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USB remove timeout #457

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17876bb
drv/usb: Remove USB tx timeout.
dlech Jan 25, 2026
c8f6754
DO NOT MERGE: platform/prime_hub: enable USB
dlech Jan 25, 2026
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4 changes: 2 additions & 2 deletions lib/pbio/drv/usb/usb.c
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Original file line number Diff line number Diff line change
Expand Up @@ -294,14 +294,14 @@ static pbio_error_t pbdrv_usb_process_thread(pbio_os_state_t *state, void *conte
pbdrv_usb_respond_soon = false;

// Send the response.
PBIO_OS_AWAIT(state, &sub, err = pbdrv_usb_tx_response(&sub, error_code));
PBIO_OS_AWAIT(state, &sub, err = pbdrv_usb_tx_response(&sub, error_code, pbdrv_usb_process.request == PBIO_OS_PROCESS_REQUEST_TYPE_CANCEL));
if (err != PBIO_SUCCESS) {
pbdrv_usb_reset_state();
PBIO_OS_AWAIT(state, &sub, pbdrv_usb_tx_reset(&sub));
}
} else if (pbdrv_usb_connection_is_active() && update_and_get_event_buffer(&noti_buf, &noti_size)) {
// Send out pending event if any.
PBIO_OS_AWAIT(state, &sub, err = pbdrv_usb_tx_event(&sub, noti_buf, *noti_size));
PBIO_OS_AWAIT(state, &sub, err = pbdrv_usb_tx_event(&sub, noti_buf, *noti_size, pbdrv_usb_process.request == PBIO_OS_PROCESS_REQUEST_TYPE_CANCEL));
*noti_size = 0;
if (err != PBIO_SUCCESS) {
pbdrv_usb_reset_state();
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14 changes: 8 additions & 6 deletions lib/pbio/drv/usb/usb.h
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Original file line number Diff line number Diff line change
Expand Up @@ -51,7 +51,7 @@ uint32_t pbdrv_usb_get_data_and_start_receive(uint8_t *data);
/**
* Sends and awaits event message from hub to host via the Pybricks USB interface OUT endpoint.
*
* Driver-specific implementation. Must return within ::PBDRV_USB_TRANSMIT_TIMEOUT.
* Driver-specific implementation. Must support being canceled via @p cancel.
*
* The USB process ensures that only one call is made at once.
*
Expand All @@ -60,31 +60,33 @@ uint32_t pbdrv_usb_get_data_and_start_receive(uint8_t *data);
* @param [in] state Protothread state.
* @param [in] data Data to send.
* @param [in] size Data size.
* @param [in] cancel If true, stop waiting for completion and return error.
* @return ::PBIO_SUCCESS on completion.
* ::PBIO_ERROR_INVALID_OP if there is no connection.
* ::PBIO_ERROR_AGAIN while awaiting.
* ::PBIO_ERROR_BUSY if this operation is already ongoing.
* ::PBIO_ERROR_INVALID_ARG if @p size is too large.
* ::PBIO_ERROR_TIMEDOUT if the operation was started but could not complete.
* ::PBIO_ERROR_CANCELED if the operation was canceled.
*/
pbio_error_t pbdrv_usb_tx_event(pbio_os_state_t *state, const uint8_t *data, uint32_t size);
pbio_error_t pbdrv_usb_tx_event(pbio_os_state_t *state, const uint8_t *data, uint32_t size, bool cancel);

/**
* Sends and awaits response to an earlier incoming message.
*
* Driver-specific implementation. Must return within ::PBDRV_USB_TRANSMIT_TIMEOUT.
* Driver-specific implementation. Must support being canceled via @p cancel.
*
* The USB process ensures that only one call is made at once.
*
* @param [in] state Protothread state.
* @param [in] code Error code to send.
* @param [in] cancel If true, stop waiting for completion and return error.
* @return ::PBIO_SUCCESS on completion.
* ::PBIO_ERROR_INVALID_OP if there is no connection.
* ::PBIO_ERROR_AGAIN while awaiting.
* ::PBIO_ERROR_BUSY if this operation is already ongoing.
* ::PBIO_ERROR_TIMEDOUT if the operation was started but could not complete.
* ::PBIO_ERROR_CANCELED if the operation was canceled.
*/
pbio_error_t pbdrv_usb_tx_response(pbio_os_state_t *state, pbio_pybricks_error_t code);
pbio_error_t pbdrv_usb_tx_response(pbio_os_state_t *state, pbio_pybricks_error_t code, bool cancel);

/**
* Resets the driver transmission state.
Expand Down
27 changes: 8 additions & 19 deletions lib/pbio/drv/usb/usb_ev3.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1023,9 +1023,7 @@ pbio_error_t pbdrv_usb_tx_reset(pbio_os_state_t *state) {
PBIO_OS_ASYNC_END(PBIO_SUCCESS);
}

pbio_error_t pbdrv_usb_tx_event(pbio_os_state_t *state, const uint8_t *data, uint32_t size) {

static pbio_os_timer_t timer;
pbio_error_t pbdrv_usb_tx_event(pbio_os_state_t *state, const uint8_t *data, uint32_t size, bool cancel) {

PBIO_OS_ASYNC_BEGIN(state);

Expand All @@ -1034,28 +1032,20 @@ pbio_error_t pbdrv_usb_tx_event(pbio_os_state_t *state, const uint8_t *data, uin
}

transmitting = true;
pbio_os_timer_set(&timer, PBDRV_USB_TRANSMIT_TIMEOUT);

// Transmit event.
pbdrv_cache_prepare_before_dma(data, size);
usb_setup_tx_dma_desc(CPPI_DESC_TX_PYBRICKS_EVENT, (uint8_t *)data, size);

PBIO_OS_AWAIT_UNTIL(state, !transmitting || pbio_os_timer_is_expired(&timer));

if (pbio_os_timer_is_expired(&timer)) {
// Transmission has taken too long, so reset the state to allow
// new transmissions. This can happen if the host stops reading
// data for some reason. This need some time to complete, so delegate
// the reset back to the process.
return PBIO_ERROR_TIMEDOUT;
PBIO_OS_AWAIT_UNTIL(state, !transmitting || cancel);
if (transmitting && cancel) {
return PBIO_ERROR_CANCELED;
}

PBIO_OS_ASYNC_END(PBIO_SUCCESS);
}

pbio_error_t pbdrv_usb_tx_response(pbio_os_state_t *state, pbio_pybricks_error_t code) {

static pbio_os_timer_t timer;
pbio_error_t pbdrv_usb_tx_response(pbio_os_state_t *state, pbio_pybricks_error_t code, bool cancel) {

static uint8_t ep1_tx_response_buf[1 + sizeof(uint32_t)] __aligned(4) = { PBIO_PYBRICKS_IN_EP_MSG_RESPONSE };

Expand All @@ -1066,7 +1056,6 @@ pbio_error_t pbdrv_usb_tx_response(pbio_os_state_t *state, pbio_pybricks_error_t
}

transmitting = true;
pbio_os_timer_set(&timer, PBDRV_USB_TRANSMIT_TIMEOUT);

// Response is just the error code.
pbio_set_uint32_le(&ep1_tx_response_buf[1], code);
Expand All @@ -1076,9 +1065,9 @@ pbio_error_t pbdrv_usb_tx_response(pbio_os_state_t *state, pbio_pybricks_error_t
usb_setup_tx_dma_desc(CPPI_DESC_TX_RESPONSE, ep1_tx_response_buf, sizeof(ep1_tx_response_buf));

// Wait until complete or trigger reset on timeout.
PBIO_OS_AWAIT_UNTIL(state, !transmitting || pbio_os_timer_is_expired(&timer));
if (pbio_os_timer_is_expired(&timer)) {
return PBIO_ERROR_TIMEDOUT;
PBIO_OS_AWAIT_UNTIL(state, !transmitting || cancel);
if (transmitting && cancel) {
return PBIO_ERROR_CANCELED;
}

PBIO_OS_ASYNC_END(PBIO_SUCCESS);
Expand Down
22 changes: 8 additions & 14 deletions lib/pbio/drv/usb/usb_nxt.c
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Original file line number Diff line number Diff line change
Expand Up @@ -853,9 +853,7 @@ pbdrv_usb_bcd_t pbdrv_usb_get_bcd(void) {
return PBDRV_USB_BCD_NONE;
}

pbio_error_t pbdrv_usb_tx_event(pbio_os_state_t *state, const uint8_t *data, uint32_t size) {

static pbio_os_timer_t timer;
pbio_error_t pbdrv_usb_tx_event(pbio_os_state_t *state, const uint8_t *data, uint32_t size, bool cancel) {

PBIO_OS_ASYNC_BEGIN(state);

Expand All @@ -864,20 +862,17 @@ pbio_error_t pbdrv_usb_tx_event(pbio_os_state_t *state, const uint8_t *data, uin
// return PBIO_ERROR_BUSY;
// }

pbio_os_timer_set(&timer, PBDRV_USB_TRANSMIT_TIMEOUT);
pbdrv_usb_nxt_write_data(2, data, size);

PBIO_OS_AWAIT_UNTIL(state, pbdrv_usb_nxt_state.status == USB_READY || pbio_os_timer_is_expired(&timer));
if (pbio_os_timer_is_expired(&timer)) {
return PBIO_ERROR_TIMEDOUT;
PBIO_OS_AWAIT_UNTIL(state, pbdrv_usb_nxt_state.status == USB_READY || cancel);
if (pbdrv_usb_nxt_state.status != USB_READY && cancel) {
return PBIO_ERROR_CANCELED;
}

PBIO_OS_ASYNC_END(PBIO_SUCCESS);
}

pbio_error_t pbdrv_usb_tx_response(pbio_os_state_t *state, pbio_pybricks_error_t code) {

static pbio_os_timer_t timer;
pbio_error_t pbdrv_usb_tx_response(pbio_os_state_t *state, pbio_pybricks_error_t code, bool cancel) {

static uint8_t usb_response_buf[PBIO_PYBRICKS_USB_MESSAGE_SIZE(sizeof(uint32_t))] __aligned(4) = { PBIO_PYBRICKS_IN_EP_MSG_RESPONSE };

Expand All @@ -888,13 +883,12 @@ pbio_error_t pbdrv_usb_tx_response(pbio_os_state_t *state, pbio_pybricks_error_t
// return PBIO_ERROR_BUSY;
// }

pbio_os_timer_set(&timer, PBDRV_USB_TRANSMIT_TIMEOUT);
pbio_set_uint32_le(&usb_response_buf[1], code);
pbdrv_usb_nxt_write_data(2, usb_response_buf, sizeof(usb_response_buf));

PBIO_OS_AWAIT_UNTIL(state, pbdrv_usb_nxt_state.status == USB_READY || pbio_os_timer_is_expired(&timer));
if (pbio_os_timer_is_expired(&timer)) {
return PBIO_ERROR_TIMEDOUT;
PBIO_OS_AWAIT_UNTIL(state, pbdrv_usb_nxt_state.status == USB_READY || cancel);
if (pbdrv_usb_nxt_state.status != USB_READY && cancel) {
return PBIO_ERROR_CANCELED;
}

PBIO_OS_ASYNC_END(PBIO_SUCCESS);
Expand Down
4 changes: 2 additions & 2 deletions lib/pbio/drv/usb/usb_simulation.c
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@ pbdrv_usb_bcd_t pbdrv_usb_get_bcd(void) {
return PBDRV_USB_BCD_NONE;
}

pbio_error_t pbdrv_usb_tx_event(pbio_os_state_t *state, const uint8_t *data, uint32_t size) {
pbio_error_t pbdrv_usb_tx_event(pbio_os_state_t *state, const uint8_t *data, uint32_t size, bool cancel) {

static pbio_os_timer_t timer;

Expand All @@ -53,7 +53,7 @@ pbio_error_t pbdrv_usb_tx_event(pbio_os_state_t *state, const uint8_t *data, uin
PBIO_OS_ASYNC_END(PBIO_SUCCESS);
}

pbio_error_t pbdrv_usb_tx_response(pbio_os_state_t *state, pbio_pybricks_error_t code) {
pbio_error_t pbdrv_usb_tx_response(pbio_os_state_t *state, pbio_pybricks_error_t code, bool cancel) {

static pbio_os_timer_t timer;

Expand Down
9 changes: 6 additions & 3 deletions lib/pbio/drv/usb/usb_simulation_pico.c
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@ pbdrv_usb_bcd_t pbdrv_usb_get_bcd(void) {
return PBDRV_USB_BCD_NONE;
}

pbio_error_t pbdrv_usb_tx_event(pbio_os_state_t *state, const uint8_t *data, uint32_t size) {
pbio_error_t pbdrv_usb_tx_event(pbio_os_state_t *state, const uint8_t *data, uint32_t size, bool cancel) {

PBIO_OS_ASYNC_BEGIN(state);

Expand All @@ -54,7 +54,10 @@ pbio_error_t pbdrv_usb_tx_event(pbio_os_state_t *state, const uint8_t *data, uin
pbdrv_usb_simulation_tx_ready = false;
// Enable TX interrupt to be notified when ready.
hw_set_bits(&uart_get_hw(uart_default)->imsc, 1 << UART_UARTIMSC_TXIM_LSB);
PBIO_OS_AWAIT_UNTIL(state, pbdrv_usb_simulation_tx_ready);
PBIO_OS_AWAIT_UNTIL(state, pbdrv_usb_simulation_tx_ready || cancel);
if (!pbdrv_usb_simulation_tx_ready && cancel) {
return PBIO_ERROR_CANCELED;
}
}

uart_get_hw(uart_default)->dr = data[i];
Expand All @@ -63,7 +66,7 @@ pbio_error_t pbdrv_usb_tx_event(pbio_os_state_t *state, const uint8_t *data, uin
PBIO_OS_ASYNC_END(PBIO_SUCCESS);
}

pbio_error_t pbdrv_usb_tx_response(pbio_os_state_t *state, pbio_pybricks_error_t code) {
pbio_error_t pbdrv_usb_tx_response(pbio_os_state_t *state, pbio_pybricks_error_t code, bool cancel) {

PBIO_OS_ASYNC_BEGIN(state);

Expand Down
30 changes: 16 additions & 14 deletions lib/pbio/drv/usb/usb_stm32.c
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Original file line number Diff line number Diff line change
Expand Up @@ -292,48 +292,50 @@ pbio_error_t pbdrv_usb_tx_reset(pbio_os_state_t *state) {
return PBIO_SUCCESS;
}

pbio_error_t pbdrv_usb_tx_event(pbio_os_state_t *state, const uint8_t *data, uint32_t size) {

static pbio_os_timer_t timer;
pbio_error_t pbdrv_usb_tx_event(pbio_os_state_t *state, const uint8_t *data, uint32_t size, bool cancel) {

PBIO_OS_ASYNC_BEGIN(state);

if (cancel) {
return PBIO_ERROR_CANCELED;
}

if (transmitting) {
return PBIO_ERROR_BUSY;
}

transmitting = true;
pbio_os_timer_set(&timer, PBDRV_USB_TRANSMIT_TIMEOUT);
USBD_Pybricks_TransmitPacket(&husbd, (uint8_t *)data, size);
PBIO_OS_AWAIT_UNTIL(state, !transmitting || pbio_os_timer_is_expired(&timer));
PBIO_OS_AWAIT_UNTIL(state, !transmitting || cancel);

if (pbio_os_timer_is_expired(&timer)) {
return PBIO_ERROR_TIMEDOUT;
if (transmitting && cancel) {
return PBIO_ERROR_CANCELED;
}

PBIO_OS_ASYNC_END(PBIO_SUCCESS);
}

pbio_error_t pbdrv_usb_tx_response(pbio_os_state_t *state, pbio_pybricks_error_t code) {

static pbio_os_timer_t timer;
pbio_error_t pbdrv_usb_tx_response(pbio_os_state_t *state, pbio_pybricks_error_t code, bool cancel) {

PBIO_OS_ASYNC_BEGIN(state);

if (cancel) {
return PBIO_ERROR_CANCELED;
}

if (transmitting) {
return PBIO_ERROR_BUSY;
}

transmitting = true;
pbio_os_timer_set(&timer, PBDRV_USB_TRANSMIT_TIMEOUT);

pbio_set_uint32_le(&usb_response_buf[1], code);

USBD_Pybricks_TransmitPacket(&husbd, usb_response_buf, sizeof(usb_response_buf));

PBIO_OS_AWAIT_UNTIL(state, !transmitting || pbio_os_timer_is_expired(&timer));
if (pbio_os_timer_is_expired(&timer)) {
return PBIO_ERROR_TIMEDOUT;
PBIO_OS_AWAIT_UNTIL(state, !transmitting || cancel);
if (transmitting && cancel) {
return PBIO_ERROR_CANCELED;
}

PBIO_OS_ASYNC_END(PBIO_SUCCESS);
Expand Down
2 changes: 1 addition & 1 deletion lib/pbio/platform/prime_hub/pbdrvconfig.h
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Original file line number Diff line number Diff line change
Expand Up @@ -128,7 +128,7 @@
#define PBDRV_CONFIG_USB_PROD_STR LEGO_USB_PROD_STR_TECHNIC_LARGE_HUB " + Pybricks"
#define PBDRV_CONFIG_USB_STM32F4 (1)
#define PBDRV_CONFIG_USB_STM32F4_HUB_VARIANT_ADDR 0x08007d80
#define PBDRV_CONFIG_USB_CHARGE_ONLY (1)
#define PBDRV_CONFIG_USB_CHARGE_ONLY (0)

#define PBDRV_CONFIG_STACK (1)
#define PBDRV_CONFIG_STACK_EMBEDDED (1)
Expand Down