ci: workflow: add build & run

.github/workflows/twister_uhc_build_and_run.yaml

@@ -0,0 +1,107 @@
+name: USB UHC Driver Test (esp32s3)
+
+on:
+  pull_request:
+    types: [opened, reopened, synchronize]
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  twister-tests:
+    if: startsWith(github.head_ref, 'pr-add-') || github.event_name == 'workflow_dispatch'
+    runs-on: [self-hosted, docker, esp32s3, usb_host]
+
+    strategy:
+      matrix:
+        zephyr_ver: ["v0.29.2"]
+
+    container:
+      image: ghcr.io/zephyrproject-rtos/ci:${{ matrix.zephyr_ver }}
+      options: >-
+        --volume=/etc/zephyr:/etc/zephyr:ro
+        --device=/dev/ttyACM0
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd # v6.0.2
+        with:
+          path: ws/zephyr
+          fetch-depth: 0
+
+      - name: Setup Python deps (west + twister requirements)
+        shell: bash
+        run: |
+          python3 -m venv "$GITHUB_WORKSPACE/ws/.venv"
+          . "$GITHUB_WORKSPACE/ws/.venv/bin/activate"
+          pip install -U pip wheel esptool pyserial
+          pip install -r "$GITHUB_WORKSPACE/ws/zephyr/scripts/requirements.txt" \
+                     -r "$GITHUB_WORKSPACE/ws/zephyr/scripts/requirements-build-test.txt"
+
+      - name: West init/update/export (modules + blobs)
+        shell: bash
+        run: |
+          . "$GITHUB_WORKSPACE/ws/.venv/bin/activate"
+          cd "$GITHUB_WORKSPACE/ws"
+
+          if [ ! -d .west ]; then
+            west init -l zephyr
+          fi
+
+          west update hal_espressif
+          west blobs fetch hal_espressif
+          west zephyr-export
+
+      - name: Locate Zephyr SDK in container
+        shell: bash
+        run: |
+          for d in /opt/zephyr-sdk* /opt/toolchains/zephyr-sdk* /usr/local/zephyr-sdk*; do
+            if [ -d "$d" ]; then
+              echo "Found Zephyr SDK at $d"
+              echo "ZEPHYR_SDK_INSTALL_DIR=$d" >> "$GITHUB_ENV"
+              break
+            fi
+          done
+
+      - name: Clean previous Twister output
+        shell: bash
+        run: |
+          rm -rf "$GITHUB_WORKSPACE/twister-out"
+          rm -rf "$GITHUB_WORKSPACE"/twister-out.*
+
+      - name: Build and run on hardware
+        shell: bash
+        env:
+          PYTEST_DISABLE_PLUGIN_AUTOLOAD: "1"
+          ZEPHYR_TOOLCHAIN_VARIANT: zephyr
+        run: |
+          git config --global --add safe.directory "$GITHUB_WORKSPACE/ws/zephyr"
+
+          . "$GITHUB_WORKSPACE/ws/.venv/bin/activate"
+          cd "$GITHUB_WORKSPACE/ws/zephyr"
+
+          west twister -T tests/drivers/uhc --list-tests
+
+          west twister \
+            -T tests/drivers/uhc \
+            -p esp32s3_devkitc/esp32s3/procpu \
+            -s drivers.usb.uhc \
+            --device-testing \
+            --device-serial /dev/ttyACM0 \
+            --flash-before \
+            --west-runner=esp32 \
+            --log-level debug \
+            -j 1 \
+            --outdir "$GITHUB_WORKSPACE/twister-out"
+
+      - name: Upload Twister reports
+        if: always()
+        uses: actions/upload-artifact@b7c566a772e6b6bfb58ed0dc250532a479d7789f # v6.0.0
+        with:
+          name: twister-reports
+          path: |
+            twister-out/**/twister_harness.log
+            twister-out/twister.xml
+            twister-out/twister_report.xml
+            twister-out/twister.json

boards/nordic/nrf54lm20dk/nrf54lm20_a_b_cpuapp_common.dtsi

@@ -110,6 +110,10 @@ temp_sensor: &temp {
 	status = "okay";
 };
 
+zephyr_uhc0: &usbhs {
+	status = "okay";
+};
+
 zephyr_udc0: &usbhs {
 	status = "okay";
 };

boards/nordic/nrf54lm20dk/nrf54lm20dk_nrf54lm20a_cpuapp.yaml

@@ -21,4 +21,5 @@ supported:
   - pwm
   - spi
   - usbd
+  - usbh
   - watchdog

boards/nordic/nrf54lm20dk/nrf54lm20dk_nrf54lm20a_cpuapp_ns.yaml

@@ -17,6 +17,7 @@ supported:
   - pwm
   - spi
   - usbd
+  - usbh
   - watchdog
 vendor: nordic
 sysbuild: true

boards/nordic/nrf54lm20dk/nrf54lm20dk_nrf54lm20b_cpuapp.yaml

@@ -21,4 +21,5 @@ supported:
   - pwm
   - spi
   - usbd
+  - usbh
   - watchdog

boards/nordic/nrf54lm20dk/nrf54lm20dk_nrf54lm20b_cpuapp_ns.yaml

@@ -17,6 +17,7 @@ supported:
   - pwm
   - spi
   - usbd
+  - usbh
   - watchdog
 vendor: nordic
 sysbuild: true

drivers/usb/common/usb_dwc2_hw.h

@@ -374,7 +374,13 @@ USB_DWC2_SET_FIELD_DEFINE(gnptxfsiz_nptxfstaddr, GNPTXFSIZ_NPTXFSTADDR)
 #define USB_DWC2_GGPIO_STM32_PWRDWN		BIT(USB_DWC2_GGPIO_STM32_PWRDWN_POS)
 
 /* GSNPSID register */
+#define USB_DWC2_GSNPSID_REV_2_92A		0x4F54292AUL
+#define USB_DWC2_GSNPSID_REV_4_20A		0x4F54420AUL
 #define USB_DWC2_GSNPSID_REV_5_00A		0x4F54500AUL
+#define USB_DWC2_GSNPSID_REV_POS		0UL
+#define USB_DWC2_GSNPSID_REV_MASK		(0xFFFFUL << USB_DWC2_GSNPSID_REV_POS)
+
+USB_DWC2_GET_FIELD_DEFINE(gsnpsid_rev, GSNPSID_REV)
 
 /* GHWCFG1 register */
 #define USB_DWC2_GHWCFG1			0x0044UL

drivers/usb/uhc/CMakeLists.txt

@@ -3,8 +3,10 @@
 # SPDX-License-Identifier: Apache-2.0
 
 zephyr_library()
+zephyr_library_include_directories(${ZEPHYR_BASE}/drivers/usb/common/)
 
 zephyr_library_sources(uhc_common.c)
+zephyr_library_sources_ifdef(CONFIG_UHC_DWC2 uhc_dwc2.c)
 zephyr_library_sources_ifdef(CONFIG_UHC_MAX3421E uhc_max3421e.c)
 zephyr_library_sources_ifdef(CONFIG_UHC_VIRTUAL uhc_virtual.c)
 zephyr_library_sources_ifdef(CONFIG_UHC_NXP_EHCI uhc_mcux_common.c uhc_mcux_ehci.c)

drivers/usb/uhc/Kconfig

@@ -43,6 +43,7 @@ module = UHC_DRIVER
 module-str = uhc drv
 source "subsys/logging/Kconfig.template.log_config"
 
+source "drivers/usb/uhc/Kconfig.dwc2"
 source "drivers/usb/uhc/Kconfig.max3421e"
 source "drivers/usb/uhc/Kconfig.virtual"
 source "drivers/usb/uhc/Kconfig.mcux"

drivers/usb/uhc/Kconfig.dwc2

@@ -0,0 +1,100 @@
+# Copyright (c) 2026 Roman Leonov <jam_roma@yahoo.com>
+# SPDX-License-Identifier: Apache-2.0
+
+config UHC_DWC2
+	bool "DWC2 USB host controller driver"
+	depends on DT_HAS_SNPS_DWC2_ENABLED
+	default y
+	select EVENTS
+	select REGULATOR
+	help
+	  DWC2 USB host controller driver.
+
+if UHC_DWC2
+
+config UHC_DWC2_MAX_CHANNELS
+	int "UHC DWC2 driver maximum supported number of channels"
+	default 16
+	range 1 16
+	help
+	  Number of channels driver can support.
+	  Reduce this value to save memory.
+	  Increase to support more concurrent transfers.
+
+config UHC_DRIVER_HIGH_SPEED_SUPPORT_ENABLED
+	bool "UHC DWC2 High speed"
+	default y if SOC_SERIES_NRF54LX
+	help
+	  Enables HS support code if the SoC/board can support it.
+
+config UHC_DWC2_STACK_SIZE
+	int "UHC DWC2 driver thread stack size"
+	default 512
+	help
+	  DWC2 driver thread stack size.
+
+config UHC_DWC2_THREAD_PRIORITY
+	int "UHC DWC2 driver thread priority"
+	default 8
+	help
+	  DWC2 driver thread priority.
+
+config UHC_DWC2_DEBOUNCE_DELAY_MS
+	int "Debounce delay in ms"
+	default 250
+	help
+	  On connection of a USB device, the USB 2.0 specification requires
+	  a "debounce interval with a minimum duration of 100ms" to allow the connection to stabilize
+	  (see USB 2.0 chapter 7.1.7.3 for more details).
+	  During the debounce interval, no new connection/disconnection events are registered.
+
+	  The default value is set to 250 ms to be safe.
+
+config UHC_DWC2_RESET_HOLD_MS
+	int "Reset hold in ms"
+	default 50
+	help
+	  Root-port reset hold time in milliseconds.
+
+	  USB 2.0 requires ordinary reset signaling to be asserted for at least
+	  10 ms, but reset issued from a root port must last at least 50 ms..
+
+	  The default value is set to 50 ms.
+
+config UHC_DWC2_RESET_RECOVERY_MS
+	int "Reset recovery delay in ms"
+	default 30
+	help
+	  Post-reset recovery delay in milliseconds.
+
+	  USB 2.0 requires system software to allow at least 10 ms for reset
+	  recovery after the port stops driving reset, before the attached
+	  device is expected to respond to data transfers.
+
+	  The attached device may ignore data transfers during this recovery
+	  interval.
+
+	  The default value is set to 30 ms.
+
+config UHC_DWC2_SET_ADDR_DELAY_MS
+	int "Delay after set device address"
+	default 10
+	help
+	  "After successful completion of the Status stage, the device is allowed a SetAddress()
+	  recovery interval of 2 ms. At the end of this interval, the device must be able to accept
+	  Setup packets addressed to the new address. Also, at the end of the recovery interval, the
+	  device must not respond to tokens sent to the old address (unless, of course, the old and new
+	  address is the same)." See USB 2.0 chapter 9.2.6.3 for more details.
+
+	  The default value is set to 10 ms to be safe.
+
+config UHC_DWC2_USBHS_VBUS_READY_TIMEOUT
+	int "USBHS VBUS ready event timeout in ms"
+	depends on SOC_SERIES_NRF54L
+	default 0
+	help
+	  VBUS ready event timeout for the USBHS variant of DWC2 found on nRF MCUs.
+	  If the VBUS is not ready and the Nordic USBHS controller is used, the udc_enable() is
+	  blocked for this amount of time. Set it to zero to wait forever.
+
+endif # UHC_DWC2