ChibiOS-isochronous.patch

diff -Naur ChibiOS-svn/os/hal/ports/STM32/LLD/OTGv1/stm32_otg.h ChibiOS-iso/os/hal/ports/STM32/LLD/OTGv1/stm32_otg.h
--- ChibiOS-svn/os/hal/ports/STM32/LLD/OTGv1/stm32_otg.h	2015-07-15 20:18:40.000000000 +0600
+++ ChibiOS-iso/os/hal/ports/STM32/LLD/OTGv1/stm32_otg.h	2015-07-31 16:08:43.768582531 +0600
@@ -671,6 +671,8 @@
                                                  SOF mask.                  */
 #define DSTS_FNSOF(n)           ((n)<<8)    /**< Frame number of the received
                                                  SOF value.                 */
+#define DSTS_FNSOF_ODD          (1U<<8)     /**< Frame parity of the received
+                                                 SOF value.                 */
 #define DSTS_EERR               (1U<<3)     /**< Erratic error.             */
 #define DSTS_ENUMSPD_MASK       (3U<<1)     /**< Enumerated speed mask.     */
 #define DSTS_ENUMSPD_FS_48      (3U<<1)     /**< Full speed (PHY clock is
diff -Naur ChibiOS-svn/os/hal/ports/STM32/LLD/OTGv1/usb_lld.c ChibiOS-iso/os/hal/ports/STM32/LLD/OTGv1/usb_lld.c
--- ChibiOS-svn/os/hal/ports/STM32/LLD/OTGv1/usb_lld.c	2015-07-15 20:18:40.000000000 +0600
+++ ChibiOS-iso/os/hal/ports/STM32/LLD/OTGv1/usb_lld.c	2015-08-07 14:40:19.698220001 +0600
@@ -614,6 +614,69 @@
 }
 
 /**
+ * @brief   Isochronous IN transfer failed handler.
+ *
+ * @param[in] usbp      pointer to the @p USBDriver object
+ *
+ * @notapi
+ */
+static void otg_isoc_in_failed_handler(USBDriver *usbp) {
+  usbep_t ep;
+  stm32_otg_t *otgp = usbp->otg;
+  
+  for (ep = 0; ep <= usbp->otgparams->num_endpoints; ep++) {
+    if (((otgp->ie[ep].DIEPCTL & DIEPCTL_EPTYP_MASK) == DIEPCTL_EPTYP_ISO) &&
+        ((otgp->ie[ep].DIEPCTL & DIEPCTL_EPENA) != 0)) {
+      /* Endpoint enabled -> ISOC IN transfer failed */
+      /* Disable endpoint */
+      otgp->ie[ep].DIEPCTL |= (DIEPCTL_EPDIS | DIEPCTL_SNAK);
+      while (otgp->ie[ep].DIEPCTL & DIEPCTL_EPENA)
+        ;
+
+      /* Flush FIFO */
+      otg_txfifo_flush(usbp, ep);
+
+      /* Prepare data for next frame */
+      _usb_isr_invoke_in_cb(usbp, ep);
+
+      /* Pump out data for next frame */
+      osalSysLockFromISR();
+      otgp->DIEPEMPMSK &= ~(1 << ep);
+      usbp->txpending |= (1 << ep);
+      osalThreadResumeI(&usbp->wait, MSG_OK);
+      osalSysUnlockFromISR();
+    }
+  }
+}
+
+/**
+ * @brief   Isochronous OUT transfer failed handler.
+ *
+ * @param[in] usbp      pointer to the @p USBDriver object
+ *
+ * @notapi
+ */
+
+static void otg_isoc_out_failed_handler(USBDriver *usbp) {
+  usbep_t ep;
+  stm32_otg_t *otgp = usbp->otg;
+  
+  for (ep = 0; ep <= usbp->otgparams->num_endpoints; ep++) {
+    if (((otgp->oe[ep].DOEPCTL & DOEPCTL_EPTYP_MASK) == DOEPCTL_EPTYP_ISO) &&
+        ((otgp->oe[ep].DOEPCTL & DOEPCTL_EPENA) != 0)) {
+      /* Endpoint enabled -> ISOC OUT transfer failed */
+      /* Disable endpoint */
+      /* FIXME: Core stucks here */
+      /*otgp->oe[ep].DOEPCTL |= (DOEPCTL_EPDIS | DOEPCTL_SNAK);
+      while (otgp->oe[ep].DOEPCTL & DOEPCTL_EPENA)
+        ;*/
+      /* Prepare transfer for next frame */
+      _usb_isr_invoke_out_cb(usbp, ep);
+    }
+  }
+}
+
+/**
  * @brief   OTG shared ISR.
  *
  * @param[in] usbp      pointer to the @p USBDriver object
@@ -644,6 +707,16 @@
     _usb_isr_invoke_sof_cb(usbp);
   }
 
+  /* Isochronous IN failed handling */
+  if (sts & GINTSTS_IISOIXFR) {
+    otg_isoc_in_failed_handler(usbp);
+  }
+
+  /* Isochronous OUT failed handling */
+  if (sts & GINTSTS_IISOOXFR) {
+    otg_isoc_out_failed_handler(usbp);
+  }
+
   /* RX FIFO not empty handling.*/
   if (sts & GINTSTS_RXFLVL) {
     /* The interrupt is masked while the thread has control or it would
@@ -868,12 +941,16 @@
     otgp->DIEPMSK  = 0;
     otgp->DOEPMSK  = 0;
     otgp->DAINTMSK = 0;
+
     if (usbp->config->sof_cb == NULL)
       otgp->GINTMSK  = GINTMSK_ENUMDNEM | GINTMSK_USBRSTM /*| GINTMSK_USBSUSPM |
-                       GINTMSK_ESUSPM  |*/;
+                       GINTMSK_ESUSPM */ | GINTMSK_IISOIXFRM | 
+                       GINTMSK_IISOOXFRM;
     else
       otgp->GINTMSK  = GINTMSK_ENUMDNEM | GINTMSK_USBRSTM /*| GINTMSK_USBSUSPM |
-                       GINTMSK_ESUSPM */ | GINTMSK_SOFM;
+                       GINTMSK_ESUSPM */ | GINTMSK_IISOIXFRM | 
+                       GINTMSK_IISOOXFRM | GINTMSK_SOFM;
+
     otgp->GINTSTS  = 0xFFFFFFFF;         /* Clears all pending IRQs, if any. */
 
 #if defined(_CHIBIOS_RT_)
@@ -1196,7 +1273,9 @@
     /* Normal case.*/
     uint32_t pcnt = (isp->txsize + usbp->epc[ep]->in_maxsize - 1) /
                     usbp->epc[ep]->in_maxsize;
-    usbp->otg->ie[ep].DIEPTSIZ = DIEPTSIZ_PKTCNT(pcnt) |
+    /* DIEPTSIZ_MCNT is for isochronous IN transfers */
+    /* TODO: Support more than one packet per frame for isochronous transfers */
+    usbp->otg->ie[ep].DIEPTSIZ = DIEPTSIZ_MCNT(1) | DIEPTSIZ_PKTCNT(pcnt) |
                                  DIEPTSIZ_XFRSIZ(isp->txsize);
   }
 }
@@ -1210,8 +1289,15 @@
  * @notapi
  */
 void usb_lld_start_out(USBDriver *usbp, usbep_t ep) {
-
-  usbp->otg->oe[ep].DOEPCTL |= DOEPCTL_CNAK;
+  if ((usbp->epc[ep]->ep_mode & USB_EP_MODE_TYPE) == USB_EP_MODE_TYPE_ISOC) {
+    /* Odd/even bit toggling for isochronous endpoint */
+    if (usbp->otg->DSTS & DSTS_FNSOF_ODD)
+      usbp->otg->oe[ep].DOEPCTL |= DOEPCTL_SEVNFRM;
+    else
+      usbp->otg->oe[ep].DOEPCTL |= DOEPCTL_SODDFRM;
+  }
+  
+  usbp->otg->oe[ep].DOEPCTL |= DOEPCTL_EPENA | DOEPCTL_CNAK;
 }
 
 /**
@@ -1223,7 +1309,14 @@
  * @notapi
  */
 void usb_lld_start_in(USBDriver *usbp, usbep_t ep) {
-
+  if ((usbp->epc[ep]->ep_mode & USB_EP_MODE_TYPE) == USB_EP_MODE_TYPE_ISOC) {
+    /* Odd/even bit toggling */
+    if (usbp->otg->DSTS & DSTS_FNSOF_ODD)
+      usbp->otg->ie[ep].DIEPCTL |= DIEPCTL_SEVNFRM;
+    else
+      usbp->otg->ie[ep].DIEPCTL |= DIEPCTL_SODDFRM;
+  }
+  
   usbp->otg->ie[ep].DIEPCTL |= DIEPCTL_EPENA | DIEPCTL_CNAK;
   usbp->otg->DIEPEMPMSK |= DIEPEMPMSK_INEPTXFEM(ep);
 }

Hi. Is this working well? And maybe somehow related to your KDAC project?