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|
/*
* Copyright (c) 2006-2018, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2017-12-04 ZYH first implementation
*/
#include <usb/include/usb_device_config.h>
#include <usb/include/usb.h>
#include <rtthread.h>
#include <usb/phy/usb_phy.h>
#include <usb/device/usb_device.h>
#include <usb/device/usb_device_dci.h>
#include <rtdevice.h>
#ifdef RT_USING_EHCI0_AS_DEVICE
#ifdef RT_USING_EHCI1_AS_DEVICE
#error Can not using 2 controller as usb device
#endif
#endif
#define FSL_USB_HS
/* USB PHY condfiguration */
#define BOARD_USB_PHY_D_CAL (0x0CU)
#define BOARD_USB_PHY_TXCAL45DP (0x06U)
#define BOARD_USB_PHY_TXCAL45DM (0x06U)
#define BOARD_XTAL0_CLK_HZ 24000000U
#ifdef RT_USING_EHCI0_AS_DEVICE
static usb_device_handle ehci0_handle;
static struct udcd _fsl_udc_0;
#endif
#ifdef RT_USING_EHCI1_AS_DEVICE
static usb_device_handle ehci1_handle;
static struct udcd _fsl_udc_1;
#endif
static usb_status_t usb_device_callback(usb_device_handle handle, uint32_t callbackEvent, void *eventParam);
static usb_status_t usb_device_endpoint_callback(usb_device_handle handle, usb_device_endpoint_callback_message_struct_t *message, void *callbackParam);
void USB_DeviceIsrEnable(uint8_t controllerId)
{
uint8_t irqNumber;
#if defined(USB_DEVICE_CONFIG_EHCI) && (USB_DEVICE_CONFIG_EHCI > 0U)
uint8_t usbDeviceEhciIrq[] = USBHS_IRQS;
irqNumber = usbDeviceEhciIrq[controllerId - kUSB_ControllerEhci0];
#endif
/* Install isr, set priority, and enable IRQ. */
#if defined(__GIC_PRIO_BITS)
GIC_SetPriority((IRQn_Type)irqNumber, 3);
#else
NVIC_SetPriority((IRQn_Type)irqNumber, 3);
#endif
EnableIRQ((IRQn_Type)irqNumber);
}
void USB_DeviceClockInit(uint8_t controllerId)
{
#if defined(USB_DEVICE_CONFIG_EHCI) && (USB_DEVICE_CONFIG_EHCI > 0U)
usb_phy_config_struct_t phyConfig = {
BOARD_USB_PHY_D_CAL, BOARD_USB_PHY_TXCAL45DP, BOARD_USB_PHY_TXCAL45DM,
};
#endif
#if defined(USB_DEVICE_CONFIG_EHCI) && (USB_DEVICE_CONFIG_EHCI > 0U)
if (controllerId == kUSB_ControllerEhci0)
{
CLOCK_EnableUsbhs0PhyPllClock(kCLOCK_Usbphy480M, 480000000U);
CLOCK_EnableUsbhs0Clock(kCLOCK_Usb480M, 480000000U);
}
else
{
CLOCK_EnableUsbhs1PhyPllClock(kCLOCK_Usbphy480M, 480000000U);
CLOCK_EnableUsbhs1Clock(kCLOCK_Usb480M, 480000000U);
}
USB_EhciPhyInit(controllerId, BOARD_XTAL0_CLK_HZ, &phyConfig);
#endif
}
#ifdef RT_USING_EHCI0_AS_DEVICE
#ifdef FSL_USB_HS
static struct ep_id _ehci0_ep_pool[] =
{
{0x0, USB_EP_ATTR_CONTROL, USB_DIR_INOUT, 64, ID_ASSIGNED },
{0x1, USB_EP_ATTR_BULK, USB_DIR_IN, 512, ID_UNASSIGNED},
{0x1, USB_EP_ATTR_BULK, USB_DIR_OUT, 512, ID_UNASSIGNED},
{0x2, USB_EP_ATTR_INT, USB_DIR_IN, 512, ID_UNASSIGNED},
{0x2, USB_EP_ATTR_INT, USB_DIR_OUT, 512, ID_UNASSIGNED},
{0x3, USB_EP_ATTR_BULK, USB_DIR_IN, 512, ID_UNASSIGNED},
{0x3, USB_EP_ATTR_BULK, USB_DIR_OUT, 512, ID_UNASSIGNED},
{0x4, USB_EP_ATTR_INT, USB_DIR_IN, 512, ID_UNASSIGNED},
{0x4, USB_EP_ATTR_INT, USB_DIR_OUT, 512, ID_UNASSIGNED},
{0x5, USB_EP_ATTR_BULK, USB_DIR_IN, 512, ID_UNASSIGNED},
{0x5, USB_EP_ATTR_BULK, USB_DIR_OUT, 512, ID_UNASSIGNED},
{0x6, USB_EP_ATTR_INT, USB_DIR_IN, 512, ID_UNASSIGNED},
{0x6, USB_EP_ATTR_INT, USB_DIR_OUT, 512, ID_UNASSIGNED},
{0x7, USB_EP_ATTR_BULK, USB_DIR_IN, 512, ID_UNASSIGNED},
{0x7, USB_EP_ATTR_BULK, USB_DIR_OUT, 512, ID_UNASSIGNED},
{0xFF, USB_EP_ATTR_TYPE_MASK, USB_DIR_MASK, 0, ID_ASSIGNED },
};
#else
static struct ep_id _ehci0_ep_pool[] =
{
{0x0, USB_EP_ATTR_CONTROL, USB_DIR_INOUT, 64, ID_ASSIGNED },
{0x1, USB_EP_ATTR_BULK, USB_DIR_IN, 64, ID_UNASSIGNED},
{0x1, USB_EP_ATTR_BULK, USB_DIR_OUT, 64, ID_UNASSIGNED},
{0x2, USB_EP_ATTR_INT, USB_DIR_IN, 64, ID_UNASSIGNED},
{0x2, USB_EP_ATTR_INT, USB_DIR_OUT, 64, ID_UNASSIGNED},
{0x3, USB_EP_ATTR_BULK, USB_DIR_IN, 64, ID_UNASSIGNED},
{0x3, USB_EP_ATTR_BULK, USB_DIR_OUT, 64, ID_UNASSIGNED},
{0x4, USB_EP_ATTR_INT, USB_DIR_IN, 64, ID_UNASSIGNED},
{0x4, USB_EP_ATTR_INT, USB_DIR_OUT, 64, ID_UNASSIGNED},
{0x5, USB_EP_ATTR_BULK, USB_DIR_IN, 64, ID_UNASSIGNED},
{0x5, USB_EP_ATTR_BULK, USB_DIR_OUT, 64, ID_UNASSIGNED},
{0x6, USB_EP_ATTR_INT, USB_DIR_IN, 64, ID_UNASSIGNED},
{0x6, USB_EP_ATTR_INT, USB_DIR_OUT, 64, ID_UNASSIGNED},
{0x7, USB_EP_ATTR_BULK, USB_DIR_IN, 64, ID_UNASSIGNED},
{0x7, USB_EP_ATTR_BULK, USB_DIR_OUT, 64, ID_UNASSIGNED},
{0xFF, USB_EP_ATTR_TYPE_MASK, USB_DIR_MASK, 0, ID_ASSIGNED },
};
#endif
void USB_OTG1_IRQHandler(void)
{
/* enter interrupt */
rt_interrupt_enter();
USB_DeviceEhciIsrFunction(ehci0_handle);
/* leave interrupt */
rt_interrupt_leave();
}
static rt_err_t _ehci0_ep_set_stall(rt_uint8_t address)
{
USB_DeviceStallEndpoint(ehci0_handle, address);
return RT_EOK;
}
static rt_err_t _ehci0_ep_clear_stall(rt_uint8_t address)
{
USB_DeviceUnstallEndpoint(ehci0_handle, address);
return RT_EOK;
}
static rt_err_t _ehci0_set_address(rt_uint8_t address)
{
USB_DeviceSetStatus(ehci0_handle, kUSB_DeviceStatusAddress, &address);
return RT_EOK;
}
static rt_err_t _ehci0_set_config(rt_uint8_t address)
{
return RT_EOK;
}
static rt_err_t _ehci0_ep_enable(uep_t ep)
{
usb_device_endpoint_init_struct_t ep_init;
usb_device_endpoint_callback_struct_t ep_callback;
rt_uint32_t param = ep->ep_desc->bEndpointAddress;
RT_ASSERT(ep != RT_NULL);
RT_ASSERT(ep->ep_desc != RT_NULL);
ep_init.maxPacketSize = ep->ep_desc->wMaxPacketSize;
ep_init.endpointAddress = ep->ep_desc->bEndpointAddress;
ep_init.transferType = ep->ep_desc->bmAttributes;
ep_init.zlt = 0;
ep_callback.callbackFn = usb_device_endpoint_callback;
ep_callback.callbackParam = (void *)param;
ep_callback.isBusy = 0;
USB_DeviceInitEndpoint(ehci0_handle,&ep_init,&ep_callback);
return RT_EOK;
}
static rt_err_t _ehci0_ep_disable(uep_t ep)
{
RT_ASSERT(ep != RT_NULL);
RT_ASSERT(ep->ep_desc != RT_NULL);
USB_DeviceDeinitEndpoint(ehci0_handle, ep->ep_desc->bEndpointAddress);
return RT_EOK;
}
static rt_size_t _ehci0_ep_read(rt_uint8_t address, void *buffer)
{
rt_size_t size = 0;
RT_ASSERT(buffer != RT_NULL);
return size;
}
static rt_size_t _ehci0_ep_read_prepare(rt_uint8_t address, void *buffer, rt_size_t size)
{
USB_DeviceRecvRequest(ehci0_handle, address, buffer, size);
return size;
}
static rt_size_t _ehci0_ep_write(rt_uint8_t address, void *buffer, rt_size_t size)
{
USB_DeviceSendRequest(ehci0_handle, address, buffer, size);
return size;
}
static rt_err_t _ehci0_ep0_send_status(void)
{
_ehci0_ep_write(0x00, NULL, 0);
return RT_EOK;
}
static rt_err_t _ehci0_suspend(void)
{
return RT_EOK;
}
static rt_err_t _ehci0_wakeup(void)
{
return RT_EOK;
}
const static struct udcd_ops _ehci0_udc_ops =
{
_ehci0_set_address,
_ehci0_set_config,
_ehci0_ep_set_stall,
_ehci0_ep_clear_stall,
_ehci0_ep_enable,
_ehci0_ep_disable,
_ehci0_ep_read_prepare,
_ehci0_ep_read,
_ehci0_ep_write,
_ehci0_ep0_send_status,
_ehci0_suspend,
_ehci0_wakeup,
};
static rt_err_t drv_ehci0_usbd_init(rt_device_t device)
{
usb_status_t result;
USB_DeviceClockInit(kUSB_ControllerEhci0);
result = USB_DeviceInit(kUSB_ControllerEhci0,usb_device_callback,&ehci0_handle);
RT_ASSERT(ehci0_handle);
if(result == kStatus_USB_Success)
{
USB_DeviceIsrEnable(kUSB_ControllerEhci0);
USB_DeviceRun(ehci0_handle);
}
else
{
rt_kprintf("USB_DeviceInit ehci0 error\r\n");
return RT_ERROR;
}
return RT_EOK;
}
#endif
#ifdef RT_USING_EHCI1_AS_DEVICE
#ifdef FSL_USB_HS
static struct ep_id _ehci1_ep_pool[] =
{
{0x0, USB_EP_ATTR_CONTROL, USB_DIR_INOUT, 64, ID_ASSIGNED },
{0x1, USB_EP_ATTR_BULK, USB_DIR_IN, 512, ID_UNASSIGNED},
{0x1, USB_EP_ATTR_BULK, USB_DIR_OUT, 512, ID_UNASSIGNED},
{0x2, USB_EP_ATTR_INT, USB_DIR_IN, 512, ID_UNASSIGNED},
{0x2, USB_EP_ATTR_INT, USB_DIR_OUT, 512, ID_UNASSIGNED},
{0x3, USB_EP_ATTR_BULK, USB_DIR_IN, 512, ID_UNASSIGNED},
{0x3, USB_EP_ATTR_BULK, USB_DIR_OUT, 512, ID_UNASSIGNED},
{0x4, USB_EP_ATTR_INT, USB_DIR_IN, 512, ID_UNASSIGNED},
{0x4, USB_EP_ATTR_INT, USB_DIR_OUT, 512, ID_UNASSIGNED},
{0x5, USB_EP_ATTR_BULK, USB_DIR_IN, 512, ID_UNASSIGNED},
{0x5, USB_EP_ATTR_BULK, USB_DIR_OUT, 512, ID_UNASSIGNED},
{0x6, USB_EP_ATTR_INT, USB_DIR_IN, 512, ID_UNASSIGNED},
{0x6, USB_EP_ATTR_INT, USB_DIR_OUT, 512, ID_UNASSIGNED},
{0x7, USB_EP_ATTR_BULK, USB_DIR_IN, 512, ID_UNASSIGNED},
{0x7, USB_EP_ATTR_BULK, USB_DIR_OUT, 512, ID_UNASSIGNED},
{0xFF, USB_EP_ATTR_TYPE_MASK, USB_DIR_MASK, 0, ID_ASSIGNED },
};
#else
static struct ep_id _ehci1_ep_pool[] =
{
{0x0, USB_EP_ATTR_CONTROL, USB_DIR_INOUT, 64, ID_ASSIGNED },
{0x1, USB_EP_ATTR_BULK, USB_DIR_IN, 64, ID_UNASSIGNED},
{0x1, USB_EP_ATTR_BULK, USB_DIR_OUT, 64, ID_UNASSIGNED},
{0x2, USB_EP_ATTR_INT, USB_DIR_IN, 64, ID_UNASSIGNED},
{0x2, USB_EP_ATTR_INT, USB_DIR_OUT, 64, ID_UNASSIGNED},
{0x3, USB_EP_ATTR_BULK, USB_DIR_IN, 64, ID_UNASSIGNED},
{0x3, USB_EP_ATTR_BULK, USB_DIR_OUT, 64, ID_UNASSIGNED},
{0x4, USB_EP_ATTR_INT, USB_DIR_IN, 64, ID_UNASSIGNED},
{0x4, USB_EP_ATTR_INT, USB_DIR_OUT, 64, ID_UNASSIGNED},
{0x5, USB_EP_ATTR_BULK, USB_DIR_IN, 64, ID_UNASSIGNED},
{0x5, USB_EP_ATTR_BULK, USB_DIR_OUT, 64, ID_UNASSIGNED},
{0x6, USB_EP_ATTR_INT, USB_DIR_IN, 64, ID_UNASSIGNED},
{0x6, USB_EP_ATTR_INT, USB_DIR_OUT, 64, ID_UNASSIGNED},
{0x7, USB_EP_ATTR_BULK, USB_DIR_IN, 64, ID_UNASSIGNED},
{0x7, USB_EP_ATTR_BULK, USB_DIR_OUT, 64, ID_UNASSIGNED},
{0xFF, USB_EP_ATTR_TYPE_MASK, USB_DIR_MASK, 0, ID_ASSIGNED },
};
#endif
void USB_OTG2_IRQHandler(void)
{
/* enter interrupt */
rt_interrupt_enter();
USB_DeviceEhciIsrFunction(ehci1_handle);
/* leave interrupt */
rt_interrupt_leave();
}
static rt_err_t _ehci1_ep_set_stall(rt_uint8_t address)
{
USB_DeviceStallEndpoint(ehci1_handle, address);
return RT_EOK;
}
static rt_err_t _ehci1_ep_clear_stall(rt_uint8_t address)
{
USB_DeviceUnstallEndpoint(ehci1_handle, address);
return RT_EOK;
}
static rt_err_t _ehci1_set_address(rt_uint8_t address)
{
USB_DeviceSetStatus(ehci1_handle, kUSB_DeviceStatusAddress, &address);
return RT_EOK;
}
static rt_err_t _ehci1_set_config(rt_uint8_t address)
{
return RT_EOK;
}
static rt_err_t _ehci1_ep_enable(uep_t ep)
{
usb_device_endpoint_init_struct_t ep_init;
usb_device_endpoint_callback_struct_t ep_callback;
RT_ASSERT(ep != RT_NULL);
RT_ASSERT(ep->ep_desc != RT_NULL);
ep_init.maxPacketSize = ep->ep_desc->wMaxPacketSize;
ep_init.endpointAddress = ep->ep_desc->bEndpointAddress;
ep_init.transferType = ep->ep_desc->bmAttributes;
ep_init.zlt = 0;
ep_callback.callbackFn = usb_device_endpoint_callback;
ep_callback.callbackParam = (void *)ep_init.endpointAddress;
ep_callback.isBusy = 0;
USB_DeviceInitEndpoint(ehci1_handle,&ep_init,&ep_callback);
return RT_EOK;
}
static rt_err_t _ehci1_ep_disable(uep_t ep)
{
RT_ASSERT(ep != RT_NULL);
RT_ASSERT(ep->ep_desc != RT_NULL);
USB_DeviceDeinitEndpoint(ehci1_handle, ep->ep_desc->bEndpointAddress);
return RT_EOK;
}
static rt_size_t _ehci1_ep_read(rt_uint8_t address, void *buffer)
{
rt_size_t size = 0;
RT_ASSERT(buffer != RT_NULL);
return size;
}
static rt_size_t _ehci1_ep_read_prepare(rt_uint8_t address, void *buffer, rt_size_t size)
{
USB_DeviceRecvRequest(ehci1_handle, address, buffer, size);
return size;
}
static rt_size_t _ehci1_ep_write(rt_uint8_t address, void *buffer, rt_size_t size)
{
USB_DeviceSendRequest(ehci1_handle, address, buffer, size);
return size;
}
static rt_err_t _ehci1_ep0_send_status(void)
{
_ehci1_ep_write(0x00, NULL, 0);
return RT_EOK;
}
static rt_err_t _ehci1_suspend(void)
{
return RT_EOK;
}
static rt_err_t _ehci1_wakeup(void)
{
return RT_EOK;
}
const static struct udcd_ops _ehci1_udc_ops =
{
_ehci1_set_address,
_ehci1_set_config,
_ehci1_ep_set_stall,
_ehci1_ep_clear_stall,
_ehci1_ep_enable,
_ehci1_ep_disable,
_ehci1_ep_read_prepare,
_ehci1_ep_read,
_ehci1_ep_write,
_ehci1_ep0_send_status,
_ehci1_suspend,
_ehci1_wakeup,
};
static rt_err_t drv_ehci1_usbd_init(rt_device_t device)
{
usb_status_t result;
USB_DeviceClockInit(kUSB_ControllerEhci1);
result = USB_DeviceInit(kUSB_ControllerEhci1,usb_device_callback,&ehci1_handle);
RT_ASSERT(ehci1_handle);
if(result == kStatus_USB_Success)
{
USB_DeviceIsrEnable(kUSB_ControllerEhci1);
USB_DeviceRun(ehci1_handle);
}
else
{
rt_kprintf("USB_DeviceInit ehci1 error\r\n");
return RT_ERROR;
}
return RT_EOK;
}
#endif
#if defined(RT_USING_EHCI0_AS_DEVICE) && defined(RT_USING_EHCI1_AS_DEVICE)
#error Can not using both now
#endif
static int rt_usbd_init(void)
{
#ifdef RT_USING_EHCI0_AS_DEVICE
rt_memset((void *)&_fsl_udc_0, 0, sizeof(struct udcd));
_fsl_udc_0.parent.type = RT_Device_Class_USBDevice;
_fsl_udc_0.parent.init = drv_ehci0_usbd_init;
_fsl_udc_0.ops = &_ehci0_udc_ops;
/* Register endpoint infomation */
_fsl_udc_0.ep_pool = _ehci0_ep_pool;
_fsl_udc_0.ep0.id = &_ehci0_ep_pool[0];
#ifdef FSL_USB_HS
_fsl_udc_0.device_is_hs = RT_TRUE;
#else
_fsl_udc_0.device_is_hs = RT_FALSE;
#endif
rt_device_register((rt_device_t)&_fsl_udc_0, "usbd", 0);
rt_usb_device_init();
#endif
#ifdef RT_USING_EHCI1_AS_DEVICE
rt_memset((void *)&_fsl_udc_1, 0, sizeof(struct udcd));
_fsl_udc_1.parent.type = RT_Device_Class_USBDevice;
_fsl_udc_1.parent.init = drv_ehci1_usbd_init;
_fsl_udc_1.ops = &_ehci1_udc_ops;
/* Register endpoint infomation */
_fsl_udc_1.ep_pool = _ehci1_ep_pool;
_fsl_udc_1.ep0.id = &_ehci1_ep_pool[0];
#ifdef FSL_USB_HS
_fsl_udc_1.device_is_hs = RT_TRUE;
#else
_fsl_udc_1.device_is_hs = RT_FALSE;
#endif
rt_device_register((rt_device_t)&_fsl_udc_1, "usbd", 0);
rt_usb_device_init();
#endif
return 0;
}
INIT_DEVICE_EXPORT(rt_usbd_init);
static usb_status_t usb_device_endpoint_callback(usb_device_handle handle, usb_device_endpoint_callback_message_struct_t *message, void *callbackParam)
{
rt_uint32_t ep_addr = (rt_uint32_t)callbackParam;
usb_device_struct_t *deviceHandle = (usb_device_struct_t *)handle;
udcd_t udcd = RT_NULL;
uint8_t state;
if(deviceHandle->controllerId == kUSB_ControllerEhci0)
{
#ifdef RT_USING_EHCI0_AS_DEVICE
udcd = &_fsl_udc_0;
#endif
}
else
{
#ifdef RT_USING_EHCI1_AS_DEVICE
udcd = &_fsl_udc_1;
#endif
}
if(message->isSetup)
{
//rt_kprintf("1udcd:%#08X\n",udcd);
rt_usbd_ep0_setup_handler(udcd, (struct urequest*)message->buffer);
}
else if(ep_addr == 0x00)
{
USB_DeviceGetStatus(handle, kUSB_DeviceStatusDeviceState, &state);
if(state == kUSB_DeviceStateAddressing)
{
if (kStatus_USB_Success == USB_DeviceSetStatus(handle, kUSB_DeviceStatusAddress, NULL))
{
state = kUSB_DeviceStateAddress;
USB_DeviceSetStatus(handle, kUSB_DeviceStatusDeviceState, &state);
}
}
//rt_kprintf("2udcd:%#08X\n",udcd);
rt_usbd_ep0_out_handler(udcd,message->length);
}
else if(ep_addr == 0x80)
{
USB_DeviceGetStatus(handle, kUSB_DeviceStatusDeviceState, &state);
if(state == kUSB_DeviceStateAddressing)
{
if (kStatus_USB_Success == USB_DeviceSetStatus(handle, kUSB_DeviceStatusAddress, NULL))
{
state = kUSB_DeviceStateAddress;
USB_DeviceSetStatus(handle, kUSB_DeviceStatusDeviceState, &state);
}
}
//rt_kprintf("3udcd:%#08X\n",udcd);
rt_usbd_ep0_in_handler(udcd);
}
else if(ep_addr&0x80)
{
rt_usbd_ep_in_handler(udcd, ep_addr, message->length);
}
else
{
rt_usbd_ep_out_handler(udcd, ep_addr, message->length);
}
return kStatus_USB_Success;
}
static usb_status_t usb_device_callback(usb_device_handle handle, uint32_t callbackEvent, void *eventParam)
{
usb_status_t error = kStatus_USB_Error;
usb_device_struct_t *deviceHandle = (usb_device_struct_t *)handle;
usb_device_endpoint_init_struct_t ep0_init =
{
0x40,
0x00,
USB_EP_ATTR_CONTROL,
0
};
usb_device_endpoint_callback_struct_t ep0_callback =
{
usb_device_endpoint_callback,
0,
0
};
udcd_t udcd = RT_NULL;
if(deviceHandle->controllerId == kUSB_ControllerEhci0)
{
#ifdef RT_USING_EHCI0_AS_DEVICE
udcd = &_fsl_udc_0;
#endif
}
else
{
#ifdef RT_USING_EHCI1_AS_DEVICE
udcd = &_fsl_udc_1;
#endif
}
switch (callbackEvent)
{
case kUSB_DeviceEventBusReset:
ep0_init.endpointAddress = 0x00;
ep0_callback.callbackParam = (void *)0x00;
USB_DeviceInitEndpoint(deviceHandle,&ep0_init,&ep0_callback);
ep0_init.endpointAddress = 0x80;
ep0_callback.callbackParam = (void *)0x80;
USB_DeviceInitEndpoint(deviceHandle,&ep0_init,&ep0_callback);
rt_usbd_reset_handler(udcd);
break;
case kUSB_DeviceEventAttach:
rt_usbd_connect_handler(udcd);
break;
case kUSB_DeviceEventDetach:
rt_usbd_disconnect_handler(udcd);
break;
}
return error;
}
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