Add driver for PIC32MZ MCUs

Device-only driver for PIC32MZ MCUs.

3 files changed, 742 insertions, 0 deletions

diff --git a/src/device/dcd_attr.h b/src/device/dcd_attr.h
index 3c5dadaf4..bd8994fd8 100644
--- a/src/device/dcd_attr.h
+++ b/src/device/dcd_attr.h
@@ -86,6 +86,10 @@
   #define DCD_ATTR_ENDPOINT_MAX   10
   #define DCD_ATTR_ENDPOINT_EXCLUSIVE_NUMBER
 
+#elif TU_CHECK_MCU(OPT_MCU_PIC32MZ)
+  #define DCD_ATTR_ENDPOINT_MAX   8
+  #define DCD_ATTR_ENDPOINT_EXCLUSIVE_NUMBER
+
 //------------- ST -------------//
 #elif TU_CHECK_MCU(OPT_MCU_STM32F0)
   #define DCD_ATTR_ENDPOINT_MAX   8
diff --git a/src/portable/microchip/pic32mz/dcd_pic32mz.c b/src/portable/microchip/pic32mz/dcd_pic32mz.c
new file mode 100644
index 000000000..323d01a71
--- /dev/null
+++ b/src/portable/microchip/pic32mz/dcd_pic32mz.c
@@ -0,0 +1,737 @@
+/*
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2022 Jerzy Kasenberg
+ *
+ * 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.
+ *
+ * This file is part of the TinyUSB stack.
+ */
+
+#include "tusb_option.h"
+
+#if TUSB_OPT_DEVICE_ENABLED && CFG_TUSB_MCU == OPT_MCU_PIC32MZ
+
+#include <common/tusb_common.h>
+#include <device/dcd.h>
+
+#include <xc.h>
+#include "usbhs_registers.h"
+
+#define USB_REGS  ((usbhs_registers_t *) (_USB_BASE_ADDRESS))
+
+// Maximum number of endpoints, could be trimmed down in tusb_config to reduce RAM usage.
+#ifndef EP_MAX
+#define EP_MAX            8
+#endif
+
+
+typedef enum {
+  EP0_STAGE_NONE,
+  EP0_STAGE_SETUP_IN_DATA,
+  EP0_STAGE_SETUP_OUT_NO_DATA,
+  EP0_STAGE_SETUP_OUT_DATA,
+  EP0_STAGE_DATA_IN,
+  EP0_STAGE_DATA_IN_LAST_PACKET_FILLED,
+  EP0_STAGE_DATA_IN_SENT,
+  EP0_STAGE_DATA_OUT,
+  EP0_STAGE_DATA_OUT_COMPLETE,
+  EP0_STAGE_STATUS_IN,
+  EP0_STAGE_ADDRESS_CHANGE,
+} ep0_stage_t;
+
+typedef struct {
+  uint8_t * buffer;
+  // Total length of current transfer
+  uint16_t total_len;
+  // Bytes transferred so far
+  uint16_t transferred;
+  uint16_t max_packet_size;
+  uint16_t fifo_size;
+  // Packet size sent or received so far. It is used to modify transferred field
+  // after ACK is received or when filling ISO endpoint with size larger then
+  // FIFO size.
+  uint16_t last_packet_size;
+  uint8_t ep_addr;
+} xfer_ctl_t;
+
+static struct
+{
+  // Current FIFO RAM address used for FIFO allocation
+  uint16_t fifo_addr_top;
+  // EP0 transfer stage
+  ep0_stage_t ep0_stage;
+  // Device address
+  uint8_t dev_addr;
+  xfer_ctl_t xfer_status[EP_MAX][2];
+} _dcd;
+
+// Two endpoint 0 descriptor definition for unified dcd_edpt_open()
+static tusb_desc_endpoint_t const ep0OUT_desc =
+{
+  .bLength          = sizeof(tusb_desc_endpoint_t),
+  .bDescriptorType  = TUSB_DESC_ENDPOINT,
+
+  .bEndpointAddress = 0x00,
+  .bmAttributes     = { .xfer = TUSB_XFER_CONTROL },
+  .wMaxPacketSize   = CFG_TUD_ENDPOINT0_SIZE,
+  .bInterval        = 0
+};
+
+static tusb_desc_endpoint_t const ep0IN_desc =
+{
+  .bLength          = sizeof(tusb_desc_endpoint_t),
+  .bDescriptorType  = TUSB_DESC_ENDPOINT,
+
+  .bEndpointAddress = 0x80,
+  .bmAttributes     = { .xfer = TUSB_XFER_CONTROL },
+  .wMaxPacketSize   = CFG_TUD_ENDPOINT0_SIZE,
+  .bInterval        = 0
+};
+
+#define XFER_CTL_BASE(_ep, _dir) &_dcd.xfer_status[_ep][_dir]
+
+static void ep0_set_stage(ep0_stage_t stage)
+{
+  _dcd.ep0_stage = stage;
+}
+
+static ep0_stage_t ep0_get_stage(void)
+{
+  return _dcd.ep0_stage;
+}
+
+/*------------------------------------------------------------------*/
+/* Controller API
+ *------------------------------------------------------------------*/
+void dcd_init(uint8_t rhport)
+{
+  // Disable endpoint interrupts for now
+  USB_REGS->INTRRXEbits.w = 0;
+  USB_REGS->INTRTXEbits.w = 0;
+  // Enable Reset/Suspend/Resume interrupts only
+  USB_REGS->INTRUSBEbits.w = 7;
+
+  dcd_connect(rhport);
+}
+
+void dcd_int_enable(uint8_t rhport)
+{
+  (void) rhport;
+
+  USBCRCONbits.USBIE = 1;
+}
+
+void dcd_int_disable(uint8_t rhport)
+{
+  (void) rhport;
+
+  USBCRCONbits.USBIE = 0;
+}
+
+void dcd_set_address(uint8_t rhport, uint8_t dev_addr)
+{
+  (void) rhport;
+
+  ep0_set_stage(EP0_STAGE_ADDRESS_CHANGE);
+  // Store address it will be used later after status stage is done
+  _dcd.dev_addr = dev_addr;
+  // Confirm packet now, address will be set when status stage is detected
+  USB_REGS->EPCSR[0].CSR0L_DEVICEbits.w = (USBHS_EP0_DEVICE_SERVICED_RXPKTRDY | USBHS_EP0_DEVICE_DATAEND);
+}
+
+void dcd_remote_wakeup(uint8_t rhport)
+{
+  (void) rhport;
+
+  USB_REGS->POWERbits.RESUME = 1;
+#if CFG_TUSB_OS != OPT_OS_NONE
+  osal_task_delay(10);
+#endif
+  USB_REGS->POWERbits.RESUME = 0;
+}
+
+void dcd_connect(uint8_t rhport)
+{
+  (void) rhport;
+
+  USB_REGS->POWERbits.HSEN = TUD_OPT_HIGH_SPEED ? 1 : 0;
+  USB_REGS->POWERbits.SOFTCONN = 1;
+}
+
+void dcd_disconnect(uint8_t rhport)
+{
+  (void) rhport;
+
+  USB_REGS->POWERbits.SOFTCONN = 1;
+}
+
+TU_ATTR_ALWAYS_INLINE static inline bool is_in_isr(void)
+{
+  return (_CP0_GET_STATUS() & (_CP0_STATUS_EXL_MASK | _CP0_STATUS_IPL_MASK)) != 0;
+}
+
+static void epn_rx_configure(uint8_t endpoint, uint16_t endpointSize,
+                             uint16_t fifoAddress, uint8_t fifoSize,
+                             uint32_t transferType)
+{
+  uint8_t old_index = USB_REGS->INDEXbits.ENDPOINT;
+
+  // Select endpoint register set (same register address is used for all endpoints.
+  USB_REGS->INDEXbits.ENDPOINT = endpoint;
+
+  // Configure the Endpoint size
+  USB_REGS->INDEXED_EPCSR.RXMAXPbits.RXMAXP = endpointSize;
+
+  // Set up the fifo address.
+  USB_REGS->RXFIFOADDbits.RXFIFOAD = fifoAddress;
+
+  // Resets the endpoint data toggle to 0
+  USB_REGS->INDEXED_EPCSR.RXCSRL_DEVICEbits.CLRDT = 1;
+
+  // Set up the FIFO size
+  USB_REGS->RXFIFOSZbits.RXFIFOSZ = fifoSize;
+
+  USB_REGS->INDEXED_EPCSR.RXCSRH_DEVICEbits.ISO = transferType == 1 ? 1 : 0;
+  // Disable NYET Handshakes for interrupt endpoints
+  USB_REGS->INDEXED_EPCSR.RXCSRH_DEVICEbits.DISNYET = transferType == 3 ? 1 : 0;
+
+  // Restore the index register.
+  USB_REGS->INDEXbits.ENDPOINT = old_index;
+
+  // Enable the endpoint interrupt.
+  USB_REGS->INTRRXEbits.w |= (1 << endpoint);
+}
+
+static void epn_tx_configure(uint8_t endpoint, uint16_t endpointSize,
+                             uint16_t fifoAddress, uint8_t fifoSize,
+                             uint32_t transferType)
+{
+  uint8_t old_index = USB_REGS->INDEXbits.ENDPOINT;
+
+  // Select endpoint register set (same register address is used for all endpoints.
+  USB_REGS->INDEXbits.ENDPOINT = endpoint;
+
+  // Configure the Endpoint size
+  USB_REGS->INDEXED_EPCSR.TXMAXPbits.TXMAXP = endpointSize;
+
+  // Set up the fifo address
+  USB_REGS->TXFIFOADDbits.TXFIFOAD = fifoAddress;
+
+  // Resets the endpoint data toggle to 0
+  USB_REGS->INDEXED_EPCSR.TXCSRL_DEVICEbits.CLRDT = 1;
+
+  // Set up the FIFO size
+  USB_REGS->TXFIFOSZbits.TXFIFOSZ = fifoSize;
+
+  USB_REGS->INDEXED_EPCSR.TXCSRH_DEVICEbits.ISO = 1 == transferType ? 1 : 0;
+
+  // Restore the index register
+  USB_REGS->INDEXbits.ENDPOINT = old_index;
+
+  // Enable the interrupt
+  USB_REGS->INTRTXEbits.w |=  (1 << endpoint);
+}
+
+static void tx_fifo_write(uint8_t endpoint, uint8_t const * buffer, size_t count)
+{
+  size_t i;
+  volatile uint8_t * fifo_reg;
+
+  fifo_reg = (volatile uint8_t *) (&USB_REGS->FIFO[endpoint]);
+
+  for (i = 0; i < count; i++)
+  {
+    *fifo_reg = buffer[i];
+  }
+}
+
+static int rx_fifo_read(uint8_t epnum, uint8_t * buffer)
+{
+  uint32_t i;
+  uint32_t count;
+  volatile uint8_t * fifo_reg;
+
+  fifo_reg = (volatile uint8_t *) (&USB_REGS->FIFO[epnum]);
+
+  count = USB_REGS->EPCSR[epnum].RXCOUNTbits.RXCNT;
+
+  for (i = 0; i < count; i++)
+  {
+    buffer[i] = fifo_reg[i & 3];
+  }
+
+  return count;
+}
+
+static void xfer_complete(xfer_ctl_t * xfer, uint8_t result, bool in_isr)
+{
+  dcd_event_xfer_complete(0, xfer->ep_addr, xfer->transferred, result, in_isr);
+}
+
+static void ep0_fill_tx(xfer_ctl_t * xfer_in)
+{
+  uint16_t left = xfer_in->total_len - xfer_in->transferred;
+
+  if (left)
+  {
+    xfer_in->last_packet_size = tu_min16(xfer_in->max_packet_size, left);
+    tx_fifo_write(0, xfer_in->buffer + xfer_in->transferred, xfer_in->last_packet_size);
+    xfer_in->transferred += xfer_in->last_packet_size;
+    left = xfer_in->total_len - xfer_in->transferred;
+  }
+
+  if (xfer_in->last_packet_size < xfer_in->max_packet_size || left == 0)
+  {
+    switch (ep0_get_stage())
+    {
+      case EP0_STAGE_SETUP_IN_DATA:
+      case EP0_STAGE_DATA_IN:
+      case EP0_STAGE_DATA_IN_SENT:
+        ep0_set_stage(EP0_STAGE_DATA_IN_LAST_PACKET_FILLED);
+        USB_REGS->EPCSR[0].CSR0L_DEVICEbits.TXPKTRDY = 1;
+        break;
+      case EP0_STAGE_SETUP_OUT_NO_DATA:
+        ep0_set_stage(EP0_STAGE_STATUS_IN);
+        USB_REGS->EPCSR[0].CSR0L_DEVICEbits.w = (USBHS_EP0_DEVICE_SERVICED_RXPKTRDY | USBHS_EP0_DEVICE_DATAEND);
+        break;
+      case EP0_STAGE_DATA_OUT_COMPLETE:
+        ep0_set_stage(EP0_STAGE_STATUS_IN);
+        USB_REGS->EPCSR[0].CSR0L_DEVICEbits.w = (USBHS_EP0_DEVICE_SERVICED_RXPKTRDY | USBHS_EP0_DEVICE_DATAEND);
+        break;
+      default:
+        break;
+    }
+  }
+  else
+  {
+    switch (ep0_get_stage())
+    {
+      case EP0_STAGE_SETUP_IN_DATA:
+        ep0_set_stage(EP0_STAGE_DATA_IN);
+        // fall through
+      case EP0_STAGE_DATA_IN:
+        USB_REGS->EPCSR[0].CSR0L_DEVICEbits.TXPKTRDY = 1;
+        break;
+      default:
+        break;
+    }
+  }
+}
+
+static void epn_fill_tx(xfer_ctl_t * xfer_in, uint8_t epnum)
+{
+  uint16_t left = xfer_in->total_len - xfer_in->transferred;
+  if (left)
+  {
+    xfer_in->last_packet_size = tu_min16(xfer_in->max_packet_size, left);
+    tx_fifo_write(epnum, xfer_in->buffer + xfer_in->transferred, xfer_in->last_packet_size);
+  }
+  USB_REGS->EPCSR[epnum].TXCSRL_DEVICEbits.TXPKTRDY = 1;
+}
+
+static bool ep0_xfer(xfer_ctl_t * xfer, int dir)
+{
+  if (dir == TUSB_DIR_OUT)
+  {
+    if (xfer->total_len)
+    {
+      switch (_dcd.ep0_stage)
+      {
+        case EP0_STAGE_DATA_OUT_COMPLETE:
+        case EP0_STAGE_SETUP_OUT_DATA:
+          ep0_set_stage(EP0_STAGE_DATA_OUT);
+          USB_REGS->EPCSR[0].CSR0L_DEVICEbits.SVCRPR = 1;
+          break;
+        default:
+          TU_ASSERT(0);
+      }
+    }
+    else
+    {
+      switch (_dcd.ep0_stage)
+      {
+        case EP0_STAGE_DATA_IN_SENT:
+          ep0_set_stage(EP0_STAGE_NONE);
+          // fall through
+        case EP0_STAGE_NONE:
+          xfer_complete(xfer, XFER_RESULT_SUCCESS, true);
+          break;
+        default:
+          break;
+      }
+    }
+  }
+  else // IN
+  {
+    ep0_fill_tx(xfer);
+  }
+
+  return true;
+}
+
+/*------------------------------------------------------------------*/
+/* DCD Endpoint port
+ *------------------------------------------------------------------*/
+
+bool dcd_edpt_open(uint8_t rhport, tusb_desc_endpoint_t const * desc_edpt)
+{
+  (void) rhport;
+  uint8_t const epnum = tu_edpt_number(desc_edpt->bEndpointAddress);
+  uint8_t const dir   = tu_edpt_dir(desc_edpt->bEndpointAddress);
+  xfer_ctl_t * xfer = XFER_CTL_BASE(epnum, dir);
+
+  TU_ASSERT(epnum < EP_MAX);
+
+  xfer->max_packet_size = tu_edpt_packet_size(desc_edpt);
+  xfer->fifo_size = xfer->max_packet_size;
+  xfer->ep_addr = desc_edpt->bEndpointAddress;
+
+  if (epnum != 0)
+  {
+    if (dir == TUSB_DIR_OUT)
+    {
+      epn_rx_configure(epnum, xfer->max_packet_size, _dcd.fifo_addr_top, __builtin_ctz(xfer->fifo_size) - 3, desc_edpt->bmAttributes.xfer);
+      _dcd.fifo_addr_top += (xfer->fifo_size + 7) >> 3;
+    }
+    else
+    {
+      epn_tx_configure(epnum, xfer->max_packet_size, _dcd.fifo_addr_top, __builtin_ctz(xfer->fifo_size) - 3, desc_edpt->bmAttributes.xfer);
+      _dcd.fifo_addr_top += (xfer->fifo_size + 7) >> 3;
+    }
+  }
+  return true;
+}
+
+void dcd_edpt_close_all (uint8_t rhport)
+{
+  (void) rhport;
+
+  // Reserve EP0 FIFO address
+  _dcd.fifo_addr_top = 64 >> 3;
+  for (int i = 1; i < EP_MAX; ++i)
+  {
+    tu_memclr(&_dcd.xfer_status[i], sizeof(_dcd.xfer_status[i]));
+  }
+}
+
+void dcd_edpt_close(uint8_t rhport, uint8_t ep_addr)
+{
+  (void) rhport;
+  (void) ep_addr;
+}
+
+bool dcd_edpt_xfer(uint8_t rhport, uint8_t ep_addr, uint8_t * buffer, uint16_t total_bytes)
+{
+  uint8_t const epnum = tu_edpt_number(ep_addr);
+  uint8_t const dir   = tu_edpt_dir(ep_addr);
+  xfer_ctl_t * xfer = XFER_CTL_BASE(epnum, dir);
+  (void) rhport;
+
+  xfer->buffer = buffer;
+  xfer->total_len = total_bytes;
+  xfer->last_packet_size = 0;
+  xfer->transferred = 0;
+
+  if (epnum == 0)
+  {
+    return ep0_xfer(xfer, dir);
+  }
+  if (dir == TUSB_DIR_OUT)
+  {
+    USB_REGS->INTRRXEbits.w |= (1u << epnum);
+  }
+  else // IN
+  {
+    epn_fill_tx(xfer, epnum);
+  }
+
+  return true;
+}
+
+void dcd_edpt_stall(uint8_t rhport, uint8_t ep_addr)
+{
+  uint8_t const epnum = tu_edpt_number(ep_addr);
+  uint8_t const dir   = tu_edpt_dir(ep_addr);
+  (void) rhport;
+
+  if (epnum == 0)
+  {
+    USB_REGS->EPCSR[0].CSR0L_DEVICEbits.SENDSTALL = 1;
+  }
+  else
+  {
+    if (dir == TUSB_DIR_OUT)
+    {
+      USB_REGS->EPCSR[epnum].RXCSRL_DEVICEbits.SENDSTALL = 1;
+    }
+    else
+    {
+      USB_REGS->EPCSR[epnum].TXCSRL_DEVICEbits.SENDSTALL = 1;
+    }
+  }
+}
+
+void dcd_edpt_clear_stall(uint8_t rhport, uint8_t ep_addr)
+{
+  uint8_t const epnum = tu_edpt_number(ep_addr);
+  uint8_t const dir   = tu_edpt_dir(ep_addr);
+  (void) rhport;
+
+  if (epnum == 0)
+  {
+    USB_REGS->EPCSR[0].CSR0L_DEVICEbits.SENDSTALL = 0;
+  }
+  else
+  {
+    if (dir == TUSB_DIR_OUT)
+    {
+      USB_REGS->EPCSR[epnum].RXCSRL_DEVICEbits.w &= ~(USBHS_EP_DEVICE_RX_SENT_STALL | USBHS_EP_DEVICE_RX_SEND_STALL);
+      USB_REGS->EPCSR[epnum].RXCSRL_DEVICEbits.CLRDT = 1;
+    }
+    else
+    {
+      USB_REGS->EPCSR[epnum].TXCSRL_DEVICEbits.w &= ~(USBHS_EP_DEVICE_TX_SENT_STALL | USBHS_EP_DEVICE_TX_SEND_STALL);
+      USB_REGS->EPCSR[epnum].TXCSRL_DEVICEbits.CLRDT = 1;
+    }
+  }
+}
+
+/*------------------------------------------------------------------*/
+/* Interrupt Handler
+ *------------------------------------------------------------------*/
+
+static void ep0_handle_rx(void)
+{
+  int transferred;
+  xfer_ctl_t * xfer = XFER_CTL_BASE(0, TUSB_DIR_OUT);
+
+  TU_ASSERT(xfer->buffer,);
+
+  transferred = rx_fifo_read(0, xfer->buffer + xfer->transferred);
+  xfer->transferred += transferred;
+  if (transferred < xfer->max_packet_size || xfer->transferred == xfer->total_len)
+  {
+    ep0_set_stage(EP0_STAGE_DATA_OUT_COMPLETE);
+    xfer_complete(xfer, XFER_RESULT_SUCCESS, true);
+  }
+  else
+  {
+    USB_REGS->EPCSR[0].CSR0L_DEVICEbits.SVCRPR = 1;
+  }
+}
+
+static void epn_handle_rx_int(uint8_t epnum)
+{
+  uint8_t ep_status;
+  int transferred;
+  xfer_ctl_t * xfer = XFER_CTL_BASE(epnum, TUSB_DIR_OUT);
+
+  ep_status = USB_REGS->EPCSR[epnum].RXCSRL_DEVICEbits.w;
+  if (ep_status & USBHS_EP_DEVICE_RX_SENT_STALL)
+  {
+    USB_REGS->EPCSR[epnum].RXCSRL_DEVICEbits.w &= ~USBHS_EP_DEVICE_RX_SENT_STALL;
+  }
+
+  if (ep_status & USBHS_EP0_HOST_RXPKTRDY)
+  {
+    TU_ASSERT(xfer->buffer != NULL,);
+
+    transferred = rx_fifo_read(epnum, xfer->buffer + xfer->transferred);
+    USB_REGS->EPCSR[epnum].RXCSRL_HOSTbits.RXPKTRDY = 0;
+    xfer->transferred += transferred;
+    if (transferred < xfer->max_packet_size || xfer->transferred == xfer->total_len)
+    {
+      xfer_complete(xfer, XFER_RESULT_SUCCESS, true);
+    }
+  }
+}
+
+static void epn_handle_tx_int(uint8_t epnum)
+{
+  uint8_t ep_status = USB_REGS->EPCSR[epnum].TXCSRL_DEVICEbits.w;
+  xfer_ctl_t * xfer = XFER_CTL_BASE(epnum, TUSB_DIR_IN);
+
+  if (ep_status & USBHS_EP_DEVICE_TX_SENT_STALL)
+  {
+    USB_REGS->EPCSR[epnum].TXCSRL_DEVICEbits.w &= ~USBHS_EP_DEVICE_TX_SENT_STALL;
+  }
+  else
+  {
+    xfer->transferred += xfer->last_packet_size;
+    if (xfer->last_packet_size < xfer->max_packet_size || xfer->transferred == xfer->total_len)
+    {
+      xfer->last_packet_size = 0;
+      xfer_complete(xfer, XFER_RESULT_SUCCESS, true);
+    }
+    else
+    {
+      epn_fill_tx(xfer, epnum);
+    }
+  }
+}
+
+static void ep0_handle_int(void)
+{
+  __USBHS_CSR0L_DEVICE_t  ep0_status;
+  union {
+    tusb_control_request_t request;
+    uint32_t setup_buffer[2];
+  } setup_packet;
+  xfer_ctl_t * xfer_in = XFER_CTL_BASE(0, TUSB_DIR_IN);
+  uint8_t old_index = USB_REGS->INDEXbits.ENDPOINT;
+
+  // Select EP0 registers
+  USB_REGS->INDEXbits.ENDPOINT = 0;
+
+  ep0_status = USB_REGS->EPCSR[0].CSR0L_DEVICEbits;
+
+  if (ep0_status.SENTSTALL)
+  {
+    // Stall was sent. Reset the endpoint 0 state.
+    // Clear the sent stall bit.
+    ep0_set_stage(EP0_STAGE_NONE);
+    USB_REGS->EPCSR[0].CSR0L_DEVICEbits.SENTSTALL = 0;
+  }
+
+  if (ep0_status.SETUPEND)
+  {
+    // This means the current control transfer end prematurely. We don't
+    // need to end any transfers. The device layer will manage the
+    // premature transfer end. We clear the SetupEnd bit and reset the
+    // driver control transfer state machine to waiting for next setup
+    // packet from host.
+    USB_REGS->EPCSR[0].CSR0L_DEVICEbits.SVSSETEND = 1;
+    ep0_set_stage(EP0_STAGE_NONE);
+  }
+
+  if (ep0_status.RXPKTRDY)
+  {
+    switch (ep0_get_stage())
+    {
+      default:
+        // Data arrived at unexpected state, this must be setup stage packet after all.
+        // Fall through
+      case EP0_STAGE_NONE:
+        // This means we were expecting a SETUP packet and we got one.
+        setup_packet.setup_buffer[0] = USB_REGS->FIFO[0];
+        setup_packet.setup_buffer[1] = USB_REGS->FIFO[0];
+        if (setup_packet.request.bmRequestType_bit.direction == TUSB_DIR_OUT)
+        {
+          // SVCRPR is not set yet, it will be set later when out xfer is started
+          // Till then NAKs will hold incommint data
+          ep0_set_stage(setup_packet.request.wLength == 0 ? EP0_STAGE_SETUP_OUT_NO_DATA : EP0_STAGE_SETUP_OUT_DATA);
+        }
+        else
+        {
+          USB_REGS->EPCSR[0].CSR0L_DEVICEbits.SVCRPR = 1;
+          ep0_set_stage(EP0_STAGE_SETUP_IN_DATA);
+        }
+        dcd_event_setup_received(0, &setup_packet.request.bmRequestType, true);
+        break;
+      case EP0_STAGE_DATA_OUT:
+        ep0_handle_rx();
+        break;
+    }
+  }
+  else
+  {
+    switch (ep0_get_stage())
+    {
+      case EP0_STAGE_STATUS_IN:
+        // Status was just sent, this concludes request, notify client
+        ep0_set_stage(EP0_STAGE_NONE);
+        xfer_complete(xfer_in, XFER_RESULT_SUCCESS, true);
+        break;
+      case EP0_STAGE_DATA_IN:
+        // Packet sent, fill more data
+        ep0_fill_tx(xfer_in);
+        break;
+      case EP0_STAGE_DATA_IN_LAST_PACKET_FILLED:
+        ep0_set_stage(EP0_STAGE_DATA_IN_SENT);
+        xfer_complete(xfer_in, XFER_RESULT_SUCCESS, true);
+        break;
+      case EP0_STAGE_ADDRESS_CHANGE:
+        // Status stage after set address request finished, address can be changed
+        USB_REGS->FADDRbits.FUNC = _dcd.dev_addr;
+        ep0_set_stage(EP0_STAGE_NONE);
+        break;
+      default:
+        break;
+    }
+  }
+  // Restore register index
+  USB_REGS->INDEXbits.ENDPOINT = old_index;
+}
+
+void dcd_int_handler(uint8_t rhport)
+{
+  int i;
+  uint8_t mask;
+  __USBCSR2bits_t csr2_bits;
+  uint16_t rxints = USB_REGS->INTRRX;
+  uint16_t txints = USB_REGS->INTRTX;
+  csr2_bits = USBCSR2bits;
+  (void) rhport;
+
+  IFS4CLR = _IFS4_USBIF_MASK;
+
+  if (csr2_bits.SOFIF && csr2_bits.SOFIE)
+  {
+    dcd_event_bus_signal(0, DCD_EVENT_SOF, true);
+  }
+  if (csr2_bits.RESETIF)
+  {
+    dcd_edpt_open(0, &ep0OUT_desc);
+    dcd_edpt_open(0, &ep0IN_desc);
+    dcd_event_bus_reset(0, USB_REGS->POWERbits.HSMODE ? TUSB_SPEED_HIGH : TUSB_SPEED_FULL, true);
+  }
+  if (csr2_bits.SUSPIF)
+  {
+    dcd_event_bus_signal(0, DCD_EVENT_SUSPEND, true);
+  }
+  if (csr2_bits.RESUMEIF)
+  {
+    dcd_event_bus_signal(0, DCD_EVENT_RESUME, true);
+  }
+  // INTRTX has bit for EP0
+  if (txints & 1)
+  {
+    txints ^= 1;
+    ep0_handle_int();
+  }
+  for (mask = 0x02, i = 1; rxints != 0 && mask != 0; mask <<= 1, ++i)
+  {
+    if (rxints & mask)
+    {
+      rxints ^= mask;
+      epn_handle_rx_int(i);
+    }
+  }
+  for (mask = 0x02, i = 1; txints != 0 && mask != 0; mask <<= 1, ++i)
+  {
+    if (txints & mask)
+    {
+      txints ^= mask;
+      epn_handle_tx_int(i);
+    }
+  }
+}
+
+#endif
diff --git a/src/tusb_option.h b/src/tusb_option.h
index 2edd310fa..4f16a3c1a 100644
--- a/src/tusb_option.h
+++ b/src/tusb_option.h
@@ -66,6 +66,7 @@
 #define OPT_MCU_SAML22            205 ///< MicroChip SAML22
 #define OPT_MCU_SAML21            206 ///< MicroChip SAML21
 #define OPT_MCU_SAMX7X            207 ///< MicroChip SAME70, S70, V70, V71 family
+#define OPT_MCU_PIC32MZ           220 ///< MicroChip PIC32MZ family
 
 // STM32
 #define OPT_MCU_STM32F0           300 ///< ST F0