rp: add usb device support.

2 files changed, 883 insertions, 0 deletions

diff --git a/embassy-rp/src/lib.rs b/embassy-rp/src/lib.rs
index 8c053a4f7..bc31b4798 100644
--- a/embassy-rp/src/lib.rs
+++ b/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"]
@@ -109,3 +113,36 @@ 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
+    }
+}
diff --git a/embassy-rp/src/usb.rs b/embassy-rp/src/usb.rs
new file mode 100644
index 000000000..82eafdefd
--- /dev/null
+++ b/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));
+            }
+        }
+    }
+}