drivers: udc: rpi_pico: fix RP2350 warm ep init

There was an issue that RP2350's USB controller won't start after a boot
through bootloader (for example a RAM-only boot)

For some reason this could be worked around by a k_usleep(10) added to
the enable function, however it was discovered that endpoint setup was
in the init function and not in enable function.

This led to DPSRAM likely being in the wrong state, as the enable path
zeroes its contents.

Fixed by moving internal endpoint enable/disable into enable/disable
from init/shutdown. This is done the same way in the
nrf, samd, dwc2 and stm32 drivers.

This also matches init sequency tinyusb does more closely.

Signed-off-by: Dmitrii Sharshakov <d3dx12.xx@gmail.com>

Author: dsseng

drivers/usb/udc/udc_rpi_pico.c

@@ -1044,6 +1044,18 @@ static int udc_rpi_pico_enable(const struct device *dev)
 			    USB_USB_PWR_VBUS_DETECT_OVERRIDE_EN_BITS, (mm_reg_t)&base->pwr);
 	}
 
+	if (udc_ep_enable_internal(dev, USB_CONTROL_EP_OUT,
+				   USB_EP_TYPE_CONTROL, 64, 0)) {
+		LOG_ERR("Failed to enable control endpoint");
+		return -EIO;
+	}
+
+	if (udc_ep_enable_internal(dev, USB_CONTROL_EP_IN,
+				   USB_EP_TYPE_CONTROL, 64, 0)) {
+		LOG_ERR("Failed to enable control endpoint");
+		return -EIO;
+	}
+
 	/* Enable an interrupt per EP0 transaction */
 	sys_write32(USB_SIE_CTRL_EP0_INT_1BUF_BITS, (mm_reg_t)&base->sie_ctrl);
 
@@ -1082,6 +1094,16 @@ static int udc_rpi_pico_disable(const struct device *dev)
 {
 	const struct rpi_pico_config *config = dev->config;
 
+	if (udc_ep_disable_internal(dev, USB_CONTROL_EP_OUT)) {
+		LOG_ERR("Failed to disable control endpoint");
+		return -EIO;
+	}
+
+	if (udc_ep_disable_internal(dev, USB_CONTROL_EP_IN)) {
+		LOG_ERR("Failed to disable control endpoint");
+		return -EIO;
+	}
+
 	config->irq_disable_func(dev);
 	LOG_DBG("Disable device %p", dev);
 
@@ -1094,18 +1116,6 @@ static int udc_rpi_pico_init(const struct device *dev)
 	const struct pinctrl_dev_config *const pcfg = config->pcfg;
 	int err;
 
-	if (udc_ep_enable_internal(dev, USB_CONTROL_EP_OUT,
-				   USB_EP_TYPE_CONTROL, 64, 0)) {
-		LOG_ERR("Failed to enable control endpoint");
-		return -EIO;
-	}
-
-	if (udc_ep_enable_internal(dev, USB_CONTROL_EP_IN,
-				   USB_EP_TYPE_CONTROL, 64, 0)) {
-		LOG_ERR("Failed to enable control endpoint");
-		return -EIO;
-	}
-
 	if (pcfg != NULL) {
 		err = pinctrl_apply_state(pcfg, PINCTRL_STATE_DEFAULT);
 		if (err) {
@@ -1121,16 +1131,6 @@ static int udc_rpi_pico_shutdown(const struct device *dev)
 {
 	const struct rpi_pico_config *config = dev->config;
 
-	if (udc_ep_disable_internal(dev, USB_CONTROL_EP_OUT)) {
-		LOG_ERR("Failed to disable control endpoint");
-		return -EIO;
-	}
-
-	if (udc_ep_disable_internal(dev, USB_CONTROL_EP_IN)) {
-		LOG_ERR("Failed to disable control endpoint");
-		return -EIO;
-	}
-
 	return clock_control_off(config->clk_dev, config->clk_sys);
 }