STM32 mass update to current naming convention in ChibiOS

1 files changed, 1395 insertions, 0 deletions

diff --git a/os/hal/src/hal_usbh.c b/os/hal/src/hal_usbh.c
new file mode 100644
index 0000000..1caa183
--- /dev/null
+++ b/os/hal/src/hal_usbh.c
@@ -0,0 +1,1395 @@
+/*
+    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+              Copyright (C) 2015 Diego Ismirlian, TISA, (dismirlian (at) google's mail)
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#include "hal.h"
+
+#if HAL_USE_USBH
+
+#include "usbh/dev/hub.h"
+#include "usbh/internal.h"
+#include <string.h>
+
+#if USBH_DEBUG_ENABLE_TRACE
+#define udbgf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
+#define udbg(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
+#else
+#define udbgf(f, ...)  do {} while(0)
+#define udbg(f, ...)   do {} while(0)
+#endif
+
+#if USBH_DEBUG_ENABLE_INFO
+#define uinfof(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
+#define uinfo(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
+#else
+#define uinfof(f, ...)  do {} while(0)
+#define uinfo(f, ...)   do {} while(0)
+#endif
+
+#if USBH_DEBUG_ENABLE_WARNINGS
+#define uwarnf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
+#define uwarn(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
+#else
+#define uwarnf(f, ...)  do {} while(0)
+#define uwarn(f, ...)   do {} while(0)
+#endif
+
+#if USBH_DEBUG_ENABLE_ERRORS
+#define uerrf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
+#define uerr(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
+#else
+#define uerrf(f, ...)  do {} while(0)
+#define uerr(f, ...)   do {} while(0)
+#endif
+
+#if STM32_USBH_USE_OTG1
+USBHDriver USBHD1;
+#endif
+#if STM32_USBH_USE_OTG2
+USBHDriver USBHD2;
+#endif
+
+
+static void _classdriver_process_device(usbh_device_t *dev);
+static bool _classdriver_load(usbh_device_t *dev, uint8_t class,
+		uint8_t subclass, uint8_t protocol, uint8_t *descbuff, uint16_t rem);
+
+
+/*===========================================================================*/
+/* Checks.								                                     */
+/*===========================================================================*/
+
+static inline void _check_dev(usbh_device_t *dev) {
+	osalDbgCheck(dev);
+	//TODO: add more checks.
+}
+
+static inline void _check_ep(usbh_ep_t *ep) {
+	osalDbgCheck(ep != 0);
+	_check_dev(ep->device);
+	osalDbgCheck(ep->type <= 3);
+	//TODO: add more checks.
+}
+
+static inline void _check_urb(usbh_urb_t *urb) {
+	osalDbgCheck(urb != 0);
+	_check_ep(urb->ep);
+	osalDbgCheck((urb->buff != NULL) || (urb->requestedLength == 0));
+	//TODO: add more checks.
+}
+
+/*===========================================================================*/
+/* Main driver API.						                                     */
+/*===========================================================================*/
+
+void usbhObjectInit(USBHDriver *usbh) {
+	memset(usbh, 0, sizeof(*usbh));
+	usbh->status = USBH_STATUS_STOPPED;
+#if HAL_USBH_USE_HUB
+	INIT_LIST_HEAD(&usbh->hubs);
+	_usbhub_port_object_init(&usbh->rootport, usbh, 0, 1);
+#else
+	_usbhub_port_object_init(&usbh->rootport, usbh, 1);
+#endif
+}
+
+void usbhInit(void) {
+#if HAL_USBH_USE_HUB
+	uint8_t i;
+	for (i = 0; i < HAL_USBHHUB_MAX_INSTANCES; i++) {
+		usbhhubObjectInit(&USBHHUBD[i]);
+	}
+#endif
+	usbh_lld_init();
+}
+
+void usbhStart(USBHDriver *usbh) {
+	usbDbgInit(usbh);
+
+	osalSysLock();
+	osalDbgAssert((usbh->status == USBH_STATUS_STOPPED) || (usbh->status == USBH_STATUS_STARTED),
+				"invalid state");
+	usbh_lld_start(usbh);
+	usbh->status = USBH_STATUS_STARTED;
+	osalOsRescheduleS();
+	osalSysUnlock();
+}
+
+
+void usbhStop(USBHDriver *usbh) {
+	//TODO: implement
+	(void)usbh;
+}
+void usbhSuspend(USBHDriver *usbh) {
+	//TODO: implement
+	(void)usbh;
+}
+void usbhResume(USBHDriver *usbh) {
+	//TODO: implement
+	(void)usbh;
+}
+
+/*===========================================================================*/
+/* Endpoint API.						                                     */
+/*===========================================================================*/
+
+void usbhEPObjectInit(usbh_ep_t *ep, usbh_device_t *dev, const usbh_endpoint_descriptor_t *desc) {
+	osalDbgCheck(ep);
+	_check_dev(dev);
+	osalDbgCheck(desc);
+
+	memset(ep, 0, sizeof(*ep));
+	ep->device = dev;
+	ep->wMaxPacketSize = desc->wMaxPacketSize;
+	ep->address = desc->bEndpointAddress & 0x0F;
+	ep->type = (usbh_eptype_t) (desc->bmAttributes & 0x03);
+	if (ep->type != USBH_EPTYPE_CTRL) {
+		ep->in = (desc->bEndpointAddress & 0x80) ? TRUE : FALSE;
+	}
+	ep->bInterval = desc->bInterval;
+
+	/* low-level part */
+	usbh_lld_ep_object_init(ep);
+
+	ep->status = USBH_EPSTATUS_CLOSED;
+}
+
+
+static void _ep0_object_init(usbh_device_t *dev, uint16_t wMaxPacketSize) {
+	const usbh_endpoint_descriptor_t ep0_descriptor = {
+		7,	//bLength
+		5,	//bDescriptorType
+		0,	//bEndpointAddress
+		0,	//bmAttributes
+		wMaxPacketSize,
+		0,	//bInterval
+	};
+	usbhEPObjectInit(&dev->ctrl, dev, &ep0_descriptor);
+	usbhEPSetName(&dev->ctrl, "DEV[CTRL]");
+}
+
+
+/*===========================================================================*/
+/* URB API.				    	                                     		 */
+/*===========================================================================*/
+
+void usbhURBObjectInit(usbh_urb_t *urb, usbh_ep_t *ep, usbh_completion_cb callback,
+		void *user, void *buff, uint32_t len) {
+
+	osalDbgCheck(urb != 0);
+	_check_ep(ep);
+
+	/* initialize the common part: */
+	urb->ep = ep;
+	urb->callback = callback;
+	urb->userData = user;
+	urb->buff = buff;
+	urb->requestedLength = len;
+	urb->actualLength = 0;
+	urb->status = USBH_URBSTATUS_INITIALIZED;
+	urb->waitingThread = 0;
+	urb->abortingThread = 0;
+
+	/* initialize the ll part: */
+	usbh_lld_urb_object_init(urb);
+}
+
+void usbhURBObjectResetI(usbh_urb_t *urb) {
+	osalDbgAssert(!usbhURBIsBusy(urb), "invalid status");
+
+	osalDbgCheck((urb->waitingThread == 0) && (urb->abortingThread == 0));
+
+	urb->actualLength = 0;
+	urb->status = USBH_URBSTATUS_INITIALIZED;
+
+	/* reset the ll part: */
+	usbh_lld_urb_object_reset(urb);
+}
+
+void usbhURBSubmitI(usbh_urb_t *urb) {
+	osalDbgCheckClassI();
+	_check_urb(urb);
+	osalDbgAssert(urb->status == USBH_URBSTATUS_INITIALIZED, "invalid status");
+	usbh_ep_t *const ep = urb->ep;
+	if (ep->status == USBH_EPSTATUS_HALTED) {
+		_usbh_urb_completeI(urb, USBH_URBSTATUS_STALL);
+		return;
+	}
+	if (ep->status != USBH_EPSTATUS_OPEN) {
+		_usbh_urb_completeI(urb, USBH_URBSTATUS_DISCONNECTED);
+		return;
+	}
+	if (!(usbhDeviceGetPort(ep->device)->status & USBH_PORTSTATUS_ENABLE)) {
+		_usbh_urb_completeI(urb, USBH_URBSTATUS_DISCONNECTED);
+		return;
+	}
+	urb->status = USBH_URBSTATUS_PENDING;
+	usbh_lld_urb_submit(urb);
+}
+
+bool _usbh_urb_abortI(usbh_urb_t *urb, usbh_urbstatus_t status) {
+	osalDbgCheckClassI();
+	_check_urb(urb);
+
+	switch (urb->status) {
+/*	case USBH_URBSTATUS_UNINITIALIZED:
+ * 	case USBH_URBSTATUS_INITIALIZED:
+ *	case USBH_URBSTATUS_ERROR:
+ *	case USBH_URBSTATUS_TIMEOUT:
+ *	case USBH_URBSTATUS_CANCELLED:
+ *	case USBH_URBSTATUS_STALL:
+ *	case USBH_URBSTATUS_DISCONNECTED:
+ *	case USBH_URBSTATUS_OK: */
+	default:
+		/* already finished */
+		_usbh_urb_completeI(urb, status);
+		return TRUE;
+
+//	case USBH_URBSTATUS_QUEUED:
+	case USBH_URBSTATUS_PENDING:
+		return usbh_lld_urb_abort(urb, status);
+	}
+}
+
+void _usbh_urb_abort_and_waitS(usbh_urb_t *urb, usbh_urbstatus_t status) {
+	osalDbgCheckClassS();
+	_check_urb(urb);
+
+	if (_usbh_urb_abortI(urb, status) == FALSE) {
+		uwarn("URB wasn't aborted immediately, suspend");
+		osalThreadSuspendS(&urb->abortingThread);
+		urb->abortingThread = 0;
+	} else {
+		osalOsRescheduleS();
+	}
+	uwarn("URB aborted");
+}
+
+bool usbhURBCancelI(usbh_urb_t *urb) {
+	return _usbh_urb_abortI(urb, USBH_URBSTATUS_CANCELLED);
+}
+
+void usbhURBCancelAndWaitS(usbh_urb_t *urb) {
+	_usbh_urb_abort_and_waitS(urb, USBH_URBSTATUS_CANCELLED);
+}
+
+msg_t usbhURBWaitTimeoutS(usbh_urb_t *urb, systime_t timeout) {
+	msg_t ret;
+
+	osalDbgCheckClassS();
+	_check_urb(urb);
+
+	switch (urb->status) {
+	case USBH_URBSTATUS_INITIALIZED:
+	case USBH_URBSTATUS_PENDING:
+//	case USBH_URBSTATUS_QUEUED:
+		ret = osalThreadSuspendTimeoutS(&urb->waitingThread, timeout);
+		urb->waitingThread = 0;
+		break;
+
+	case USBH_URBSTATUS_OK:
+		ret = MSG_OK;
+		osalOsRescheduleS();
+		break;
+
+/*	case USBH_URBSTATUS_UNINITIALIZED:
+ *	case USBH_URBSTATUS_ERROR:
+ *	case USBH_URBSTATUS_TIMEOUT:
+ *	case USBH_URBSTATUS_CANCELLED:
+ *	case USBH_URBSTATUS_STALL:
+ *	case USBH_URBSTATUS_DISCONNECTED: */
+	default:
+		ret = MSG_RESET;
+		osalOsRescheduleS();
+		break;
+	}
+	return ret;
+}
+
+msg_t usbhURBSubmitAndWaitS(usbh_urb_t *urb, systime_t timeout) {
+	msg_t ret;
+
+	osalDbgCheckClassS();
+	_check_urb(urb);
+
+	usbhURBSubmitI(urb);
+	ret = usbhURBWaitTimeoutS(urb, timeout);
+	if (ret == MSG_TIMEOUT)
+		_usbh_urb_abort_and_waitS(urb, USBH_URBSTATUS_TIMEOUT);
+
+	return ret;
+}
+
+static inline msg_t _wakeup_message(usbh_urbstatus_t status) {
+	if (status == USBH_URBSTATUS_OK) return MSG_OK;
+	if (status == USBH_URBSTATUS_TIMEOUT) return MSG_TIMEOUT;
+	return MSG_RESET;
+}
+
+void _usbh_urb_completeI(usbh_urb_t *urb, usbh_urbstatus_t status) {
+	osalDbgCheckClassI();
+	_check_urb(urb);
+	urb->status = status;
+	osalThreadResumeI(&urb->waitingThread, _wakeup_message(status));
+	osalThreadResumeI(&urb->abortingThread, MSG_RESET);
+	if (urb->callback)
+		urb->callback(urb);
+}
+
+/*===========================================================================*/
+/* Synchronous API.		    	                                     		 */
+/*===========================================================================*/
+
+usbh_urbstatus_t usbhBulkTransfer(usbh_ep_t *ep,
+		void *data,
+		uint32_t len,
+		uint32_t *actual_len,
+		systime_t timeout) {
+
+	osalDbgCheck(ep != NULL);
+	osalDbgCheck((data != NULL) || (len == 0));
+	osalDbgAssert(ep->type == USBH_EPTYPE_BULK, "wrong ep");
+
+	usbh_urb_t urb;
+	usbhURBObjectInit(&urb, ep, 0, 0, data, len);
+
+	osalSysLock();
+	usbhURBSubmitAndWaitS(&urb, timeout);
+	osalSysUnlock();
+
+	if (actual_len != NULL)
+		*actual_len = urb.actualLength;
+
+	return urb.status;
+}
+
+usbh_urbstatus_t usbhControlRequestExtended(usbh_device_t *dev,
+		const usbh_control_request_t *req,
+		uint8_t *buff,
+		uint32_t *actual_len,
+		systime_t timeout) {
+
+	_check_dev(dev);
+	osalDbgCheck(req != NULL);
+
+	usbh_urb_t urb;
+
+	usbhURBObjectInit(&urb, &dev->ctrl, 0, 0, buff, req->wLength);
+	urb.setup_buff = req;
+
+	osalSysLock();
+	usbhURBSubmitAndWaitS(&urb, timeout);
+	osalSysUnlock();
+
+	if (actual_len != NULL)
+		*actual_len = urb.actualLength;
+
+	return urb.status;
+}
+
+usbh_urbstatus_t usbhControlRequest(usbh_device_t *dev,
+		uint8_t bmRequestType,
+		uint8_t bRequest,
+		uint16_t wValue,
+		uint16_t wIndex,
+		uint16_t wLength,
+		uint8_t *buff) {
+
+	const USBH_DEFINE_BUFFER(usbh_control_request_t, req) = {
+			bmRequestType,
+			bRequest,
+			wValue,
+			wIndex,
+			wLength
+	};
+	return usbhControlRequestExtended(dev, &req, buff, NULL, MS2ST(1000));
+}
+
+/*===========================================================================*/
+/* Standard request helpers.   	                                     		 */
+/*===========================================================================*/
+
+#define USBH_GET_DESCRIPTOR(type, value, index)	\
+	USBH_STANDARDIN(type, \
+	USBH_REQ_GET_DESCRIPTOR, \
+	value, \
+	index) \
+
+#define USBH_GETDEVICEDESCRIPTOR \
+	USBH_GET_DESCRIPTOR(USBH_REQTYPE_DEVICE, (USBH_DT_DEVICE << 8) | 0, 0)
+
+#define USBH_GETCONFIGURATIONDESCRIPTOR(index) \
+	USBH_GET_DESCRIPTOR(USBH_REQTYPE_DEVICE, (USBH_DT_CONFIG << 8) | index, 0)
+
+#define USBH_GETSTRINGDESCRIPTOR(index, langID) \
+	USBH_GET_DESCRIPTOR(USBH_REQTYPE_DEVICE, (USBH_DT_STRING << 8) | index, langID)
+
+bool usbhStdReqGetDeviceDescriptor(usbh_device_t *dev,
+		uint16_t wLength,
+		uint8_t *buf) {
+	usbh_device_descriptor_t *desc;
+	usbh_urbstatus_t ret = usbhControlRequest(dev, USBH_GETDEVICEDESCRIPTOR, wLength, buf);
+	desc = (usbh_device_descriptor_t *)buf;
+	if ((ret != USBH_URBSTATUS_OK)
+			|| (desc->bLength != USBH_DT_DEVICE_SIZE)
+			|| (desc->bDescriptorType != USBH_DT_DEVICE)) {
+		return HAL_FAILED;
+	}
+	return HAL_SUCCESS;
+}
+
+bool usbhStdReqGetConfigurationDescriptor(usbh_device_t *dev,
+		uint8_t index,
+		uint16_t wLength,
+		uint8_t *buf) {
+	usbh_urbstatus_t ret = usbhControlRequest(dev, USBH_GETCONFIGURATIONDESCRIPTOR(index), wLength, buf);
+	usbh_config_descriptor_t *const desc = (usbh_config_descriptor_t *)buf;
+	if ((ret != USBH_URBSTATUS_OK)
+			|| (desc->bLength < USBH_DT_CONFIG_SIZE)
+			|| (desc->bDescriptorType != USBH_DT_CONFIG)) {
+		return HAL_FAILED;
+	}
+	return HAL_SUCCESS;
+}
+
+bool usbhStdReqGetStringDescriptor(usbh_device_t *dev,
+		uint8_t index,
+		uint16_t langID,
+		uint16_t wLength,
+		uint8_t *buf) {
+
+	osalDbgAssert(wLength >= USBH_DT_STRING_SIZE, "wrong size");
+	usbh_string_descriptor_t *desc = (usbh_string_descriptor_t *)buf;
+	usbh_urbstatus_t ret = usbhControlRequest(dev, USBH_GETSTRINGDESCRIPTOR(index, langID), wLength, buf);
+	if ((ret != USBH_URBSTATUS_OK)
+			|| (desc->bLength < USBH_DT_STRING_SIZE)
+			|| (desc->bDescriptorType != USBH_DT_STRING)) {
+		return HAL_FAILED;
+	}
+	return HAL_SUCCESS;
+}
+
+
+
+#define USBH_SET_INTERFACE(interface, alt)	\
+	USBH_STANDARDOUT(USBH_REQTYPE_INTERFACE, \
+	USBH_REQ_SET_INTERFACE, \
+	alt, \
+	interface) \
+
+#define USBH_GET_INTERFACE(interface)	\
+	USBH_STANDARDIN(USBH_REQTYPE_INTERFACE, \
+	USBH_REQ_GET_INTERFACE, \
+	0, \
+	interface) \
+
+bool usbhStdReqSetInterface(usbh_device_t *dev,
+		uint8_t bInterfaceNumber,
+		uint8_t bAlternateSetting) {
+
+	usbh_urbstatus_t ret = usbhControlRequest(dev, USBH_SET_INTERFACE(bInterfaceNumber, bAlternateSetting), 0, NULL);
+	if (ret != USBH_URBSTATUS_OK)
+		return HAL_FAILED;
+
+	return HAL_SUCCESS;
+}
+
+bool usbhStdReqGetInterface(usbh_device_t *dev,
+		uint8_t bInterfaceNumber,
+		uint8_t *bAlternateSetting) {
+
+	USBH_DEFINE_BUFFER(uint8_t, alt);
+
+	usbh_urbstatus_t ret = usbhControlRequest(dev, USBH_GET_INTERFACE(bInterfaceNumber), 1, &alt);
+	if (ret != USBH_URBSTATUS_OK)
+		return HAL_FAILED;
+
+	*bAlternateSetting = alt;
+	return HAL_SUCCESS;
+}
+
+
+/*===========================================================================*/
+/* Device-related functions.   	                                     		 */
+/*===========================================================================*/
+
+static uint8_t _find_address(USBHDriver *host) {
+	uint8_t addr, i, j;
+	for (i = 0; i < sizeof_array(host->address_bitmap); i++) {
+		addr = host->address_bitmap[i];
+		for (j = 0; j < 8; j++) {
+			if ((addr & (1 << j)) == 0) {
+				//found:
+				addr = i * 8 + j + 1;
+				host->address_bitmap[i] |= (1 << j);
+				return addr;
+			}
+		}
+	}
+	return 0;
+}
+
+static void _free_address(USBHDriver *host, uint8_t addr) {
+	uinfof("Free address %d", addr);
+	host->address_bitmap[addr / 8] &= ~(1 << ((addr - 1) & 7));
+}
+
+static void _device_initialize(usbh_device_t *dev, usbh_devspeed_t speed) {
+	dev->address = 0;
+	dev->speed = speed;
+	dev->status = USBH_DEVSTATUS_DEFAULT;
+	dev->langID0 = 0;
+	dev->keepFullCfgDesc = 0;
+	_ep0_object_init(dev, 64);
+}
+
+static bool _device_setaddress(usbh_device_t *dev, uint8_t address) {
+	usbh_urbstatus_t ret = usbhControlRequest(dev,
+			USBH_STANDARDOUT(USBH_REQTYPE_DEVICE, USBH_REQ_SET_ADDRESS, address, 0),
+			0,
+			0);
+	if (ret != USBH_URBSTATUS_OK)
+		return HAL_FAILED;
+
+	dev->address = address;
+	return HAL_SUCCESS;
+}
+
+static inline bool _device_read_basic_cfgdesc(usbh_device_t *dev, uint8_t bConfiguration) {
+	/* get configuration descriptor */
+	return usbhStdReqGetConfigurationDescriptor(dev, bConfiguration,
+			sizeof(dev->basicConfigDesc), (uint8_t *)&dev->basicConfigDesc);
+}
+
+static void _device_read_full_cfgdesc(usbh_device_t *dev, uint8_t bConfiguration) {
+	_check_dev(dev);
+
+	uint8_t i;
+
+	if (dev->fullConfigurationDescriptor != NULL) {
+		chHeapFree(dev->fullConfigurationDescriptor);
+	}
+
+	dev->fullConfigurationDescriptor =
+			(uint8_t *)chHeapAlloc(0, dev->basicConfigDesc.wTotalLength);
+
+	if (!dev->fullConfigurationDescriptor)
+		return;
+
+	for (i = 0; i < 3; i++) {
+		if (usbhStdReqGetConfigurationDescriptor(dev, bConfiguration,
+				dev->basicConfigDesc.wTotalLength,
+				dev->fullConfigurationDescriptor) == HAL_SUCCESS) {
+			return;
+		}
+		osalThreadSleepMilliseconds(200);
+	}
+
+	/* error */
+	chHeapFree(dev->fullConfigurationDescriptor);
+	dev->fullConfigurationDescriptor = NULL;
+}
+
+static void _device_free_full_cfgdesc(usbh_device_t *dev) {
+	osalDbgCheck(dev);
+	if (dev->fullConfigurationDescriptor != NULL) {
+		chHeapFree(dev->fullConfigurationDescriptor);
+		dev->fullConfigurationDescriptor = NULL;
+	}
+}
+
+
+#define USBH_SET_CONFIGURATION(type, value, index)	\
+	USBH_STANDARDOUT(type, \
+	USBH_REQ_SET_CONFIGURATION, \
+	value, \
+	index) \
+
+#define USBH_SETDEVICECONFIGURATION(index) \
+	USBH_SET_CONFIGURATION(USBH_REQTYPE_DEVICE, index, 0)
+
+
+static bool _device_set_configuration(usbh_device_t *dev, uint8_t configuration) {
+	usbh_urbstatus_t ret = usbhControlRequest(dev,
+			USBH_SETDEVICECONFIGURATION(configuration),
+			0,
+			0);
+	if (ret != USBH_URBSTATUS_OK)
+		return HAL_FAILED;
+	return HAL_SUCCESS;
+}
+
+static bool _device_configure(usbh_device_t *dev, uint8_t bConfiguration) {
+	uint8_t i;
+
+	uinfof("Reading basic configuration descriptor %d", bConfiguration);
+	for (i = 0; i < 3; i++) {
+		if (!_device_read_basic_cfgdesc(dev, bConfiguration))
+			break;
+	}
+
+	if (i == 3) {
+		uerrf("Could not read basic configuration descriptor %d; "
+					"won't configure device", bConfiguration);
+		return HAL_FAILED;
+	}
+
+	uinfof("Selecting configuration %d", bConfiguration);
+	for (i = 0; i < 3; i++) {
+		if (!_device_set_configuration(dev, dev->basicConfigDesc.bConfigurationValue)) {
+			/* TODO: check if correctly configured using GET_CONFIGURATION */
+			dev->status = USBH_DEVSTATUS_CONFIGURED;
+			dev->bConfiguration = bConfiguration;
+
+			uinfo("Device configured.");
+			return HAL_SUCCESS;
+		}
+	}
+
+	return HAL_FAILED;
+}
+
+static bool _device_enumerate(usbh_device_t *dev) {
+
+	uinfo("Enumerate.");
+	uinfo("Get first 8 bytes of device descriptor");
+
+	/* get first 8 bytes of device descriptor */
+	if (usbhStdReqGetDeviceDescriptor(dev, 8, (uint8_t *)&dev->devDesc)) {
+		uerr("Error");
+		return HAL_FAILED;
+	}
+
+	uinfof("Configure bMaxPacketSize0 = %d", dev->devDesc.bMaxPacketSize0);
+	/* configure EP0 wMaxPacketSize */
+	usbhEPClose(&dev->ctrl);
+	_ep0_object_init(dev, dev->devDesc.bMaxPacketSize0);
+	usbhEPOpen(&dev->ctrl);
+
+	uint8_t addr = _find_address(dev->host);
+	if (addr == 0) {
+		uerr("No free addresses found");
+		return HAL_FAILED;
+	}
+
+	/* set device address */
+	uinfof("Set device address: %d", addr);
+	if (_device_setaddress(dev, addr)) {
+		uerr("Error");
+		_free_address(dev->host, addr);
+		return HAL_FAILED;
+	}
+
+	/* update EP because of the address change */
+	usbhEPClose(&dev->ctrl);
+	_ep0_object_init(dev, dev->devDesc.bMaxPacketSize0);
+	usbhEPOpen(&dev->ctrl);
+
+	uinfof("Wait stabilization...");
+	osalThreadSleepMilliseconds(HAL_USBH_DEVICE_ADDRESS_STABILIZATION);
+
+	/* address is set */
+	dev->status = USBH_DEVSTATUS_ADDRESS;
+
+	uinfof("Get full device desc");
+	/* get full device descriptor */
+	if (usbhStdReqGetDeviceDescriptor(dev, sizeof(dev->devDesc),
+			(uint8_t *)&dev->devDesc)) {
+		uerr("Error");
+		_device_setaddress(dev, 0);
+		_free_address(dev->host, addr);
+		return HAL_FAILED;
+	}
+
+	uinfof("Enumeration finished.");
+	return HAL_SUCCESS;
+}
+
+#if USBH_DEBUG_ENABLE && USBH_DEBUG_ENABLE_INFO
+void usbhDevicePrintInfo(usbh_device_t *dev) {
+	USBH_DEFINE_BUFFER(char, str[64]);
+	usbh_device_descriptor_t *const desc = &dev->devDesc;
+
+	uinfo("----- Device info -----");
+	uinfo("Device descriptor:");
+	uinfof("\tUSBSpec=%04x, #configurations=%d, langID0=%04x",
+			desc->bcdUSB,
+			desc->bNumConfigurations,
+			dev->langID0);
+
+	uinfof("\tClass=%02x, Subclass=%02x, Protocol=%02x",
+			desc->bDeviceClass,
+			desc->bDeviceSubClass,
+			desc->bDeviceProtocol);
+
+	uinfof("\tVID=%04x, PID=%04x, Release=%04x",
+			desc->idVendor,
+			desc->idProduct,
+			desc->bcdDevice);
+
+	if (dev->langID0) {
+		usbhDeviceReadString(dev, str, sizeof(str), desc->iManufacturer, dev->langID0);
+		uinfof("\tManufacturer: %s", str);
+		usbhDeviceReadString(dev, str, sizeof(str), desc->iProduct, dev->langID0);
+		uinfof("\tProduct: %s", str);
+		usbhDeviceReadString(dev, str, sizeof(str), desc->iSerialNumber, dev->langID0);
+		uinfof("\tSerial Number: %s", str);
+	}
+
+	if (dev->status == USBH_DEVSTATUS_CONFIGURED) {
+		uinfo("Configuration descriptor (partial):");
+		usbh_config_descriptor_t *const cfg = &dev->basicConfigDesc;
+		uinfof("\tbConfigurationValue=%d, Length=%d, #interfaces=%d",
+				cfg->bConfigurationValue,
+				cfg->wTotalLength,
+				cfg->bNumInterfaces);
+
+		uinfof("\tCurrent=%dmA", cfg->bMaxPower * 2);
+		uinfof("\tSelfPowered=%d, RemoteWakeup=%d",
+				cfg->bmAttributes & 0x40 ? 1 : 0,
+				cfg->bmAttributes & 0x20 ? 1 : 0);
+		if (dev->langID0) {
+			usbhDeviceReadString(dev, str, sizeof(str), cfg->iConfiguration, dev->langID0);
+			uinfof("\tName: %s", str);
+		}
+	}
+
+	uinfo("----- End Device info -----");
+
+}
+
+void usbhDevicePrintConfiguration(const uint8_t *descriptor, uint16_t rem) {
+	generic_iterator_t iep, icfg, ics;
+	if_iterator_t iif;
+
+	uinfo("----- Configuration info -----");
+	uinfo("Configuration descriptor:");
+	cfg_iter_init(&icfg, descriptor, rem);
+	const usbh_config_descriptor_t *const cfgdesc = cfg_get(&icfg);
+	uinfof("Configuration %d, #IFs=%d", cfgdesc->bConfigurationValue, cfgdesc->bNumInterfaces);
+
+	for (if_iter_init(&iif, &icfg); iif.valid; if_iter_next(&iif)) {
+		const usbh_interface_descriptor_t *const ifdesc = if_get(&iif);
+
+		uinfof("  Interface %d, alt=%d, #EPs=%d, "
+				"Class=%02x, Subclass=%02x, Protocol=%02x",
+				ifdesc->bInterfaceNumber, ifdesc->bAlternateSetting, ifdesc->bNumEndpoints,
+				ifdesc->bInterfaceClass, ifdesc->bInterfaceSubClass, ifdesc->bInterfaceProtocol);
+
+		for (cs_iter_init(&ics, (generic_iterator_t *)&iif); ics.valid; cs_iter_next(&ics)) {
+			uinfof("    Class-Specific descriptor, Length=%d, Type=%02x",
+					ics.curr[0], ics.curr[1]);
+		}
+
+		for (ep_iter_init(&iep, &iif); iep.valid; ep_iter_next(&iep)) {
+			const usbh_endpoint_descriptor_t *const epdesc = ep_get(&iep);
+
+			uinfof("    Endpoint descriptor, Address=%02x, Type=%d, MaxPacket=%d, Interval=%d",
+					epdesc->bEndpointAddress,
+					epdesc->bmAttributes & 3,
+					epdesc->wMaxPacketSize,
+					epdesc->bInterval);
+
+			for (cs_iter_init(&ics, &iep); ics.valid; cs_iter_next(&ics)) {
+				uinfof("    Class-Specific descriptor, Length=%d, Type=%02x",
+						ics.curr[0], ics.curr[1]);
+			}
+		}
+	}
+	uinfo("----- End Configuration info -----");
+}
+#endif
+
+bool usbhDeviceReadString(usbh_device_t *dev, char *dest, uint8_t size,
+		uint8_t index, uint16_t langID) {
+
+	usbh_string_descriptor_t *const desc = (usbh_string_descriptor_t *)dest;
+	osalDbgAssert(size >= 2, "wrong size");
+
+	*dest = 0;
+	if (index == 0)
+		return HAL_SUCCESS;
+	if (usbhStdReqGetStringDescriptor(dev, index, langID, size, (uint8_t *)dest))
+		return HAL_FAILED;
+	if (desc->bLength & 1)
+		return HAL_FAILED;
+	if (desc->bLength <= 2)
+		return HAL_SUCCESS;
+
+	uint8_t nchars = desc->bLength / 2;		/* including the trailing 0 */
+	if (size < nchars)
+		nchars = size;
+
+	char *src = (char *)&desc->wData[0];
+	while (--nchars) {
+		*dest++ = *src;
+		src += 2;
+	}
+	*dest = 0;
+	return HAL_SUCCESS;
+}
+
+
+
+
+/*===========================================================================*/
+/* Port processing functions.  	                                     		 */
+/*===========================================================================*/
+
+static void _port_connected(usbh_port_t *port);
+
+static void _port_reset(usbh_port_t *port) {
+	usbhhubControlRequest(port->device.host,
+#if HAL_USBH_USE_HUB
+			port->hub,
+#endif
+			USBH_REQTYPE_OUT | USBH_REQTYPE_CLASS | USBH_REQTYPE_OTHER,
+			USBH_REQ_SET_FEATURE,
+			USBH_PORT_FEAT_RESET,
+			port->number,
+			0,
+			0);
+}
+
+static void _port_update_status(usbh_port_t *port) {
+	uint32_t stat;
+	if (usbhhubControlRequest(port->device.host,
+#if HAL_USBH_USE_HUB
+			port->hub,
+#endif
+			USBH_REQTYPE_IN | USBH_REQTYPE_CLASS | USBH_REQTYPE_OTHER,
+			USBH_REQ_GET_STATUS,
+			0,
+			port->number,
+			4,
+			(uint8_t *)&stat) != USBH_URBSTATUS_OK) {
+		return;
+	}
+	port->status = stat & 0xffff;
+	port->c_status |= stat >> 16;
+}
+
+static void _port_process_status_change(usbh_port_t *port) {
+
+	_port_update_status(port);
+
+	if (port->c_status & USBH_PORTSTATUS_C_CONNECTION) {
+		/* port connected status changed */
+		port->c_status &= ~USBH_PORTSTATUS_C_CONNECTION;
+		usbhhubClearFeaturePort(port, USBH_PORT_FEAT_C_CONNECTION);
+		if ((port->status & (USBH_PORTSTATUS_CONNECTION | USBH_PORTSTATUS_ENABLE))
+				== USBH_PORTSTATUS_CONNECTION) {
+			if (port->device.status != USBH_DEVSTATUS_DISCONNECTED) {
+				_usbh_port_disconnected(port);
+			}
+
+			/* connected, disabled */
+			_port_connected(port);
+		} else {
+			/* disconnected */
+			_usbh_port_disconnected(port);
+		}
+	}
+
+	if (port->c_status & USBH_PORTSTATUS_C_RESET) {
+		port->c_status &= ~USBH_PORTSTATUS_C_RESET;
+		usbhhubClearFeaturePort(port, USBH_PORT_FEAT_C_RESET);
+	}
+
+	if (port->c_status & USBH_PORTSTATUS_C_ENABLE) {
+		port->c_status &= ~USBH_PORTSTATUS_C_ENABLE;
+		usbhhubClearFeaturePort(port, USBH_PORT_FEAT_C_ENABLE);
+	}
+
+	if (port->c_status & USBH_PORTSTATUS_C_OVERCURRENT) {
+		port->c_status &= ~USBH_PORTSTATUS_C_OVERCURRENT;
+		usbhhubClearFeaturePort(port, USBH_PORT_FEAT_C_OVERCURRENT);
+	}
+
+	if (port->c_status & USBH_PORTSTATUS_C_SUSPEND) {
+		port->c_status &= ~USBH_PORTSTATUS_C_SUSPEND;
+		usbhhubClearFeaturePort(port, USBH_PORT_FEAT_C_SUSPEND);
+	}
+
+}
+
+
+static void _port_connected(usbh_port_t *port) {
+	/* connected */
+
+	systime_t start;
+	uint8_t i;
+	uint8_t retries;
+	usbh_devspeed_t speed;
+	USBH_DEFINE_BUFFER(usbh_string_descriptor_t, strdesc);
+
+	uinfof("Port %d connected, wait debounce...", port->number);
+
+	port->device.status = USBH_DEVSTATUS_ATTACHED;
+
+	/* wait for attach de-bounce */
+	osalThreadSleepMilliseconds(HAL_USBH_PORT_DEBOUNCE_TIME);
+
+	/* check disconnection */
+	_port_update_status(port);
+	if (port->c_status & USBH_PORTSTATUS_C_CONNECTION) {
+		/* connection state changed; abort */
+		goto abort;
+	}
+
+	port->device.status = USBH_DEVSTATUS_CONNECTED;
+	retries = 3;
+
+reset:
+	for (i = 0; i < 3; i++) {
+		uinfo("Try reset...");
+		port->c_status &= ~(USBH_PORTSTATUS_C_RESET | USBH_PORTSTATUS_C_ENABLE);
+		_port_reset(port);
+		osalThreadSleepMilliseconds(20);	/* give it some time to reset (min. 10ms) */
+		start = osalOsGetSystemTimeX();
+		while (TRUE) {
+			_port_update_status(port);
+
+			/* check for disconnection */
+			if (port->c_status & USBH_PORTSTATUS_C_CONNECTION)
+				goto abort;
+
+			/* check for reset completion */
+			if (port->c_status & USBH_PORTSTATUS_C_RESET) {
+				port->c_status &= ~USBH_PORTSTATUS_C_RESET;
+				usbhhubClearFeaturePort(port, USBH_PORT_FEAT_C_RESET);
+
+				if ((port->status & (USBH_PORTSTATUS_ENABLE | USBH_PORTSTATUS_CONNECTION))
+						== (USBH_PORTSTATUS_ENABLE | USBH_PORTSTATUS_CONNECTION)) {
+					goto reset_success;
+				}
+			}
+
+			/* check for timeout */
+			if (osalOsGetSystemTimeX() - start > HAL_USBH_PORT_RESET_TIMEOUT) break;
+		}
+	}
+
+	/* reset procedure failed; abort */
+	goto abort;
+
+reset_success:
+
+	uinfo("Reset OK, recovery...");
+
+	/* reset recovery */
+	osalThreadSleepMilliseconds(100);
+
+	/* initialize object */
+	if (port->status & USBH_PORTSTATUS_LOW_SPEED) {
+		speed = USBH_DEVSPEED_LOW;
+	} else if (port->status & USBH_PORTSTATUS_HIGH_SPEED) {
+		speed = USBH_DEVSPEED_HIGH;
+	} else {
+		speed = USBH_DEVSPEED_FULL;
+	}
+	_device_initialize(&port->device, speed);
+	usbhEPOpen(&port->device.ctrl);
+
+	/* device with default address (0), try enumeration */
+	if (_device_enumerate(&port->device)) {
+		/* enumeration failed */
+		usbhEPClose(&port->device.ctrl);
+
+		if (!--retries)
+			goto abort;
+
+		/* retry reset & enumeration */
+		goto reset;
+	}
+
+	/* load the default language ID */
+	uinfo("Loading langID0...");
+	if (!usbhStdReqGetStringDescriptor(&port->device, 0, 0,
+			USBH_DT_STRING_SIZE, (uint8_t *)&strdesc)
+		&& (strdesc.bLength >= 4)
+		&& !usbhStdReqGetStringDescriptor(&port->device, 0, 0,
+			4, (uint8_t *)&strdesc)) {
+
+		port->device.langID0 = strdesc.wData[0];
+		uinfof("langID0=%04x", port->device.langID0);
+	}
+
+	/* check if the device has only one configuration */
+	if (port->device.devDesc.bNumConfigurations == 1) {
+		uinfo("Device has only one configuration");
+		_device_configure(&port->device, 0);
+	}
+
+	_classdriver_process_device(&port->device);
+	return;
+
+abort:
+	uerr("Abort");
+	port->device.status = USBH_DEVSTATUS_DISCONNECTED;
+}
+
+void _usbh_port_disconnected(usbh_port_t *port) {
+	if (port->device.status == USBH_DEVSTATUS_DISCONNECTED)
+		return;
+
+	uinfo("Port disconnected");
+
+	/* unload drivers */
+	while (port->device.drivers) {
+		usbh_baseclassdriver_t *drv = port->device.drivers;
+
+		/* unload */
+		uinfof("Unload driver %s", drv->info->name);
+		drv->info->vmt->unload(drv);
+
+		/* unlink */
+		drv->dev = 0;
+		port->device.drivers = drv->next;
+	}
+
+	/* close control endpoint */
+	osalSysLock();
+	usbhEPCloseS(&port->device.ctrl);
+	osalSysUnlock();
+
+	/* free address */
+	if (port->device.address)
+		_free_address(port->device.host, port->device.address);
+
+	_device_free_full_cfgdesc(&port->device);
+
+	port->device.status = USBH_DEVSTATUS_DISCONNECTED;
+}
+
+
+
+/*===========================================================================*/
+/* Hub processing functions.  	                                     		 */
+/*===========================================================================*/
+
+#if HAL_USBH_USE_HUB
+static void _hub_update_status(USBHDriver *host, USBHHubDriver *hub) {
+	uint32_t stat;
+	if (usbhhubControlRequest(host,
+			hub,
+			USBH_REQTYPE_IN | USBH_REQTYPE_CLASS | USBH_REQTYPE_DEVICE,
+			USBH_REQ_GET_STATUS,
+			0,
+			0,
+			4,
+			(uint8_t *)&stat) != USBH_URBSTATUS_OK) {
+		return;
+	}
+	if (hub) {
+		hub->status = stat & 0xffff;
+		hub->c_status |= stat >> 16;
+	}
+}
+
+static void _hub_process_status_change(USBHDriver *host, USBHHubDriver *hub) {
+	uinfo("Hub status change. GET_STATUS.");
+	_hub_update_status(host, hub);
+
+	if (hub->c_status & USBH_HUBSTATUS_C_HUB_LOCAL_POWER) {
+		hub->c_status &= ~USBH_HUBSTATUS_C_HUB_LOCAL_POWER;
+		uinfo("Clear USBH_HUB_FEAT_C_HUB_LOCAL_POWER");
+		usbhhubClearFeatureHub(host, hub, USBH_HUB_FEAT_C_HUB_LOCAL_POWER);
+	}
+
+	if (hub->c_status & USBH_HUBSTATUS_C_HUB_OVER_CURRENT) {
+		hub->c_status &= ~USBH_HUBSTATUS_C_HUB_OVER_CURRENT;
+		uinfo("Clear USBH_HUB_FEAT_C_HUB_OVER_CURRENT");
+		usbhhubClearFeatureHub(host, hub, USBH_HUB_FEAT_C_HUB_OVER_CURRENT);
+	}
+}
+
+static uint32_t _hub_get_status_change_bitmap(USBHDriver *host, USBHHubDriver *hub) {
+	if (hub != NULL) {
+		osalSysLock();
+		uint32_t ret = hub->statuschange;
+		hub->statuschange = 0;
+		osalOsRescheduleS();
+		osalSysUnlock();
+		return ret;
+	}
+	return usbh_lld_roothub_get_statuschange_bitmap(host);
+}
+
+#else
+//TODO: replace the functions above
+#endif
+
+#if HAL_USBH_USE_HUB
+static void _hub_process(USBHDriver *host, USBHHubDriver *hub) {
+	uint32_t bitmap = _hub_get_status_change_bitmap(host, hub);
+	if (!bitmap)
+		return;
+
+	if (bitmap & 1) {
+		_hub_process_status_change(host, hub);
+		bitmap &= ~1;
+	}
+
+	usbh_port_t *port = (hub == NULL) ? &host->rootport : hub->ports;
+	uint8_t i;
+	for (i = 1; i < 32; i++) {
+		if (!bitmap || !port)
+			break;
+		if (bitmap & (1 << i)) {
+			bitmap &= ~(1 << i);
+			_port_process_status_change(port);
+		}
+		port = port->next;
+	}
+
+}
+#else
+static void _hub_process(USBHDriver *host) {
+	uint32_t bitmap = usbh_lld_roothub_get_statuschange_bitmap(host);
+
+#if 0	//TODO: complete _hub_process_status_change for root hub
+	if (bitmap & 1) {
+		_hub_process_status_change(host, hub);
+		bitmap &= ~1;
+	}
+#endif
+
+	if (!bitmap)
+		return;
+
+	_port_process_status_change(&host->rootport);
+}
+#endif
+
+/*===========================================================================*/
+/* Main processing loop (enumeration, loading/unloading drivers, etc). 		 */
+/*===========================================================================*/
+void usbhMainLoop(USBHDriver *usbh) {
+
+	if (usbh->status == USBH_STATUS_STOPPED)
+		return;
+
+#if HAL_USBH_USE_HUB
+	/* process root hub */
+	_hub_process(usbh, NULL);
+
+	/* process connected hubs */
+	USBHHubDriver *hub;
+    list_for_each_entry(hub, USBHHubDriver, &usbh->hubs, node) {
+		_hub_process(usbh, hub);
+	}
+#else
+	/* process root hub */
+	_hub_process(usbh);
+#endif
+}
+
+
+/*===========================================================================*/
+/* IAD class driver.											 		 	 */
+/*===========================================================================*/
+#if HAL_USBH_USE_IAD
+static usbh_baseclassdriver_t *iad_load(usbh_device_t *dev, const uint8_t *descriptor, uint16_t rem);
+static void iad_unload(usbh_baseclassdriver_t *drv);
+static const usbh_classdriver_vmt_t usbhiadClassDriverVMT = {
+	iad_load,
+	iad_unload
+};
+static const usbh_classdriverinfo_t usbhiadClassDriverInfo = {
+	0xef, 0x02, 0x01, "IAD", &usbhiadClassDriverVMT
+};
+
+static usbh_baseclassdriver_t *iad_load(usbh_device_t *dev,
+		const uint8_t *descriptor, uint16_t rem) {
+	(void)rem;
+
+	if (descriptor[1] != USBH_DT_DEVICE)
+		return 0;
+
+	uinfo("Load a driver for each IF collection.");
+
+	generic_iterator_t icfg;
+	if_iterator_t iif;
+	const usbh_ia_descriptor_t *last_iad = 0;
+
+	cfg_iter_init(&icfg, dev->fullConfigurationDescriptor,
+			dev->basicConfigDesc.wTotalLength);
+	if (!icfg.valid) {
+		uerr("Invalid configuration descriptor.");
+		return 0;
+	}
+
+	for (if_iter_init(&iif, &icfg); iif.valid; if_iter_next(&iif)) {
+		if (iif.iad && (iif.iad != last_iad)) {
+			last_iad = iif.iad;
+			if (_classdriver_load(dev, iif.iad->bFunctionClass,
+					iif.iad->bFunctionSubClass,
+					iif.iad->bFunctionProtocol,
+					(uint8_t *)iif.iad,
+					(uint8_t *)iif.curr - (uint8_t *)iif.iad + iif.rem) != HAL_SUCCESS) {
+				uwarnf("No drivers found for IF collection #%d:%d",
+						iif.iad->bFirstInterface,
+						iif.iad->bFirstInterface + iif.iad->bInterfaceCount - 1);
+			}
+		}
+	}
+
+	return 0;
+}
+
+static void iad_unload(usbh_baseclassdriver_t *drv) {
+	(void)drv;
+}
+#endif
+
+
+/*===========================================================================*/
+/* Class driver loader.											 		 	 */
+/*===========================================================================*/
+
+static const usbh_classdriverinfo_t *usbh_classdrivers_lookup[] = {
+#if HAL_USBH_USE_FTDI
+	&usbhftdiClassDriverInfo,
+#endif
+#if HAL_USBH_USE_IAD
+	&usbhiadClassDriverInfo,
+#endif
+#if HAL_USBH_USE_UVC
+	&usbhuvcClassDriverInfo,
+#endif
+#if HAL_USBH_USE_MSD
+	&usbhmsdClassDriverInfo,
+#endif
+#if HAL_USBH_USE_HUB
+	&usbhhubClassDriverInfo
+#endif
+};
+
+static bool _classdriver_load(usbh_device_t *dev, uint8_t class,
+		uint8_t subclass, uint8_t protocol, uint8_t *descbuff, uint16_t rem) {
+	uint8_t i;
+	usbh_baseclassdriver_t *drv = NULL;
+	for (i = 0; i < sizeof_array(usbh_classdrivers_lookup); i++) {
+		const usbh_classdriverinfo_t *const info = usbh_classdrivers_lookup[i];
+		if (class == 0xff) {
+			/* vendor specific */
+			if (info->class == 0xff) {
+				uinfof("Try load vendor-specific driver %s", info->name);
+				drv = info->vmt->load(dev, descbuff, rem);
+				if (drv != NULL)
+					goto success;
+			}
+		} else if ((info->class < 0) || ((info->class == class)
+			&& ((info->subclass < 0) || ((info->subclass == subclass)
+			&& ((info->protocol < 0) || (info->protocol == protocol)))))) {
+			uinfof("Try load driver %s", info->name);
+			drv = info->vmt->load(dev, descbuff, rem);
+
+#if HAL_USBH_USE_IAD
+			/* special case: */
+			if (info == &usbhiadClassDriverInfo)
+				return HAL_SUCCESS;
+#endif
+
+			if (drv != NULL)
+				goto success;
+		}
+	}
+	return HAL_FAILED;
+
+success:
+	/* Link this driver to the device */
+	drv->next = dev->drivers;
+	dev->drivers = drv;
+	drv->dev = dev;
+	return HAL_SUCCESS;
+}
+
+static void _classdriver_process_device(usbh_device_t *dev) {
+	uinfo("New device found.");
+	const usbh_device_descriptor_t *const devdesc = &dev->devDesc;
+
+	usbhDevicePrintInfo(dev);
+
+	/* TODO: Support multiple configurations
+	 *
+	 * Windows doesn't support them, so it's unlikely that any commercial USB device
+	 * will have multiple configurations.
+	 */
+	if (dev->status != USBH_DEVSTATUS_CONFIGURED) {
+		uwarn("Multiple configurations not supported, selecting configuration #0");
+		if (_device_configure(dev, 0) != HAL_SUCCESS) {
+			uerr("Couldn't configure device; abort.");
+			return;
+		}
+	}
+
+	_device_read_full_cfgdesc(dev, dev->bConfiguration);
+	if (dev->fullConfigurationDescriptor == NULL) {
+		uerr("Couldn't read full configuration descriptor; abort.");
+		return;
+	}
+
+	usbhDevicePrintConfiguration(dev->fullConfigurationDescriptor,
+			dev->basicConfigDesc.wTotalLength);
+
+	if (devdesc->bDeviceClass == 0) {
+		/* each interface defines its own device class/subclass/protocol */
+		uinfo("Load a driver for each IF.");
+
+		generic_iterator_t icfg;
+		if_iterator_t iif;
+		uint8_t last_if = 0xff;
+
+		cfg_iter_init(&icfg, dev->fullConfigurationDescriptor,
+				dev->basicConfigDesc.wTotalLength);
+		if (!icfg.valid) {
+			uerr("Invalid configuration descriptor.");
+			goto exit;
+		}
+
+		for (if_iter_init(&iif, &icfg); iif.valid; if_iter_next(&iif)) {
+			const usbh_interface_descriptor_t *const ifdesc = if_get(&iif);
+			if (ifdesc->bInterfaceNumber != last_if) {
+				last_if = ifdesc->bInterfaceNumber;
+				if (_classdriver_load(dev, ifdesc->bInterfaceClass,
+						ifdesc->bInterfaceSubClass,
+						ifdesc->bInterfaceProtocol,
+						(uint8_t *)ifdesc, iif.rem) != HAL_SUCCESS) {
+					uwarnf("No drivers found for IF #%d", ifdesc->bInterfaceNumber);
+				}
+			}
+		}
+
+	} else {
+		if (_classdriver_load(dev, devdesc->bDeviceClass,
+				devdesc->bDeviceSubClass,
+				devdesc->bDeviceProtocol,
+				(uint8_t *)devdesc, USBH_DT_DEVICE_SIZE) != HAL_SUCCESS) {
+			uwarn("No drivers found.");
+		}
+	}
+
+exit:
+	if (dev->keepFullCfgDesc == 0) {
+		_device_free_full_cfgdesc(dev);
+	}
+}
+
+
+#endif
+