feat(endpoint): add configure endpoint method

src/types/usb_device.rs

@@ -91,6 +91,51 @@ impl<const L: usize> UsbDevice<L> {
 
         Ok(())
     }
+    pub fn configure_endpoint(
+        &mut self,
+        cs: CriticalSection<'_>,
+        endpoint_index: usize,
+    ) -> Result<(), UsbError> {
+        match self.select_endpoint(cs, endpoint_index) {
+            Ok(_) => {
+                let usb = self.usb.borrow(cs);
+                let current_endpoint = self.ep_table[endpoint_index];
+
+                // Clear interrupt. //
+                
+                usb.udint.modify(|_, w| w.eorsti().clear_bit());
+
+                // Enable endpoint. //
+
+                usb.ueconx.modify(|_, w| w.epen().set_bit());
+
+                // Set markered endpoint parameters to uecfg0x/1x register. //
+
+                usb.uecfg0x.modify(|_, w| {
+                    w.epdir()
+                        .bit(current_endpoint.ep_dir)
+                        .eptype()
+                        .bits(current_endpoint.ep_type)
+                });
+
+                usb.uecfg1x.modify(|_, w| {
+                    w.epbk()
+                        .bits(current_endpoint.banks)
+                        .epsize()
+                        .bits(current_endpoint.size)
+                        .alloc()
+                        .bit(current_endpoint.is_allocated)
+                });
+
+                if !usb.uesta0x.read().cfgok().bit() {
+                    Err(UsbError::EndpointOverflow)
+                } else {
+                    Ok(())
+                }
+            }
+            Err(exception) => Err(exception),
+        }
+    }
 }
 
 impl<const L: usize> UsbBus for UsbDevice<L> {