w| {
+            w.set_vbvaloven(true);
+            w.set_vbvaloval(true);
+            w.set_vbden(self.config.vbus_detection);
+        });
+
+        // Force B-peripheral session
+        r.gotgctl().modify(|w| {
+            w.set_vbvaloen(!self.config.vbus_detection);
+            w.set_bvaloval(true);
+        });
+    }
+
     fn init(&mut self) {
         let r = self.instance.regs;
         let phy_type = self.instance.phy_type;
diff --git a/embassy-usb-synopsys-otg/src/otg_v1.rs b/embassy-usb-synopsys-otg/src/otg_v1.rs
index d3abc328d..18e760fd1 100644
--- a/embassy-usb-synopsys-otg/src/otg_v1.rs
+++ b/embassy-usb-synopsys-otg/src/otg_v1.rs
@@ -186,6 +186,11 @@ impl Otg {
     pub const fn gccfg_v2(self) -> Reg<regs::GccfgV2, RW> {
         unsafe { Reg::from_ptr(self.ptr.add(0x38usize) as _) }
     }
+    #[doc = "General core configuration register, for core_id 0x0000_5xxx"]
+    #[inline(always)]
+    pub const fn gccfg_v3(self) -> Reg<regs::GccfgV3, RW> {
+        unsafe { Reg::from_ptr(self.ptr.add(0x38usize) as _) }
+    }
     #[doc = "Core ID register"]
     #[inline(always)]
     pub const fn cid(self) -> Reg<regs::Cid, RW> {
@@ -1831,6 +1836,172 @@ pub mod regs {
             GccfgV2(0)
         }
     }
+    #[doc = "OTG general core configuration register."]
+    #[repr(transparent)]
+    #[derive(Copy, Clone, Eq, PartialEq)]
+    pub struct GccfgV3(pub u32);
+    impl GccfgV3 {
+        #[doc = "Charger detection, result of the current mode (primary or secondary)."]
+        #[inline(always)]
+        pub const fn chgdet(&self) -> bool {
+            let val = (self.0 >> 0usize) & 0x01;
+            val != 0
+        }
+        #[doc = "Charger detection, result of the current mode (primary or secondary)."]
+        #[inline(always)]
+        pub fn set_chgdet(&mut self, val: bool) {
+            self.0 = (self.0 & !(0x01 << 0usize)) | (((val as u32) & 0x01) << 0usize);
+        }
+        #[doc = "Single-Ended DP indicator This bit gives the voltage level on DP (also result of the comparison with V<sub>LGC</sub> threshold as defined in BC v1.2 standard)."]
+        #[inline(always)]
+        pub const fn fsvplus(&self) -> bool {
+            let val = (self.0 >> 1usize) & 0x01;
+            val != 0
+        }
+        #[doc = "Single-Ended DP indicator This bit gives the voltage level on DP (also result of the comparison with V<sub>LGC</sub> threshold as defined in BC v1.2 standard)."]
+        #[inline(always)]
+        pub fn set_fsvplus(&mut self, val: bool) {
+            self.0 = (self.0 & !(0x01 << 1usize)) | (((val as u32) & 0x01) << 1usize);
+        }
+        #[doc = "Single-Ended DM indicator This bit gives the voltage level on DM (also result of the comparison with V<sub>LGC</sub> threshold as defined in BC v1.2 standard)."]
+        #[inline(always)]
+        pub const fn fsvminus(&self) -> bool {
+            let val = (self.0 >> 2usize) & 0x01;
+            val != 0
+        }
+        #[doc = "Single-Ended DM indicator This bit gives the voltage level on DM (also result of the comparison with V<sub>LGC</sub> threshold as defined in BC v1.2 standard)."]
+        #[inline(always)]
+        pub fn set_fsvminus(&mut self, val: bool) {
+            self.0 = (self.0 & !(0x01 << 2usize)) | (((val as u32) & 0x01) << 2usize);
+        }
+        #[doc = "VBUS session indicator Indicates if VBUS is above VBUS session threshold."]
+        #[inline(always)]
+        pub const fn sessvld(&self) -> bool {
+            let val = (self.0 >> 3usize) & 0x01;
+            val != 0
+        }
+        #[doc = "VBUS session indicator Indicates if VBUS is above VBUS session threshold."]
+        #[inline(always)]
+        pub fn set_sessvld(&mut self, val: bool) {
+            self.0 = (self.0 & !(0x01 << 3usize)) | (((val as u32) & 0x01) << 3usize);
+        }
+        #[doc = "Host CDP behavior enable."]
+        #[inline(always)]
+        pub const fn hcdpen(&self) -> bool {
+            let val = (self.0 >> 16usize) & 0x01;
+            val != 0
+        }
+        #[doc = "Host CDP behavior enable."]
+        #[inline(always)]
+        pub fn set_hcdpen(&mut self, val: bool) {
+            self.0 = (self.0 & !(0x01 << 16usize)) | (((val as u32) & 0x01) << 16usize);
+        }
+        #[doc = "Host CDP port voltage detector enable on DP."]
+        #[inline(always)]
+        pub const fn hcdpdeten(&self) -> bool {
+            let val = (self.0 >> 17usize) & 0x01;
+            val != 0
+        }
+        #[doc = "Host CDP port voltage detector enable on DP."]
+        #[inline(always)]
+        pub fn set_hcdpdeten(&mut self, val: bool) {
+            self.0 = (self.0 & !(0x01 << 17usize)) | (((val as u32) & 0x01) << 17usize);
+        }
+        #[doc = "Host CDP port Voltage source enable on DM."]
+        #[inline(always)]
+        pub const fn hvdmsrcen(&self) -> bool {
+            let val = (self.0 >> 18usize) & 0x01;
+            val != 0
+        }
+        #[doc = "Host CDP port Voltage source enable on DM."]
+        #[inline(always)]
+        pub fn set_hvdmsrcen(&mut self, val: bool) {
+            self.0 = (self.0 & !(0x01 << 18usize)) | (((val as u32) & 0x01) << 18usize);
+        }
+        #[doc = "Data Contact Detection enable."]
+        #[inline(always)]
+        pub const fn dcden(&self) -> bool {
+            let val = (self.0 >> 19usize) & 0x01;
+            val != 0
+        }
+        #[doc = "Data Contact Detection enable."]
+        #[inline(always)]
+        pub fn set_dcden(&mut self, val: bool) {
+            self.0 = (self.0 & !(0x01 << 19usize)) | (((val as u32) & 0x01) << 19usize);
+        }
+        #[doc = "Primary detection enable."]
+        #[inline(always)]
+        pub const fn pden(&self) -> bool {
+            let val = (self.0 >> 20usize) & 0x01;
+            val != 0
+        }
+        #[doc = "Primary detection enable."]
+        #[inline(always)]
+        pub fn set_pden(&mut self, val: bool) {
+            self.0 = (self.0 & !(0x01 << 20usize)) | (((val as u32) & 0x01) << 20usize);
+        }
+        #[doc = "VBUS detection enable Enables VBUS Sensing Comparators in order to detect VBUS presence and/or perform OTG operation."]
+        #[inline(always)]
+        pub const fn vbden(&self) -> bool {
+            let val = (self.0 >> 21usize) & 0x01;
+            val != 0
+        }
+        #[doc = "VBUS detection enable Enables VBUS Sensing Comparators in order to detect VBUS presence and/or perform OTG operation."]
+        #[inline(always)]
+        pub fn set_vbden(&mut self, val: bool) {
+            self.0 = (self.0 & !(0x01 << 21usize)) | (((val as u32) & 0x01) << 21usize);
+        }
+        #[doc = "Secondary detection enable."]
+        #[inline(always)]
+        pub const fn sden(&self) -> bool {
+            let val = (self.0 >> 22usize) & 0x01;
+            val != 0
+        }
+        #[doc = "Secondary detection enable."]
+        #[inline(always)]
+        pub fn set_sden(&mut self, val: bool) {
+            self.0 = (self.0 & !(0x01 << 22usize)) | (((val as u32) & 0x01) << 22usize);
+        }
+        #[doc = "Software override value of the VBUS B-session detection."]
+        #[inline(always)]
+        pub const fn vbvaloval(&self) -> bool {
+            let val = (self.0 >> 23usize) & 0x01;
+            val != 0
+        }
+        #[doc = "Software override value of the VBUS B-session detection."]
+        #[inline(always)]
+        pub fn set_vbvaloval(&mut self, val: bool) {
+            self.0 = (self.0 & !(0x01 << 23usize)) | (((val as u32) & 0x01) << 23usize);
+        }
+        #[doc = "Enables a software override of the VBUS B-session detection."]
+        #[inline(always)]
+        pub const fn vbvaloven(&self) -> bool {
+            let val = (self.0 >> 24usize) & 0x01;
+            val != 0
+        }
+        #[doc = "Enables a software override of the VBUS B-session detection."]
+        #[inline(always)]
+        pub fn set_vbvaloven(&mut self, val: bool) {
+            self.0 = (self.0 & !(0x01 << 24usize)) | (((val as u32) & 0x01) << 24usize);
+        }
+        #[doc = "Force host mode pull-downs If the ID pin functions are enabled, the host mode pull-downs on DP and DM activate automatically. However, whenever that is not the case, yet host mode is required, this bit must be used to force the pull-downs active."]
+        #[inline(always)]
+        pub const fn forcehostpd(&self) -> bool {
+            let val = (self.0 >> 25usize) & 0x01;
+            val != 0
+        }
+        #[doc = "Force host mode pull-downs If the ID pin functions are enabled, the host mode pull-downs on DP and DM activate automatically. However, whenever that is not the case, yet host mode is required, this bit must be used to force the pull-downs active."]
+        #[inline(always)]
+        pub fn set_forcehostpd(&mut self, val: bool) {
+            self.0 = (self.0 & !(0x01 << 25usize)) | (((val as u32) & 0x01) << 25usize);
+        }
+    }
+    impl Default for GccfgV3 {
+        #[inline(always)]
+        fn default() -> GccfgV3 {
+            GccfgV3(0)
+        }
+    }
     #[doc = "I2C access register"]
     #[repr(transparent)]
     #[derive(Copy, Clone, Eq, PartialEq)]
diff --git a/examples/stm32h7rs/src/bin/usb_serial.rs b/examples/stm32h7rs/src/bin/usb_serial.rs
new file mode 100644
index 000000000..5a234e898
--- /dev/null
+++ b/examples/stm32h7rs/src/bin/usb_serial.rs
@@ -0,0 +1,139 @@
+#![no_std]
+#![no_main]
+
+use defmt::{panic, *};
+use embassy_executor::Spawner;
+use embassy_futures::join::join;
+use embassy_stm32::time::Hertz;
+use embassy_stm32::usb::{Driver, Instance};
+use embassy_stm32::{bind_interrupts, peripherals, usb, Config};
+use embassy_usb::class::cdc_acm::{CdcAcmClass, State};
+use embassy_usb::driver::EndpointError;
+use embassy_usb::Builder;
+use {defmt_rtt as _, panic_probe as _};
+
+bind_interrupts!(struct Irqs {
+    OTG_HS => usb::InterruptHandler<peripherals::USB_OTG_HS>;
+});
+
+// If you are trying this and your USB device doesn't connect, the most
+// common issues are the RCC config and vbus_detection
+//
+// See https://embassy.dev/book/#_the_usb_examples_are_not_working_on_my_board_is_there_anything_else_i_need_to_configure
+// for more information.
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    info!("Hello World!");
+
+    let mut config = Config::default();
+
+    {
+        use embassy_stm32::rcc::*;
+        config.rcc.hse = Some(Hse {
+            freq: Hertz(24_000_000),
+            mode: HseMode::Oscillator,
+        });
+        config.rcc.pll1 = Some(Pll {
+            source: PllSource::HSE,
+            prediv: PllPreDiv::DIV12,
+            mul: PllMul::MUL300,
+            divp: Some(PllDiv::DIV1), //600 MHz
+            divq: Some(PllDiv::DIV2), // 300 MHz
+            divr: Some(PllDiv::DIV2), // 300 MHz
+        });
+        config.rcc.sys = Sysclk::PLL1_P; // 600 MHz
+        config.rcc.ahb_pre = AHBPrescaler::DIV2; // 300 MHz
+        config.rcc.apb1_pre = APBPrescaler::DIV2; // 150 MHz
+        config.rcc.apb2_pre = APBPrescaler::DIV2; // 150 MHz
+        config.rcc.apb4_pre = APBPrescaler::DIV2; // 150 MHz
+        config.rcc.apb5_pre = APBPrescaler::DIV2; // 150 MHz
+        config.rcc.voltage_scale = VoltageScale::HIGH;
+    }
+
+    let p = embassy_stm32::init(config);
+
+    // Create the driver, from the HAL.
+    let mut ep_out_buffer = [0u8; 256];
+    let mut config = embassy_stm32::usb::Config::default();
+
+    // Do not enable vbus_detection. This is a safe default that works in all boards.
+    // However, if your USB device is self-powered (can stay powered on if USB is unplugged), you need
+    // to enable vbus_detection to comply with the USB spec. If you enable it, the board
+    // has to support it or USB won't work at all. See docs on `vbus_detection` for details.
+    config.vbus_detection = false;
+
+    let driver = Driver::new_hs(p.USB_OTG_HS, Irqs, p.PM6, p.PM5, &mut ep_out_buffer, config);
+
+    // Create embassy-usb Config
+    let mut config = embassy_usb::Config::new(0xc0de, 0xcafe);
+    config.manufacturer = Some("Embassy");
+    config.product = Some("USB-serial example");
+    config.serial_number = Some("12345678");
+    // Required for windows compatibility.
+    // 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 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 config_descriptor,
+        &mut bos_descriptor,
+        &mut [], // no msos descriptors
+        &mut control_buf,
+    );
+
+    // 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?;
+    }
+}