USB Host fixes

- Cleaned up alignment macros for GCC & IAR
- Corrected EP halt and Clear halt behaviours
- Initialization of class drivers by USB Host main driver
- Minor cosmetic fixes
- Updated USB_HOST testhal app

17 files changed, 570 insertions, 115 deletions

diff --git a/os/hal/include/hal_usbh.h b/os/hal/include/hal_usbh.h
index 63be93e..5dcd01a 100644
--- a/os/hal/include/hal_usbh.h
+++ b/os/hal/include/hal_usbh.h
@@ -20,6 +20,9 @@
 
 #include "hal.h"
 
+#ifndef HAL_USE_USBH
+#define HAL_USE_USBH FALSE
+#endif
 
 #ifndef HAL_USBH_USE_FTDI
 #define HAL_USBH_USE_FTDI FALSE
@@ -37,6 +40,8 @@
 #define HAL_USBH_USE_UVC FALSE
 #endif
 
+#define HAL_USBH_USE_IAD     HAL_USBH_USE_UVC
+
 #if (HAL_USE_USBH == TRUE) || defined(__DOXYGEN__)
 
 #include "osal.h"
@@ -104,13 +109,11 @@ enum usbh_urbstatus {
 	USBH_URBSTATUS_UNINITIALIZED = 0,
 	USBH_URBSTATUS_INITIALIZED,
 	USBH_URBSTATUS_PENDING,
-//	USBH_URBSTATUS_QUEUED,
 	USBH_URBSTATUS_ERROR,
 	USBH_URBSTATUS_TIMEOUT,
 	USBH_URBSTATUS_CANCELLED,
 	USBH_URBSTATUS_STALL,
 	USBH_URBSTATUS_DISCONNECTED,
-//	USBH_URBSTATUS_EPCLOSED,
 	USBH_URBSTATUS_OK,
 };
 
@@ -145,7 +148,8 @@ typedef void (*usbh_completion_cb)(usbh_urb_t *);
 /* include the low level driver; the required definitions are above */
 #include "hal_usbh_lld.h"
 
-#define USBH_DEFINE_BUFFER(type, name)	USBH_LLD_DEFINE_BUFFER(type, name)
+#define USBH_DEFINE_BUFFER(var)	USBH_LLD_DEFINE_BUFFER(var)
+#define USBH_DECLARE_STRUCT_MEMBER(member) USBH_LLD_DECLARE_STRUCT_MEMBER(member)
 
 struct usbh_urb {
 	usbh_ep_t *ep;
@@ -198,9 +202,8 @@ struct usbh_device {
 	usbh_devstatus_t status;
 	usbh_devspeed_t speed;
 
-	USBH_DEFINE_BUFFER(usbh_device_descriptor_t, devDesc);
-	unsigned char align_bytes[2];
-	USBH_DEFINE_BUFFER(usbh_config_descriptor_t, basicConfigDesc);
+	USBH_DECLARE_STRUCT_MEMBER(usbh_device_descriptor_t devDesc);
+	USBH_DECLARE_STRUCT_MEMBER(usbh_config_descriptor_t basicConfigDesc);
 
 	uint8_t *fullConfigurationDescriptor;
 	uint8_t keepFullCfgDesc;
@@ -362,10 +365,13 @@ extern "C" {
 		usbhEPCloseS(ep);
 		osalSysUnlock();
 	}
-	static inline void usbhEPResetI(usbh_ep_t *ep) {
-		osalDbgCheckClassI();
-		osalDbgCheck(ep != NULL);
-		usbh_lld_epreset(ep);
+	bool usbhEPResetS(usbh_ep_t *ep);
+	static inline bool usbhEPReset(usbh_ep_t *ep) {
+		bool ret;
+		osalSysLock();
+		ret = usbhEPResetS(ep);
+		osalSysUnlock();
+		return ret;
 	}
 	static inline bool usbhEPIsPeriodic(usbh_ep_t *ep) {
 		osalDbgCheck(ep != NULL);
diff --git a/os/hal/include/usbh/debug.h b/os/hal/include/usbh/debug.h
index 5120121..df077aa 100644
--- a/os/hal/include/usbh/debug.h
+++ b/os/hal/include/usbh/debug.h
@@ -23,8 +23,6 @@
 

 #if HAL_USE_USBH

 

-//TODO: Debug is only for USBHD1, make it generic.

-

 #if USBH_DEBUG_ENABLE

 	void usbDbgPrintf(const char *fmt, ...);

 	void usbDbgPuts(const char *s);

diff --git a/os/hal/include/usbh/defs.h b/os/hal/include/usbh/defs.h
index c3d8a9a..58b1de2 100644
--- a/os/hal/include/usbh/defs.h
+++ b/os/hal/include/usbh/defs.h
@@ -25,12 +25,12 @@
 #include "osal.h"

 

 #ifdef __IAR_SYSTEMS_ICC__

-#define PACKED_STRUCT typedef PACKED_VAR struct

+#define PACKED_STRUCT PACKED_VAR struct

 #else

-#define PACKED_STRUCT typedef struct PACKED_VAR

+#define PACKED_STRUCT struct PACKED_VAR

 #endif

 

-PACKED_STRUCT {

+typedef PACKED_STRUCT {

 	uint8_t  bLength;

 	uint8_t  bDescriptorType;

 	uint16_t bcdUSB;

@@ -49,7 +49,7 @@ PACKED_STRUCT {
 #define USBH_DT_DEVICE                   0x01

 #define USBH_DT_DEVICE_SIZE              18

 

-PACKED_STRUCT {

+typedef PACKED_STRUCT {

 	uint8_t  bLength;

 	uint8_t  bDescriptorType;

 	uint16_t wTotalLength;

@@ -62,7 +62,7 @@ PACKED_STRUCT {
 #define USBH_DT_CONFIG                   0x02

 #define USBH_DT_CONFIG_SIZE              9

 

-PACKED_STRUCT {

+typedef PACKED_STRUCT {

 	uint8_t  bLength;

 	uint8_t  bDescriptorType;

 	uint16_t wData[1];

@@ -70,7 +70,7 @@ PACKED_STRUCT {
 #define USBH_DT_STRING                   0x03

 #define USBH_DT_STRING_SIZE              2

 

-PACKED_STRUCT {

+typedef PACKED_STRUCT {

 	uint8_t  bLength;

 	uint8_t  bDescriptorType;

 	uint8_t  bInterfaceNumber;

@@ -84,7 +84,7 @@ PACKED_STRUCT {
 #define USBH_DT_INTERFACE                0x04

 #define USBH_DT_INTERFACE_SIZE           9

 

-PACKED_STRUCT {

+typedef PACKED_STRUCT {

 	uint8_t	bLength;

 	uint8_t	bDescriptorType;

 	uint8_t	bEndpointAddress;

@@ -95,7 +95,7 @@ PACKED_STRUCT {
 #define USBH_DT_ENDPOINT                 0x05

 #define USBH_DT_ENDPOINT_SIZE            7

 

-PACKED_STRUCT {

+typedef PACKED_STRUCT {

 	uint8_t  bLength;

 	uint8_t  bDescriptorType;

 	uint8_t  bFirstInterface;

@@ -108,7 +108,7 @@ PACKED_STRUCT {
 #define USBH_DT_INTERFACE_ASSOCIATION    	0x0b

 #define USBH_DT_INTERFACE_ASSOCIATION_SIZE	8

 

-PACKED_STRUCT {

+typedef PACKED_STRUCT {

 	uint8_t  bDescLength;

 	uint8_t  bDescriptorType;

 	uint8_t  bNbrPorts;

@@ -120,7 +120,7 @@ PACKED_STRUCT {
 #define USBH_DT_HUB				    	0x29

 #define USBH_DT_HUB_SIZE		    	(7 + 4)

 

-PACKED_STRUCT {

+typedef PACKED_STRUCT {

 	uint8_t  bmRequestType;

 	uint8_t  bRequest;

 	uint16_t wValue;

diff --git a/os/hal/include/usbh/dev/ftdi.h b/os/hal/include/usbh/dev/ftdi.h
index ad6b4cd..27a6f12 100644
--- a/os/hal/include/usbh/dev/ftdi.h
+++ b/os/hal/include/usbh/dev/ftdi.h
@@ -96,7 +96,7 @@ struct USBHFTDIPortDriver {
 	usbh_urb_t iq_urb;

 	threads_queue_t	iq_waiting;

 	uint32_t iq_counter;

-	USBH_DEFINE_BUFFER(uint8_t, iq_buff[64]);

+	USBH_DECLARE_STRUCT_MEMBER(uint8_t iq_buff[64]);

 	uint8_t *iq_ptr;

 

 

@@ -104,7 +104,7 @@ struct USBHFTDIPortDriver {
 	usbh_urb_t oq_urb;

 	threads_queue_t	oq_waiting;

 	uint32_t oq_counter;

-	USBH_DEFINE_BUFFER(uint8_t, oq_buff[64]);

+	USBH_DECLARE_STRUCT_MEMBER(uint8_t oq_buff[64]);

 	uint8_t *oq_ptr;

 

 	virtual_timer_t vt;

@@ -113,7 +113,7 @@ struct USBHFTDIPortDriver {
 	USBHFTDIPortDriver *next;

 };

 

-typedef struct USBHFTDIDriver {

+struct USBHFTDIDriver {

 	/* inherited from abstract class driver */

 	_usbh_base_classdriver_data

 

@@ -121,11 +121,12 @@ typedef struct USBHFTDIDriver {
 	USBHFTDIPortDriver *ports;

 

 	mutex_t mtx;

-} USBHFTDIDriver;

+};

 

 /*===========================================================================*/

 /* Driver macros.                                                            */

 /*===========================================================================*/

+#define usbhftdipGetState(ftdipp) ((ftdipp)->state)

 

 

 /*===========================================================================*/

@@ -144,6 +145,9 @@ extern "C" {
 	void usbhftdipObjectInit(USBHFTDIPortDriver *ftdipp);

 	void usbhftdipStart(USBHFTDIPortDriver *ftdipp, const USBHFTDIPortConfig *config);

 	void usbhftdipStop(USBHFTDIPortDriver *ftdipp);

+

+	/* global initializer */

+	void usbhftdiInit(void);

 #ifdef __cplusplus

 }

 #endif

diff --git a/os/hal/include/usbh/dev/hub.h b/os/hal/include/usbh/dev/hub.h
index 07e88e6..a3becbc 100644
--- a/os/hal/include/usbh/dev/hub.h
+++ b/os/hal/include/usbh/dev/hub.h
@@ -23,7 +23,7 @@
 #if HAL_USE_USBH

 #if HAL_USBH_USE_HUB

 

-typedef struct USBHHubDriver {

+struct USBHHubDriver {

 	/* inherited from abstract class driver */

 	_usbh_base_classdriver_data

 

@@ -32,19 +32,19 @@ typedef struct USBHHubDriver {
 	usbh_ep_t epint;

 	usbh_urb_t urb;

 

-	USBH_DEFINE_BUFFER(uint8_t, scbuff[4]);

+	USBH_DECLARE_STRUCT_MEMBER(uint8_t scbuff[4]);

 	volatile uint32_t statuschange;

 	uint16_t status;

 	uint16_t c_status;

 

 	usbh_port_t *ports;

 

-	USBH_DEFINE_BUFFER(usbh_hub_descriptor_t, hubDesc);

+	USBH_DECLARE_STRUCT_MEMBER(usbh_hub_descriptor_t hubDesc);

 

 	/* Low level part */

 	_usbh_hub_ll_data

 

-} USBHHubDriver;

+};

 

 extern USBHHubDriver USBHHUBD[HAL_USBHHUB_MAX_INSTANCES];

 

@@ -89,6 +89,9 @@ static inline usbh_urbstatus_t usbhhubSetFeaturePort(usbh_port_t *port, uint8_t
 }

 

 void usbhhubObjectInit(USBHHubDriver *hubdp);

+

+void usbhhubInit(void);

+

 #else

 

 static inline usbh_urbstatus_t usbhhubControlRequest(USBHDriver *host,

diff --git a/os/hal/include/usbh/dev/msd.h b/os/hal/include/usbh/dev/msd.h
index d164618..88e8a5e 100644
--- a/os/hal/include/usbh/dev/msd.h
+++ b/os/hal/include/usbh/dev/msd.h
@@ -65,7 +65,7 @@ struct USBHMassStorageLUNDriver {
 	USBHMassStorageLUNDriver *next;

 };

 

-typedef struct USBHMassStorageDriver {

+struct USBHMassStorageDriver {

 	/* inherited from abstract class driver */

 	_usbh_base_classdriver_data

 

@@ -81,7 +81,7 @@ typedef struct USBHMassStorageDriver {
 	uint32_t tag;

 

 	USBHMassStorageLUNDriver *luns;

-} USBHMassStorageDriver;

+};

 

 

 /*===========================================================================*/

@@ -116,6 +116,9 @@ extern "C" {
 	bool usbhmsdLUNGetInfo(USBHMassStorageLUNDriver *lunp, BlockDeviceInfo *bdip);

 	bool usbhmsdLUNIsInserted(USBHMassStorageLUNDriver *lunp);

 	bool usbhmsdLUNIsProtected(USBHMassStorageLUNDriver *lunp);

+

+	/* global initializer */

+	void usbhmsdInit(void);

 #ifdef __cplusplus

 }

 #endif

diff --git a/os/hal/include/usbh/list.h b/os/hal/include/usbh/list.h
index 4eceacd..317e51b 100644
--- a/os/hal/include/usbh/list.h
+++ b/os/hal/include/usbh/list.h
@@ -7,11 +7,8 @@
 #define offsetof(TYPE, MEMBER) ((size_t) &((TYPE *)0)->MEMBER)

 #endif

 

-#define container_of(ptr, type, member) ((type *)(void *)((char *)(ptr) - offsetof(type, member)))

 #ifndef container_of

-#define container_of(ptr, type, member) ({                  \

-	const typeof(((type *)0)->member) * __mptr = (ptr);     \

-	(type *)((char *)__mptr - offsetof(type, member)); })

+#define container_of(ptr, type, member) ((type *)(void *)((char *)(ptr) - offsetof(type, member)))

 #endif

 

 /*

diff --git a/os/hal/ports/STM32/LLD/USBHv1/hal_usbh_lld.c b/os/hal/ports/STM32/LLD/USBHv1/hal_usbh_lld.c
index 8947490..21cf967 100644
--- a/os/hal/ports/STM32/LLD/USBHv1/hal_usbh_lld.c
+++ b/os/hal/ports/STM32/LLD/USBHv1/hal_usbh_lld.c
@@ -21,6 +21,53 @@
 #include "usbh/internal.h"
 #include <string.h>
 
+#if STM32_USBH_USE_OTG1
+#if !defined(STM32_OTG1_CHANNELS_NUMBER)
+#error "STM32_OTG1_CHANNELS_NUMBER must be defined"
+#endif
+#if !defined(STM32_OTG1_RXFIFO_SIZE)
+#define STM32_OTG1_RXFIFO_SIZE		1024
+#endif
+#if !defined(STM32_OTG1_PTXFIFO_SIZE)
+#define STM32_OTG1_PTXFIFO_SIZE		128
+#endif
+#if !defined(STM32_OTG1_NPTXFIFO_SIZE)
+#define STM32_OTG1_NPTXFIFO_SIZE	128
+#endif
+#if (STM32_OTG1_RXFIFO_SIZE + STM32_OTG1_PTXFIFO_SIZE + STM32_OTG1_NPTXFIFO_SIZE) > (STM32_OTG1_FIFO_MEM_SIZE * 4)
+#error "Not enough memory in OTG1 implementation"
+#elif (STM32_OTG1_RXFIFO_SIZE + STM32_OTG1_PTXFIFO_SIZE + STM32_OTG1_NPTXFIFO_SIZE) < (STM32_OTG1_FIFO_MEM_SIZE * 4)
+#warning "Spare memory in OTG1; could enlarge RX, PTX or NPTX FIFO sizes"
+#endif
+#if (STM32_OTG1_RXFIFO_SIZE % 4) || (STM32_OTG1_PTXFIFO_SIZE % 4) || (STM32_OTG1_NPTXFIFO_SIZE % 4)
+#error "FIFO sizes must be a multiple of 32-bit words"
+#endif
+#endif
+
+#if STM32_USBH_USE_OTG2
+#if !defined(STM32_OTG2_CHANNELS_NUMBER)
+#error "STM32_OTG2_CHANNELS_NUMBER must be defined"
+#endif
+#if !defined(STM32_OTG2_RXFIFO_SIZE)
+#define STM32_OTG2_RXFIFO_SIZE		2048
+#endif
+#if !defined(STM32_OTG2_PTXFIFO_SIZE)
+#define STM32_OTG2_PTXFIFO_SIZE		1024
+#endif
+#if !defined(STM32_OTG2_NPTXFIFO_SIZE)
+#define STM32_OTG2_NPTXFIFO_SIZE	1024
+#endif
+#if (STM32_OTG2_RXFIFO_SIZE + STM32_OTG2_PTXFIFO_SIZE + STM32_OTG2_NPTXFIFO_SIZE) > (STM32_OTG2_FIFO_MEM_SIZE * 4)
+#error "Not enough memory in OTG2 implementation"
+#elif (STM32_OTG2_RXFIFO_SIZE + STM32_OTG2_PTXFIFO_SIZE + STM32_OTG2_NPTXFIFO_SIZE) < (STM32_OTG2_FIFO_MEM_SIZE * 4)
+#warning "Spare memory in OTG2; could enlarge RX, PTX or NPTX FIFO sizes"
+#endif
+#if (STM32_OTG2_RXFIFO_SIZE % 4) || (STM32_OTG2_PTXFIFO_SIZE % 4) || (STM32_OTG2_NPTXFIFO_SIZE % 4)
+#error "FIFO sizes must be a multiple of 32-bit words"
+#endif
+#endif
+
+
 #if USBH_LLD_DEBUG_ENABLE_TRACE
 #define udbgf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
 #define udbg(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
@@ -492,7 +539,7 @@ static uint32_t _write_packet(struct list_head *list, uint32_t space_available)
 
 void usbh_lld_ep_object_init(usbh_ep_t *ep) {
 /*			CTRL(IN)	CTRL(OUT)	INT(IN)		INT(OUT)	BULK(IN)	BULK(OUT)	ISO(IN)		ISO(OUT)
- * STALL		si		sólo DAT/STAT	si			si			si			si			no			no		ep->type != ISO && (ep->type != CTRL || ctrlphase != SETUP)
+ * STALL		si		solo DAT/STAT	si			si			si			si			no			no		ep->type != ISO && (ep->type != CTRL || ctrlphase != SETUP)
  * ACK			si			si			si			si			si			si			no			no		ep->type != ISO
  * NAK			si			si			si			si			si			si			no			no		ep->type != ISO
  * BBERR		si			no			si			no			si			no			si			no		ep->in
@@ -563,6 +610,11 @@ void usbh_lld_ep_close(usbh_ep_t *ep) {
 	osalOsRescheduleS();
 }
 
+bool usbh_lld_ep_reset(usbh_ep_t *ep) {
+	ep->dt_mask = HCTSIZ_DPID_DATA0;
+	return TRUE;
+}
+
 void usbh_lld_urb_submit(usbh_urb_t *urb) {
 	usbh_ep_t *const ep = urb->ep;
 
@@ -596,17 +648,20 @@ bool usbh_lld_urb_abort(usbh_urb_t *urb, usbh_urbstatus_t status) {
 
 		if (hcm->halt_reason == USBH_LLD_HALTREASON_NONE) {
 			/* The channel is not being halted */
+			uinfof("\t%s: usbh_lld_urb_abort: channel is not being halted", hcm->ep->name);
 			urb->status = status;
 			_halt_channel(ep->device->host, hcm, USBH_LLD_HALTREASON_ABORT);
 		} else {
 			/* The channel is being halted, so we can't re-halt it. The CHH interrupt will
 			 * be in charge of completing the transfer, but the URB will not have the specified status.
 			 */
+			uinfof("\t%s: usbh_lld_urb_abort: channel is being halted", hcm->ep->name);
 		}
 		return FALSE;
 	}
 
 	/* This URB is active, we can cancel it now */
+	uinfof("\t%s: usbh_lld_urb_abort: URB is not active", hcm->ep->name);
 	_transfer_completedI(ep, urb, status);
 
 	return TRUE;
@@ -855,8 +910,12 @@ static inline void _chh_int(USBHDriver *host, stm32_hc_management_t *hcm, stm32_
 			break;
 
 		case USBH_LLD_HALTREASON_STALL:
-			if ((ep->type == USBH_EPTYPE_CTRL) && (ep->xfer.u.ctrl_phase == USBH_LLD_CTRLPHASE_SETUP)) {
-				uerrf("\t%s: Faulty device: STALLed SETUP phase", ep->name);
+			if (ep->type == USBH_EPTYPE_CTRL) {
+				if (ep->xfer.u.ctrl_phase == USBH_LLD_CTRLPHASE_SETUP) {
+					uerrf("\t%s: Faulty device: STALLed SETUP phase", ep->name);
+				}
+			} else {
+				ep->status = USBH_EPSTATUS_HALTED;
 			}
 			_transfer_completed(ep, urb, USBH_URBSTATUS_STALL);
 			break;
@@ -926,10 +985,15 @@ static inline void _hcint_int(USBHDriver *host) {
 	haint = host->otg->HAINT;
 	haint &= host->otg->HAINTMSK;
 
+#if USBH_LLD_DEBUG_ENABLE_ERRORS
 	if (!haint) {
-		uerrf("HAINT=%08x, HAINTMSK=%08x", host->otg->HAINT, host->otg->HAINTMSK);
+		uint32_t a, b;
+		a = host->otg->HAINT;
+		b = host->otg->HAINTMSK;
+		uerrf("HAINT=%08x, HAINTMSK=%08x", a, b);
 		return;
 	}
+#endif
 
 #if 1	//channel lookup loop
 	uint8_t i;
@@ -1186,11 +1250,17 @@ static void usb_lld_serve_interrupt(USBHDriver *host) {
 	}
 
 	gintsts &= otg->GINTMSK;
+#if USBH_DEBUG_ENABLE_WARNINGS
 	if (!gintsts) {
-		uwarnf("GINTSTS=%08x, GINTMSK=%08x", otg->GINTSTS, otg->GINTMSK);
+		uint32_t a, b;
+		a = otg->GINTSTS;
+		b = otg->GINTMSK;
+		uwarnf("GINTSTS=%08x, GINTMSK=%08x", a, b);
 		return;
 	}
-//	otg->GINTMSK &= ~(GINTMSK_NPTXFEM | GINTMSK_PTXFEM);
+#endif
+
+	//	otg->GINTMSK &= ~(GINTMSK_NPTXFEM | GINTMSK_PTXFEM);
 	otg->GINTSTS = gintsts;
 
 	if (gintsts & GINTSTS_SOF)
@@ -1437,6 +1507,7 @@ static void _usbh_start(USBHDriver *usbh) {
 	}
 #endif
 #endif
+#undef HNPTXFSIZ
 
 	otg_txfifo_flush(usbh, 0x10);
 	otg_rxfifo_flush(usbh);
@@ -1478,18 +1549,18 @@ usbh_urbstatus_t usbh_lld_root_hub_request(USBHDriver *usbh, uint8_t bmRequestTy
 		break;
 
 	case ClearPortFeature:
-		chDbgAssert(windex == 1, "invalid windex");
+		osalDbgAssert(windex == 1, "invalid windex");
 
 		osalSysLock();
 		switch (wvalue) {
 		case USBH_PORT_FEAT_ENABLE:
 		case USBH_PORT_FEAT_SUSPEND:
 		case USBH_PORT_FEAT_POWER:
-			chDbgAssert(0, "unimplemented");	/* TODO */
+			osalDbgAssert(0, "unimplemented");	/* TODO */
 			break;
 
 		case USBH_PORT_FEAT_INDICATOR:
-			chDbgAssert(0, "unsupported");
+			osalDbgAssert(0, "unsupported");
 			break;
 
 		case USBH_PORT_FEAT_C_CONNECTION:
@@ -1541,7 +1612,7 @@ usbh_urbstatus_t usbh_lld_root_hub_request(USBHDriver *usbh, uint8_t bmRequestTy
 		break;
 
 	case GetPortStatus:
-		chDbgAssert(windex == 1, "invalid windex");
+		osalDbgAssert(windex == 1, "invalid windex");
 		osalDbgCheck(wlength >= 4);
 		osalSysLock();
 		*(uint32_t *)buf = usbh->rootport.lld_status | (usbh->rootport.lld_c_status << 16);
@@ -1550,17 +1621,17 @@ usbh_urbstatus_t usbh_lld_root_hub_request(USBHDriver *usbh, uint8_t bmRequestTy
 		break;
 
 	case SetHubFeature:
-		chDbgAssert(0, "unsupported");
+		osalDbgAssert(0, "unsupported");
 		break;
 
 	case SetPortFeature:
-		chDbgAssert(windex == 1, "invalid windex");
+		osalDbgAssert(windex == 1, "invalid windex");
 
 		switch (wvalue) {
 		case USBH_PORT_FEAT_TEST:
 		case USBH_PORT_FEAT_SUSPEND:
 		case USBH_PORT_FEAT_POWER:
-			chDbgAssert(0, "unimplemented");	/* TODO */
+			osalDbgAssert(0, "unimplemented");	/* TODO */
 			break;
 
 		case USBH_PORT_FEAT_RESET: {
@@ -1580,7 +1651,7 @@ usbh_urbstatus_t usbh_lld_root_hub_request(USBHDriver *usbh, uint8_t bmRequestTy
 		} 	break;
 
 		case USBH_PORT_FEAT_INDICATOR:
-			chDbgAssert(0, "unsupported");
+			osalDbgAssert(0, "unsupported");
 			break;
 
 		default:
diff --git a/os/hal/ports/STM32/LLD/USBHv1/hal_usbh_lld.h b/os/hal/ports/STM32/LLD/USBHv1/hal_usbh_lld.h
index 15413b4..4552c2d 100644
--- a/os/hal/ports/STM32/LLD/USBHv1/hal_usbh_lld.h
+++ b/os/hal/ports/STM32/LLD/USBHv1/hal_usbh_lld.h
@@ -127,25 +127,26 @@ typedef struct stm32_hc_management {
 				"use USBH_DEFINE_BUFFER() to declare the IO buffers"); 	\
 		} while (0)
 
-
-
 void usbh_lld_init(void);
 void usbh_lld_start(USBHDriver *usbh);
 void usbh_lld_ep_object_init(usbh_ep_t *ep);
 void usbh_lld_ep_open(usbh_ep_t *ep);
 void usbh_lld_ep_close(usbh_ep_t *ep);
+bool usbh_lld_ep_reset(usbh_ep_t *ep);
 void usbh_lld_urb_submit(usbh_urb_t *urb);
 bool usbh_lld_urb_abort(usbh_urb_t *urb, usbh_urbstatus_t status);
 usbh_urbstatus_t usbh_lld_root_hub_request(USBHDriver *usbh, uint8_t bmRequestType, uint8_t bRequest,
 		uint16_t wvalue, uint16_t windex, uint16_t wlength, uint8_t *buf);
 uint8_t usbh_lld_roothub_get_statuschange_bitmap(USBHDriver *usbh);
 
-#define usbh_lld_epreset(ep) do {(ep)->dt_mask = HCTSIZ_DPID_DATA0;} while (0);
-
 #ifdef __IAR_SYSTEMS_ICC__
-#define USBH_LLD_DEFINE_BUFFER(type, name) type name
+#define USBH_LLD_DEFINE_BUFFER(var) _Pragma("data_alignment=4") var
+#define USBH_LLD_DECLARE_STRUCT_MEMBER_H1(x, y) x ## y
+#define USBH_LLD_DECLARE_STRUCT_MEMBER_H2(x, y) USBH_LLD_DECLARE_STRUCT_MEMBER_H1(x, y)
+#define USBH_LLD_DECLARE_STRUCT_MEMBER(member)  unsigned int USBH_LLD_DECLARE_STRUCT_MEMBER_H2(dummy_align_, __COUNTER__); member
 #else
-#define USBH_LLD_DEFINE_BUFFER(type, name) type name __attribute__((aligned(4)))
+#define USBH_LLD_DEFINE_BUFFER(var) var __attribute__((aligned(4)))
+#define USBH_LLD_DECLARE_STRUCT_MEMBER(member) member __attribute__((aligned(4)))
 #endif
 
 #endif
diff --git a/os/hal/src/hal_usbh.c b/os/hal/src/hal_usbh.c
index befe17f..0d0bf06 100644
--- a/os/hal/src/hal_usbh.c
+++ b/os/hal/src/hal_usbh.c
@@ -19,10 +19,14 @@
 
 #if HAL_USE_USBH
 
-#include "usbh/dev/hub.h"
 #include "usbh/internal.h"
 #include <string.h>
 
+//devices
+#include "usbh/dev/hub.h"
+#include "usbh/dev/ftdi.h"
+#include "usbh/dev/msd.h"
+
 #if USBH_DEBUG_ENABLE_TRACE
 #define udbgf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
 #define udbg(f, ...)  usbDbgPuts(f, ##__VA_ARGS__)
@@ -107,11 +111,14 @@ void usbhObjectInit(USBHDriver *usbh) {
 }
 
 void usbhInit(void) {
+#if HAL_USBH_USE_FTDI
+	usbhftdiInit();
+#endif
+#if HAL_USBH_USE_MSD
+	usbhmsdInit();
+#endif
 #if HAL_USBH_USE_HUB
-	uint8_t i;
-	for (i = 0; i < HAL_USBHHUB_MAX_INSTANCES; i++) {
-		usbhhubObjectInit(&USBHHUBD[i]);
-	}
+	usbhhubInit();
 #endif
 	usbh_lld_init();
 }
@@ -128,7 +135,6 @@ void usbhStart(USBHDriver *usbh) {
 	osalSysUnlock();
 }
 
-
 void usbhStop(USBHDriver *usbh) {
 	//TODO: implement
 	(void)usbh;
@@ -181,6 +187,22 @@ static void _ep0_object_init(usbh_device_t *dev, uint16_t wMaxPacketSize) {
 	usbhEPSetName(&dev->ctrl, "DEV[CTRL]");
 }
 
+bool usbhEPResetS(usbh_ep_t *ep) {
+	osalDbgCheckClassS();
+	osalDbgCheck(ep != NULL);
+	osalDbgAssert((ep->status == USBH_EPSTATUS_OPEN) || (ep->status == USBH_EPSTATUS_HALTED), "invalid state");
+	osalDbgAssert(ep->type != USBH_EPTYPE_CTRL, "don't need to reset control endpoint");
+
+	usbh_urbstatus_t ret = usbhControlRequest(ep->device,
+			USBH_STANDARDOUT(USBH_REQTYPE_ENDPOINT, USBH_REQ_CLEAR_FEATURE, 0, ep->address | (ep->in ? 0x80 : 0x00)),
+			0, 0);
+
+	/* TODO: GET_STATUS to see if endpoint is still halted */
+	if ((ret == USBH_URBSTATUS_OK) && usbh_lld_ep_reset(ep)) {
+		return HAL_SUCCESS;
+	}
+	return HAL_FAILED;
+}
 
 /*===========================================================================*/
 /* URB API.                                                                  */
@@ -258,7 +280,6 @@ bool _usbh_urb_abortI(usbh_urb_t *urb, usbh_urbstatus_t status) {
 		_usbh_urb_completeI(urb, status);
 		return TRUE;
 
-//	case USBH_URBSTATUS_QUEUED:
 	case USBH_URBSTATUS_PENDING:
 		return usbh_lld_urb_abort(urb, status);
 	}
@@ -271,11 +292,18 @@ void _usbh_urb_abort_and_waitS(usbh_urb_t *urb, usbh_urbstatus_t status) {
 	if (_usbh_urb_abortI(urb, status) == FALSE) {
 		uwarn("URB wasn't aborted immediately, suspend");
 		osalThreadSuspendS(&urb->abortingThread);
-		urb->abortingThread = 0;
-	} else {
+		osalDbgAssert(urb->abortingThread == 0, "maybe we should uncomment the line below");
+		//urb->abortingThread = 0;
+	}
+#if !(USBH_DEBUG_ENABLE && USBH_DEBUG_ENABLE_WARNINGS)
+	else {
 		osalOsRescheduleS();
 	}
+#else
 	uwarn("URB aborted");
+	osalOsRescheduleS();	/* debug printing functions call I-class functions inside
+	 	 	 	 	 	 	 which may cause a priority violation without this call */
+#endif
 }
 
 bool usbhURBCancelI(usbh_urb_t *urb) {
@@ -295,9 +323,9 @@ msg_t usbhURBWaitTimeoutS(usbh_urb_t *urb, systime_t timeout) {
 	switch (urb->status) {
 	case USBH_URBSTATUS_INITIALIZED:
 	case USBH_URBSTATUS_PENDING:
-//	case USBH_URBSTATUS_QUEUED:
 		ret = osalThreadSuspendTimeoutS(&urb->waitingThread, timeout);
-		urb->waitingThread = 0;
+		osalDbgAssert(urb->waitingThread == 0, "maybe we should uncomment the line below");
+		//urb->waitingThread = 0;
 		break;
 
 	case USBH_URBSTATUS_OK:
@@ -408,7 +436,7 @@ usbh_urbstatus_t usbhControlRequest(usbh_device_t *dev,
 		uint16_t wLength,
 		uint8_t *buff) {
 
-	const USBH_DEFINE_BUFFER(usbh_control_request_t, req) = {
+	USBH_DEFINE_BUFFER(const usbh_control_request_t req) = {
 			bmRequestType,
 			bRequest,
 			wValue,
@@ -511,7 +539,7 @@ bool usbhStdReqGetInterface(usbh_device_t *dev,
 		uint8_t bInterfaceNumber,
 		uint8_t *bAlternateSetting) {
 
-	USBH_DEFINE_BUFFER(uint8_t, alt);
+	USBH_DEFINE_BUFFER(uint8_t alt);
 
 	usbh_urbstatus_t ret = usbhControlRequest(dev, USBH_GET_INTERFACE(bInterfaceNumber), 1, &alt);
 	if (ret != USBH_URBSTATUS_OK)
@@ -720,7 +748,7 @@ static bool _device_enumerate(usbh_device_t *dev) {
 
 #if USBH_DEBUG_ENABLE && USBH_DEBUG_ENABLE_INFO
 void usbhDevicePrintInfo(usbh_device_t *dev) {
-	USBH_DEFINE_BUFFER(char, str[64]);
+	USBH_DEFINE_BUFFER(char str[64]);
 	usbh_device_descriptor_t *const desc = &dev->devDesc;
 
 	uinfo("----- Device info -----");
@@ -934,7 +962,7 @@ static void _port_connected(usbh_port_t *port) {
 	uint8_t i;
 	uint8_t retries;
 	usbh_devspeed_t speed;
-	USBH_DEFINE_BUFFER(usbh_string_descriptor_t, strdesc);
+	USBH_DEFINE_BUFFER(usbh_string_descriptor_t strdesc);
 
 	uinfof("Port %d connected, wait debounce...", port->number);
 
@@ -1313,9 +1341,11 @@ static bool _classdriver_load(usbh_device_t *dev, uint8_t class,
 
 success:
 	/* Link this driver to the device */
-	drv->next = dev->drivers;
-	dev->drivers = drv;
-	drv->dev = dev;
+	if (!drv->dev) {
+		drv->next = dev->drivers;
+		dev->drivers = drv;
+		drv->dev = dev;
+	}
 	return HAL_SUCCESS;
 }
 
diff --git a/os/hal/src/usbh/hal_usbh_debug.c b/os/hal/src/usbh/hal_usbh_debug.c
index 51ca166..497aa39 100644
--- a/os/hal/src/usbh/hal_usbh_debug.c
+++ b/os/hal/src/usbh/hal_usbh_debug.c
@@ -17,15 +17,13 @@
 
 #include "hal.h"
 
-#if HAL_USE_USBH
+#if HAL_USE_USBH && USBH_DEBUG_ENABLE
 
 #include "ch.h"
 #include "usbh/debug.h"
 #include <stdarg.h>
 #include "chprintf.h"
 
-#if USBH_DEBUG_ENABLE
-
 #define MAX_FILLER 11
 #define FLOAT_PRECISION 9
 #define MPRINTF_USE_FLOAT 0
@@ -472,8 +470,8 @@ void usbDbgSystemHalted(void) {
 	}
 }
 
-static void usb_debug_thread(void *p) {
-	USBHDriver *host = (USBHDriver *)p;
+static void usb_debug_thread(void *arg) {
+	USBHDriver *host = (USBHDriver *)arg;
 	uint8_t state = 0;
 
 	chRegSetThreadName("USBH_DBG");
@@ -531,6 +529,5 @@ void usbDbgInit(USBHDriver *host) {
 	iqObjectInit(&USBH_DEBUG_USBHD.iq, USBH_DEBUG_USBHD.dbg_buff, sizeof(USBH_DEBUG_USBHD.dbg_buff), 0, 0);
 	chThdCreateStatic(USBH_DEBUG_USBHD.waDebug, sizeof(USBH_DEBUG_USBHD.waDebug), NORMALPRIO, usb_debug_thread, &USBH_DEBUG_USBHD);
 }
-#endif
 
 #endif
diff --git a/os/hal/src/usbh/hal_usbh_desciter.c b/os/hal/src/usbh/hal_usbh_desciter.c
index 63137d4..48d9d87 100644
--- a/os/hal/src/usbh/hal_usbh_desciter.c
+++ b/os/hal/src/usbh/hal_usbh_desciter.c
@@ -134,22 +134,18 @@ void cs_iter_next(generic_iterator_t *ics) {
 	if ((curr[0] < 2) || (rem < 2) || (rem < curr[0]))
 		return;
 
-	//for (;;) {
-		rem -= curr[0];
-		curr += curr[0];
+	rem -= curr[0];
+	curr += curr[0];
 
-		if ((curr[0] < 2) || (rem < 2) || (rem < curr[0]))
-			return;
-
-		if ((curr[1] == USBH_DT_INTERFACE_ASSOCIATION)
-				|| (curr[1] == USBH_DT_INTERFACE)
-				|| (curr[1] == USBH_DT_CONFIG)
-				|| (curr[1] == USBH_DT_ENDPOINT)) {
-			return;
-		}
+	if ((curr[0] < 2) || (rem < 2) || (rem < curr[0]))
+		return;
 
-	//	break;
-	//}
+	if ((curr[1] == USBH_DT_INTERFACE_ASSOCIATION)
+			|| (curr[1] == USBH_DT_INTERFACE)
+			|| (curr[1] == USBH_DT_CONFIG)
+			|| (curr[1] == USBH_DT_ENDPOINT)) {
+		return;
+	}
 
 	ics->valid = 1;
 	ics->rem = rem;
diff --git a/os/hal/src/usbh/hal_usbh_ftdi.c b/os/hal/src/usbh/hal_usbh_ftdi.c
index 4bd7296..12ed0f9 100644
--- a/os/hal/src/usbh/hal_usbh_ftdi.c
+++ b/os/hal/src/usbh/hal_usbh_ftdi.c
@@ -16,7 +16,6 @@
 */
 
 #include "hal.h"
-#include "hal_usbh.h"
 
 #if HAL_USBH_USE_FTDI
 
@@ -114,8 +113,7 @@ static usbh_baseclassdriver_t *_ftdi_load(usbh_device_t *dev, const uint8_t *des
 	if ((rem < descriptor[0]) || (descriptor[1] != USBH_DT_INTERFACE))
 		return NULL;
 
-	const usbh_interface_descriptor_t * const ifdesc = (const usbh_interface_descriptor_t * const)descriptor;
-	if (ifdesc->bInterfaceNumber != 0) {
+	if (((const usbh_interface_descriptor_t *)descriptor)->bInterfaceNumber != 0) {
 		uwarn("FTDI: Will allocate driver along with IF #0");
 	}
 
@@ -324,7 +322,7 @@ static usbh_urbstatus_t _ftdi_port_control(USBHFTDIPortDriver *ftdipp,
 	osalDbgCheck(bRequest < sizeof_array(bmRequestType));
 	osalDbgCheck(bRequest != 1);
 
-	const USBH_DEFINE_BUFFER(usbh_control_request_t, req) = {
+	USBH_DEFINE_BUFFER(const usbh_control_request_t req) = {
 			bmRequestType[bRequest],
 			bRequest,
 			wValue,
@@ -387,7 +385,7 @@ static usbh_urbstatus_t _set_baudrate(USBHFTDIPortDriver *ftdipp, uint32_t baudr
 	if (ftdipp->ftdip->dev->basicConfigDesc.bNumInterfaces > 1)
 		wIndex = (wIndex << 8) | (ftdipp->ifnum + 1);
 
-	const USBH_DEFINE_BUFFER(usbh_control_request_t, req) = {
+	USBH_DEFINE_BUFFER(const usbh_control_request_t req) = {
 		USBH_REQTYPE_VENDOR | USBH_REQTYPE_OUT | USBH_REQTYPE_DEVICE,
 		FTDI_COMMAND_SETBAUD,
 		wValue,
@@ -714,4 +712,14 @@ void usbhftdipObjectInit(USBHFTDIPortDriver *ftdipp) {
 	ftdipp->state = USBHFTDIP_STATE_STOP;
 }
 
+void usbhftdiInit(void) {
+	uint8_t i;
+	for (i = 0; i < HAL_USBHFTDI_MAX_INSTANCES; i++) {
+		usbhftdiObjectInit(&USBHFTDID[i]);
+	}
+	for (i = 0; i < HAL_USBHFTDI_MAX_PORTS; i++) {
+		usbhftdipObjectInit(&FTDIPD[i]);
+	}
+}
+
 #endif
diff --git a/os/hal/src/usbh/hal_usbh_hub.c b/os/hal/src/usbh/hal_usbh_hub.c
index 56257b2..15c3534 100644
--- a/os/hal/src/usbh/hal_usbh_hub.c
+++ b/os/hal/src/usbh/hal_usbh_hub.c
@@ -15,10 +15,7 @@
     limitations under the License.
 */
 
-#include <string.h>
 #include "hal.h"
-#include "hal_usbh.h"
-#include "usbh/internal.h"
 
 #if HAL_USBH_USE_HUB
 
@@ -28,6 +25,7 @@
 
 #include <string.h>
 #include "usbh/dev/hub.h"
+#include "usbh/internal.h"
 
 #if USBHHUB_DEBUG_ENABLE_TRACE
 #define udbgf(f, ...)  usbDbgPrintf(f, ##__VA_ARGS__)
@@ -63,7 +61,7 @@
 
 
 USBHHubDriver USBHHUBD[HAL_USBHHUB_MAX_INSTANCES];
-usbh_port_t USBHPorts[HAL_USBHHUB_MAX_PORTS];
+static usbh_port_t USBHPorts[HAL_USBHHUB_MAX_PORTS];
 
 static usbh_baseclassdriver_t *hub_load(usbh_device_t *dev, const uint8_t *descriptor, uint16_t rem);
 static void hub_unload(usbh_baseclassdriver_t *drv);
@@ -290,9 +288,18 @@ void usbhhubObjectInit(USBHHubDriver *hubdp) {
 	memset(hubdp, 0, sizeof(*hubdp));
 	hubdp->info = &usbhhubClassDriverInfo;
 }
+
+void usbhhubInit(void) {
+	uint8_t i;
+	for (i = 0; i < HAL_USBHHUB_MAX_INSTANCES; i++) {
+		usbhhubObjectInit(&USBHHUBD[i]);
+	}
+}
+
 #else
 
 #if HAL_USE_USBH
+#include <string.h>
 void _usbhub_port_object_init(usbh_port_t *port, USBHDriver *usbh, uint8_t number) {
 	memset(port, 0, sizeof(*port));
 	port->number = number;
diff --git a/os/hal/src/usbh/hal_usbh_msd.c b/os/hal/src/usbh/hal_usbh_msd.c
index 7a4f826..0f02e03 100644
--- a/os/hal/src/usbh/hal_usbh_msd.c
+++ b/os/hal/src/usbh/hal_usbh_msd.c
@@ -16,7 +16,6 @@
 */
 
 #include "hal.h"
-#include "hal_usbh.h"
 
 #if HAL_USBH_USE_MSD
 
@@ -91,8 +90,8 @@ const usbh_classdriverinfo_t usbhmsdClassDriverInfo = {
 static usbh_baseclassdriver_t *_msd_load(usbh_device_t *dev, const uint8_t *descriptor, uint16_t rem) {
 	int i;
 	USBHMassStorageDriver *msdp;
-	uint8_t luns; // should declare it here to eliminate 'control bypass initialization' warning
-	usbh_urbstatus_t stat;  // should declare it here to eliminate 'control bypass initialization' warning
+	uint8_t luns;
+	usbh_urbstatus_t stat;
 
 	if ((rem < descriptor[0]) || (descriptor[1] != USBH_DT_INTERFACE))
 		return NULL;
@@ -157,7 +156,7 @@ alloc_ok:
 
 	/* read the number of LUNs */
 	uinfo("Reading Max LUN:");
-	USBH_DEFINE_BUFFER(uint8_t, buff[4]);
+	USBH_DEFINE_BUFFER(uint8_t buff[4]);
 	stat = usbhControlRequest(dev,
 			USBH_CLASSIN(USBH_REQTYPE_INTERFACE, MSD_GET_MAX_LUN, 0, msdp->ifnum),
 			1, buff);
@@ -240,7 +239,7 @@ static void _msd_unload(usbh_baseclassdriver_t *drv) {
 
 
 /* USB Bulk Only Transport SCSI Command block wrapper */
-PACKED_STRUCT {
+typedef PACKED_STRUCT {
 	uint32_t dCBWSignature;
 	uint32_t dCBWTag;
 	uint32_t dCBWDataTransferLength;
@@ -253,9 +252,8 @@ PACKED_STRUCT {
 #define MSD_CBWFLAGS_D2H						0x80
 #define MSD_CBWFLAGS_H2D						0x00
 
-
 /* USB Bulk Only Transport SCSI Command status wrapper */
-PACKED_STRUCT {
+typedef PACKED_STRUCT {
 	uint32_t dCSWSignature;
 	uint32_t dCSWTag;
 	uint32_t dCSWDataResidue;
@@ -299,7 +297,7 @@ typedef struct {
 
 /* Request sense */
 #define SCSI_CMD_REQUEST_SENSE 					0x03
-PACKED_STRUCT {
+typedef PACKED_STRUCT {
 	uint8_t byte[18];
 } scsi_sense_response_t;
 
@@ -333,7 +331,7 @@ PACKED_STRUCT {
 
 /* Inquiry */
 #define SCSI_CMD_INQUIRY 						0x12
-PACKED_STRUCT {
+typedef PACKED_STRUCT {
 	uint8_t peripheral;
 	uint8_t removable;
 	uint8_t version;
@@ -349,14 +347,14 @@ PACKED_STRUCT {
 
 /* Read Capacity 10 */
 #define SCSI_CMD_READ_CAPACITY_10				0x25
-PACKED_STRUCT {
+typedef PACKED_STRUCT {
 	uint32_t last_block_addr;
 	uint32_t block_size;
 } scsi_readcapacity10_response_t;
 
 /* Start/Stop Unit */
 #define SCSI_CMD_START_STOP_UNIT				0x1B
-PACKED_STRUCT {
+typedef PACKED_STRUCT {
 	uint8_t op_code;
 	uint8_t lun_immed;
 	uint8_t res1;
@@ -682,7 +680,7 @@ bool usbhmsdLUNConnect(USBHMassStorageLUNDriver *lunp) {
 
     USBH_DEFINE_BUFFER(union {
     		scsi_inquiry_response_t inq;
-    		scsi_readcapacity10_response_t cap;	}, u);
+    		scsi_readcapacity10_response_t cap;	} u);
 
 	uinfo("INQUIRY...");
 	res = scsi_inquiry(lunp, &u.inq);
@@ -936,4 +934,13 @@ void usbhmsdObjectInit(USBHMassStorageDriver *msdp) {
 	osalMutexObjectInit(&msdp->mtx);
 }
 
+void usbhmsdInit(void) {
+	uint8_t i;
+	for (i = 0; i < HAL_USBHMSD_MAX_INSTANCES; i++) {
+		usbhmsdObjectInit(&USBHMSD[i]);
+	}
+	for (i = 0; i < HAL_USBHMSD_MAX_LUNS; i++) {
+		usbhmsdLUNObjectInit(&MSBLKD[i]);
+	}
+}
 #endif
diff --git a/os/various/fatfs_bindings/fatfs.mk b/os/various/fatfs_bindings/fatfs.mk
new file mode 100644
index 0000000..238037e
--- /dev/null
+++ b/os/various/fatfs_bindings/fatfs.mk
@@ -0,0 +1,7 @@
+# FATFS files.
+FATFSSRC = ${CHIBIOS_CONTRIB}/os/various/fatfs_bindings/fatfs_diskio.c \
+           ${CHIBIOS}/os/various/fatfs_bindings/fatfs_syscall.c \
+           ${CHIBIOS}/ext/fatfs/src/ff.c \
+           ${CHIBIOS}/ext/fatfs/src/option/unicode.c
+
+FATFSINC = ${CHIBIOS}/ext/fatfs/src
diff --git a/os/various/fatfs_bindings/fatfs_diskio.c b/os/various/fatfs_bindings/fatfs_diskio.c
new file mode 100644
index 0000000..6949310
--- /dev/null
+++ b/os/various/fatfs_bindings/fatfs_diskio.c
@@ -0,0 +1,320 @@
+/*-----------------------------------------------------------------------*/
+/* Low level disk I/O module skeleton for FatFs     (C)ChaN, 2007        */
+/*-----------------------------------------------------------------------*/
+/* This is a stub disk I/O module that acts as front end of the existing */
+/* disk I/O modules and attach it to FatFs module with common interface. */
+/*-----------------------------------------------------------------------*/
+
+#include "hal.h"
+#include "ffconf.h"
+#include "diskio.h"
+#include "usbh/dev/msd.h"
+
+#if HAL_USE_MMC_SPI && HAL_USE_SDC
+#error "cannot specify both MMC_SPI and SDC drivers"
+#endif
+
+#if HAL_USE_MMC_SPI
+extern MMCDriver MMCD1;
+#elif HAL_USE_SDC
+extern SDCDriver SDCD1;
+#elif HAL_USBH_USE_MSD
+
+#else
+#error "MMC_SPI, SDC or USBH_MSD driver must be specified"
+#endif
+
+/*-----------------------------------------------------------------------*/
+/* Correspondence between physical drive number and physical drive.      */
+#if HAL_USE_MMC_SPI
+#define MMC         0
+#endif
+
+#if HAL_USE_SDC
+#define SDC         0
+#endif
+
+#if HAL_USBH_USE_MSD
+#if defined(MMC) || defined(SDC)
+#define MSDLUN0     1
+#else
+#define MSDLUN0     0
+#endif
+#endif
+
+/*-----------------------------------------------------------------------*/
+/* Inidialize a Drive                                                    */
+
+DSTATUS disk_initialize (
+    BYTE pdrv                /* Physical drive nmuber (0..) */
+)
+{
+  DSTATUS stat;
+
+  switch (pdrv) {
+#if HAL_USE_MMC_SPI
+  case MMC:
+    stat = 0;
+    /* It is initialized externally, just reads the status.*/
+    if (blkGetDriverState(&MMCD1) != BLK_READY)
+      stat |= STA_NOINIT;
+    if (mmcIsWriteProtected(&MMCD1))
+      stat |=  STA_PROTECT;
+    return stat;
+#elif HAL_USE_SDC
+  case SDC:
+    stat = 0;
+    /* It is initialized externally, just reads the status.*/
+    if (blkGetDriverState(&SDCD1) != BLK_READY)
+      stat |= STA_NOINIT;
+    if (sdcIsWriteProtected(&SDCD1))
+      stat |=  STA_PROTECT;
+    return stat;
+#endif
+#if HAL_USBH_USE_MSD
+  case MSDLUN0:
+	stat = 0;
+	/* It is initialized externally, just reads the status.*/
+	if (blkGetDriverState(&MSBLKD[0]) != BLK_READY)
+	  stat |= STA_NOINIT;
+	return stat;
+#endif
+  }
+  return STA_NOINIT;
+}
+
+
+
+/*-----------------------------------------------------------------------*/
+/* Return Disk Status                                                    */
+
+DSTATUS disk_status (
+    BYTE pdrv        /* Physical drive nmuber (0..) */
+)
+{
+  DSTATUS stat;
+
+  switch (pdrv) {
+#if HAL_USE_MMC_SPI
+  case MMC:
+    stat = 0;
+    /* It is initialized externally, just reads the status.*/
+    if (blkGetDriverState(&MMCD1) != BLK_READY)
+      stat |= STA_NOINIT;
+    if (mmcIsWriteProtected(&MMCD1))
+      stat |= STA_PROTECT;
+    return stat;
+#elif HAL_USE_SDC
+  case SDC:
+    stat = 0;
+    /* It is initialized externally, just reads the status.*/
+    if (blkGetDriverState(&SDCD1) != BLK_READY)
+      stat |= STA_NOINIT;
+    if (sdcIsWriteProtected(&SDCD1))
+      stat |= STA_PROTECT;
+    return stat;
+#endif
+#if HAL_USBH_USE_MSD
+  case MSDLUN0:
+    stat = 0;
+    /* It is initialized externally, just reads the status.*/
+    if (blkGetDriverState(&MSBLKD[0]) != BLK_READY)
+      stat |= STA_NOINIT;
+    return stat;
+#endif
+  }
+  return STA_NOINIT;
+}
+
+
+
+/*-----------------------------------------------------------------------*/
+/* Read Sector(s)                                                        */
+
+DRESULT disk_read (
+    BYTE pdrv,        /* Physical drive nmuber (0..) */
+    BYTE *buff,        /* Data buffer to store read data */
+    DWORD sector,    /* Sector address (LBA) */
+    UINT count        /* Number of sectors to read (1..255) */
+)
+{
+  switch (pdrv) {
+#if HAL_USE_MMC_SPI
+  case MMC:
+    if (blkGetDriverState(&MMCD1) != BLK_READY)
+      return RES_NOTRDY;
+    if (mmcStartSequentialRead(&MMCD1, sector))
+      return RES_ERROR;
+    while (count > 0) {
+      if (mmcSequentialRead(&MMCD1, buff))
+        return RES_ERROR;
+      buff += MMCSD_BLOCK_SIZE;
+      count--;
+    }
+    if (mmcStopSequentialRead(&MMCD1))
+        return RES_ERROR;
+    return RES_OK;
+#elif HAL_USE_SDC
+  case SDC:
+    if (blkGetDriverState(&SDCD1) != BLK_READY)
+      return RES_NOTRDY;
+    if (sdcRead(&SDCD1, sector, buff, count))
+      return RES_ERROR;
+    return RES_OK;
+#endif
+#if HAL_USBH_USE_MSD
+  case MSDLUN0:
+	/* It is initialized externally, just reads the status.*/
+	if (blkGetDriverState(&MSBLKD[0]) != BLK_READY)
+		return RES_NOTRDY;
+	if (usbhmsdLUNRead(&MSBLKD[0], sector, buff, count))
+		return RES_ERROR;
+	return RES_OK;
+#endif
+  }
+  return RES_PARERR;
+}
+
+
+
+/*-----------------------------------------------------------------------*/
+/* Write Sector(s)                                                       */
+
+#if _USE_WRITE
+DRESULT disk_write (
+    BYTE pdrv,            /* Physical drive nmuber (0..) */
+    const BYTE *buff,    /* Data to be written */
+    DWORD sector,        /* Sector address (LBA) */
+    UINT count            /* Number of sectors to write (1..255) */
+)
+{
+  switch (pdrv) {
+#if HAL_USE_MMC_SPI
+  case MMC:
+    if (blkGetDriverState(&MMCD1) != BLK_READY)
+        return RES_NOTRDY;
+    if (mmcIsWriteProtected(&MMCD1))
+        return RES_WRPRT;
+    if (mmcStartSequentialWrite(&MMCD1, sector))
+        return RES_ERROR;
+    while (count > 0) {
+        if (mmcSequentialWrite(&MMCD1, buff))
+            return RES_ERROR;
+        buff += MMCSD_BLOCK_SIZE;
+        count--;
+    }
+    if (mmcStopSequentialWrite(&MMCD1))
+        return RES_ERROR;
+    return RES_OK;
+#elif HAL_USE_SDC
+  case SDC:
+    if (blkGetDriverState(&SDCD1) != BLK_READY)
+      return RES_NOTRDY;
+    if (sdcWrite(&SDCD1, sector, buff, count))
+      return RES_ERROR;
+    return RES_OK;
+#endif
+#if HAL_USBH_USE_MSD
+  case MSDLUN0:
+	/* It is initialized externally, just reads the status.*/
+	if (blkGetDriverState(&MSBLKD[0]) != BLK_READY)
+		return RES_NOTRDY;
+	if (usbhmsdLUNWrite(&MSBLKD[0], sector, buff, count))
+		return RES_ERROR;
+	return RES_OK;
+#endif
+  }
+  return RES_PARERR;
+}
+#endif /* _USE_WRITE */
+
+
+
+/*-----------------------------------------------------------------------*/
+/* Miscellaneous Functions                                               */
+
+#if _USE_IOCTL
+DRESULT disk_ioctl (
+    BYTE pdrv,        /* Physical drive nmuber (0..) */
+    BYTE cmd,        /* Control code */
+    void *buff        /* Buffer to send/receive control data */
+)
+{
+  switch (pdrv) {
+#if HAL_USE_MMC_SPI
+  case MMC:
+    switch (cmd) {
+    case CTRL_SYNC:
+        return RES_OK;
+    case GET_SECTOR_SIZE:
+        *((WORD *)buff) = MMCSD_BLOCK_SIZE;
+        return RES_OK;
+#if _USE_ERASE
+    case CTRL_ERASE_SECTOR:
+        mmcErase(&MMCD1, *((DWORD *)buff), *((DWORD *)buff + 1));
+        return RES_OK;
+#endif
+    default:
+        return RES_PARERR;
+    }
+#elif HAL_USE_SDC
+  case SDC:
+    switch (cmd) {
+    case CTRL_SYNC:
+        return RES_OK;
+    case GET_SECTOR_COUNT:
+        *((DWORD *)buff) = mmcsdGetCardCapacity(&SDCD1);
+        return RES_OK;
+    case GET_SECTOR_SIZE:
+        *((WORD *)buff) = MMCSD_BLOCK_SIZE;
+        return RES_OK;
+    case GET_BLOCK_SIZE:
+        *((DWORD *)buff) = 256; /* 512b blocks in one erase block */
+        return RES_OK;
+#if _USE_ERASE
+    case CTRL_ERASE_SECTOR:
+        sdcErase(&SDCD1, *((DWORD *)buff), *((DWORD *)buff + 1));
+        return RES_OK;
+#endif
+    default:
+        return RES_PARERR;
+    }
+#endif
+#if HAL_USBH_USE_MSD
+    case MSDLUN0:
+      switch (cmd) {
+      case CTRL_SYNC:
+          return RES_OK;
+      case GET_SECTOR_COUNT:
+          *((DWORD *)buff) = MSBLKD[0].info.blk_num;
+          return RES_OK;
+      case GET_SECTOR_SIZE:
+          *((WORD *)buff) = MSBLKD[0].info.blk_size;
+          return RES_OK;
+#if _USE_ERASE
+#error "unimplemented yet!"
+//    case CTRL_ERASE_SECTOR:
+//      ....
+//      return RES_OK;
+#endif
+      default:
+          return RES_PARERR;
+      }
+#endif
+  }
+  return RES_PARERR;
+}
+#endif /* _USE_IOCTL */
+
+DWORD get_fattime(void) {
+#if HAL_USE_RTC
+    RTCDateTime timespec;
+
+    rtcGetTime(&RTCD1, &timespec);
+    return rtcConvertDateTimeToFAT(&timespec);
+#else
+    return ((uint32_t)0 | (1 << 16)) | (1 << 21); /* wrong but valid time */
+#endif
+}
+
+