USB using Clock v2

boards/grand_central_m4/Cargo.toml

@@ -17,6 +17,7 @@ optional = true
 [dependencies.atsamd-hal]
 default-features = false
 version = "0.22.0"
+path = "../../hal"
 
 [dependencies.usb-device]
 version = "0.3.2"

boards/grand_central_m4/src/lib.rs

@@ -5,8 +5,22 @@
 //! an ATSAMD51-based board in an Arduino Mega form factor.
 
 pub use atsamd_hal as hal;
-pub use hal::ehal;
-pub use hal::pac;
+pub use hal::{
+    clock::v2::{
+        self as clock,
+        ahb::{AhbClk, AhbToken},
+        apb::{ApbClk, ApbToken},
+        dfll::{self, Dfll},
+        gclk::{Gclk, GclkId, GclkToken},
+        pclk::{Pclk, PclkToken},
+        types::Usb,
+        Enabled,
+    },
+    ehal,
+    gpio::{AnyPin, PA24, PA25},
+    pac,
+    sercom::spi::lengths::U1,
+};
 
 #[cfg(feature = "rt")]
 pub use cortex_m_rt::entry;
@@ -595,18 +609,22 @@ pub fn uart(
 
 #[cfg(feature = "usb")]
 /// Convenience function for setting up USB
-pub fn usb_allocator(
+pub fn usb_allocator<G: GclkId>(
     usb: pac::Usb,
-    clocks: &mut GenericClockController,
-    mclk: &mut pac::Mclk,
-    dm: impl Into<UsbDm>,
-    dp: impl Into<UsbDp>,
-) -> UsbBusAllocator<UsbBus> {
-    use pac::gclk::{genctrl::Srcselect, pchctrl::Genselect};
+    dfll: Enabled<Dfll, U1>,
+    gclk_token: GclkToken<G>,
+    pclk_token: PclkToken<Usb>,
+    ahb_clk: AhbClk<clock::types::Usb>,
+    apb_clk: ApbClk<clock::types::Usb>,
+    dm: impl AnyPin<Id = PA24>,
+    dp: impl AnyPin<Id = PA25>,
+) -> UsbBusAllocator<UsbBus<G>> {
+    // SWITCH DFLL INTO USB CLOCK RECOVERY MODE - THIS ALLOWS FOR MORE ACCURATE USB
+    let (dfll_usb, _) = dfll.into_mode(dfll::FromUsb, |_| {});
+    // GCLK3 comes from DFLL, outputs to USB
+    let (gclk_n, _) = Gclk::from_source(gclk_token, dfll_usb);
+    let gclk_n_48mhz = gclk_n.enable();
+    let (pclk_usb, _) = Pclk::enable(pclk_token, gclk_n_48mhz);
 
-    clocks.configure_gclk_divider_and_source(Genselect::Gclk2, 1, Srcselect::Dfll, false);
-    let usb_gclk = clocks.get_gclk(Genselect::Gclk2).unwrap();
-    let usb_clock = &clocks.usb(&usb_gclk).unwrap();
-    let (dm, dp) = (dm.into(), dp.into());
-    UsbBusAllocator::new(UsbBus::new(usb_clock, mclk, dm, dp, usb))
+    return UsbBusAllocator::new(UsbBus::new(pclk_usb, ahb_clk, apb_clk, dm, dp, usb));
 }

hal/src/peripherals/clock/d5x/v2/gclk.rs

@@ -547,7 +547,7 @@ pub enum DynGclkId {
 ///
 /// [type-level programming]: crate::typelevel
 /// [type-level enums]: crate::typelevel#type-level-enums
-pub trait GclkId: Sealed {
+pub trait GclkId: Sealed + Send {
     /// Corresponding variant of [`DynGclkId`]
     const DYN: DynGclkId;
     /// Corresponding numeric index (0..12)

hal/src/peripherals/usb/d5x/bus.rs

@@ -7,17 +7,22 @@
 
 use super::Descriptors;
 use crate::calibration::{usb_transn_cal, usb_transp_cal, usb_trim_cal};
-use crate::clock;
-use crate::gpio::{AlternateH, AnyPin, Pin, PA24, PA25};
+use crate::clock::v2::{
+    self as clock,
+    ahb::AhbClk,
+    apb::ApbClk,
+    pclk::{Pclk, PclkSourceId},
+};
+use crate::gpio::{AlternateH, AnyPin, PA24, PA25, Pin};
 use crate::pac;
+use crate::pac::Usb;
 use crate::pac::usb::Device;
-use crate::pac::{Mclk, Usb};
 use crate::usb::devicedesc::DeviceDescBank;
 use core::cell::{Ref, RefCell, RefMut};
 use core::marker::PhantomData;
 use core::mem;
 use cortex_m::singleton;
-use critical_section::{with as disable_interrupts, Mutex};
+use critical_section::{Mutex, with as disable_interrupts};
 use usb_device::bus::PollResult;
 use usb_device::endpoint::{EndpointAddress, EndpointType};
 use usb_device::{Result as UsbResult, UsbDirection, UsbError};
@@ -191,16 +196,19 @@ impl BufferAllocator {
     }
 }
 
-struct Inner {
+struct Inner<S: PclkSourceId> {
     desc: RefCell<Descriptors>,
     _dm_pad: Pin<PA24, AlternateH>,
     _dp_pad: Pin<PA25, AlternateH>,
     endpoints: RefCell<AllEndpoints>,
     buffers: RefCell<BufferAllocator>,
+    pclk: Pclk<clock::types::Usb, S>,
+    ahb_clk: AhbClk<clock::types::Usb>,
+    apb_clk: ApbClk<clock::types::Usb>,
 }
 
-pub struct UsbBus {
-    inner: Mutex<RefCell<Inner>>,
+pub struct UsbBus<S: PclkSourceId> {
+    inner: Mutex<RefCell<Inner<S>>>,
 }
 
 struct Bank<'a, T> {
@@ -469,7 +477,7 @@ impl<T> Bank<'_, T> {
     }
 }
 
-impl Inner {
+impl<S: PclkSourceId> Inner<S> {
     #[inline]
     fn epcfg(&self, endpoint: usize) -> &pac::usb::device::device_endpoint::Epcfg {
         self.usb().device_endpoint(endpoint).epcfg()
@@ -524,17 +532,15 @@ impl Inner {
     }
 }
 
-impl UsbBus {
+impl<S: PclkSourceId> UsbBus<S> {
     pub fn new(
-        _clock: &clock::UsbClock,
-        mclk: &mut Mclk,
+        pclk: Pclk<clock::types::Usb, S>,
+        ahb_clk: AhbClk<clock::types::Usb>,
+        apb_clk: ApbClk<clock::types::Usb>,
         dm_pad: impl AnyPin<Id = PA24>,
         dp_pad: impl AnyPin<Id = PA25>,
         _usb: Usb,
     ) -> Self {
-        mclk.ahbmask().modify(|_, w| w.usb_().set_bit());
-        mclk.apbbmask().modify(|_, w| w.usb_().set_bit());
-
         let desc = RefCell::new(Descriptors::new());
 
         let inner = Inner {
@@ -543,15 +549,38 @@ impl UsbBus {
             desc,
             buffers: RefCell::new(BufferAllocator::new()),
             endpoints: RefCell::new(AllEndpoints::new()),
+            pclk,
+            ahb_clk,
+            apb_clk,
         };
 
         Self {
             inner: Mutex::new(RefCell::new(inner)),
         }
     }
+
+    pub fn free(
+        self,
+    ) -> (
+        Pclk<clock::types::Usb, S>,
+        AhbClk<clock::types::Usb>,
+        ApbClk<clock::types::Usb>,
+        Pin<PA24, AlternateH>,
+        Pin<PA25, AlternateH>,
+    ) {
+        // Unwrap the Mutex and RefCell to get the Inner
+        let inner = self.inner.into_inner().into_inner();
+        (
+            inner.pclk,
+            inner.ahb_clk,
+            inner.apb_clk,
+            inner._dm_pad,
+            inner._dp_pad,
+        )
+    }
 }
 
-impl Inner {
+impl<S: PclkSourceId> Inner<S> {
     fn usb(&self) -> &Device {
         unsafe { (*Usb::ptr()).device() }
     }
@@ -576,7 +605,7 @@ enum FlushConfigMode {
     ProtocolReset,
 }
 
-impl Inner {
+impl<S: PclkSourceId> Inner<S> {
     fn enable(&mut self) {
         let usb = self.usb();
         usb.ctrla().modify(|_, w| w.swrst().set_bit());
@@ -884,7 +913,7 @@ impl Inner {
     }
 }
 
-impl UsbBus {
+impl<S: PclkSourceId> UsbBus<S> {
     /// Enables the Start Of Frame (SOF) interrupt
     pub fn enable_sof_interrupt(&self) {
         disable_interrupts(|cs| self.inner.borrow(cs).borrow_mut().sof_interrupt(true))
@@ -901,7 +930,7 @@ impl UsbBus {
     }
 }
 
-impl usb_device::bus::UsbBus for UsbBus {
+impl<S: PclkSourceId> usb_device::bus::UsbBus for UsbBus<S> {
     fn enable(&mut self) {
         disable_interrupts(|cs| self.inner.borrow(cs).borrow_mut().enable())
     }