Initial commit

8 files changed, 2830 insertions, 0 deletions

diff --git a/src/lib.rs b/src/lib.rs
new file mode 100755
index 0000000..85b3b8f
--- /dev/null
+++ b/src/lib.rs
@@ -0,0 +1,645 @@
+#![no_std]
+mod pipe;
+
+use pipe::{PipeErr, PipeTable};
+
+use usb_host::{
+    DescriptorType, DeviceDescriptor, Direction, Driver, DriverError, Endpoint, RequestCode,
+    RequestDirection, RequestKind, RequestRecipient, RequestType, TransferError, TransferType,
+    USBHost, WValue,
+};
+
+use atsamd_hal::{
+    calibration::{usb_transn_cal, usb_transp_cal, usb_trim_cal},
+    clock::{ClockGenId, ClockSource, GenericClockController},
+    gpio::{self, Floating, Input, OpenDrain, Output},
+    target_device::{PM, USB},
+};
+use embedded_hal::digital::v2::OutputPin;
+use log::{debug, error, trace, warn};
+use starb::{Reader, RingBuffer, Writer};
+
+#[derive(Clone, Copy, Debug, PartialEq)]
+pub enum Event {
+    Error,
+    Detached,
+    Attached,
+}
+type Events = RingBuffer<Event>;
+type EventReader = Reader<'static, Event>;
+type EventWriter = Writer<'static, Event>;
+
+const NAK_LIMIT: usize = 15;
+
+// Must be at least 100ms. cf §9.1.2 of USB 2.0.
+const SETTLE_DELAY: usize = 205; // Delay in sec/1024
+
+// Ring buffer for sharing events from interrupt context.
+static mut EVENTS: Events = Events::new(Event::Error);
+// FIXME: this is just for testing. The enum needs to be
+// thread-safe if this is the way we're going.
+static mut LATEST_EVENT: Event = Event::Detached;
+
+#[derive(Clone, Copy, Debug, PartialEq)]
+enum DetachedState {
+    Initialize,
+    WaitForDevice,
+    Illegal,
+}
+
+#[derive(Clone, Copy, Debug, PartialEq)]
+enum AttachedState {
+    WaitForSettle(usize),
+    WaitResetComplete,
+    WaitSOF(usize),
+}
+
+#[derive(Clone, Copy, Debug, PartialEq)]
+enum SteadyState {
+    Configuring,
+    Running,
+    Error,
+}
+
+#[derive(Clone, Copy, Debug, PartialEq)]
+enum TaskState {
+    Detached(DetachedState),
+    Attached(AttachedState),
+    Steady(SteadyState),
+}
+
+use core::mem::{self, MaybeUninit};
+use core::ptr;
+
+const MAX_DEVICES: usize = 4;
+struct DeviceTable {
+    tbl: [Option<Device>; MAX_DEVICES],
+}
+impl DeviceTable {
+    fn new() -> Self {
+        let tbl = {
+            let mut devs: [MaybeUninit<Option<Device>>; MAX_DEVICES] =
+                unsafe { MaybeUninit::uninit().assume_init() };
+            for d in &mut devs[..] {
+                unsafe { ptr::write(d.as_mut_ptr(), None) }
+            }
+            unsafe { mem::transmute(devs) }
+        };
+
+        Self { tbl: tbl }
+    }
+
+    /// Allocate a device with the next available address.
+    // TODO: get rid of the millis argument somehow, but the device
+    // does need a way of tracking time for Settle reasons.
+    fn next(&mut self) -> Option<&mut Device> {
+        for i in 1..self.tbl.len() {
+            if self.tbl[i].is_none() {
+                let d = Device { addr: i as u8 };
+                self.tbl[i] = Some(d);
+                return self.tbl[i].as_mut();
+            }
+        }
+        None
+    }
+
+    /// Remove the device at address `addr`.
+    fn remove(&mut self, addr: u8) -> Option<Device> {
+        let v = core::mem::replace(&mut self.tbl[addr as usize], None);
+        v
+    }
+}
+
+struct Device {
+    addr: u8,
+}
+
+pub struct SAMDHost<'a, F> {
+    usb: USB,
+
+    events: EventReader,
+    task_state: TaskState,
+
+    // Need chunk of RAM for USB pipes, which gets used with DESCADD
+    // register.
+    pipe_table: PipeTable,
+
+    devices: DeviceTable,
+
+    // need sof 1kHz pad?
+    _sof_pad: gpio::Pa23<gpio::PfG>,
+    _dm_pad: gpio::Pa24<gpio::PfG>,
+    _dp_pad: gpio::Pa25<gpio::PfG>,
+    host_enable_pin: Option<gpio::Pa28<Output<OpenDrain>>>,
+
+    // To get current milliseconds.
+    millis: &'a F,
+}
+
+impl<'a, F> SAMDHost<'a, F>
+where
+    F: Fn() -> usize,
+{
+    pub fn new(
+        usb: USB,
+        sof_pin: gpio::Pa23<Input<Floating>>,
+        dm_pin: gpio::Pa24<Input<Floating>>,
+        dp_pin: gpio::Pa25<Input<Floating>>,
+        host_enable_pin: Option<gpio::Pa28<Input<Floating>>>,
+        port: &mut gpio::Port,
+        clocks: &mut GenericClockController,
+        pm: &mut PM,
+        millis: &'a F,
+    ) -> (Self, impl FnMut()) {
+        let (eventr, mut eventw) = unsafe { EVENTS.split() };
+
+        let mut rc = Self {
+            usb: usb,
+
+            events: eventr,
+            task_state: TaskState::Detached(DetachedState::Initialize),
+
+            pipe_table: PipeTable::new(),
+
+            devices: DeviceTable::new(),
+
+            _sof_pad: sof_pin.into_function_g(port),
+            _dm_pad: dm_pin.into_function_g(port),
+            _dp_pad: dp_pin.into_function_g(port),
+            host_enable_pin: None,
+
+            millis: millis,
+        };
+
+        if let Some(he_pin) = host_enable_pin {
+            rc.host_enable_pin = Some(he_pin.into_open_drain_output(port));
+        }
+
+        pm.apbbmask.modify(|_, w| w.usb_().set_bit());
+
+        // Set up USB clock from 48MHz source on generic clock 6.
+        clocks.configure_gclk_divider_and_source(ClockGenId::GCLK6, 1, ClockSource::DFLL48M, false);
+        let gclk6 = clocks
+            .get_gclk(ClockGenId::GCLK6)
+            .expect("Could not get clock 6");
+        clocks.usb(&gclk6);
+
+        let usbp = &rc.usb as *const _ as usize;
+        (rc, move || handler(usbp, &mut eventw))
+    }
+
+    pub fn reset_periph(&mut self) {
+        debug!("resetting usb");
+        // Reset the USB peripheral and wait for sync.
+        self.usb.host().ctrla.write(|w| w.swrst().set_bit());
+        while self.usb.host().syncbusy.read().swrst().bit_is_set() {}
+
+        // Specify host mode.
+        self.usb.host().ctrla.modify(|_, w| w.mode().host());
+
+        // Unsafe due to use of raw bits method.
+        unsafe {
+            self.usb.host().padcal.write(|w| {
+                w.transn().bits(usb_transn_cal());
+                w.transp().bits(usb_transp_cal());
+                w.trim().bits(usb_trim_cal())
+            });
+        }
+
+        // Use normal, which is 0 and apparently means low-and-full capable
+        self.usb.host().ctrlb.modify(|_, w| w.spdconf().normal());
+        // According to docs, 1,2,3 are reserved, but .fs returns 3
+        //self.usb.host().ctrlb.modify(|_, w| w.spdconf().fs());
+
+        self.usb.host().ctrla.modify(|_, w| w.runstdby().set_bit()); // keep usb clock running in standby.
+
+        // Set address of USB SRAM.
+        // Unsafe due to use of raw bits method.
+        unsafe {
+            self.usb
+                .host()
+                .descadd
+                .write(|w| w.bits(&self.pipe_table as *const _ as u32));
+        }
+
+        if let Some(he_pin) = &mut self.host_enable_pin {
+            he_pin.set_high().expect("turning on usb host enable pin");
+        }
+
+        self.usb.host().intenset.write(|w| {
+            w.wakeup().set_bit();
+            w.dconn().set_bit();
+            w.ddisc().set_bit()
+        });
+
+        self.usb.host().ctrla.modify(|_, w| w.enable().set_bit());
+        while self.usb.host().syncbusy.read().enable().bit_is_set() {}
+
+        // Set VBUS OK to allow host operation.
+        self.usb.host().ctrlb.modify(|_, w| w.vbusok().set_bit());
+        debug!("...done");
+    }
+
+    pub fn task(&mut self, drivers: &mut [&mut dyn Driver]) {
+        static mut LAST_EVENT: Event = Event::Error;
+        unsafe {
+            if LAST_EVENT != LATEST_EVENT {
+                trace!("new event: {:?}", LATEST_EVENT);
+            }
+        }
+
+        static mut LAST_TASK_STATE: TaskState = TaskState::Detached(DetachedState::Illegal);
+        self.task_state = match unsafe { LATEST_EVENT } {
+            Event::Error => TaskState::Detached(DetachedState::Illegal),
+            Event::Detached => {
+                if let TaskState::Detached(_) = self.task_state {
+                    self.task_state
+                } else {
+                    TaskState::Detached(DetachedState::Initialize)
+                }
+            }
+            Event::Attached => {
+                if let TaskState::Detached(_) = self.task_state {
+                    TaskState::Attached(AttachedState::WaitForSettle(
+                        (self.millis)() + SETTLE_DELAY,
+                    ))
+                } else {
+                    self.task_state
+                }
+            }
+        };
+
+        static mut LAST_CBITS: u16 = 0;
+        static mut LAST_FLAGS: u16 = 0;
+        let cbits = self.usb.host().ctrlb.read().bits();
+        let bits = self.usb.host().intflag.read().bits();
+        unsafe {
+            if LAST_CBITS != cbits || LAST_FLAGS != bits || LAST_TASK_STATE != self.task_state {
+                trace!(
+                    "cb: {:x}, f: {:x} changing state {:?} -> {:?}",
+                    cbits,
+                    bits,
+                    LAST_TASK_STATE,
+                    self.task_state,
+                );
+            }
+            LAST_CBITS = cbits;
+            LAST_FLAGS = bits;
+            LAST_TASK_STATE = self.task_state
+        };
+
+        if let Some(_event) = self.events.shift() {
+            // trace!("Found event: {:?}", event);
+            // self.task_state = match event {
+            //     Event::None => TaskState::Detached(DetachedState::Illegal),
+            //     Event::Detached => {
+            //         if let TaskState::Detached(_) = self.task_state {
+            //             self.task_state
+            //         } else {
+            //             TaskState::Detached(DetachedState::Initialize)
+            //         }
+            //     }
+            //     Event::Attached => {
+            //         if let TaskState::Detached(_) = self.task_state {
+            //             self.delay = self.millis() + SETTLE_DELAY;
+            //             TaskState::Attached(AttachedState::WaitForSettle)
+            //         } else {
+            //             self.task_state
+            //         }
+            //     }
+            // };
+        }
+
+        self.fsm(drivers);
+
+        unsafe {
+            LAST_EVENT = LATEST_EVENT;
+        }
+    }
+    fn fsm(&mut self, drivers: &mut [&mut dyn Driver]) {
+        // respond to events from interrupt.
+        match self.task_state {
+            TaskState::Detached(s) => self.detached_fsm(s),
+            TaskState::Attached(s) => self.attached_fsm(s),
+            TaskState::Steady(s) => self.steady_fsm(s, drivers),
+        };
+    }
+
+    fn detached_fsm(&mut self, s: DetachedState) {
+        match s {
+            DetachedState::Initialize => {
+                self.reset_periph();
+                // TODO: Free resources.
+
+                self.task_state = TaskState::Detached(DetachedState::WaitForDevice);
+            }
+
+            // Do nothing state. Just wait for an interrupt to come in
+            // saying we have a device attached.
+            DetachedState::WaitForDevice => {}
+
+            // TODO: should probably reset everything if we end up here somehow.
+            DetachedState::Illegal => {}
+        }
+    }
+
+    fn attached_fsm(&mut self, s: AttachedState) {
+        match s {
+            AttachedState::WaitForSettle(until) => {
+                if (self.millis)() >= until {
+                    self.usb.host().ctrlb.modify(|_, w| w.busreset().set_bit());
+                    self.task_state = TaskState::Attached(AttachedState::WaitResetComplete);
+                }
+            }
+
+            AttachedState::WaitResetComplete => {
+                if self.usb.host().intflag.read().rst().bit_is_set() {
+                    trace!("reset was sent");
+                    self.usb.host().intflag.write(|w| w.rst().set_bit());
+
+                    // Seems unneccesary, since SOFE will be set
+                    // immediately after reset according to §32.6.3.3.
+                    self.usb.host().ctrlb.modify(|_, w| w.sofe().set_bit());
+                    // USB spec requires 20ms of SOF after bus reset.
+                    self.task_state =
+                        TaskState::Attached(AttachedState::WaitSOF((self.millis)() + 20));
+                }
+            }
+
+            AttachedState::WaitSOF(until) => {
+                if self.usb.host().intflag.read().hsof().bit_is_set() {
+                    self.usb.host().intflag.write(|w| w.hsof().set_bit());
+                    if (self.millis)() >= until {
+                        self.task_state = TaskState::Steady(SteadyState::Configuring);
+                    }
+                }
+            }
+        }
+    }
+
+    fn steady_fsm(&mut self, s: SteadyState, drivers: &mut [&mut dyn Driver]) {
+        match s {
+            SteadyState::Configuring => {
+                self.task_state = match self.configure_dev(drivers) {
+                    Ok(_) => TaskState::Steady(SteadyState::Running),
+                    Err(e) => {
+                        warn!("Enumeration error: {:?}", e);
+                        TaskState::Steady(SteadyState::Error)
+                    }
+                }
+            }
+
+            SteadyState::Running => {
+                for d in &mut drivers[..] {
+                    if let Err(e) = d.tick((self.millis)(), self) {
+                        warn!("running driver {:?}: {:?}", d, e);
+                        if let DriverError::Permanent(a, _) = e {
+                            self.devices.remove(a);
+                        }
+                    }
+                }
+            }
+
+            SteadyState::Error => {}
+        }
+    }
+
+    fn configure_dev(&mut self, drivers: &mut [&mut dyn Driver]) -> Result<(), TransferError> {
+        let none: Option<&mut [u8]> = None;
+        let mut a0ep0 = Addr0EP0 {
+            in_toggle: true,
+            out_toggle: true,
+        };
+        let mut dev_desc: DeviceDescriptor =
+            unsafe { MaybeUninit::<DeviceDescriptor>::uninit().assume_init() };
+        self.control_transfer(
+            &mut a0ep0,
+            RequestType::from((
+                RequestDirection::DeviceToHost,
+                RequestKind::Standard,
+                RequestRecipient::Device,
+            )),
+            RequestCode::GetDescriptor,
+            WValue::from((0, DescriptorType::Device as u8)),
+            0,
+            Some(unsafe { to_slice_mut(&mut dev_desc) }),
+        )?;
+
+        trace!(" -- dev_desc: {:?}", dev_desc);
+
+        // TODO: new error for being out of devices.
+        let addr = self
+            .devices
+            .next()
+            .ok_or(TransferError::Permanent("out of devices"))?
+            .addr;
+        debug!("Setting address to {}.", addr);
+        self.control_transfer(
+            &mut a0ep0,
+            RequestType::from((
+                RequestDirection::HostToDevice,
+                RequestKind::Standard,
+                RequestRecipient::Device,
+            )),
+            RequestCode::SetAddress,
+            WValue::from((addr, 0)),
+            0,
+            none,
+        )?;
+
+        // Now that the device is addressed, see if any drivers want
+        // it.
+        for d in &mut drivers[..] {
+            if d.want_device(&dev_desc) {
+                let res = d.add_device(dev_desc, addr);
+                match res {
+                    Ok(_) => return Ok(()),
+                    Err(_) => return Err(TransferError::Permanent("out of addresses")),
+                }
+            }
+        }
+        Ok(())
+    }
+}
+
+struct Addr0EP0 {
+    in_toggle: bool,
+    out_toggle: bool,
+}
+impl Endpoint for Addr0EP0 {
+    fn address(&self) -> u8 {
+        0
+    }
+
+    fn endpoint_num(&self) -> u8 {
+        0
+    }
+
+    fn transfer_type(&self) -> TransferType {
+        TransferType::Control
+    }
+
+    fn direction(&self) -> Direction {
+        Direction::In
+    }
+
+    fn max_packet_size(&self) -> u16 {
+        8
+    }
+
+    fn in_toggle(&self) -> bool {
+        self.in_toggle
+    }
+
+    fn set_in_toggle(&mut self, toggle: bool) {
+        self.in_toggle = toggle;
+    }
+
+    fn out_toggle(&self) -> bool {
+        self.out_toggle
+    }
+
+    fn set_out_toggle(&mut self, toggle: bool) {
+        self.out_toggle = toggle;
+    }
+}
+
+pub fn handler(usbp: usize, events: &mut EventWriter) {
+    let usb: &mut USB = unsafe { core::mem::transmute(usbp) };
+    let flags = usb.host().intflag.read();
+
+    trace!("USB - {:x}", flags.bits());
+
+    let mut unshift_event = |e: Event| {
+        unsafe { LATEST_EVENT = e };
+        if let Err(_) = events.unshift(e) {
+            error!("Couldn't write USB event to queue.");
+        }
+    };
+
+    if flags.hsof().bit_is_set() {
+        trace!(" +hsof");
+        usb.host().intflag.write(|w| w.hsof().set_bit());
+        unshift_event(Event::Attached);
+    }
+
+    if flags.rst().bit_is_set() {
+        // We seem to get this whenever a device attaches/detaches.
+        trace!(" +rst");
+        usb.host().intflag.write(|w| w.rst().set_bit());
+        unshift_event(Event::Detached);
+    }
+
+    if flags.uprsm().bit_is_set() {
+        trace!(" +uprsm");
+        usb.host().intflag.write(|w| w.uprsm().set_bit());
+        unshift_event(Event::Detached);
+    }
+
+    if flags.dnrsm().bit_is_set() {
+        trace!(" +dnrsm");
+        usb.host().intflag.write(|w| w.dnrsm().set_bit());
+        unshift_event(Event::Detached);
+    }
+
+    if flags.wakeup().bit_is_set() {
+        // §32.8.5.8 - since VBUSOK is set, then this happens when a
+        // device is connected.
+        trace!(" +wakeup");
+        usb.host().intflag.write(|w| w.wakeup().set_bit());
+        unshift_event(Event::Attached);
+    }
+
+    if flags.ramacer().bit_is_set() {
+        trace!(" +ramacer");
+        usb.host().intflag.write(|w| w.ramacer().set_bit());
+        unshift_event(Event::Detached);
+    }
+
+    if flags.dconn().bit_is_set() {
+        trace!(" +dconn");
+        usb.host().intflag.write(|w| w.dconn().set_bit());
+        usb.host().intenclr.write(|w| w.dconn().set_bit());
+        usb.host().intflag.write(|w| w.ddisc().set_bit());
+        usb.host().intenset.write(|w| w.ddisc().set_bit());
+        usb.host().intflag.write(|w| w.dconn().set_bit());
+        unshift_event(Event::Attached);
+    }
+
+    if flags.ddisc().bit_is_set() {
+        trace!(" +ddisc");
+        usb.host().intflag.write(|w| w.ddisc().set_bit());
+        usb.host().intenclr.write(|w| w.ddisc().set_bit());
+        usb.host().intflag.write(|w| w.dconn().set_bit());
+        usb.host().intenset.write(|w| w.dconn().set_bit());
+        usb.host().intflag.write(|w| w.ddisc().set_bit());
+        unshift_event(Event::Detached);
+    }
+}
+
+impl From<PipeErr> for TransferError {
+    fn from(v: PipeErr) -> Self {
+        match v {
+            PipeErr::TransferFail => Self::Retry("transfer failed"),
+            PipeErr::Flow => Self::Retry("data flow"),
+            PipeErr::DataToggle => Self::Retry("toggle sequence"),
+            PipeErr::ShortPacket => Self::Permanent("short packet"),
+            PipeErr::InvalidPipe => Self::Permanent("invalid pipe"),
+            PipeErr::InvalidToken => Self::Permanent("invalid token"),
+            PipeErr::Stall => Self::Permanent("stall"),
+            PipeErr::PipeErr => Self::Permanent("pipe error"),
+            PipeErr::HWTimeout => Self::Permanent("hardware timeout"),
+            PipeErr::SWTimeout => Self::Permanent("software timeout"),
+            PipeErr::Other(s) => Self::Permanent(s),
+        }
+    }
+}
+
+impl<F> USBHost for SAMDHost<'_, F>
+where
+    F: Fn() -> usize,
+{
+    fn control_transfer(
+        &mut self,
+        ep: &mut dyn Endpoint,
+        bm_request_type: RequestType,
+        b_request: RequestCode,
+        w_value: WValue,
+        w_index: u16,
+        buf: Option<&mut [u8]>,
+    ) -> Result<usize, TransferError> {
+        let mut pipe = self.pipe_table.pipe_for(self.usb.host_mut(), ep);
+        let len = pipe.control_transfer(
+            ep,
+            bm_request_type,
+            b_request,
+            w_value,
+            w_index,
+            buf,
+            self.millis,
+        )?;
+        Ok(len)
+    }
+
+    fn in_transfer(
+        &mut self,
+        ep: &mut dyn Endpoint,
+        buf: &mut [u8],
+    ) -> Result<usize, TransferError> {
+        let mut pipe = self.pipe_table.pipe_for(self.usb.host_mut(), ep);
+        let len = pipe.in_transfer(ep, buf, NAK_LIMIT, self.millis)?;
+        Ok(len)
+    }
+
+    fn out_transfer(&mut self, ep: &mut dyn Endpoint, buf: &[u8]) -> Result<usize, TransferError> {
+        let mut pipe = self.pipe_table.pipe_for(self.usb.host_mut(), ep);
+        let len = pipe.out_transfer(ep, buf, NAK_LIMIT, self.millis)?;
+        Ok(len)
+    }
+}
+
+unsafe fn to_slice_mut<T>(v: &mut T) -> &mut [u8] {
+    let ptr = v as *mut T as *mut u8;
+    let len = mem::size_of::<T>();
+    core::slice::from_raw_parts_mut(ptr, len)
+}
diff --git a/src/pipe.rs b/src/pipe.rs
new file mode 100644
index 0000000..0da0e7f
--- /dev/null
+++ b/src/pipe.rs
@@ -0,0 +1,809 @@
+#[allow(unused)]
+pub mod addr;
+#[allow(unused)]
+pub mod ctrl_pipe;
+#[allow(unused)]
+pub mod ext_reg;
+#[allow(unused)]
+pub mod pck_size;
+#[allow(unused)]
+pub mod status_bk;
+#[allow(unused)]
+pub mod status_pipe;
+
+use addr::Addr;
+use ctrl_pipe::CtrlPipe;
+use ext_reg::ExtReg;
+use pck_size::PckSize;
+use status_bk::StatusBk;
+use status_pipe::StatusPipe;
+
+use usb_host::{
+    Endpoint, RequestCode, RequestDirection, RequestType, SetupPacket, TransferType, WValue,
+};
+
+use atsamd_hal::target_device::usb::{
+    self,
+    host::{BINTERVAL, PCFG, PINTFLAG, PSTATUS, PSTATUSCLR, PSTATUSSET},
+};
+use core::convert::TryInto;
+use log::trace;
+
+// Maximum time to wait for a control request with data to finish. cf
+// §9.2.6.1 of USB 2.0.
+const USB_TIMEOUT: usize = 5 * 1024; // 5 Seconds
+
+// samd21 only supports 8 pipes.
+const MAX_PIPES: usize = 8;
+
+// How many times to retry a transaction that has transient errors.
+const NAK_LIMIT: usize = 15;
+
+#[derive(Copy, Clone, Debug, PartialEq)]
+pub(crate) enum PipeErr {
+    ShortPacket,
+    InvalidPipe,
+    InvalidToken,
+    Stall,
+    TransferFail,
+    PipeErr,
+    Flow,
+    HWTimeout,
+    DataToggle,
+    SWTimeout,
+    Other(&'static str),
+}
+impl From<&'static str> for PipeErr {
+    fn from(v: &'static str) -> Self {
+        Self::Other(v)
+    }
+}
+
+pub(crate) struct PipeTable {
+    tbl: [PipeDesc; MAX_PIPES],
+}
+
+impl PipeTable {
+    pub(crate) fn new() -> Self {
+        let tbl = {
+            let mut tbl: [core::mem::MaybeUninit<PipeDesc>; MAX_PIPES] =
+                unsafe { core::mem::MaybeUninit::uninit().assume_init() };
+
+            for e in &mut tbl[..] {
+                unsafe { core::ptr::write(e.as_mut_ptr(), PipeDesc::new()) }
+            }
+
+            unsafe { core::mem::transmute(tbl) }
+        };
+        Self { tbl: tbl }
+    }
+
+    pub(crate) fn pipe_for<'a, 'b>(
+        &'a mut self,
+        host: &'b mut usb::HOST,
+        endpoint: &dyn Endpoint,
+    ) -> Pipe<'a, 'b> {
+        // Just use two pipes for now. 0 is always for control
+        // endpoints, 1 for everything else.
+        //
+        // TODO: cache in-use pipes and return them without init if
+        // possible.
+        let i = if endpoint.endpoint_num() == 0 { 0 } else { 1 };
+
+        let pregs = PipeRegs::from(host, i);
+        let pdesc = &mut self.tbl[i];
+
+        pregs.cfg.write(|w| {
+            let ptype = PType::from(endpoint.transfer_type()) as u8;
+            unsafe { w.ptype().bits(ptype) }
+        });
+        trace!(
+            "setting paddr of pipe {} to {}:{}",
+            i,
+            endpoint.address(),
+            endpoint.endpoint_num()
+        );
+        pdesc.bank0.ctrl_pipe.write(|w| {
+            w.pdaddr().set_addr(endpoint.address());
+            w.pepnum().set_epnum(endpoint.endpoint_num())
+        });
+        Pipe {
+            num: i,
+            regs: pregs,
+            desc: pdesc,
+        }
+    }
+}
+
+// TODO: hide regs/desc fields. Needed right now for init_pipe0.
+pub(crate) struct Pipe<'a, 'b> {
+    num: usize,
+
+    pub(crate) regs: PipeRegs<'b>,
+    pub(crate) desc: &'a mut PipeDesc,
+}
+impl Pipe<'_, '_> {
+    pub(crate) fn control_transfer(
+        &mut self,
+        ep: &mut dyn Endpoint,
+        bm_request_type: RequestType,
+        b_request: RequestCode,
+        w_value: WValue,
+        w_index: u16,
+        buf: Option<&mut [u8]>,
+        millis: &dyn Fn() -> usize,
+    ) -> Result<usize, PipeErr> {
+        /*
+         * Setup stage.
+         */
+        let buflen = buf.as_ref().map_or(0, |b| b.len() as u16);
+        let mut setup_packet = SetupPacket {
+            bm_request_type: bm_request_type,
+            b_request: b_request,
+            w_value: w_value,
+            w_index: w_index,
+            w_length: buflen,
+        };
+        self.send(
+            ep,
+            PToken::Setup,
+            &DataBuf::from(&mut setup_packet),
+            NAK_LIMIT,
+            millis,
+        )?;
+
+        /*
+         * Data stage.
+         */
+        let mut transfer_len = 0;
+        if let Some(b) = buf {
+            // TODO: data stage, has up to 5,000ms (in 500ms
+            // per-packet chunks) to complete. cf §9.2.6.4 of USB 2.0.
+            match bm_request_type.direction()? {
+                RequestDirection::DeviceToHost => {
+                    transfer_len = self.in_transfer(ep, b, NAK_LIMIT, millis)?;
+                }
+
+                RequestDirection::HostToDevice => {
+                    transfer_len = self.out_transfer(ep, b, NAK_LIMIT, millis)?;
+                }
+            }
+        }
+
+        /*
+         * Status stage.
+         */
+        // TODO: status stage has up to 50ms to complete. cf §9.2.6.4
+        // of USB 2.0.
+        self.desc.bank0.pcksize.write(|w| {
+            unsafe { w.byte_count().bits(0) };
+            unsafe { w.multi_packet_size().bits(0) }
+        });
+
+        let token = match bm_request_type.direction()? {
+            RequestDirection::DeviceToHost => PToken::Out,
+            RequestDirection::HostToDevice => PToken::In,
+        };
+
+        trace!("dispatching status stage");
+        self.dispatch_retries(ep, token, NAK_LIMIT, millis)?;
+
+        Ok(transfer_len)
+    }
+
+    fn send(
+        &mut self,
+        ep: &mut dyn Endpoint,
+        token: PToken,
+        buf: &DataBuf,
+        nak_limit: usize,
+        millis: &dyn Fn() -> usize,
+    ) -> Result<(), PipeErr> {
+        trace!("p{}: sending {:?}", self.num, buf);
+
+        self.desc
+            .bank0
+            .addr
+            .write(|w| unsafe { w.addr().bits(buf.ptr as u32) });
+        // configure packet size PCKSIZE.SIZE
+        self.desc.bank0.pcksize.write(|w| {
+            unsafe { w.byte_count().bits(buf.len as u16) };
+            unsafe { w.multi_packet_size().bits(0) }
+        });
+
+        self.dispatch_retries(ep, token, nak_limit, millis)
+    }
+
+    pub(crate) fn in_transfer(
+        &mut self,
+        ep: &mut dyn Endpoint,
+        buf: &mut [u8],
+        nak_limit: usize,
+        millis: &dyn Fn() -> usize,
+    ) -> Result<usize, PipeErr> {
+        // TODO: pull this from pipe descriptor for this addr/ep.
+        let packet_size = 8;
+
+        trace!("p{}: Should IN for {}b.", self.num, buf.len());
+        self.desc.bank0.pcksize.write(|w| {
+            unsafe { w.byte_count().bits(buf.len() as u16) };
+            unsafe { w.multi_packet_size().bits(0) }
+        });
+
+        // Read until we get a short packet (indicating that there's
+        // nothing left for us in this transaction) or the buffer is
+        // full.
+        //
+        // TODO: It is sometimes valid to get a short packet when
+        // variable length data is desired by the driver. cf §5.3.2 of
+        // USB 2.0.
+        let mut bytes_received = 0;
+        while bytes_received < buf.len() {
+            // Move the buffer pointer forward as we get data.
+            self.desc.bank0.addr.write(|w| unsafe {
+                w.addr()
+                    .bits(buf.as_mut_ptr() as u32 + bytes_received as u32)
+            });
+            self.regs.statusclr.write(|w| w.bk0rdy().set_bit());
+            trace!("--- !!! regs-pre-dispatch !!! ---");
+            self.log_regs();
+
+            self.dispatch_retries(ep, PToken::In, nak_limit, millis)?;
+            let recvd = self.desc.bank0.pcksize.read().byte_count().bits() as usize;
+            bytes_received += recvd;
+            trace!("!! read {} of {}", bytes_received, buf.len());
+            if recvd < packet_size {
+                break;
+            }
+
+            // Don't allow writing past the buffer.
+            assert!(bytes_received <= buf.len());
+        }
+
+        self.regs.statusset.write(|w| w.pfreeze().set_bit());
+        if bytes_received < buf.len() {
+            self.log_regs();
+            // TODO: honestly, this is probably a panic condition,
+            // since whatever's in DataBuf.ptr is totally
+            // invalid. Alternately, this function should be declared
+            // `unsafe`. OR! Make the function take a mutable slice of
+            // u8, and leave it up to the caller to figure out how to
+            // deal with short packets.
+            Err(PipeErr::ShortPacket)
+        } else {
+            Ok(bytes_received)
+        }
+    }
+
+    pub(crate) fn out_transfer(
+        &mut self,
+        ep: &mut dyn Endpoint,
+        buf: &[u8],
+        nak_limit: usize,
+        millis: &dyn Fn() -> usize,
+    ) -> Result<usize, PipeErr> {
+        trace!("p{}: Should OUT for {}b.", self.num, buf.len());
+        self.desc.bank0.pcksize.write(|w| {
+            unsafe { w.byte_count().bits(buf.len() as u16) };
+            unsafe { w.multi_packet_size().bits(0) }
+        });
+
+        let mut bytes_sent = 0;
+        while bytes_sent < buf.len() {
+            self.desc
+                .bank0
+                .addr
+                .write(|w| unsafe { w.addr().bits(buf.as_ptr() as u32 + bytes_sent as u32) });
+            self.dispatch_retries(ep, PToken::Out, nak_limit, millis)?;
+
+            let sent = self.desc.bank0.pcksize.read().byte_count().bits() as usize;
+            bytes_sent += sent;
+            trace!("!! wrote {} of {}", bytes_sent, buf.len());
+        }
+
+        Ok(bytes_sent)
+    }
+
+    fn dtgl(&mut self, ep: &mut dyn Endpoint, token: PToken) {
+        // TODO: this makes no sense to me, and docs are unclear. If
+        // the status bit is set, set it again? if it's clear then
+        // clear it? This is what I get for having to work from
+        // Arduino sources.
+        trace!(
+            "~~~ tok: {:?}, dtgl: {}, i: {}, o: {}",
+            token,
+            self.regs.status.read().dtgl().bit(),
+            ep.in_toggle(),
+            ep.out_toggle(),
+        );
+
+        let toggle = match token {
+            PToken::In => {
+                let t = !ep.in_toggle();
+                ep.set_in_toggle(t);
+                t
+            }
+
+            PToken::Out => {
+                let t = !ep.out_toggle();
+                ep.set_out_toggle(t);
+                t
+            }
+
+            _ => !self.regs.status.read().dtgl().bit_is_set(),
+        };
+
+        if toggle {
+            self.dtgl_set();
+        } else {
+            self.dtgl_clear();
+        }
+    }
+
+    fn dtgl_set(&mut self) {
+        self.regs.statusset.write(|w| w.dtgl().set_bit());
+    }
+
+    fn dtgl_clear(&mut self) {
+        self.regs.statusclr.write(|w| unsafe {
+            // FIXME: need to patch the SVD for
+            // PSTATUSCLR.DTGL at bit0. No? This is in the SVD, but
+            // not the rust output.
+            w.bits(1)
+        });
+    }
+
+    // This is the only function that calls `millis`. If we can make
+    // this just take the current timestamp, we can make this
+    // non-blocking.
+    fn dispatch_retries(
+        &mut self,
+        ep: &mut dyn Endpoint,
+        token: PToken,
+        retries: usize,
+        millis: &dyn Fn() -> usize,
+    ) -> Result<(), PipeErr> {
+        self.dispatch_packet(ep, token);
+
+        let until = millis() + USB_TIMEOUT;
+        let mut last_err = PipeErr::SWTimeout;
+        let mut naks = 0;
+        while millis() < until {
+            let res = self.dispatch_result(token);
+            match res {
+                Ok(true) => {
+                    if token == PToken::In {
+                        ep.set_in_toggle(self.regs.status.read().dtgl().bit_is_set());
+                    } else if token == PToken::Out {
+                        ep.set_out_toggle(self.regs.status.read().dtgl().bit_is_set());
+                    }
+                    return Ok(());
+                }
+                Ok(false) => continue,
+
+                Err(e) => {
+                    last_err = e;
+                    match last_err {
+                        PipeErr::DataToggle => self.dtgl(ep, token),
+
+                        // Flow error on interrupt pipes means we got
+                        // a NAK, which in this context means there's
+                        // no data. cf §32.8.7.5 of SAM D21 data
+                        // sheet.
+                        PipeErr::Flow if ep.transfer_type() == TransferType::Interrupt => break,
+
+                        PipeErr::Stall => break,
+                        _ => {
+                            naks += 1;
+                            if naks > retries {
+                                break;
+                            } else {
+                                self.dispatch_packet(ep, token);
+                            }
+                        }
+                    }
+                }
+            }
+        }
+
+        Err(last_err)
+    }
+
+    fn dispatch_packet(&mut self, ep: &mut dyn Endpoint, token: PToken) {
+        self.regs
+            .cfg
+            .modify(|_, w| unsafe { w.ptoken().bits(token as u8) });
+        self.regs.intflag.modify(|_, w| w.trfail().set_bit());
+        self.regs.intflag.modify(|_, w| w.perr().set_bit());
+
+        match token {
+            PToken::Setup => {
+                self.regs.intflag.write(|w| w.txstp().set_bit());
+                self.regs.statusset.write(|w| w.bk0rdy().set_bit());
+
+                // Toggles should be 1 for host and function's
+                // sequence at end of setup transaction. cf §8.6.1 of
+                // USB 2.0.
+                self.dtgl_clear();
+                ep.set_in_toggle(true);
+                ep.set_out_toggle(true);
+            }
+            PToken::In => {
+                self.regs.statusclr.write(|w| w.bk0rdy().set_bit());
+                if ep.in_toggle() {
+                    self.dtgl_set();
+                } else {
+                    self.dtgl_clear();
+                }
+            }
+            PToken::Out => {
+                self.regs.intflag.write(|w| w.trcpt0().set_bit());
+                self.regs.statusset.write(|w| w.bk0rdy().set_bit());
+                if ep.out_toggle() {
+                    self.dtgl_set();
+                } else {
+                    self.dtgl_clear();
+                }
+            }
+            _ => {}
+        }
+
+        trace!("initial regs");
+        self.log_regs();
+
+        self.regs.statusclr.write(|w| w.pfreeze().set_bit());
+    }
+
+    fn dispatch_result(&mut self, token: PToken) -> Result<bool, PipeErr> {
+        if self.is_transfer_complete(token)? {
+            self.regs.statusset.write(|w| w.pfreeze().set_bit());
+            Ok(true)
+        } else if self.regs.intflag.read().trfail().bit_is_set() {
+            self.regs.intflag.write(|w| w.trfail().set_bit());
+            trace!("trfail");
+            self.regs.statusset.write(|w| w.pfreeze().set_bit());
+            self.log_regs();
+            Err(PipeErr::TransferFail)
+        } else if self.desc.bank0.status_bk.read().errorflow().bit_is_set() {
+            trace!("errorflow");
+            self.regs.statusset.write(|w| w.pfreeze().set_bit());
+            self.log_regs();
+            Err(PipeErr::Flow)
+        } else if self.desc.bank0.status_pipe.read().touter().bit_is_set() {
+            trace!("touter");
+            self.regs.statusset.write(|w| w.pfreeze().set_bit());
+            self.log_regs();
+            Err(PipeErr::HWTimeout)
+        } else if self.desc.bank0.status_pipe.read().dtgler().bit_is_set() {
+            trace!("dtgler");
+            self.regs.statusset.write(|w| w.pfreeze().set_bit());
+            self.log_regs();
+            Err(PipeErr::DataToggle)
+        } else {
+            // Nothing wrong, but not done yet.
+            Ok(false)
+        }
+    }
+
+    fn is_transfer_complete(&mut self, token: PToken) -> Result<bool, PipeErr> {
+        match token {
+            PToken::Setup => {
+                if self.regs.intflag.read().txstp().bit_is_set() {
+                    self.regs.intflag.write(|w| w.txstp().set_bit());
+                    Ok(true)
+                } else {
+                    Ok(false)
+                }
+            }
+            PToken::In => {
+                if self.regs.intflag.read().trcpt0().bit_is_set() {
+                    self.regs.intflag.write(|w| w.trcpt0().set_bit());
+                    Ok(true)
+                } else {
+                    Ok(false)
+                }
+            }
+            PToken::Out => {
+                if self.regs.intflag.read().trcpt0().bit_is_set() {
+                    self.regs.intflag.write(|w| w.trcpt0().set_bit());
+                    Ok(true)
+                } else {
+                    Ok(false)
+                }
+            }
+            _ => Err(PipeErr::InvalidToken),
+        }
+    }
+
+    fn log_regs(&self) {
+        // Pipe regs
+        let cfg = self.regs.cfg.read().bits();
+        let bin = self.regs.binterval.read().bits();
+        let sts = self.regs.status.read().bits();
+        let ifl = self.regs.intflag.read().bits();
+        trace!(
+            "p{}: cfg: {:x}, bin: {:x}, sts: {:x}, ifl: {:x}",
+            self.num,
+            cfg,
+            bin,
+            sts,
+            ifl
+        );
+
+        // Pipe RAM regs
+        let adr = self.desc.bank0.addr.read().bits();
+        let pks = self.desc.bank0.pcksize.read().bits();
+        let ext = self.desc.bank0.extreg.read().bits();
+        let sbk = self.desc.bank0.status_bk.read().bits();
+        let hcp = self.desc.bank0.ctrl_pipe.read().bits();
+        let spi = self.desc.bank0.status_pipe.read().bits();
+        trace!(
+            "p{}: adr: {:x}, pks: {:x}, ext: {:x}, sbk: {:x}, hcp: {:x}, spi: {:x}",
+            self.num,
+            adr,
+            pks,
+            ext,
+            sbk,
+            hcp,
+            spi
+        );
+    }
+}
+
+// TODO: merge into SVD for pipe cfg register.
+#[derive(Copy, Clone, Debug, PartialEq)]
+pub(crate) enum PToken {
+    Setup = 0x0,
+    In = 0x1,
+    Out = 0x2,
+    _Reserved = 0x3,
+}
+
+// TODO: merge into SVD for pipe cfg register.
+#[allow(unused)]
+#[derive(Copy, Clone, Debug, PartialEq)]
+pub(crate) enum PType {
+    Disabled = 0x0,
+    Control = 0x1,
+    ISO = 0x2,
+    Bulk = 0x3,
+    Interrupt = 0x4,
+    Extended = 0x5,
+    _Reserved0 = 0x06,
+    _Reserved1 = 0x07,
+}
+impl From<TransferType> for PType {
+    fn from(v: TransferType) -> Self {
+        match v {
+            TransferType::Control => Self::Control,
+            TransferType::Isochronous => Self::ISO,
+            TransferType::Bulk => Self::Bulk,
+            TransferType::Interrupt => Self::Interrupt,
+        }
+    }
+}
+
+struct DataBuf<'a> {
+    ptr: *mut u8,
+    len: usize,
+    _marker: core::marker::PhantomData<&'a ()>,
+}
+impl DataBuf<'_> {}
+
+impl core::fmt::Debug for DataBuf<'_> {
+    fn fmt(&self, f: &mut core::fmt::Formatter) -> core::fmt::Result {
+        write!(f, "DataBuf {{ len: {}, ptr: [", self.len)?;
+        for i in 0..self.len {
+            write!(f, " {:x}", unsafe {
+                *self.ptr.offset(i.try_into().unwrap())
+            })?;
+        }
+        write!(f, " ] }}")
+    }
+}
+
+impl<'a, T> From<&'a mut T> for DataBuf<'a> {
+    fn from(v: &'a mut T) -> Self {
+        Self {
+            ptr: v as *mut T as *mut u8,
+            len: core::mem::size_of::<T>(),
+            _marker: core::marker::PhantomData,
+        }
+    }
+}
+
+pub(crate) struct PipeRegs<'a> {
+    pub(crate) cfg: &'a mut PCFG,
+    pub(crate) binterval: &'a mut BINTERVAL,
+    pub(crate) statusclr: &'a mut PSTATUSCLR,
+    pub(crate) statusset: &'a mut PSTATUSSET,
+    pub(crate) status: &'a mut PSTATUS,
+    pub(crate) intflag: &'a mut PINTFLAG,
+}
+impl<'a> PipeRegs<'a> {
+    pub(crate) fn from(host: &'a mut usb::HOST, i: usize) -> PipeRegs {
+        assert!(i < MAX_PIPES);
+        match i {
+            0 => Self {
+                cfg: &mut host.pcfg0,
+                binterval: &mut host.binterval0,
+                statusclr: &mut host.pstatusclr0,
+                statusset: &mut host.pstatusset0,
+                status: &mut host.pstatus0,
+                intflag: &mut host.pintflag0,
+            },
+            1 => Self {
+                cfg: &mut host.pcfg1,
+                binterval: &mut host.binterval1,
+                statusclr: &mut host.pstatusclr1,
+                statusset: &mut host.pstatusset1,
+                status: &mut host.pstatus1,
+                intflag: &mut host.pintflag1,
+            },
+            2 => Self {
+                cfg: &mut host.pcfg2,
+                binterval: &mut host.binterval2,
+                statusclr: &mut host.pstatusclr2,
+                statusset: &mut host.pstatusset2,
+                status: &mut host.pstatus2,
+                intflag: &mut host.pintflag2,
+            },
+            3 => Self {
+                cfg: &mut host.pcfg3,
+                binterval: &mut host.binterval3,
+                statusclr: &mut host.pstatusclr3,
+                statusset: &mut host.pstatusset3,
+                status: &mut host.pstatus3,
+                intflag: &mut host.pintflag3,
+            },
+            4 => Self {
+                cfg: &mut host.pcfg4,
+                binterval: &mut host.binterval4,
+                statusclr: &mut host.pstatusclr4,
+                statusset: &mut host.pstatusset4,
+                status: &mut host.pstatus4,
+                intflag: &mut host.pintflag4,
+            },
+            5 => Self {
+                cfg: &mut host.pcfg5,
+                binterval: &mut host.binterval5,
+                statusclr: &mut host.pstatusclr5,
+                statusset: &mut host.pstatusset5,
+                status: &mut host.pstatus5,
+                intflag: &mut host.pintflag5,
+            },
+            6 => Self {
+                cfg: &mut host.pcfg6,
+                binterval: &mut host.binterval6,
+                statusclr: &mut host.pstatusclr6,
+                statusset: &mut host.pstatusset6,
+                status: &mut host.pstatus6,
+                intflag: &mut host.pintflag6,
+            },
+            7 => Self {
+                cfg: &mut host.pcfg7,
+                binterval: &mut host.binterval7,
+                statusclr: &mut host.pstatusclr7,
+                statusset: &mut host.pstatusset7,
+                status: &mut host.pstatus7,
+                intflag: &mut host.pintflag7,
+            },
+            _ => unreachable!(),
+        }
+    }
+}
+
+// §32.8.7.1
+pub(crate) struct PipeDesc {
+    pub bank0: BankDesc,
+    pub bank1: BankDesc,
+}
+
+// 2 banks: 32 bytes per pipe.
+impl PipeDesc {
+    pub fn new() -> Self {
+        Self {
+            bank0: BankDesc::new(),
+            bank1: BankDesc::new(),
+        }
+    }
+}
+
+#[repr(C, packed)]
+// 16 bytes per bank.
+pub(crate) struct BankDesc {
+    pub addr: Addr,
+    pub pcksize: PckSize,
+    pub extreg: ExtReg,
+    pub status_bk: StatusBk,
+    _reserved0: u8,
+    pub ctrl_pipe: CtrlPipe,
+    pub status_pipe: StatusPipe,
+    _reserved1: u8,
+}
+
+impl BankDesc {
+    fn new() -> Self {
+        Self {
+            addr: Addr::from(0),
+            pcksize: PckSize::from(0),
+            extreg: ExtReg::from(0),
+            status_bk: StatusBk::from(0),
+            _reserved0: 0,
+            ctrl_pipe: CtrlPipe::from(0),
+            status_pipe: StatusPipe::from(0),
+            _reserved1: 0,
+        }
+    }
+}
+
+#[cfg(test)]
+mod test {
+    use super::*;
+
+    #[test]
+    fn bank_desc_sizes() {
+        assert_eq!(core::mem::size_of::<Addr>(), 4, "Addr register size.");
+        assert_eq!(core::mem::size_of::<PckSize>(), 4, "PckSize register size.");
+        assert_eq!(core::mem::size_of::<ExtReg>(), 2, "ExtReg register size.");
+        assert_eq!(
+            core::mem::size_of::<StatusBk>(),
+            1,
+            "StatusBk register size."
+        );
+        assert_eq!(
+            core::mem::size_of::<CtrlPipe>(),
+            2,
+            "CtrlPipe register size."
+        );
+        assert_eq!(
+            core::mem::size_of::<StatusPipe>(),
+            1,
+            "StatusPipe register size."
+        );
+
+        // addr at 0x00 for 4
+        // pcksize at 0x04 for 4
+        // extreg at 0x08 for 2
+        // status_bk at 0x0a for 2
+        // ctrl_pipe at 0x0c for 2
+        // status_pipe at 0x0e for 1
+        assert_eq!(
+            core::mem::size_of::<BankDesc>(),
+            16,
+            "Bank descriptor size."
+        );
+    }
+
+    #[test]
+    fn bank_desc_offsets() {
+        let bd = BankDesc::new();
+        let base = &bd as *const _ as usize;
+
+        assert_offset("Addr", &bd.addr, base, 0x00);
+        assert_offset("PckSize", &bd.pcksize, base, 0x04);
+        assert_offset("ExtReg", &bd.extreg, base, 0x08);
+        assert_offset("StatusBk", &bd.status_bk, base, 0x0a);
+        assert_offset("CtrlPipe", &bd.ctrl_pipe, base, 0x0c);
+        assert_offset("StatusPipe", &bd.status_pipe, base, 0x0e);
+    }
+
+    #[test]
+    fn pipe_desc_size() {
+        assert_eq!(core::mem::size_of::<PipeDesc>(), 32);
+    }
+
+    #[test]
+    fn pipe_desc_offsets() {
+        let pd = PipeDesc::new();
+        let base = &pd as *const _ as usize;
+
+        assert_offset("Bank0", &pd.bank0, base, 0x00);
+        assert_offset("Bank1", &pd.bank1, base, 0x10);
+    }
+
+    fn assert_offset<T>(name: &str, field: &T, base: usize, offset: usize) {
+        let ptr = field as *const _ as usize;
+        assert_eq!(ptr - base, offset, "{} register offset.", name);
+    }
+}
diff --git a/src/pipe/addr.rs b/src/pipe/addr.rs
new file mode 100644
index 0000000..b3548cf
--- /dev/null
+++ b/src/pipe/addr.rs
@@ -0,0 +1,98 @@
+/// § 32.8.7.2
+/// Address of the Data Buffer.
+///
+/// Offset: 0x00 & 0x10
+/// Reset: 0xxxxxxxxx
+/// Property: NA
+#[derive(Clone, Copy, Debug)]
+#[repr(C, packed)]
+pub struct Addr(u32);
+
+pub struct R {
+    bits: u32,
+}
+
+pub struct W {
+    bits: u32,
+}
+
+impl Addr {
+    pub fn read(&self) -> R {
+        R { bits: self.0 }
+    }
+
+    pub fn write<F>(&mut self, f: F)
+    where
+        F: FnOnce(&mut W) -> &mut W,
+    {
+        let mut w = W { bits: self.0 };
+        f(&mut w);
+        self.0 = w.bits;
+    }
+
+    pub fn modify<F>(&mut self, f: F)
+    where
+        for<'w> F: FnOnce(&R, &'w mut W) -> &'w mut W,
+    {
+        let r = R { bits: self.0 };
+        let mut w = W { bits: self.0 };
+        f(&r, &mut w);
+        self.0 = w.bits;
+    }
+}
+
+impl From<u32> for Addr {
+    fn from(v: u32) -> Self {
+        Self(v)
+    }
+}
+
+impl R {
+    /// Value in raw bits.
+    pub fn bits(&self) -> u32 {
+        self.bits
+    }
+
+    pub fn addr(&self) -> AddrR {
+        AddrR(self.bits)
+    }
+}
+
+/// Data Pointer Address Value
+///
+/// These bits define the data pointer address as an absolute double
+/// word address in RAM. The two least significant bits must be zero
+/// to ensure the descriptor is 32-bit aligned.
+pub struct AddrR(u32);
+impl AddrR {
+    pub fn bits(&self) -> u32 {
+        self.0
+    }
+}
+
+impl W {
+    /// Write raw bits.
+    pub unsafe fn bits(&mut self, v: u32) -> &mut Self {
+        self.bits = v;
+        self
+    }
+
+    pub fn addr(&mut self) -> AddrW {
+        AddrW { w: self }
+    }
+}
+
+pub struct AddrW<'a> {
+    w: &'a mut W,
+}
+impl<'a> AddrW<'a> {
+    pub unsafe fn bits(self, v: u32) -> &'a mut W {
+        // Address must be 32-bit aligned. cf §32.8.7.2 of SAMD21 data
+        // sheet.
+        assert!((v & 0x3) == 0);
+        self.w.bits = v;
+        self.w
+    }
+
+    // TODO: "safe" method take a pointer instead of raw u32
+}
diff --git a/src/pipe/ctrl_pipe.rs b/src/pipe/ctrl_pipe.rs
new file mode 100644
index 0000000..9301d51
--- /dev/null
+++ b/src/pipe/ctrl_pipe.rs
@@ -0,0 +1,177 @@
+/// Host Control Pipe.
+///
+/// Offset: 0x0c
+/// Reset: 0xXXXX
+/// Property: PAC Write-Protection, Write-Synchronized, Read-Synchronized
+#[derive(Clone, Copy, Debug)]
+#[repr(C, packed)]
+pub struct CtrlPipe(u16);
+
+pub struct R {
+    bits: u16,
+}
+
+pub struct W {
+    bits: u16,
+}
+
+impl CtrlPipe {
+    pub fn read(&self) -> R {
+        R { bits: self.0 }
+    }
+
+    pub fn write<F>(&mut self, f: F)
+    where
+        F: FnOnce(&mut W) -> &mut W,
+    {
+        let mut w = W { bits: self.0 };
+        f(&mut w);
+        self.0 = w.bits;
+    }
+}
+
+impl From<u16> for CtrlPipe {
+    fn from(v: u16) -> Self {
+        Self(v)
+    }
+}
+
+impl R {
+    /// Value in raw bits.
+    pub fn bits(&self) -> u16 {
+        self.bits
+    }
+
+    pub fn permax(&self) -> PErMaxR {
+        let bits = {
+            const POS: u8 = 12;
+            const MASK: u16 = 0xf;
+            ((self.bits >> POS) & MASK) as u8
+        };
+
+        PErMaxR(bits)
+    }
+
+    pub fn pepnum(&self) -> PEpNumR {
+        let bits = {
+            const POS: u8 = 8;
+            const MASK: u16 = 0xf;
+            ((self.bits >> POS) & MASK) as u8
+        };
+
+        PEpNumR(bits)
+    }
+
+    pub fn pdaddr(&self) -> PDAddrR {
+        let bits = {
+            const POS: u8 = 0;
+            const MASK: u16 = 0x3f;
+            ((self.bits >> POS) & MASK) as u8
+        };
+
+        PDAddrR(bits)
+    }
+}
+
+/// Pipe Error Max Number
+///
+/// These bits define the maximum number of error for this Pipe before
+/// freezing the pipe automatically.
+pub struct PErMaxR(u8);
+impl PErMaxR {
+    pub fn max(&self) -> u8 {
+        self.0
+    }
+}
+
+/// Pipe EndPoint Number
+///
+/// These bits define the number of endpoint for this Pipe.
+pub struct PEpNumR(u8);
+impl PEpNumR {
+    pub fn epnum(&self) -> u8 {
+        self.0
+    }
+}
+
+/// Pipe Device Address
+///
+/// These bits define the Device Address for this pipe.
+pub struct PDAddrR(u8);
+impl PDAddrR {
+    pub fn addr(&self) -> u8 {
+        self.0
+    }
+}
+
+impl W {
+    /// Write raw bits.
+
+    pub unsafe fn bits(&mut self, v: u16) -> &mut Self {
+        self.bits = v;
+        self
+    }
+
+    pub fn permax(&mut self) -> PErMaxW {
+        PErMaxW { w: self }
+    }
+
+    pub fn pepnum(&mut self) -> PEpNumW {
+        PEpNumW { w: self }
+    }
+
+    pub fn pdaddr(&mut self) -> PDAddrW {
+        PDAddrW { w: self }
+    }
+}
+
+pub struct PErMaxW<'a> {
+    w: &'a mut W,
+}
+impl<'a> PErMaxW<'a> {
+    pub unsafe fn bits(self, v: u8) -> &'a mut W {
+        const POS: u8 = 12;
+        const MASK: u8 = 0xf;
+        self.w.bits &= !((MASK as u16) << POS);
+        self.w.bits |= ((v & MASK) as u16) << POS;
+        self.w
+    }
+
+    pub fn set_max(self, v: u8) -> &'a mut W {
+        unsafe { self.bits(v) }
+    }
+}
+
+pub struct PEpNumW<'a> {
+    w: &'a mut W,
+}
+impl<'a> PEpNumW<'a> {
+    pub unsafe fn bits(self, v: u8) -> &'a mut W {
+        const POS: u8 = 8;
+        const MASK: u8 = 0xf;
+        self.w.bits &= !((MASK as u16) << POS);
+        self.w.bits |= ((v & MASK) as u16) << POS;
+        self.w
+    }
+
+    pub fn set_epnum(self, v: u8) -> &'a mut W {
+        unsafe { self.bits(v) }
+    }
+}
+
+pub struct PDAddrW<'a> {
+    w: &'a mut W,
+}
+impl<'a> PDAddrW<'a> {
+    pub unsafe fn bits(self, v: u8) -> &'a mut W {
+        const POS: u8 = 0;
+        const MASK: u8 = 0x3f;
+        self.w.bits &= !((MASK as u16) << POS);
+        self.w.bits |= ((v & MASK) as u16) << POS;
+        self.w
+    }
+
+    pub fn set_addr(self, v: u8) -> &'a mut W {
+        unsafe { self.bits(v) }
+    }
+}
diff --git a/src/pipe/ext_reg.rs b/src/pipe/ext_reg.rs
new file mode 100644
index 0000000..9778f1b
--- /dev/null
+++ b/src/pipe/ext_reg.rs
@@ -0,0 +1,156 @@
+/// §32.8.7.4
+/// Extended Register.
+///
+/// Offset: 0x08
+/// Reset: 0xxxxxxxx
+/// Property: NA
+#[derive(Clone, Copy, Debug)]
+#[repr(C, packed)]
+pub(crate) struct ExtReg(u16);
+
+pub(crate) struct R {
+    bits: u16,
+}
+
+pub(crate) struct W {
+    bits: u16,
+}
+
+impl ExtReg {
+    pub fn read(&self) -> R {
+        R { bits: self.0 }
+    }
+
+    pub fn write<F>(&mut self, f: F)
+    where
+        F: FnOnce(&mut W) -> &mut W,
+    {
+        let mut w = W { bits: self.0 };
+        f(&mut w);
+        self.0 = w.bits;
+    }
+}
+
+impl From<u16> for ExtReg {
+    fn from(v: u16) -> Self {
+        Self(v)
+    }
+}
+
+impl R {
+    /// Value in raw bits.
+    pub fn bits(&self) -> u16 {
+        self.bits
+    }
+
+    pub fn variable(&self) -> VariableR {
+        let bits = {
+            const POS: u8 = 4;
+            const MASK: u16 = 0x7ff;
+            (self.bits >> POS) & MASK
+        };
+
+        VariableR(bits)
+    }
+
+    pub fn subpid(&self) -> SubPIDR {
+        let bits = {
+            const POS: u8 = 0;
+            const MASK: u16 = 0xf;
+            ((self.bits >> POS) & MASK) as u8
+        };
+
+        SubPIDR(bits)
+    }
+}
+
+/// Variable field send with extended token
+///
+/// These bits define the VARIABLE field sent with extended token. See
+/// “Section 2.1.1 Protocol Extension Token in the reference document
+/// ENGINEERING CHANGE NOTICE, USB 2.0 Link Power Management
+/// Addendum.”
+///
+/// To support the USB2.0 Link Power Management addition the VARIABLE
+/// field should be set as described below.
+///
+/// | VARIABLE       | Description           |
+/// +----------------+-----------------------+
+/// | VARIABLE[3:0]  | bLinkState[1]         |
+/// | VARIABLE[7:4]  | BESL (See LPM ECN)[2] |
+/// | VARIABLE[8]    | bRemoteWake[1]        |
+/// | VARIABLE[10:9] | Reserved              |
+///
+/// [1] for a definition of LPM Token bRemoteWake and bLinkState
+/// fields, refer to "Table 2-3 in the reference document ENGINEERING
+/// CHANGE NOTICE, USB 2.0 Link Power Management Addendum"
+///
+/// [2] for a definition of LPM Token BESL field, refer to "Table 2-3
+/// in the reference document ENGINEERING CHANGE NOTICE, USB 2.0 Link
+/// Power Management Addendum" and "Table X-X1 in Errata for ECN USB
+/// 2.0 Link Power Management.
+pub(crate) struct VariableR(u16);
+impl VariableR {
+    pub fn bits(&self) -> u16 {
+        self.0
+    }
+}
+
+/// SUBPID field with extended token
+///
+/// These bits define the SUBPID field sent with extended token. See
+/// “Section 2.1.1 Protocol Extension Token in the reference document
+/// ENGINEERING CHANGE NOTICE, USB 2.0 Link Power Management
+/// Addendum”.
+///
+/// To support the USB2.0 Link Power Management addition the SUBPID
+/// field should be set as described in “Table 2.2 SubPID Types in the
+/// reference document ENGINEERING CHANGE NOTICE, USB 2.0 Link Power
+/// Management Addendum”.
+pub(crate) struct SubPIDR(u8);
+impl SubPIDR {
+    pub fn bits(&self) -> u8 {
+        self.0
+    }
+}
+
+impl W {
+    /// Write raw bits.
+    pub unsafe fn bits(&mut self, v: u16) -> &mut Self {
+        self.bits = v;
+        self
+    }
+
+    pub fn variable(&mut self) -> VariableW {
+        VariableW { w: self }
+    }
+    pub fn subpid(&mut self) -> SubPIDW {
+        SubPIDW { w: self }
+    }
+}
+
+pub(crate) struct VariableW<'a> {
+    w: &'a mut W,
+}
+impl<'a> VariableW<'a> {
+    pub unsafe fn bits(self, v: u16) -> &'a mut W {
+        const POS: u8 = 4;
+        const MASK: u16 = 0x7ff;
+        self.w.bits &= !((MASK as u16) << POS);
+        self.w.bits |= ((v & MASK) as u16) << POS;
+        self.w
+    }
+}
+
+pub(crate) struct SubPIDW<'a> {
+    w: &'a mut W,
+}
+impl<'a> SubPIDW<'a> {
+    pub unsafe fn bits(self, v: u16) -> &'a mut W {
+        const POS: u8 = 0;
+        const MASK: u16 = 0xf;
+        self.w.bits &= !((MASK as u16) << POS);
+        self.w.bits |= ((v & MASK) as u16) << POS;
+        self.w
+    }
+}
diff --git a/src/pipe/pck_size.rs b/src/pipe/pck_size.rs
new file mode 100644
index 0000000..acc499f
--- /dev/null
+++ b/src/pipe/pck_size.rs
@@ -0,0 +1,368 @@
+/// § 32.8.7.3
+/// Packet Size.
+///
+/// Offset: 0x04 & 0x14
+/// Reset: 0xxxxxxxxx
+/// Property: NA
+#[derive(Clone, Copy, Debug)]
+#[repr(C, packed)]
+pub(crate) struct PckSize(u32);
+
+pub(crate) struct R {
+    bits: u32,
+}
+
+pub(crate) struct W {
+    bits: u32,
+}
+
+impl PckSize {
+    pub fn read(&self) -> R {
+        R { bits: self.0 }
+    }
+
+    pub fn write<F>(&mut self, f: F)
+    where
+        F: FnOnce(&mut W) -> &mut W,
+    {
+        let mut w = W { bits: self.0 };
+        f(&mut w);
+        self.0 = w.bits;
+    }
+}
+
+impl From<u32> for PckSize {
+    fn from(v: u32) -> Self {
+        Self(v)
+    }
+}
+
+impl R {
+    /// Value in raw bits.
+    pub fn bits(&self) -> u32 {
+        self.bits
+    }
+
+    pub fn auto_zlp(&self) -> AutoZLPR {
+        let bits = {
+            const POS: u8 = 31;
+            const MASK: u32 = 1;
+            ((self.bits >> POS) & MASK) == 1
+        };
+
+        AutoZLPR(bits)
+    }
+
+    pub fn size(&self) -> SizeR {
+        let bits = {
+            const POS: u8 = 28;
+            const MASK: u32 = 0x7;
+            ((self.bits >> POS) & MASK) as u8
+        };
+
+        SizeR::from(bits)
+    }
+
+    pub fn multi_packet_size(&self) -> MultiPacketSizeR {
+        let bits = {
+            const POS: u8 = 14;
+            const MASK: u32 = 0x3fff;
+            ((self.bits >> POS) & MASK) as u16
+        };
+
+        MultiPacketSizeR(bits)
+    }
+
+    // Documentation is wrong on this field. Actually 14 bits from
+    // offset 0.
+    pub fn byte_count(&self) -> ByteCountR {
+        let bits = {
+            const POS: u8 = 0;
+            const MASK: u32 = 0x3fff;
+            ((self.bits >> POS) & MASK) as u16
+        };
+
+        ByteCountR(bits)
+    }
+}
+
+/// Automatic Zero Length Packet
+///
+/// This bit defines the automatic Zero Length Packet mode of the
+/// pipe.
+///
+/// When enabled, the USB module will manage the ZLP handshake by
+/// hardware. This bit is for OUT pipes only. When disabled the
+/// handshake should be managed by firmware.
+pub(crate) struct AutoZLPR(bool);
+impl AutoZLPR {
+    pub fn bit(&self) -> bool {
+        self.0
+    }
+
+    pub fn bit_is_set(&self) -> bool {
+        self.bit()
+    }
+
+    pub fn bit_is_clear(&self) -> bool {
+        !self.bit()
+    }
+}
+
+/// Pipe size
+///
+/// These bits contains the size of the pipe.
+///
+/// These bits are cleared upon sending a USB reset.
+#[derive(Clone, Copy, Debug, PartialEq)]
+pub(crate) enum SizeR {
+    Bytes8,
+    Bytes16,
+    Bytes32,
+    Bytes64,
+    Bytes128,
+    Bytes256,
+    Bytes512,
+    Bytes1024,
+}
+
+impl SizeR {
+    pub fn bits(&self) -> u8 {
+        match *self {
+            Self::Bytes8 => 0x0,
+            Self::Bytes16 => 0x1,
+            Self::Bytes32 => 0x2,
+            Self::Bytes64 => 0x3,
+            Self::Bytes128 => 0x4,
+            Self::Bytes256 => 0x5,
+            Self::Bytes512 => 0x6,
+            Self::Bytes1024 => 0x7,
+        }
+    }
+
+    fn is_bytes8(&self) -> bool {
+        *self == Self::Bytes8
+    }
+    fn is_bytes16(&self) -> bool {
+        *self == Self::Bytes16
+    }
+    fn is_bytes32(&self) -> bool {
+        *self == Self::Bytes32
+    }
+    fn is_bytes64(&self) -> bool {
+        *self == Self::Bytes64
+    }
+    fn is_bytes128(&self) -> bool {
+        *self == Self::Bytes128
+    }
+    fn is_bytes256(&self) -> bool {
+        *self == Self::Bytes256
+    }
+    fn is_bytes512(&self) -> bool {
+        *self == Self::Bytes512
+    }
+    fn is_bytes1024(&self) -> bool {
+        *self == Self::Bytes1024
+    }
+}
+
+impl From<u8> for SizeR {
+    fn from(v: u8) -> Self {
+        match v {
+            0x0 => Self::Bytes8,
+            0x1 => Self::Bytes16,
+            0x2 => Self::Bytes32,
+            0x3 => Self::Bytes64,
+            0x4 => Self::Bytes128,
+            0x5 => Self::Bytes256,
+            0x6 => Self::Bytes512,
+            0x7 => Self::Bytes1024,
+            _ => panic!("pcksize between 0 and 7 only"),
+        }
+    }
+}
+
+/// Multi Packet IN or OUT size
+///
+/// These bits define the 14-bit value that is used for multi-packet
+/// transfers.
+///
+/// For IN pipes, MULTI_PACKET_SIZE holds the total number of bytes
+/// sent. MULTI_PACKET_SIZE should be written to zero when setting up
+/// a new transfer.
+///
+/// For OUT pipes, MULTI_PACKET_SIZE holds the total data size for the
+/// complete transfer. This value must be a multiple of the maximum
+/// packet size.
+pub(crate) struct MultiPacketSizeR(u16);
+impl MultiPacketSizeR {
+    pub fn bits(&self) -> u16 {
+        self.0
+    }
+}
+
+/// Byte Count
+///
+/// These bits define the 14-bit value that contains number of bytes
+/// sent in the last OUT or SETUP transaction for an OUT pipe, or of
+/// the number of bytes to be received in the next IN transaction for
+/// an input pipe.
+pub(crate) struct ByteCountR(u16);
+impl ByteCountR {
+    pub fn bits(&self) -> u16 {
+        self.0
+    }
+}
+
+impl W {
+    /// Write raw bits.
+    pub unsafe fn bits(&mut self, v: u32) -> &mut Self {
+        self.bits = v;
+        self
+    }
+
+    pub fn auto_zlp(&mut self) -> AutoZLPW {
+        AutoZLPW { w: self }
+    }
+
+    pub fn size(&mut self) -> _SizeW {
+        _SizeW { w: self }
+    }
+
+    pub fn multi_packet_size(&mut self) -> MultiPacketSizeW {
+        MultiPacketSizeW { w: self }
+    }
+
+    pub fn byte_count(&mut self) -> ByteCountW {
+        ByteCountW { w: self }
+    }
+}
+
+pub(crate) struct AutoZLPW<'a> {
+    w: &'a mut W,
+}
+impl<'a> AutoZLPW<'a> {
+    pub fn bit(self, v: bool) -> &'a mut W {
+        const POS: u8 = 31;
+        const MASK: bool = true;
+        self.w.bits &= !((MASK as u32) << POS);
+        self.w.bits |= ((v & MASK) as u32) << POS;
+        self.w
+    }
+
+    pub fn set_bit(self) -> &'a mut W {
+        self.bit(true)
+    }
+
+    pub fn clear_bit(self) -> &'a mut W {
+        self.bit(false)
+    }
+}
+
+#[derive(Copy, Clone, Debug, PartialEq)]
+pub(crate) enum SizeW {
+    Bytes8,
+    Bytes16,
+    Bytes32,
+    Bytes64,
+    Bytes128,
+    Bytes256,
+    Bytes512,
+    Bytes1024,
+}
+impl SizeW {
+    pub fn bits(&self) -> u8 {
+        match *self {
+            Self::Bytes8 => 0,
+            Self::Bytes16 => 1,
+            Self::Bytes32 => 2,
+            Self::Bytes64 => 3,
+            Self::Bytes128 => 4,
+            Self::Bytes256 => 5,
+            Self::Bytes512 => 6,
+            Self::Bytes1024 => 7,
+        }
+    }
+}
+
+/// Proxy for `SizeW`
+pub(crate) struct _SizeW<'a> {
+    w: &'a mut W,
+}
+impl<'a> _SizeW<'a> {
+    pub unsafe fn bits(self, v: u8) -> &'a mut W {
+        const POS: u8 = 28;
+        const MASK: u8 = 0x7;
+        self.w.bits &= !((MASK as u32) << POS);
+        self.w.bits |= ((v & MASK) as u32) << POS;
+        self.w
+    }
+
+    pub fn variant(self, v: SizeW) -> &'a mut W {
+        unsafe { self.bits(v.bits()) }
+    }
+
+    pub fn bytes8(self) -> &'a mut W {
+        self.variant(SizeW::Bytes8)
+    }
+
+    pub fn bytes16(self) -> &'a mut W {
+        self.variant(SizeW::Bytes16)
+    }
+
+    pub fn bytes32(self) -> &'a mut W {
+        self.variant(SizeW::Bytes32)
+    }
+
+    pub fn bytes64(self) -> &'a mut W {
+        self.variant(SizeW::Bytes64)
+    }
+
+    pub fn bytes128(self) -> &'a mut W {
+        self.variant(SizeW::Bytes128)
+    }
+
+    pub fn bytes256(self) -> &'a mut W {
+        self.variant(SizeW::Bytes256)
+    }
+
+    pub fn bytes512(self) -> &'a mut W {
+        self.variant(SizeW::Bytes512)
+    }
+
+    pub fn bytes1024(self) -> &'a mut W {
+        self.variant(SizeW::Bytes1024)
+    }
+}
+
+pub(crate) struct MultiPacketSizeW<'a> {
+    w: &'a mut W,
+}
+impl<'a> MultiPacketSizeW<'a> {
+    pub unsafe fn bits(self, v: u16) -> &'a mut W {
+        assert!(v < 16_384);
+
+        const POS: u8 = 14;
+        const MASK: u16 = 0x3fff;
+        self.w.bits &= !((MASK as u32) << POS);
+        self.w.bits |= ((v & MASK) as u32) << POS;
+        self.w
+    }
+}
+
+pub(crate) struct ByteCountW<'a> {
+    w: &'a mut W,
+}
+impl<'a> ByteCountW<'a> {
+    // Documentation is wrong on this field. Actually 14 bits from
+    // offset 0.
+    pub unsafe fn bits(self, v: u16) -> &'a mut W {
+        assert!(v < 16_384);
+
+        const POS: u8 = 0;
+        const MASK: u16 = 0x3fff;
+        self.w.bits &= !((MASK as u32) << POS);
+        self.w.bits |= ((v & MASK) as u32) << POS;
+        self.w
+    }
+}
diff --git a/src/pipe/status_bk.rs b/src/pipe/status_bk.rs
new file mode 100644
index 0000000..489fc62
--- /dev/null
+++ b/src/pipe/status_bk.rs
@@ -0,0 +1,170 @@
+/// §32.8.7.5
+/// Host Status Bank.
+///
+/// Offset: 0x0a & 0x1a
+/// Reset: 0xxxxxxx
+/// Property: NA
+#[derive(Clone, Copy, Debug)]
+#[repr(C, packed)]
+pub(crate) struct StatusBk(u8);
+
+pub(crate) struct R {
+    bits: u8,
+}
+
+pub(crate) struct W {
+    bits: u8,
+}
+
+impl StatusBk {
+    pub fn read(&self) -> R {
+        R { bits: self.0 }
+    }
+
+    pub fn write<F>(&mut self, f: F)
+    where
+        F: FnOnce(&mut W) -> &mut W,
+    {
+        let mut w = W { bits: self.0 };
+        f(&mut w);
+        self.0 = w.bits;
+    }
+}
+
+impl From<u8> for StatusBk {
+    fn from(v: u8) -> Self {
+        Self(v)
+    }
+}
+
+impl R {
+    /// Value in raw bits.
+    pub fn bits(&self) -> u8 {
+        self.bits
+    }
+
+    pub fn errorflow(&self) -> ErrorFlowR {
+        let bits = {
+            const POS: u8 = 1;
+            const MASK: u8 = 1;
+            ((self.bits >> POS) & MASK) == 1
+        };
+
+        ErrorFlowR(bits)
+    }
+
+    pub fn crcerr(&self) -> CRCErrR {
+        let bits = {
+            const POS: u8 = 0;
+            const MASK: u8 = 1;
+            ((self.bits >> POS) & MASK) == 1
+        };
+
+        CRCErrR(bits)
+    }
+}
+
+/// Error Flow Status
+///
+/// This bit defines the Error Flow Status.
+///
+/// This bit is set when a Error Flow has been detected during
+/// transfer from/towards this bank.
+///
+/// For IN transfer, a NAK handshake has been received. For OUT
+/// transfer, a NAK handshake has been received. For Isochronous IN
+/// transfer, an overrun condition has occurred. For Isochronous OUT
+/// transfer, an underflow condition has occurred.
+pub(crate) struct ErrorFlowR(bool);
+impl ErrorFlowR {
+    pub fn bit(&self) -> bool {
+        self.0
+    }
+
+    pub fn bit_is_set(&self) -> bool {
+        self.bit()
+    }
+
+    pub fn bit_is_clear(&self) -> bool {
+        !self.bit_is_set()
+    }
+}
+
+/// CRC Error
+///
+/// This bit defines the CRC Error Status.
+///
+/// This bit is set when a CRC error has been detected in an
+/// isochronous IN endpoint bank.
+pub(crate) struct CRCErrR(bool);
+impl CRCErrR {
+    pub fn bit(&self) -> bool {
+        self.0
+    }
+
+    pub fn bit_is_set(&self) -> bool {
+        self.bit()
+    }
+
+    pub fn bit_is_clear(&self) -> bool {
+        !self.bit_is_set()
+    }
+}
+
+impl W {
+    /// Write raw bits.
+    pub unsafe fn bits(&mut self, v: u8) -> &mut Self {
+        self.bits = v;
+        self
+    }
+
+    pub fn errorflow(&mut self) -> ErrorFlowW {
+        ErrorFlowW { w: self }
+    }
+
+    pub fn crcerr(&mut self) -> CRCErrW {
+        CRCErrW { w: self }
+    }
+}
+
+pub(crate) struct ErrorFlowW<'a> {
+    w: &'a mut W,
+}
+impl<'a> ErrorFlowW<'a> {
+    pub fn bit(self, v: bool) -> &'a mut W {
+        const POS: u8 = 1;
+        const MASK: bool = true;
+        self.w.bits &= !((MASK as u8) << POS);
+        self.w.bits |= ((v & MASK) as u8) << POS;
+        self.w
+    }
+
+    pub fn set_bit(self) -> &'a mut W {
+        self.bit(true)
+    }
+
+    pub fn clear_bit(self) -> &'a mut W {
+        self.bit(false)
+    }
+}
+
+pub(crate) struct CRCErrW<'a> {
+    w: &'a mut W,
+}
+impl<'a> CRCErrW<'a> {
+    pub fn bit(self, v: bool) -> &'a mut W {
+        const POS: u8 = 0;
+        const MASK: bool = true;
+        self.w.bits &= !((MASK as u8) << POS);
+        self.w.bits |= ((v & MASK) as u8) << POS;
+        self.w
+    }
+
+    pub fn set_bit(self) -> &'a mut W {
+        self.bit(true)
+    }
+
+    pub fn clear_bit(self) -> &'a mut W {
+        self.bit(false)
+    }
+}
diff --git a/src/pipe/status_pipe.rs b/src/pipe/status_pipe.rs
new file mode 100644
index 0000000..be135c5
--- /dev/null
+++ b/src/pipe/status_pipe.rs
@@ -0,0 +1,407 @@
+/// Host Status Pipe.
+///
+/// Offset: 0x0e & 0x1e
+/// Reset: 0xxxxxx
+/// Property: PAC Write-Protection, Write-Synchronized, Read-Synchronized
+#[derive(Clone, Copy, Debug)]
+#[repr(C, packed)]
+pub(crate) struct StatusPipe(u8);
+
+pub(crate) struct R {
+    bits: u8,
+}
+pub(crate) struct W {
+    bits: u8,
+}
+
+impl StatusPipe {
+    pub fn read(&self) -> R {
+        R { bits: self.0 }
+    }
+
+    pub fn write<F>(&mut self, f: F)
+    where
+        F: FnOnce(&mut W) -> &mut W,
+    {
+        let mut w = W { bits: self.0 };
+        f(&mut w);
+        self.0 = w.bits;
+    }
+}
+
+impl From<u8> for StatusPipe {
+    fn from(v: u8) -> Self {
+        Self(v)
+    }
+}
+
+impl R {
+    /// Value in raw bits.
+    pub fn bits(&self) -> u8 {
+        self.bits
+    }
+
+    pub fn ercnt(&self) -> ErCntR {
+        let bits = {
+            const POS: u8 = 5;
+            const MASK: u8 = 0x7;
+            ((self.bits >> POS) & MASK) as u8
+        };
+
+        ErCntR(bits)
+    }
+
+    pub fn crc16er(&self) -> CRC16ErR {
+        let bits = {
+            const POS: u8 = 4;
+            const MASK: u8 = 1;
+            ((self.bits >> POS) & MASK) == 1
+        };
+
+        CRC16ErR(bits)
+    }
+
+    pub fn touter(&self) -> TOutErrR {
+        let bits = {
+            const POS: u8 = 3;
+            const MASK: u8 = 1;
+
+            ((self.bits >> POS) & MASK) == 1
+        };
+
+        TOutErrR(bits)
+    }
+
+    pub fn pider(&self) -> PIDErR {
+        let bits = {
+            const POS: u8 = 2;
+            const MASK: u8 = 1;
+
+            ((self.bits >> POS) & MASK) == 1
+        };
+
+        PIDErR(bits)
+    }
+
+    pub fn dapider(&self) -> DaPIDErR {
+        let bits = {
+            const POS: u8 = 1;
+            const MASK: u8 = 1;
+
+            ((self.bits >> POS) & MASK) == 1
+        };
+
+        DaPIDErR(bits)
+    }
+
+    pub fn dtgler(&self) -> DTglErR {
+        let bits = {
+            const POS: u8 = 0;
+            const MASK: u8 = 1;
+
+            ((self.bits >> POS) & MASK) == 1
+        };
+
+        DTglErR(bits)
+    }
+}
+
+/// Pipe Error Counter
+///
+/// The number of errors detected on the pipe.
+pub(crate) struct ErCntR(u8);
+impl ErCntR {
+    pub fn bits(&self) -> u8 {
+        self.0
+    }
+}
+
+/// CRC16 ERROR
+///
+/// This bit defines the CRC16 Error Status.
+///
+/// This bit is set when a CRC 16 error has been detected during a IN
+/// transactions.
+pub(crate) struct CRC16ErR(bool);
+impl CRC16ErR {
+    pub fn bit(&self) -> bool {
+        self.0
+    }
+
+    pub fn bit_is_set(&self) -> bool {
+        self.bit()
+    }
+
+    pub fn bit_is_clear(&self) -> bool {
+        !self.bit_is_set()
+    }
+}
+
+/// TIME OUT ERROR
+///
+/// This bit defines the Time Out Error Status.
+///
+/// This bit is set when a Time Out error has been detected during a
+/// USB transaction.
+pub(crate) struct TOutErrR(bool);
+impl TOutErrR {
+    pub fn bit(&self) -> bool {
+        self.0
+    }
+
+    pub fn bit_is_set(&self) -> bool {
+        self.bit()
+    }
+
+    pub fn bit_is_clear(&self) -> bool {
+        !self.bit_is_set()
+    }
+}
+
+/// PID ERROR
+///
+/// This bit defines the PID Error Status.
+///
+/// This bit is set when a PID error has been detected during a USB
+/// transaction.
+pub(crate) struct PIDErR(bool);
+impl PIDErR {
+    pub fn bit(&self) -> bool {
+        self.0
+    }
+
+    pub fn bit_is_set(&self) -> bool {
+        self.bit()
+    }
+
+    pub fn bit_is_clear(&self) -> bool {
+        !self.bit_is_set()
+    }
+}
+
+/// Data PID ERROR
+///
+/// This bit defines the PID Error Status.
+///
+/// This bit is set when a Data PID error has been detected during a
+/// USB transaction.
+pub(crate) struct DaPIDErR(bool);
+impl DaPIDErR {
+    pub fn bit(&self) -> bool {
+        self.0
+    }
+
+    pub fn bit_is_set(&self) -> bool {
+        self.bit()
+    }
+
+    pub fn bit_is_clear(&self) -> bool {
+        !self.bit_is_set()
+    }
+}
+
+/// Data Toggle Error
+///
+/// This bit defines the Data Toggle Error Status.
+///
+/// This bit is set when a Data Toggle Error has been detected.
+pub(crate) struct DTglErR(bool);
+impl DTglErR {
+    pub fn bit(&self) -> bool {
+        self.0
+    }
+
+    pub fn bit_is_set(&self) -> bool {
+        self.bit()
+    }
+
+    pub fn bit_is_clear(&self) -> bool {
+        !self.bit_is_set()
+    }
+}
+
+impl W {
+    /// Write raw bits.
+    pub unsafe fn bits(&mut self, v: u8) -> &mut Self {
+        self.bits = v;
+        self
+    }
+
+    pub fn ercnt(&mut self) -> ErCntW {
+        ErCntW { w: self }
+    }
+
+    pub fn crc16er(&mut self) -> CRC16ErW {
+        CRC16ErW { w: self }
+    }
+
+    pub fn touter(&mut self) -> TOutErW {
+        TOutErW { w: self }
+    }
+
+    pub fn pider(&mut self) -> PIDErW {
+        PIDErW { w: self }
+    }
+
+    pub fn dapider(&mut self) -> DaPIDErW {
+        DaPIDErW { w: self }
+    }
+
+    pub fn dtgler(&mut self) -> DTglErW {
+        DTglErW { w: self }
+    }
+}
+
+/// Pipe Error Counter
+///
+/// The number of errors detected on the pipe.
+pub(crate) struct ErCntW<'a> {
+    w: &'a mut W,
+}
+impl<'a> ErCntW<'a> {
+    pub unsafe fn bits(self, v: u8) -> &'a mut W {
+        const POS: u8 = 5;
+        const MASK: u8 = 0x7;
+        self.w.bits &= !((MASK as u8) << POS);
+        self.w.bits |= ((v & MASK) as u8) << POS;
+        self.w
+    }
+
+    pub fn set_count(self, v: u8) -> &'a mut W {
+        unsafe { self.bits(v) }
+    }
+}
+
+/// CRC16 ERROR
+///
+/// This bit defines the CRC16 Error Status.
+///
+/// This bit is set when a CRC 16 error has been detected during a IN
+/// transactions.
+pub(crate) struct CRC16ErW<'a> {
+    w: &'a mut W,
+}
+impl<'a> CRC16ErW<'a> {
+    pub fn bit(self, v: bool) -> &'a mut W {
+        const POS: u8 = 4;
+        const MASK: bool = true;
+        self.w.bits &= !((MASK as u8) << POS);
+        self.w.bits |= ((v & MASK) as u8) << POS;
+        self.w
+    }
+
+    pub fn set_bit(self) -> &'a mut W {
+        self.bit(true)
+    }
+
+    pub fn clear_bit(self) -> &'a mut W {
+        self.bit(false)
+    }
+}
+
+/// TIME OUT ERROR
+///
+/// This bit defines the Time Out Error Status.
+///
+/// This bit is set when a Time Out error has been detected during a
+/// USB transaction.
+pub(crate) struct TOutErW<'a> {
+    w: &'a mut W,
+}
+impl<'a> TOutErW<'a> {
+    pub fn bit(self, v: bool) -> &'a mut W {
+        const POS: u8 = 3;
+        const MASK: bool = true;
+        self.w.bits &= !((MASK as u8) << POS);
+        self.w.bits |= ((v & MASK) as u8) << POS;
+        self.w
+    }
+
+    pub fn set_bit(self) -> &'a mut W {
+        self.bit(true)
+    }
+
+    pub fn clear_bit(self) -> &'a mut W {
+        self.bit(false)
+    }
+}
+
+/// PID ERROR
+///
+/// This bit defines the PID Error Status.
+///
+/// This bit is set when a PID error has been detected during a USB
+/// transaction.
+pub(crate) struct PIDErW<'a> {
+    w: &'a mut W,
+}
+impl<'a> PIDErW<'a> {
+    pub fn bit(self, v: bool) -> &'a mut W {
+        const POS: u8 = 2;
+        const MASK: bool = true;
+        self.w.bits &= !((MASK as u8) << POS);
+        self.w.bits |= ((v & MASK) as u8) << POS;
+        self.w
+    }
+
+    pub fn set_bit(self) -> &'a mut W {
+        self.bit(true)
+    }
+
+    pub fn clear_bit(self) -> &'a mut W {
+        self.bit(false)
+    }
+}
+
+/// Data PID ERROR
+///
+/// This bit defines the PID Error Status.
+///
+/// This bit is set when a Data PID error has been detected during a
+/// USB transaction.
+pub(crate) struct DaPIDErW<'a> {
+    w: &'a mut W,
+}
+impl<'a> DaPIDErW<'a> {
+    pub fn bit(self, v: bool) -> &'a mut W {
+        const POS: u8 = 1;
+        const MASK: bool = true;
+        self.w.bits &= !((MASK as u8) << POS);
+        self.w.bits |= ((v & MASK) as u8) << POS;
+        self.w
+    }
+
+    pub fn set_bit(self) -> &'a mut W {
+        self.bit(true)
+    }
+
+    pub fn clear_bit(self) -> &'a mut W {
+        self.bit(false)
+    }
+}
+
+/// Data Toggle Error
+///
+/// This bit defines the Data Toggle Error Status.
+///
+/// This bit is set when a Data Toggle Error has been detected.
+pub(crate) struct DTglErW<'a> {
+    w: &'a mut W,
+}
+impl<'a> DTglErW<'a> {
+    pub fn bit(self, v: bool) -> &'a mut W {
+        const POS: u8 = 0;
+        const MASK: bool = true;
+        self.w.bits &= !((MASK as u8) << POS);
+        self.w.bits |= ((v & MASK) as u8) << POS;
+        self.w
+    }
+
+    pub fn set_bit(self) -> &'a mut W {
+        self.bit(true)
+    }
+
+    pub fn clear_bit(self) -> &'a mut W {
+        self.bit(false)
+    }
+}