Add option to dump buffered USB trace data on an assertion

15 files changed, 511 insertions, 111 deletions

diff --git a/nuttx/ChangeLog b/nuttx/ChangeLog
index f824247a8..2e3b67ecb 100644
--- a/nuttx/ChangeLog
+++ b/nuttx/ChangeLog
@@ -7012,5 +7012,6 @@
 	* arch/arm/Kconfig:  Improved documentation of the use of the
 	  BASEPRI register from Vijay Kumar (2014-3-19).
 	* include/nuttx/i2c.h:  More typo fixes from Vijay Kumar (2014-3-19).
-
+	* arch/Kconfig and *_assert.h:  Add a configuration option to enable
+	  dumping of the USB trace buffer on assertion (2014-3-19).
 
diff --git a/nuttx/arch/8051/src/up_assert.c b/nuttx/arch/8051/src/up_assert.c
index c25fb81d4..2b9cf7759 100644
--- a/nuttx/arch/8051/src/up_assert.c
+++ b/nuttx/arch/8051/src/up_assert.c
@@ -1,7 +1,7 @@
 /************************************************************************
  * up_assert.c
  *
- *   Copyright (C) 2007, 2009, 2012-2013 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2007, 2009, 2012-2014 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -44,14 +44,22 @@
 #include <sched.h>
 #include <debug.h>
 
+#include <nuttx/usb/usbdev_trace.h>
+
 #include <8052.h>
+
 #include "os_internal.h"
 #include "up_internal.h"
 #include "up_mem.h"
 
 /************************************************************************
- * Definitions
+ * Pre-processor Definitions
  ************************************************************************/
+/* USB trace dumping */
+
+#ifndef CONFIG_USBDEV_TRACE
+#  undef CONFIG_ARCH_USBDUMP
+#endif
 
 /************************************************************************
  * Private Data
@@ -89,6 +97,18 @@ static void _up_assert(int errorcode)
     }
 }
 
+/****************************************************************************
+ * Name: assert_tracecallback
+ ****************************************************************************/
+
+#ifdef CONFIG_ARCH_USBDUMP
+static int assert_tracecallback(struct usbtrace_s *trace, void *arg)
+{
+  usbtrace_trprintf((trprintf_t)lowsyslog, trace->event, trace->value);
+  return 0;
+}
+#endif
+
 /************************************************************************
  * Public Functions
  ************************************************************************/
@@ -114,5 +134,12 @@ void up_assert(const uint8_t *filename, int lineno)
 #endif
 
   up_dumpstack();
+
+#ifdef CONFIG_ARCH_USBDUMP
+  /* Dump USB trace data */
+
+  (void)usbtrace_enumerate(assert_tracecallback, NULL);
+#endif
+
   _up_assert(EXIT_FAILURE);
 }
diff --git a/nuttx/arch/Kconfig b/nuttx/arch/Kconfig
index f84817f94..deee2d69d 100644
--- a/nuttx/arch/Kconfig
+++ b/nuttx/arch/Kconfig
@@ -292,6 +292,13 @@ config ARCH_STACKDUMP
 	---help---
 		Enable to do stack dumps after assertions
 
+config ARCH_USBDUMP
+	bool "Dump USB trace data"
+	default n
+	depends on USBDEV_TRACE
+	---help---
+		Enable to do USB trace after assertions
+
 config ENDIAN_BIG
 	bool "Big Endian Architecture"
 	default n
diff --git a/nuttx/arch/arm/src/arm/up_assert.c b/nuttx/arch/arm/src/arm/up_assert.c
index c754f226a..2d90313da 100644
--- a/nuttx/arch/arm/src/arm/up_assert.c
+++ b/nuttx/arch/arm/src/arm/up_assert.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  * arch/arm/src/arm/up_assert.c
  *
- *   Copyright (C) 2007-2010, 2012-2013 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2007-2010, 2012-2014 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -46,6 +46,8 @@
 
 #include <nuttx/irq.h>
 #include <nuttx/arch.h>
+#include <nuttx/usb/usbdev_trace.h>
+
 #include <arch/board/board.h>
 
 #include "up_arch.h"
@@ -55,6 +57,11 @@
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
+/* USB trace dumping */
+
+#ifndef CONFIG_USBDEV_TRACE
+#  undef CONFIG_ARCH_USBDUMP
+#endif
 
 /* Output debug info if stack dump is selected -- even if 
  * debug is not selected.
@@ -155,6 +162,18 @@ static inline void up_registerdump(void)
 #endif
 
 /****************************************************************************
+ * Name: assert_tracecallback
+ ****************************************************************************/
+
+#ifdef CONFIG_ARCH_USBDUMP
+static int assert_tracecallback(struct usbtrace_s *trace, void *arg)
+{
+  usbtrace_trprintf((trprintf_t)lowsyslog, trace->event, trace->value);
+  return 0;
+}
+#endif
+
+/****************************************************************************
  * Name: up_dumpstate
  ****************************************************************************/
 
@@ -243,6 +262,12 @@ static void up_dumpstate(void)
   /* Then dump the registers (if available) */
 
   up_registerdump();
+
+#ifdef CONFIG_ARCH_USBDUMP
+  /* Dump USB trace data */
+
+  (void)usbtrace_enumerate(assert_tracecallback, NULL);
+#endif
 }
 #else
 # define up_dumpstate()
diff --git a/nuttx/arch/arm/src/armv6-m/up_assert.c b/nuttx/arch/arm/src/armv6-m/up_assert.c
index 8161d18c5..bee569cce 100644
--- a/nuttx/arch/arm/src/armv6-m/up_assert.c
+++ b/nuttx/arch/arm/src/armv6-m/up_assert.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  * arch/arm/src/armv6-m/up_assert.c
  *
- *   Copyright (C) 2013 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2013-2014 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -46,6 +46,8 @@
 
 #include <nuttx/irq.h>
 #include <nuttx/arch.h>
+#include <nuttx/usb/usbdev_trace.h>
+
 #include <arch/board/board.h>
 
 #include "up_arch.h"
@@ -55,6 +57,11 @@
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
+/* USB trace dumping */
+
+#ifndef CONFIG_USBDEV_TRACE
+#  undef CONFIG_ARCH_USBDUMP
+#endif
 
 /* Output debug info if stack dump is selected -- even if 
  * debug is not selected.
@@ -162,6 +169,18 @@ static inline void up_registerdump(void)
 #endif
 
 /****************************************************************************
+ * Name: assert_tracecallback
+ ****************************************************************************/
+
+#ifdef CONFIG_ARCH_USBDUMP
+static int assert_tracecallback(struct usbtrace_s *trace, void *arg)
+{
+  usbtrace_trprintf((trprintf_t)lowsyslog, trace->event, trace->value);
+  return 0;
+}
+#endif
+
+/****************************************************************************
  * Name: up_dumpstate
  ****************************************************************************/
 
@@ -259,6 +278,12 @@ static void up_dumpstate(void)
   /* Then dump the registers (if available) */
 
   up_registerdump();
+
+#ifdef CONFIG_ARCH_USBDUMP
+  /* Dump USB trace data */
+
+  (void)usbtrace_enumerate(assert_tracecallback, NULL);
+#endif
 }
 #else
 # define up_dumpstate()
diff --git a/nuttx/arch/arm/src/armv7-a/arm_assert.c b/nuttx/arch/arm/src/armv7-a/arm_assert.c
index 09ed223f2..2085b7050 100644
--- a/nuttx/arch/arm/src/armv7-a/arm_assert.c
+++ b/nuttx/arch/arm/src/armv7-a/arm_assert.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  * arch/arm/src/armv7-a/arm_assert.c
  *
- *   Copyright (C) 2013 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2013-2014 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -46,6 +46,8 @@
 
 #include <nuttx/irq.h>
 #include <nuttx/arch.h>
+#include <nuttx/usb/usbdev_trace.h>
+
 #include <arch/board/board.h>
 
 #include "up_arch.h"
@@ -55,6 +57,11 @@
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
+/* USB trace dumping */
+
+#ifndef CONFIG_USBDEV_TRACE
+#  undef CONFIG_ARCH_USBDUMP
+#endif
 
 /* Output debug info if stack dump is selected -- even if 
  * debug is not selected.
@@ -155,6 +162,18 @@ static inline void up_registerdump(void)
 #endif
 
 /****************************************************************************
+ * Name: assert_tracecallback
+ ****************************************************************************/
+
+#ifdef CONFIG_ARCH_USBDUMP
+static int assert_tracecallback(struct usbtrace_s *trace, void *arg)
+{
+  usbtrace_trprintf((trprintf_t)lowsyslog, trace->event, trace->value);
+  return 0;
+}
+#endif
+
+/****************************************************************************
  * Name: up_dumpstate
  ****************************************************************************/
 
@@ -207,6 +226,7 @@ static void up_dumpstate(void)
           lldbg("ERROR: Stack pointer is not within interrupt stack\n");
         }
     }
+
   if (sp <= istackbase && sp > istackbase - istacksize)
     {
       /* Yes.. dump the interrupt stack */
@@ -253,6 +273,12 @@ static void up_dumpstate(void)
   /* Then dump the registers (if available) */
 
   up_registerdump();
+
+#ifdef CONFIG_ARCH_USBDUMP
+  /* Dump USB trace data */
+
+  (void)usbtrace_enumerate(assert_tracecallback, NULL);
+#endif
 }
 #else
 # define up_dumpstate()
diff --git a/nuttx/arch/arm/src/armv7-m/up_assert.c b/nuttx/arch/arm/src/armv7-m/up_assert.c
index 26b3eda1f..fd29259e9 100644
--- a/nuttx/arch/arm/src/armv7-m/up_assert.c
+++ b/nuttx/arch/arm/src/armv7-m/up_assert.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  * arch/arm/src/armv7-m/up_assert.c
  *
- *   Copyright (C) 2009-2010, 2012-2013 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2009-2010, 2012-2014 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -46,6 +46,8 @@
 
 #include <nuttx/irq.h>
 #include <nuttx/arch.h>
+#include <nuttx/usb/usbdev_trace.h>
+
 #include <arch/board/board.h>
 
 #include "up_arch.h"
@@ -55,6 +57,11 @@
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
+/* USB trace dumping */
+
+#ifndef CONFIG_USBDEV_TRACE
+#  undef CONFIG_ARCH_USBDUMP
+#endif
 
 /* Output debug info if stack dump is selected -- even if 
  * debug is not selected.
@@ -168,6 +175,18 @@ static inline void up_registerdump(void)
 #endif
 
 /****************************************************************************
+ * Name: assert_tracecallback
+ ****************************************************************************/
+
+#ifdef CONFIG_ARCH_USBDUMP
+static int assert_tracecallback(struct usbtrace_s *trace, void *arg)
+{
+  usbtrace_trprintf((trprintf_t)lowsyslog, trace->event, trace->value);
+  return 0;
+}
+#endif
+
+/****************************************************************************
  * Name: up_dumpstate
  ****************************************************************************/
 
@@ -270,6 +289,12 @@ static void up_dumpstate(void)
   /* Then dump the registers (if available) */
 
   up_registerdump();
+
+#ifdef CONFIG_ARCH_USBDUMP
+  /* Dump USB trace data */
+
+  (void)usbtrace_enumerate(assert_tracecallback, NULL);
+#endif
 }
 #else
 # define up_dumpstate()
diff --git a/nuttx/arch/arm/src/sam34/sam_udp.c b/nuttx/arch/arm/src/sam34/sam_udp.c
index b2546687c..17aee4385 100644
--- a/nuttx/arch/arm/src/sam34/sam_udp.c
+++ b/nuttx/arch/arm/src/sam34/sam_udp.c
@@ -298,6 +298,7 @@ struct sam_ep_s
   struct sam_rqhead_s  reqq;         /* Read/write request queue */
   volatile uint8_t     epstate;      /* State of the endpoint (see enum sam_epstate_e) */
   uint8_t              stalled:1;    /* true: Endpoint is stalled */
+  uint8_t              pending:1;    /* true: IN Endpoint stall is pending */
   uint8_t              halted:1;     /* true: Endpoint feature halted */
   uint8_t              zlpneeded:1;  /* Zero length packet needed at end of transfer */
   uint8_t              zlpsent:1;    /* Zero length packet has been sent */
@@ -400,6 +401,8 @@ static int    sam_udp_interrupt(int irq, void *context);
 
 static void   sam_ep_reset(struct sam_usbdev_s *priv, uint8_t epno);
 static void   sam_epset_reset(struct sam_usbdev_s *priv, uint16_t epset);
+static int    sam_ep_stall(struct sam_ep_s *privep);
+static int    sam_ep_resume(struct sam_ep_s *privep);
 static inline struct sam_ep_s *
               sam_ep_reserve(struct sam_usbdev_s *priv, uint8_t epset);
 static inline void
@@ -427,7 +430,7 @@ static int    sam_ep_submit(struct usbdev_ep_s *ep,
                 struct usbdev_req_s *req);
 static int    sam_ep_cancel(struct usbdev_ep_s *ep,
                 struct usbdev_req_s *req);
-static int    sam_ep_stall(struct usbdev_ep_s *ep, bool resume);
+static int    sam_ep_stallresume(struct usbdev_ep_s *ep, bool resume);
 
 /* USB device controller operations *****************************************/
 
@@ -472,7 +475,7 @@ static const struct usbdev_epops_s g_epops =
 #endif
   .submit        = sam_ep_submit,
   .cancel        = sam_ep_cancel,
-  .stall         = sam_ep_stall,
+  .stall         = sam_ep_stallresume,
 };
 
 static const struct usbdev_ops_s g_devops =
@@ -990,6 +993,16 @@ static int sam_req_write(struct sam_usbdev_s *priv, struct sam_ep_s *privep)
           /* Clear any pending the TXCOMP interrupt */
 
           sam_csr_clrbits(epno, UDPEP_CSR_TXCOMP);
+
+          /* Was there a pending endpoint stall? */
+
+          if (privep->pending)
+            {
+              /* Yes... stall the endpoint now */
+
+              (void)sam_ep_stall(privep);
+            }
+
           return -ENOENT;
         }
 
@@ -1080,9 +1093,12 @@ static int sam_req_write(struct sam_usbdev_s *priv, struct sam_ep_s *privep)
            * TXCOMP was set by the USB device when it has received an ACK
            * PID signal for the Data IN packet.  An interrupt is pending
            * while TXCOMP is set.
+           *
+           * REVISIT:  This function might be called before TXCOMP is
+           * actually received.
            */
 
-          sam_csr_clrbits(epno, UDPEP_CSR_TXCOMP);
+          //sam_csr_clrbits(epno, UDPEP_CSR_TXCOMP);
 
          /* Return the write request to the class driver */
 
@@ -1336,7 +1352,7 @@ static void sam_ep0_dispatch(struct sam_usbdev_s *priv)
           /* Stall on failure */
 
           usbtrace(TRACE_DEVERROR(SAM_TRACEERR_DISPATCHSTALL), 0);
-          (void)sam_ep_stall(&priv->eplist[EP0].ep, false);
+          (void)sam_ep_stall(&priv->eplist[EP0]);
         }
     }
 }
@@ -1408,6 +1424,7 @@ static void sam_ep0_setup(struct sam_usbdev_s *priv)
   /* Assume NOT stalled; no TX in progress */
 
   ep0->stalled  = false;
+  ep0->pending  = false;
   ep0->epstate  = UDP_EPSTATE_IDLE;
 
   /* And extract the little-endian 16-bit values to host order */
@@ -1551,7 +1568,7 @@ static void sam_ep0_setup(struct sam_usbdev_s *priv)
                 privep         = &priv->eplist[epno];
                 privep->halted = false;
 
-                ret = sam_ep_stall(&privep->ep, true);
+                ret = sam_ep_resume(privep);
                 if (ret < 0)
                   {
                     ep0result = UDP_EP0SETUP_STALL;
@@ -1600,7 +1617,7 @@ static void sam_ep0_setup(struct sam_usbdev_s *priv)
                 privep         = &priv->eplist[epno];
                 privep->halted = true;
 
-                ret = sam_ep_stall(&privep->ep, false);
+                ret = sam_ep_stall(privep);
                 if (ret < 0)
                   {
                     ep0result = UDP_EP0SETUP_STALL;
@@ -1834,7 +1851,7 @@ static void sam_ep0_setup(struct sam_usbdev_s *priv)
           usbtrace(TRACE_DEVERROR(SAM_TRACEERR_EP0SETUPSTALLED),
                    priv->ctrl.req);
 
-          (void)sam_ep_stall(&priv->eplist[EP0].ep, false);
+          (void)sam_ep_stall(&priv->eplist[EP0]);
         }
         break;
 
@@ -1909,7 +1926,7 @@ static void sam_ep_bankinterrupt(struct sam_usbdev_s *priv,
       else
         {
           usbtrace(TRACE_DEVERROR(SAM_TRACEERR_EP0SETUPOUTSIZE), pktsize);
-          (void)sam_ep_stall(&privep->ep, false);
+          (void)sam_ep_stall(privep);
         }
     }
 
@@ -2485,6 +2502,7 @@ static void sam_ep_reset(struct sam_usbdev_s *priv, uint8_t epno)
 
   privep->epstate   = UDP_EPSTATE_DISABLED;
   privep->stalled   = false;
+  privep->pending   = false;
   privep->halted    = false;
   privep->zlpneeded = false;
   privep->zlpsent   = false;
@@ -2522,6 +2540,122 @@ static void sam_epset_reset(struct sam_usbdev_s *priv, uint16_t epset)
 }
 
 /****************************************************************************
+ * Name: sam_ep_stall
+ ****************************************************************************/
+
+static int sam_ep_stall(struct sam_ep_s *privep)
+{
+  irqstate_t flags;
+  uint8_t epno;
+
+  /* Check that endpoint is in Idle state */
+
+  DEBUGASSERT(/* privep->epstate == UDP_EPSTATE_IDLE && */ privep->dev);
+
+  /* Check that endpoint is enabled and not already in Halt state */
+
+  flags = irqsave();
+  if ((privep->epstate != UDP_EPSTATE_DISABLED) &&
+      (privep->epstate != UDP_EPSTATE_STALLED))
+    {
+      epno = USB_EPNO(privep->ep.eplog);
+      usbtrace(TRACE_EPSTALL, epno);
+
+      /* If this is an IN endpoint (or endpoint 0), then cancel all
+       * of the pending write requests.
+       */
+
+      if (epno == 0 || USB_ISEPIN(privep->ep.eplog))
+        {
+          sam_req_cancel(privep, -EPERM);
+        }
+
+      /* Otherwise, it is an OUT endpoint.  Complete any read request
+       * currently in progress (they will get requeued immediately).
+       */
+
+      else if (privep->epstate == UDP_EPSTATE_RECEIVING)
+        {
+          sam_req_complete(privep, -EPERM);
+        }
+
+      /* Put endpoint into stalled state */
+
+      privep->epstate = UDP_EPSTATE_STALLED;
+      privep->stalled = true;
+      privep->pending = false;
+
+      sam_csr_setbits(epno, UDPEP_CSR_FORCESTALL);
+    }
+ 
+  irqrestore(flags);
+  return OK;
+}
+
+/****************************************************************************
+ * Name: sam_ep_resume
+ ****************************************************************************/
+
+static int sam_ep_resume(struct sam_ep_s *privep)
+{
+  struct sam_usbdev_s *priv;
+  irqstate_t flags;
+  uint8_t epno;
+
+  /* Check that endpoint is in Idle state */
+
+  DEBUGASSERT(/* privep->epstate == UDP_EPSTATE_IDLE && */ privep->dev);
+
+  flags = irqsave();
+
+  /* Check if the endpoint is stalled */
+
+  if (privep->epstate == UDP_EPSTATE_STALLED)
+    {
+      epno = USB_EPNO(privep->ep.eplog);
+      usbtrace(TRACE_EPRESUME, epno);
+
+      priv = (struct sam_usbdev_s *)privep->dev;
+
+      /* Return endpoint to Idle state */
+
+      privep->stalled = false;
+      privep->pending = false;
+      privep->epstate = UDP_EPSTATE_IDLE;
+
+      /* Clear FORCESTALL request
+       * REVISIT:  Data sheet says to reset toggle to DATA0 only on OUT
+       * endpoints.
+       */
+
+      sam_csr_clrbits(epno, UDPEP_CSR_DTGLE | UDPEP_CSR_FORCESTALL);
+
+      /* Reset the endpoint FIFO */
+
+      sam_putreg(UDP_RSTEP(epno), SAM_UDP_RSTEP);
+      sam_putreg(0, SAM_UDP_RSTEP);
+
+      /* Resuming any blocked data transfers on the endpoint */
+
+      if (epno == 0 || USB_ISEPIN(privep->ep.eplog))
+        {
+          /* IN endpoint (or EP0).  Restart any queued write requests */
+
+          (void)sam_req_write(priv, privep);
+        }
+      else
+        {
+          /* OUT endpoint.  Restart any queued read requests. */
+
+          (void)sam_req_read(priv, privep, 0);
+        }
+    }
+
+  irqrestore(flags);
+  return OK;
+}
+
+/****************************************************************************
  * Name: sam_ep_reserve
  *
  * Description:
@@ -2965,11 +3099,11 @@ static int sam_ep_submit(struct usbdev_ep_s *ep, struct usbdev_req_s *req)
 
   if (USB_ISEPIN(ep->eplog) || epno == EP0)
     {
-      /* If the endpoint is stalled, then fail any attempts to write
-       * through the endpoint.
+      /* If the endpoint is stalled (or there is a stall pending), then fail
+       * any attempts to write through the endpoint.
        */
 
-      if (privep->stalled)
+      if (privep->stalled || privep->pending)
         {
           sam_req_abort(privep, privreq, -EBUSY);
           ulldbg("ERROR: stalled\n");
@@ -3037,15 +3171,15 @@ static int sam_ep_cancel(struct usbdev_ep_s *ep, struct usbdev_req_s *req)
 }
 
 /****************************************************************************
- * Name: sam_ep_stall
+ * Name: sam_ep_stallresume
  ****************************************************************************/
 
-static int sam_ep_stall(struct usbdev_ep_s *ep, bool resume)
+static int sam_ep_stallresume(struct usbdev_ep_s *ep, bool resume)
 {
   struct sam_ep_s *privep;
-  struct sam_usbdev_s *priv;
-  uint8_t epno = USB_EPNO(ep->eplog);
+  uint8_t epno;
   irqstate_t flags;
+  int ret;
 
 #ifdef CONFIG_DEBUG
   if (!ep)
@@ -3055,103 +3189,52 @@ static int sam_ep_stall(struct usbdev_ep_s *ep, bool resume)
     }
 #endif
 
-  /* Check that endpoint is in Idle state */
-
-  privep = (struct sam_ep_s *)ep;
-  DEBUGASSERT(/* privep->epstate == UDP_EPSTATE_IDLE && */ privep->dev);
-
-  priv = (struct sam_usbdev_s *)privep->dev;
-  epno = USB_EPNO(ep->eplog);
-
-  /* STALL or RESUME the endpoint */
-
-  flags = irqsave();
-  usbtrace(resume ? TRACE_EPRESUME : TRACE_EPSTALL, USB_EPNO(ep->eplog));
-
   /* Handle the resume condition */
 
+  privep = (struct sam_ep_s *)ep;
   if (resume)
     {
-      /* Check if the endpoint is halted */
-
-      if (privep->epstate == UDP_EPSTATE_STALLED)
-        {
-          usbtrace(TRACE_EPRESUME, epno);
-          privep->stalled = false;
-
-          /* Return endpoint to Idle state */
-
-          privep->epstate = UDP_EPSTATE_IDLE;
-
-          /* Clear FORCESTALL request
-           * REVISIT:  Data sheet says to reset toggle to DATA0 only on OUT
-           * endpoints.
-           */
-
-          sam_csr_clrbits(epno, UDPEP_CSR_DTGLE | UDPEP_CSR_FORCESTALL);
-
-          /* Reset the endpoint FIFO */
-
-          sam_putreg(UDP_RSTEP(epno), SAM_UDP_RSTEP);
-          sam_putreg(0, SAM_UDP_RSTEP);
-
-          /* Resuming any blocked data transfers on the endpoint */
-
-          if (epno == 0 || USB_ISEPIN(ep->eplog))
-            {
-              /* IN endpoint (or EP0).  Restart any queued write requests */
-
-              (void)sam_req_write(priv, privep);
-            }
-          else
-            {
-              /* OUT endpoint.  Restart any queued read requests. */
-
-              (void)sam_req_read(priv, privep, 0);
-            }
-        }
+      ret = sam_ep_resume(privep);
     }
 
   /* Handle the stall condition */
 
   else
     {
-      /* Check that endpoint is enabled and not already in Halt state */
+      /* If this is an IN endpoint (and not EP0) and if there are queued
+       * write requests, then we cannot stall now.  Perhaps this is a
+       * protocol stall.  In that case, we will need to drain the write
+       * requests before sending the stall.
+       */
 
-      if ((privep->epstate != UDP_EPSTATE_DISABLED) &&
-          (privep->epstate != UDP_EPSTATE_STALLED))
+      flags = irqsave();
+      epno = USB_EPNO(ep->eplog);
+      if (epno != 0 && USB_ISEPIN(ep->eplog))
         {
-          usbtrace(TRACE_EPSTALL, epno);
-
-          /* If this is an IN endpoint (or endpoint 0), then cancel all
-           * of the pending write requests.
-           */
+          /* Are there any unfinished write requests in the request queue? */
 
-          if (epno == 0 || USB_ISEPIN(ep->eplog))
+          if (!sam_rqempty(&privep->reqq)))
             {
-              sam_req_cancel(privep, -EPERM);
-            }
-
-          /* Otherwise, it is an OUT endpoint.  Complete any read request
-           * currently in progress (it will get requeued immediately).
-           */
+              /* Just set a flag to indicate that the endpoint must be
+               * stalled on the next TXCOMP interrupt when the requeust
+               * queue becomes empty.
+               */
 
-          else if (privep->epstate == UDP_EPSTATE_RECEIVING)
-            {
-              sam_req_complete(privep, -EPERM);
+              privep->pending = true;
+              irqrestore(flags);
+              return OK;
             }
+        }
 
-          /* Put endpoint into stalled state */
-
-          privep->epstate = UDP_EPSTATE_STALLED;
-          privep->stalled = true;
+      /* Not an IN endpoint, endpoint 0, or no pending write requests.
+       * Stall the endpoint now.
+       */
 
-          sam_csr_setbits(epno, UDPEP_CSR_FORCESTALL);
-        }
+      ret = sam_ep_stall(privep);
+      irqrestore(flags);
     }
 
-  irqrestore(flags);
-  return OK;
+  return ret;
 }
 
 /****************************************************************************
@@ -3479,6 +3562,7 @@ static void sam_reset(struct sam_usbdev_s *priv)
       /* Reset endpoint status */
 
       privep->stalled   = false;
+      privep->pending   = false;
       privep->halted    = false;
       privep->zlpneeded = false;
       privep->zlpsent   = false;
diff --git a/nuttx/arch/avr/src/common/up_assert.c b/nuttx/arch/avr/src/common/up_assert.c
index 59001cd43..c66ce0fca 100644
--- a/nuttx/arch/avr/src/common/up_assert.c
+++ b/nuttx/arch/avr/src/common/up_assert.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  * arch/avr/src/common/up_assert.c
  *
- *   Copyright (C) 2010-2011, 2013 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2010-2011, 2013-2014 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -46,6 +46,8 @@
 
 #include <nuttx/irq.h>
 #include <nuttx/arch.h>
+#include <nuttx/usb/usbdev_trace.h>
+
 #include <arch/board/board.h>
 
 #include "up_arch.h"
@@ -55,6 +57,11 @@
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
+/* USB trace dumping */
+
+#ifndef CONFIG_USBDEV_TRACE
+#  undef CONFIG_ARCH_USBDUMP
+#endif
 
 /* The following is just intended to keep some ugliness out of the mainline
  * code.  We are going to print the task name if:
@@ -115,6 +122,18 @@ static void _up_assert(int errorcode)
 }
 
 /****************************************************************************
+ * Name: assert_tracecallback
+ ****************************************************************************/
+
+#ifdef CONFIG_ARCH_USBDUMP
+static int assert_tracecallback(struct usbtrace_s *trace, void *arg)
+{
+  usbtrace_trprintf((trprintf_t)lowsyslog, trace->event, trace->value);
+  return 0;
+}
+#endif
+
+/****************************************************************************
  * Public Functions
  ****************************************************************************/
 
@@ -139,5 +158,12 @@ void up_assert(const uint8_t *filename, int lineno)
 #endif
 
   up_dumpstate();
+
+#ifdef CONFIG_ARCH_USBDUMP
+  /* Dump USB trace data */
+
+  (void)usbtrace_enumerate(assert_tracecallback, NULL);
+#endif
+
   _up_assert(EXIT_FAILURE);
 }
diff --git a/nuttx/arch/hc/src/m9s12/m9s12_assert.c b/nuttx/arch/hc/src/m9s12/m9s12_assert.c
index d94f97b6c..e62bdd5f6 100644
--- a/nuttx/arch/hc/src/m9s12/m9s12_assert.c
+++ b/nuttx/arch/hc/src/m9s12/m9s12_assert.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  * arch/hc/src/m9s12/m9s12_assert.c
  *
- *   Copyright (C) 2011-2013 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2011-2014 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -46,6 +46,8 @@
 
 #include <nuttx/irq.h>
 #include <nuttx/arch.h>
+#include <nuttx/usb/usbdev_trace.h>
+
 #include <arch/board/board.h>
 
 #include "up_arch.h"
@@ -55,6 +57,11 @@
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
+/* USB trace dumping */
+
+#ifndef CONFIG_USBDEV_TRACE
+#  undef CONFIG_ARCH_USBDUMP
+#endif
 
 /* Output debug info if stack dump is selected -- even if 
  * debug is not selected.
@@ -150,6 +157,18 @@ static inline void up_registerdump(void)
 #endif
 
 /****************************************************************************
+ * Name: assert_tracecallback
+ ****************************************************************************/
+
+#ifdef CONFIG_ARCH_USBDUMP
+static int assert_tracecallback(struct usbtrace_s *trace, void *arg)
+{
+  usbtrace_trprintf((trprintf_t)lowsyslog, trace->event, trace->value);
+  return 0;
+}
+#endif
+
+/****************************************************************************
  * Name: up_dumpstate
  ****************************************************************************/
 
@@ -238,6 +257,12 @@ static void up_dumpstate(void)
   /* Then dump the registers (if available) */
 
   up_registerdump();
+
+#ifdef CONFIG_ARCH_USBDUMP
+  /* Dump USB trace data */
+
+  (void)usbtrace_enumerate(assert_tracecallback, NULL);
+#endif
 }
 #else
 # define up_dumpstate()
diff --git a/nuttx/arch/mips/src/mips32/up_assert.c b/nuttx/arch/mips/src/mips32/up_assert.c
index bd59bbc2c..767393667 100644
--- a/nuttx/arch/mips/src/mips32/up_assert.c
+++ b/nuttx/arch/mips/src/mips32/up_assert.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  * arch/mips/src/mips32/up_assert.c
  *
- *   Copyright (C) 2011-2013 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2011-2014 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -46,6 +46,8 @@
 
 #include <nuttx/irq.h>
 #include <nuttx/arch.h>
+#include <nuttx/usb/usbdev_trace.h>
+
 #include <arch/board/board.h>
 
 #include "up_arch.h"
@@ -55,6 +57,11 @@
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
+/* USB trace dumping */
+
+#ifndef CONFIG_USBDEV_TRACE
+#  undef CONFIG_ARCH_USBDUMP
+#endif
 
 /* Output debug info if stack dump is selected -- even if debug is not
  * selected.
@@ -115,6 +122,18 @@ static void _up_assert(int errorcode)
 }
 
 /****************************************************************************
+ * Name: assert_tracecallback
+ ****************************************************************************/
+
+#ifdef CONFIG_ARCH_USBDUMP
+static int assert_tracecallback(struct usbtrace_s *trace, void *arg)
+{
+  usbtrace_trprintf((trprintf_t)lowsyslog, trace->event, trace->value);
+  return 0;
+}
+#endif
+
+/****************************************************************************
  * Public Functions
  ****************************************************************************/
 
@@ -139,5 +158,12 @@ void up_assert(const uint8_t *filename, int lineno)
 #endif
 
   up_dumpstate();
+
+#ifdef CONFIG_ARCH_USBDUMP
+  /* Dump USB trace data */
+
+  (void)usbtrace_enumerate(assert_tracecallback, NULL);
+#endif
+
   _up_assert(EXIT_FAILURE);
 }
diff --git a/nuttx/arch/sh/src/common/up_assert.c b/nuttx/arch/sh/src/common/up_assert.c
index 372282804..12f177e8f 100644
--- a/nuttx/arch/sh/src/common/up_assert.c
+++ b/nuttx/arch/sh/src/common/up_assert.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  * arch/sh/src/common/up_assert.c
  *
- *   Copyright (C) 2008-2009, 2012-2013 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2008-2009, 2012-2014 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -46,6 +46,9 @@
 
 #include <nuttx/irq.h>
 #include <nuttx/arch.h>
+#include <nuttx/usb/usbdev_trace.h>
+
+#include <nuttx/usb/usbdev_trace.h>
 
 #include "up_arch.h"
 #include "os_internal.h"
@@ -54,6 +57,11 @@
 /****************************************************************************
  * Definitions
  ****************************************************************************/
+/* USB trace dumping */
+
+#ifndef CONFIG_USBDEV_TRACE
+#  undef CONFIG_ARCH_USBDUMP
+#endif
 
 /* Output debug info if stack dump is selected -- even if 
  * debug is not selected.
@@ -101,6 +109,18 @@ static void _up_assert(int errorcode)
 }
 
 /****************************************************************************
+ * Name: assert_tracecallback
+ ****************************************************************************/
+
+#ifdef CONFIG_ARCH_USBDUMP
+static int assert_tracecallback(struct usbtrace_s *trace, void *arg)
+{
+  usbtrace_trprintf((trprintf_t)lowsyslog, trace->event, trace->value);
+  return 0;
+}
+#endif
+
+/****************************************************************************
  * Public Functions
  ****************************************************************************/
 
@@ -125,5 +145,12 @@ void up_assert(const uint8_t *filename, int lineno)
 #endif
 
   up_dumpstate();
+
+#ifdef CONFIG_ARCH_USBDUMP
+  /* Dump USB trace data */
+
+  (void)usbtrace_enumerate(assert_tracecallback, NULL);
+#endif
+
   _up_assert(EXIT_FAILURE);
 }
diff --git a/nuttx/arch/x86/src/common/up_assert.c b/nuttx/arch/x86/src/common/up_assert.c
index 1cb2d682f..b67db487b 100644
--- a/nuttx/arch/x86/src/common/up_assert.c
+++ b/nuttx/arch/x86/src/common/up_assert.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  * arch/x86/src/common/up_assert.c
  *
- *   Copyright (C) 2011-2013 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2011-2014 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -47,6 +47,8 @@
 #include <nuttx/irq.h>
 #include <nuttx/arch.h>
 #include <arch/arch.h>
+#include <nuttx/usb/usbdev_trace.h>
+
 #include <arch/board/board.h>
 
 #include "up_arch.h"
@@ -56,6 +58,11 @@
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
+/* USB trace dumping */
+
+#ifndef CONFIG_USBDEV_TRACE
+#  undef CONFIG_ARCH_USBDUMP
+#endif
 
 /* Output debug info if stack dump is selected -- even if 
  * debug is not selected.
@@ -109,6 +116,18 @@ static void up_stackdump(uint32_t sp, uint32_t stack_base)
 #endif
 
 /****************************************************************************
+ * Name: assert_tracecallback
+ ****************************************************************************/
+
+#ifdef CONFIG_ARCH_USBDUMP
+static int assert_tracecallback(struct usbtrace_s *trace, void *arg)
+{
+  usbtrace_trprintf((trprintf_t)lowsyslog, trace->event, trace->value);
+  return 0;
+}
+#endif
+
+/****************************************************************************
  * Name: up_dumpstate
  ****************************************************************************/
 
@@ -199,7 +218,13 @@ static void up_dumpstate(void)
   if (current_regs != NULL)
     {
       up_registerdump((uint32_t*)current_regs);
-	}
+    }
+
+#ifdef CONFIG_ARCH_USBDUMP
+  /* Dump USB trace data */
+
+  (void)usbtrace_enumerate(assert_tracecallback, NULL);
+#endif
 }
 #else
 # define up_dumpstate()
diff --git a/nuttx/arch/z16/src/common/up_assert.c b/nuttx/arch/z16/src/common/up_assert.c
index 454df8023..bc63f9b6c 100644
--- a/nuttx/arch/z16/src/common/up_assert.c
+++ b/nuttx/arch/z16/src/common/up_assert.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  * common/up_assert.c
  *
- *   Copyright (C) 2008-2009, 2012-2013 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2008-2009, 2012-2014 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -46,6 +46,8 @@
 
 #include <nuttx/irq.h>
 #include <nuttx/arch.h>
+#include <nuttx/usb/usbdev_trace.h>
+
 #include <arch/board/board.h>
 
 #include "chip/chip.h"
@@ -53,8 +55,13 @@
 #include "up_internal.h"
 
 /****************************************************************************
- * Definitions
+ * Pre-processor Definitions
  ****************************************************************************/
+/* USB trace dumping */
+
+#ifndef CONFIG_USBDEV_TRACE
+#  undef CONFIG_ARCH_USBDUMP
+#endif
 
 /* Output debug info if stack dump is selected -- even if 
  * debug is not selected.
@@ -101,6 +108,18 @@ static void _up_assert(int errorcode) /* noreturn_function */
 }
 
 /****************************************************************************
+ * Name: assert_tracecallback
+ ****************************************************************************/
+
+#ifdef CONFIG_ARCH_USBDUMP
+static int assert_tracecallback(struct usbtrace_s *trace, void *arg)
+{
+  usbtrace_trprintf((trprintf_t)lowsyslog, trace->event, trace->value);
+  return 0;
+}
+#endif
+
+/****************************************************************************
  * Public Functions
  ****************************************************************************/
 
@@ -138,5 +157,12 @@ void up_assert(void)
 
   up_stackdump();
   up_registerdump();
- _up_assert(EXIT_FAILURE);
+
+#ifdef CONFIG_ARCH_USBDUMP
+  /* Dump USB trace data */
+
+  (void)usbtrace_enumerate(assert_tracecallback, NULL);
+#endif
+
+  _up_assert(EXIT_FAILURE);
 }
diff --git a/nuttx/arch/z80/src/common/up_assert.c b/nuttx/arch/z80/src/common/up_assert.c
index 317b5a05b..40907991b 100644
--- a/nuttx/arch/z80/src/common/up_assert.c
+++ b/nuttx/arch/z80/src/common/up_assert.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  * common/up_assert.c
  *
- *   Copyright (C) 2007-2009, 2012-2013 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2007-2009, 2012-2014 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -46,6 +46,7 @@
 
 #include <nuttx/irq.h>
 #include <nuttx/arch.h>
+#include <nuttx/usb/usbdev_trace.h>
 
 #include "chip/chip.h"
 #include "up_arch.h"
@@ -53,8 +54,13 @@
 #include "up_internal.h"
 
 /****************************************************************************
- * Definitions
+ * Pre-processor Definitions
  ****************************************************************************/
+/* USB trace dumping */
+
+#ifndef CONFIG_USBDEV_TRACE
+#  undef CONFIG_ARCH_USBDUMP
+#endif
 
 /* Output debug info if stack dump is selected -- even if 
  * debug is not selected.
@@ -101,6 +107,18 @@ static void _up_assert(int errorcode) /* noreturn_function */
 }
 
 /****************************************************************************
+ * Name: assert_tracecallback
+ ****************************************************************************/
+
+#ifdef CONFIG_ARCH_USBDUMP
+static int assert_tracecallback(struct usbtrace_s *trace, void *arg)
+{
+  usbtrace_trprintf((trprintf_t)lowsyslog, trace->event, trace->value);
+  return 0;
+}
+#endif
+
+/****************************************************************************
  * Public Functions
  ****************************************************************************/
 
@@ -138,5 +156,12 @@ void up_assert(void)
 
   up_stackdump();
   REGISTER_DUMP();
- _up_assert(EXIT_FAILURE);
+
+#ifdef CONFIG_ARCH_USBDUMP
+  /* Dump USB trace data */
+
+  (void)usbtrace_enumerate(assert_tracecallback, NULL);
+#endif
+
+  _up_assert(EXIT_FAILURE);
 }