Merge pull request #4327 from hathach/fix-4066-rp2040-hanged-tud_disconnect

fix rp2040 use of tud_disconnect

Author: dhalbert

lib/tinyusb

@@ -31,23 +31,17 @@
 #include "src/rp2_common/pico_platform/include/pico/platform.h"
 #include "src/rp2040/hardware_regs/include/hardware/regs/intctrl.h"
 
-static background_callback_t usb_callback;
-static void usb_background_do(void* unused) {
-    usb_background();
-}
-
-static void queue_background(void) {
-    background_callback_add(&usb_callback, usb_background_do, NULL);
-}
-
 void init_usb_hardware(void) {
 }
 
 void post_usb_init(void) {
+    irq_set_enabled(USBCTRL_IRQ, false);
+
     irq_handler_t usb_handler = irq_get_exclusive_handler(USBCTRL_IRQ);
     if (usb_handler) {
         irq_remove_handler(USBCTRL_IRQ, usb_handler);
-        irq_add_shared_handler(USBCTRL_IRQ, usb_handler, PICO_DEFAULT_IRQ_PRIORITY);
     }
-    irq_add_shared_handler(USBCTRL_IRQ, queue_background, PICO_LOWEST_IRQ_PRIORITY);
+    irq_set_exclusive_handler(USBCTRL_IRQ, usb_irq_handler);
+
+    irq_set_enabled(USBCTRL_IRQ, true);
 }