zephyrproject-rtos · aescolar · Mar 16, 2026 · Jan 8, 2026 · Jan 8, 2026 · Jan 8, 2026
diff --git a/boards/atmel/sam/sam4e_xpro/sam4e_xpro-pinctrl.dtsi b/boards/atmel/sam/sam4e_xpro/sam4e_xpro-pinctrl.dtsi
@@ -109,4 +109,11 @@
 				 <PA27C_HSMCI_MCDA3>;
 		};
 	};
+
+	udp_default: udp_default {
+		group1 {
+			pinmux = <PB10S_UDP_DDM>,
+				 <PB11S_UDP_DDP>;
+		};
+	};
 };
diff --git a/boards/atmel/sam/sam4e_xpro/sam4e_xpro.dts b/boards/atmel/sam/sam4e_xpro/sam4e_xpro.dts
@@ -245,6 +245,13 @@
 	status = "okay";
 };
 
+zephyr_udc0: &udp {
+	status = "okay";
+
+	pinctrl-0 = <&udp_default>;
+	pinctrl-names = "default";
+};
+
 ext1_spi: &spi0 {};
 
 ext1_i2c: &twi0 {};

diff --git a/boards/atmel/sam/sam4e_xpro/sam4e_xpro.yaml b/boards/atmel/sam/sam4e_xpro/sam4e_xpro.yaml
@@ -18,6 +18,7 @@ supported:
   - sdhc
   - spi
   - uart
+  - usbd
   - watchdog
   - xpro_gpio
   - xpro_i2c

diff --git a/boards/atmel/sam/sam4s_xplained/sam4s_xplained-pinctrl.dtsi b/boards/atmel/sam/sam4s_xplained/sam4s_xplained-pinctrl.dtsi
@@ -101,4 +101,11 @@
 				 <PC8A_EBI_NWE>;
 		};
 	};
+
+	udp_default: udp_default {
+		group1 {
+			pinmux = <PB10S_UDP_DDM>,
+				 <PB11S_UDP_DDP>;
+		};
+	};
 };
diff --git a/boards/atmel/sam/sam4s_xplained/sam4s_xplained.dts b/boards/atmel/sam/sam4s_xplained/sam4s_xplained.dts
@@ -232,6 +232,13 @@ xplained4_spi: &spi0 {};
 
 xplained4_serial: &uart1 {};
 
+zephyr_udc0: &udp {
+	status = "okay";
+
+	pinctrl-0 = <&udp_default>;
+	pinctrl-names = "default";
+};
+
 &smc {
 	status = "okay";
 	pinctrl-0 = <&smc_default>;

diff --git a/boards/atmel/sam/sam4s_xplained/sam4s_xplained.yaml b/boards/atmel/sam/sam4s_xplained/sam4s_xplained.yaml
@@ -16,6 +16,7 @@ supported:
   - memc
   - pwm
   - spi
+  - usbd
   - watchdog
   - xplained_gpio
   - xplained_i2c

diff --git a/drivers/usb/udc/CMakeLists.txt b/drivers/usb/udc/CMakeLists.txt
@@ -22,5 +22,6 @@ zephyr_library_sources_ifdef(CONFIG_UDC_AMBIQ udc_ambiq.c)
 zephyr_library_sources_ifdef(CONFIG_UDC_RENESAS_RA udc_renesas_ra.c)
 zephyr_library_sources_ifdef(CONFIG_UDC_MAX32 udc_max32.c)
 zephyr_library_sources_ifdef(CONFIG_UDC_SAM0 udc_sam0.c)
+zephyr_library_sources_ifdef(CONFIG_UDC_SAM_UDP udc_sam_udp.c)
 zephyr_library_sources_ifdef(CONFIG_UDC_SAM_USBC udc_sam_usbc.c)
 zephyr_library_sources_ifdef(CONFIG_UDC_SAM_USBHS udc_sam_usbhs.c)
diff --git a/drivers/usb/udc/Kconfig b/drivers/usb/udc/Kconfig
@@ -84,6 +84,7 @@ source "drivers/usb/udc/Kconfig.ambiq"
 source "drivers/usb/udc/Kconfig.renesas_ra"
 source "drivers/usb/udc/Kconfig.max32"
 source "drivers/usb/udc/Kconfig.sam0"
+source "drivers/usb/udc/Kconfig.sam_udp"
 source "drivers/usb/udc/Kconfig.sam_usbc"
 source "drivers/usb/udc/Kconfig.sam_usbhs"
 

diff --git a/drivers/usb/udc/Kconfig.sam_udp b/drivers/usb/udc/Kconfig.sam_udp
@@ -0,0 +1,33 @@
+# Copyright (c) 2026 Gerson Fernando Budke <nandojve@gmail.com>
+# SPDX-License-Identifier: Apache-2.0
+
+config UDC_SAM_UDP
+	bool "Atmel SAM USB Device Port (UDP) Controller"
+	default y
+	depends on DT_HAS_ATMEL_SAM_UDP_ENABLED
+	depends on SOC_FAMILY_ATMEL_SAM
+	select PINCTRL
+	select EVENTS
+	help
+	  Enable Atmel SAM USB Device Port (UDP) controller driver.
+	  This controller supports full-speed USB 2.0 device mode with
+	  8 endpoints.
+
+if UDC_SAM_UDP
+
+config UDC_SAM_UDP_THREAD_STACK_SIZE
+	int "USB device controller driver thread stack size"
+	default 2048
+	help
+	  Stack size of the USB device controller driver thread.
+	  The thread processes USB events including OUT data reception.
+	  A larger stack is needed to handle the callback chain from
+	  udc_submit_ep_event() which may invoke USB class drivers.
+
+config UDC_SAM_UDP_THREAD_PRIORITY
+	int "USB device controller driver thread priority"
+	default 8
+	help
+	  Priority of the USB device controller driver thread.
+
+endif # UDC_SAM_UDP
-Original file line number
+Diff line change
@@ Expand Up / @@ -18,6 +18,7 @@ supported: @@
       - sdhc
       - spi
       - uart
+      - usbd
       - watchdog
       - xpro_gpio
       - xpro_i2c
@@ Expand Down @@