Basic USB host support and keyboard workflow

Connects up read, write and ctrl_transfer to TinyUSB. USB Host
support is available on iMX RT and RP2040.

Fixes micropython#6527 (imx) and fixes micropython#5986 (rp2).

Author: tannewt

.gitmodules

@@ -341,3 +341,7 @@
 [submodule "frozen/Adafruit_CircuitPython_Wave"]
 	path = frozen/Adafruit_CircuitPython_Wave
 	url = http://github.com/adafruit/Adafruit_CircuitPython_Wave.git
+[submodule "ports/raspberrypi/lib/Pico-PIO-USB"]
+	path = ports/raspberrypi/lib/Pico-PIO-USB
+	url = https://github.com/tannewt/Pico-PIO-USB.git
+	branch = circuitpython_usb_host

lib/tinyusb

@@ -471,12 +471,17 @@ msgstr ""
 msgid "All channels in use"
 msgstr ""
 
+#: ports/raspberrypi/common-hal/usb_host/Port.c
+msgid "All dma channels in use"
+msgstr ""
+
 #: ports/atmel-samd/common-hal/audioio/AudioOut.c
 msgid "All event channels in use"
 msgstr ""
 
 #: ports/raspberrypi/common-hal/picodvi/Framebuffer.c
 #: ports/raspberrypi/common-hal/rp2pio/StateMachine.c
+#: ports/raspberrypi/common-hal/usb_host/Port.c
 msgid "All state machines in use"
 msgstr ""
 
@@ -1950,10 +1955,6 @@ msgstr ""
 msgid "Size not supported"
 msgstr ""
 
-#: ports/raspberrypi/common-hal/alarm/SleepMemory.c
-msgid "Sleep Memory not available"
-msgstr ""
-
 #: shared-bindings/alarm/SleepMemory.c shared-bindings/memorymap/AddressRange.c
 #: shared-bindings/nvm/ByteArray.c
 msgid "Slice and value different lengths."

locale/circuitpython.pot

@@ -229,12 +229,19 @@ include $(TOP)/py/mkrules.mk
 print-%:
 	@echo $* = $($*)
 
-ifeq ($(CHIP_FAMILY), MIMXRT1062)
-PYOCD_TARGET = mimxrt1060
-endif
-
-# Flash using pyocd
-PYOCD_OPTION ?=
-flash: $(BUILD)/firmware.hex
-	pyocd flash -t $(PYOCD_TARGET) $(PYOCD_OPTION) $<
-	pyocd reset -t $(PYOCD_TARGET)
+# Flash using jlink
+define jlink_script
+halt
+loadfile $^
+r
+go
+exit
+endef
+export jlink_script
+
+JLINKEXE = JLinkExe
+flash-jlink: $(BUILD)/firmware.elf
+	@echo "$$jlink_script" > $(BUILD)/firmware.jlink
+	$(JLINKEXE) -device $(CHIP_FAMILY)xxx5A -if swd -JTAGConf -1,-1 -speed auto -CommandFile $(BUILD)/firmware.jlink
+
+flash: flash-jlink

ports/mimxrt10xx/Makefile

@@ -21,5 +21,5 @@
 
 // Put host on the first USB so that right angle OTG adapters can fit. This is
 // the right port when looking at the board.
-#define CIRCUITPY_USB_DEVICE_INSTANCE 1
-#define CIRCUITPY_USB_HOST_INSTANCE 0
+#define CIRCUITPY_USB_DEVICE_INSTANCE 0
+#define CIRCUITPY_USB_HOST_INSTANCE 1

ports/mimxrt10xx/boards/imxrt1060_evk/mpconfigboard.h

@@ -72,6 +72,7 @@ SECTIONS
     *(EXCLUDE_FILE(
         *fsl_flexspi.o
         *dcd_ci_hs.o
+        *ehci.o
         *tusb_fifo.o
         *usbd.o
         *string0.o
@@ -88,6 +89,11 @@ SECTIONS
            We try to only keep USB interrupt related functions. */
         *dcd_ci_hs.o(.text.process_*_request .text.dcd_edpt* .text.dcd_init .text.dcd_set_address)
         *usbd.o(.text.process_*_request .text.process_[gs]et* .text.tud_* .text.usbd_* .text.configuration_reset .text.invoke_*)
+        *ehci.o(.text.hcd_edpt* .text.hcd_setup* .text.ehci_init* .text.hcd_port* .text.hcd_device* .text.qtd_init* .text.list_remove*)
+
+        /* Less critical portions of the runtime. */
+        *runtime.o(.text.mp_import* .text.mp_resume* .text.mp_make_raise*  .text.mp_init)
+        *gc.o(.text.gc_never_free .text.gc_make_long_lived)
 
         /* Anything marked cold/unlikely should be in flash. */
         *(.text.unlikely.*)
@@ -146,6 +152,7 @@ SECTIONS
         *(.itcm.*)
         *fsl_flexspi.o(.text*)
         *dcd_ci_hs.o(.text*)
+        *ehci.o(.text*)
         *tusb_fifo.o(.text*)
         *py/objboundmeth.o(.text*)
         *py/objtype.o(.text*)

ports/mimxrt10xx/linking/common.ld

@@ -148,7 +148,7 @@ INC += \
 CFLAGS += -DRASPBERRYPI -DPICO_ON_DEVICE=1 -DPICO_NO_BINARY_INFO=0 -DPICO_TIME_DEFAULT_ALARM_POOL_DISABLED=0 -DPICO_DIVIDER_CALL_IDIV0=0 -DPICO_DIVIDER_CALL_LDIV0=0 -DPICO_DIVIDER_HARDWARE=1 -DPICO_DOUBLE_ROM=1 -DPICO_FLOAT_ROM=1 -DPICO_MULTICORE=1 -DPICO_BITS_IN_RAM=0 -DPICO_DIVIDER_IN_RAM=0 -DPICO_DOUBLE_PROPAGATE_NANS=0 -DPICO_DOUBLE_IN_RAM=0 -DPICO_MEM_IN_RAM=0 -DPICO_FLOAT_IN_RAM=0 -DPICO_FLOAT_PROPAGATE_NANS=1 -DPICO_NO_FLASH=0 -DPICO_COPY_TO_RAM=0 -DPICO_DISABLE_SHARED_IRQ_HANDLERS=0 -DPICO_NO_BI_BOOTSEL_VIA_DOUBLE_RESET=0 -DDVI_1BPP_BIT_REVERSE=0
 OPTIMIZATION_FLAGS ?= -O3
 # TinyUSB defines
-CFLAGS += -DTUD_OPT_RP2040_USB_DEVICE_ENUMERATION_FIX=1 -DCFG_TUSB_MCU=OPT_MCU_RP2040 -DCFG_TUD_MIDI_RX_BUFSIZE=128 -DCFG_TUD_CDC_RX_BUFSIZE=256 -DCFG_TUD_MIDI_TX_BUFSIZE=128 -DCFG_TUD_CDC_TX_BUFSIZE=256 -DCFG_TUD_MSC_BUFSIZE=1024
+CFLAGS += -DCFG_TUSB_OS=OPT_OS_PICO -DTUD_OPT_RP2040_USB_DEVICE_ENUMERATION_FIX=1 -DCFG_TUSB_MCU=OPT_MCU_RP2040 -DCFG_TUD_MIDI_RX_BUFSIZE=128 -DCFG_TUD_CDC_RX_BUFSIZE=256 -DCFG_TUD_MIDI_TX_BUFSIZE=128 -DCFG_TUD_CDC_TX_BUFSIZE=256 -DCFG_TUD_MSC_BUFSIZE=1024
 
 # option to override default optimization level, set in boards/$(BOARD)/mpconfigboard.mk
 CFLAGS += $(OPTIMIZATION_FLAGS)
@@ -258,6 +258,18 @@ SRC_C += \
 	$(SRC_CYW43) \
 	$(SRC_LWIP) \
 
+
+ifeq ($(CIRCUITPY_USB_HOST), 1)
+SRC_C += \
+  lib/tinyusb/src/portable/raspberrypi/pio_usb/hcd_pio_usb.c \
+  lib/Pico-PIO-USB/src/pio_usb.c \
+  lib/Pico-PIO-USB/src/pio_usb_host.c \
+  lib/Pico-PIO-USB/src/usb_crc.c \
+
+INC += \
+  -isystem lib/Pico-PIO-USB/src
+endif
+
 ifeq ($(CIRCUITPY_PICODVI),1)
 SRC_C += \
   bindings/picodvi/__init__.c \

ports/raspberrypi/Makefile

@@ -26,4 +26,18 @@
 
 #include "supervisor/board.h"
 
+#include "shared-bindings/digitalio/DigitalInOut.h"
+#include "shared-bindings/usb_host/Port.h"
+
 // Use the MP_WEAK supervisor/shared/board.c versions of routines not defined here.
+
+usb_host_port_obj_t _host_port;
+digitalio_digitalinout_obj_t _host_power;
+
+void board_init(void) {
+    common_hal_digitalio_digitalinout_construct(&_host_power, &pin_GPIO18);
+    common_hal_digitalio_digitalinout_never_reset(&_host_power);
+    common_hal_digitalio_digitalinout_switch_to_output(&_host_power, true, DRIVE_MODE_PUSH_PULL);
+
+    common_hal_usb_host_port_construct(&_host_port, &pin_GPIO16, &pin_GPIO17);
+}

ports/raspberrypi/boards/adafruit_feather_rp2040_usb_host/board.c

@@ -12,3 +12,8 @@
 
 #define DEFAULT_UART_BUS_RX (&pin_GPIO1)
 #define DEFAULT_UART_BUS_TX (&pin_GPIO0)
+
+#define CIRCUITPY_CONSOLE_UART_RX DEFAULT_UART_BUS_RX
+#define CIRCUITPY_CONSOLE_UART_TX DEFAULT_UART_BUS_TX
+
+#define CIRCUITPY_USB_HOST_INSTANCE 1

ports/raspberrypi/boards/adafruit_feather_rp2040_usb_host/mpconfigboard.h

@@ -98,6 +98,8 @@ void rp2pio_statemachine_dma_complete(rp2pio_statemachine_obj_t *self, int chann
 void rp2pio_statemachine_reset_ok(PIO pio, int sm);
 void rp2pio_statemachine_never_reset(PIO pio, int sm);
 
+uint8_t rp2pio_statemachine_find_pio(int program_size, int sm_count);
+
 extern const mp_obj_type_t rp2pio_statemachine_type;
 
 #endif // MICROPY_INCLUDED_RASPBERRYPI_COMMON_HAL_RP2PIO_STATEMACHINE_H

ports/raspberrypi/common-hal/rp2pio/StateMachine.h

@@ -0,0 +1,165 @@
+/*
+ * This file is part of the Micro Python project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2022 Scott Shawcroft for Adafruit Industries
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "bindings/rp2pio/StateMachine.h"
+#include "shared-bindings/microcontroller/Pin.h"
+#include "shared-bindings/microcontroller/Processor.h"
+#include "shared-bindings/usb_host/Port.h"
+#include "supervisor/usb.h"
+
+#include "src/common/pico_time/include/pico/time.h"
+#include "src/rp2040/hardware_structs/include/hardware/structs/mpu.h"
+#include "src/rp2_common/cmsis/stub/CMSIS/Device/RaspberryPi/RP2040/Include/RP2040.h"
+#include "src/rp2_common/hardware_dma/include/hardware/dma.h"
+#include "src/rp2_common/pico_multicore/include/pico/multicore.h"
+
+#include "py/runtime.h"
+
+#include "tusb.h"
+
+#include "lib/Pico-PIO-USB/src/pio_usb.h"
+#include "lib/Pico-PIO-USB/src/pio_usb_configuration.h"
+
+#include "supervisor/serial.h"
+
+bool usb_host_init;
+
+STATIC PIO pio_instances[2] = {pio0, pio1};
+volatile bool _core1_ready = false;
+
+static void __not_in_flash_func(core1_main)(void) {
+    // The MPU is reset before this starts.
+    SysTick->LOAD = (uint32_t)((common_hal_mcu_processor_get_frequency() / 1000) - 1UL);
+    SysTick->VAL = 0UL;   /* Load the SysTick Counter Value */
+    SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk |  // Processor clock.
+        SysTick_CTRL_ENABLE_Msk;
+
+    // Turn off flash access. After this, it will hard fault. Better than messing
+    // up CIRCUITPY.
+    MPU->CTRL = MPU_CTRL_PRIVDEFENA_Msk | MPU_CTRL_ENABLE_Msk;
+    MPU->RNR = 6; // 7 is used by pico-sdk stack protection.
+    MPU->RBAR = XIP_MAIN_BASE | MPU_RBAR_VALID_Msk;
+    MPU->RASR = MPU_RASR_XN_Msk | // Set execute never and everything else is restricted.
+        MPU_RASR_ENABLE_Msk |
+        (0x1b << MPU_RASR_SIZE_Pos);         // Size is 0x10000000 which masks up to SRAM region.
+    MPU->RNR = 7;
+
+    _core1_ready = true;
+
+    while (true) {
+        pio_usb_host_frame();
+        if (tuh_task_event_ready()) {
+            // Queue the tinyusb background task.
+            usb_background_schedule();
+        }
+        // Wait for systick to reload.
+        while ((SysTick->CTRL & SysTick_CTRL_COUNTFLAG_Msk) == 0) {
+        }
+    }
+}
+
+STATIC uint8_t _sm_free_count(uint8_t pio_index) {
+    PIO pio = pio_instances[pio_index];
+    uint8_t free_count = 0;
+    for (size_t j = 0; j < NUM_PIO_STATE_MACHINES; j++) {
+        if (!pio_sm_is_claimed(pio, j)) {
+            free_count++;
+        }
+    }
+    return free_count;
+}
+
+STATIC bool _has_program_room(uint8_t pio_index, uint8_t program_size) {
+    PIO pio = pio_instances[pio_index];
+    pio_program_t program_struct = {
+        .instructions = NULL,
+        .length = program_size,
+        .origin = -1
+    };
+    return pio_can_add_program(pio, &program_struct);
+}
+
+void common_hal_usb_host_port_construct(usb_host_port_obj_t *self, const mcu_pin_obj_t *dp, const mcu_pin_obj_t *dm) {
+    if (dp->number + 1 != dm->number) {
+        raise_ValueError_invalid_pins();
+    }
+    pio_usb_configuration_t pio_cfg = PIO_USB_DEFAULT_CONFIG;
+    pio_cfg.skip_alarm_pool = true;
+    pio_cfg.pin_dp = dp->number;
+    pio_cfg.pio_tx_num = 0;
+    pio_cfg.pio_rx_num = 1;
+    // PIO with room for 22 instructions
+    // PIO with room for 31 instructions and two free SM.
+    if (!_has_program_room(pio_cfg.pio_tx_num, 22) || _sm_free_count(pio_cfg.pio_tx_num) < 1 ||
+        !_has_program_room(pio_cfg.pio_rx_num, 31) || _sm_free_count(pio_cfg.pio_rx_num) < 2) {
+        mp_raise_RuntimeError(translate("All state machines in use"));
+    }
+    pio_cfg.tx_ch = dma_claim_unused_channel(false); // DMA channel
+    if (pio_cfg.tx_ch < 0) {
+        mp_raise_RuntimeError(translate("All dma channels in use"));
+    }
+
+    PIO tx_pio = pio_instances[pio_cfg.pio_tx_num];
+    pio_cfg.sm_tx = pio_claim_unused_sm(tx_pio, false);
+    PIO rx_pio = pio_instances[pio_cfg.pio_rx_num];
+    pio_cfg.sm_rx = pio_claim_unused_sm(rx_pio, false);
+    pio_cfg.sm_eop = pio_claim_unused_sm(rx_pio, false);
+
+    // Unclaim everything so that the library can.
+    dma_channel_unclaim(pio_cfg.tx_ch);
+    pio_sm_unclaim(tx_pio, pio_cfg.sm_tx);
+    pio_sm_unclaim(rx_pio, pio_cfg.sm_rx);
+    pio_sm_unclaim(rx_pio, pio_cfg.sm_eop);
+
+    // Set all of the state machines to never reset.
+    rp2pio_statemachine_never_reset(tx_pio, pio_cfg.sm_tx);
+    rp2pio_statemachine_never_reset(rx_pio, pio_cfg.sm_rx);
+    rp2pio_statemachine_never_reset(rx_pio, pio_cfg.sm_eop);
+
+    common_hal_never_reset_pin(dp);
+    common_hal_never_reset_pin(dm);
+
+    // Core 1 will run the SOF interrupt directly.
+    _core1_ready = false;
+    multicore_launch_core1(core1_main);
+    while (!_core1_ready) {
+    }
+
+    tuh_configure(TUH_OPT_RHPORT, TUH_CFGID_RPI_PIO_USB_CONFIGURATION, &pio_cfg);
+    tuh_init(TUH_OPT_RHPORT);
+
+    self->init = true;
+    usb_host_init = true;
+}
+
+void common_hal_usb_host_port_deinit(usb_host_port_obj_t *self) {
+    self->init = false;
+    usb_host_init = false;
+}
+
+bool common_hal_usb_host_port_deinited(usb_host_port_obj_t *self) {
+    return !self->init;
+}

ports/raspberrypi/common-hal/usb_host/Port.c

@@ -0,0 +1,38 @@
+/*
+ * This file is part of the Micro Python project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2023 Scott Shawcroft for Adafruit Industries
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include "py/obj.h"
+
+typedef struct {
+    mp_obj_base_t base;
+    bool init;
+} usb_host_port_obj_t;
+
+// Cheater state so that the usb module knows if it should return the TinyUSB
+// state.
+extern bool usb_host_init;