From 29f6e663e06a79c630aee0392d9aeb3768c8ae2c Mon Sep 17 00:00:00 2001 From: Yasmin Bosch Date: Sun, 17 Mar 2024 16:23:10 +0100 Subject: [PATCH 1/5] ports/unix/Makefile: Move up "HAVE_LIBUSB" code to be effective. There is a code that evaluates "HAVE_LIBUSB" and then sets "MICROPY_BLUETOOTH_BTSTACK_USB" and "MICROPY_BLUETOOTH_BTSTACK_H4" accordingly. That code has been moved before "include $(TOP)/extmod/extmod.mk" to be effective. Details: "include $(TOP)/extmod/extmod.mk" will "include $(TOP)/extmod/btstack/btstack.mk" and that in turn sets "MICROPY_BLUETOOTH_BTSTACK_USB ?= 0" "MICROPY_BLUETOOTH_BTSTACK_H4 ?= 1" Signed-off-by: Yasmin Bosch --- ports/unix/Makefile | 31 +++++++++++++++++++------------ 1 file changed, 19 insertions(+), 12 deletions(-) diff --git a/ports/unix/Makefile b/ports/unix/Makefile index d5bd6d4098..3687755bfd 100644 --- a/ports/unix/Makefile +++ b/ports/unix/Makefile @@ -33,6 +33,25 @@ QSTR_GLOBAL_DEPENDENCIES += $(VARIANT_DIR)/mpconfigvariant.h # OS name, for simple autoconfig UNAME_S := $(shell uname -s) +# If the variant enables it, enable modbluetooth. +ifeq ($(MICROPY_PY_BLUETOOTH),1) +ifeq ($(MICROPY_BLUETOOTH_BTSTACK),1) +HAVE_LIBUSB := $(shell (which pkg-config > /dev/null && pkg-config --exists libusb-1.0) 2>/dev/null && echo '1') + +# Figure out which BTstack transport to use. +ifeq ($(HAVE_LIBUSB),1) +# Default to btstack-over-usb. +MICROPY_BLUETOOTH_BTSTACK_USB ?= 1 +MICROPY_BLUETOOTH_BTSTACK_H4 ?= 0 +else +# Fallback to HCI controller via a H4 UART (e.g. Zephyr on nRF) over a /dev/tty serial port. +MICROPY_BLUETOOTH_BTSTACK_USB ?= 0 +MICROPY_BLUETOOTH_BTSTACK_H4 ?= 1 +endif + +endif +endif + # include py core make definitions include $(TOP)/py/py.mk include $(TOP)/extmod/extmod.mk @@ -144,20 +163,8 @@ ifeq ($(MICROPY_SSL_AXTLS),1) endif endif -# If the variant enables it, enable modbluetooth. ifeq ($(MICROPY_PY_BLUETOOTH),1) ifeq ($(MICROPY_BLUETOOTH_BTSTACK),1) -HAVE_LIBUSB := $(shell (which pkg-config > /dev/null && pkg-config --exists libusb-1.0) 2>/dev/null && echo '1') - -# Figure out which BTstack transport to use. -ifeq ($(HAVE_LIBUSB),1) -# Default to btstack-over-usb. -MICROPY_BLUETOOTH_BTSTACK_USB ?= 1 -else -# Fallback to HCI controller via a H4 UART (e.g. Zephyr on nRF) over a /dev/tty serial port. -MICROPY_BLUETOOTH_BTSTACK_H4 ?= 1 -endif - SRC_BTSTACK_C += lib/btstack/platform/embedded/btstack_run_loop_embedded.c endif endif From 7acadbd5fc08c5af9dc8f2dc695ea4077c04e94a Mon Sep 17 00:00:00 2001 From: Yasmin Bosch Date: Sun, 17 Mar 2024 16:24:59 +0100 Subject: [PATCH 2/5] =?UTF-8?q?ports/unix:=20Fix=20"=E2=80=98signal=5Fsco?= =?UTF-8?q?=5Fcan=5Fsend=5Fnow=E2=80=99=20defined=20but=20not=20used".?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Added a "ports/unix/btstack_config.h" for a workaround: If "MICROPY_BLUETOOTH_BTSTACK_USB" is set and "ENABLE_SCO_OVER_HCI" is not defined there is a compiler error: ../../lib/btstack/platform/libusb/hci_transport_h2_libusb.c:1354:13: error: ‘signal_sco_can_send_now’ defined but not used Because the problem is in an external code a workaround is done by defining MICROPY_BLUETOOTH_BTSTACK_USB in the added "btstack_config.h". The "ports/unix/Makefile" has been changed so that the "btstack_config.h" will be included. Signed-off-by: Yasmin Bosch --- ports/unix/Makefile | 6 ++++++ ports/unix/btstack_config.h | 23 +++++++++++++++++++++++ 2 files changed, 29 insertions(+) create mode 100644 ports/unix/btstack_config.h diff --git a/ports/unix/Makefile b/ports/unix/Makefile index 3687755bfd..c4e5750eef 100644 --- a/ports/unix/Makefile +++ b/ports/unix/Makefile @@ -52,6 +52,12 @@ endif endif endif +# Set the file that will be included by "extmod/btstack/btstack_config.h" +# +# The original file "extmod/btstack/btstack_config_common.h" +# will be included by it. +MICROPY_BLUETOOTH_BTSTACK_CONFIG_FILE ?= '"ports/unix/btstack_config.h"' + # include py core make definitions include $(TOP)/py/py.mk include $(TOP)/extmod/extmod.mk diff --git a/ports/unix/btstack_config.h b/ports/unix/btstack_config.h new file mode 100644 index 0000000000..374acc02e9 --- /dev/null +++ b/ports/unix/btstack_config.h @@ -0,0 +1,23 @@ +#ifndef MICROPY_INCLUDED_PORTS_UNIX_BTSTACK_CONFIG_H +#define MICROPY_INCLUDED_PORTS_UNIX_BTSTACK_CONFIG_H + + +#include "extmod/btstack/btstack_config_common.h" + +#ifdef MICROPY_BLUETOOTH_BTSTACK_USB +#if MICROPY_BLUETOOTH_BTSTACK_USB + +// Workaround: +// +// If ENABLE_SCO_OVER_HCI is not defined there is a compiler error: +// +// ../../lib/btstack/platform/libusb/hci_transport_h2_libusb.c:1354:13: +// error: ‘signal_sco_can_send_now’ defined but not used +// +// Because the problem is in an external code this workaround is done. +#define ENABLE_SCO_OVER_HCI + +#endif +#endif + +#endif // MICROPY_INCLUDED_PORTS_UNIX_BTSTACK_CONFIG_H From 5393f634136b0a9d1023eacdc8fe9c2f018b9071 Mon Sep 17 00:00:00 2001 From: Yasmin Bosch Date: Sun, 17 Mar 2024 16:30:59 +0100 Subject: [PATCH 3/5] ports/unix: Fix so that "MICROPY_BLUETOOTH_BTSTACK_USB=1" is working. ports/unix/mpbtstackport_usb.c: "lib/btstack/platform/posix/btstack_run_loop_posix.c" is now used instead of "lib/btstack/platform/embedded/btstack_run_loop_embedded.c". Additional code has been added to make it work. Now also a log file "/tmp/hci_dump.pklg" could be activated by setting "MICROPY_BLUETOOTH_BTSTACK_HCI_DUMP=1". The "Makefile" and "mpbtstackport_common.c" has been changed accordingly. Signed-off-by: Yasmin Bosch --- ports/unix/Makefile | 18 ++++ ports/unix/mpbtstackport_common.c | 4 +- ports/unix/mpbtstackport_usb.c | 136 +++++++++++++++++++++++++----- 3 files changed, 135 insertions(+), 23 deletions(-) diff --git a/ports/unix/Makefile b/ports/unix/Makefile index c4e5750eef..62d7793663 100644 --- a/ports/unix/Makefile +++ b/ports/unix/Makefile @@ -171,7 +171,25 @@ endif ifeq ($(MICROPY_PY_BLUETOOTH),1) ifeq ($(MICROPY_BLUETOOTH_BTSTACK),1) + +ifndef MICROPY_BLUETOOTH_BTSTACK_HCI_DUMP +MICROPY_BLUETOOTH_BTSTACK_HCI_DUMP ?= 0 +endif + +ifeq ($(MICROPY_BLUETOOTH_BTSTACK_USB),0) SRC_BTSTACK_C += lib/btstack/platform/embedded/btstack_run_loop_embedded.c +endif + +ifeq ($(MICROPY_BLUETOOTH_BTSTACK_USB),1) +SRC_BTSTACK_C += lib/btstack/platform/posix/btstack_run_loop_posix.c + +ifeq ($(MICROPY_BLUETOOTH_BTSTACK_HCI_DUMP),1) +CFLAGS += -DMICROPY_BLUETOOTH_BTSTACK_HCI_DUMP=1 +SRC_BTSTACK_C += lib/btstack/platform/posix/hci_dump_posix_fs.c +endif + +endif + endif endif diff --git a/ports/unix/mpbtstackport_common.c b/ports/unix/mpbtstackport_common.c index 36412e96f4..6cf9d6562f 100644 --- a/ports/unix/mpbtstackport_common.c +++ b/ports/unix/mpbtstackport_common.c @@ -41,7 +41,7 @@ #include "mpbtstackport.h" -// Called by the UART polling thread in mpbthciport.c, or by the USB polling thread in mpbtstackport_usb.c. +// Called by the UART polling thread in mpbthciport.c bool mp_bluetooth_hci_poll(void) { if (mp_bluetooth_btstack_state == MP_BLUETOOTH_BTSTACK_STATE_STARTING || mp_bluetooth_btstack_state == MP_BLUETOOTH_BTSTACK_STATE_ACTIVE || mp_bluetooth_btstack_state == MP_BLUETOOTH_BTSTACK_STATE_HALTING) { // Pretend like we're running in IRQ context (i.e. other things can't be running at the same time). @@ -80,9 +80,11 @@ uint32_t hal_time_ms(void) { } void mp_bluetooth_btstack_port_init(void) { + #if !MICROPY_BLUETOOTH_BTSTACK_USB btstack_run_loop_init(btstack_run_loop_embedded_get_instance()); // hci_dump_init(hci_dump_embedded_stdout_get_instance()); + #endif #if MICROPY_BLUETOOTH_BTSTACK_H4 mp_bluetooth_btstack_port_init_h4(); diff --git a/ports/unix/mpbtstackport_usb.c b/ports/unix/mpbtstackport_usb.c index 8b1d1fff21..f63ea90978 100644 --- a/ports/unix/mpbtstackport_usb.c +++ b/ports/unix/mpbtstackport_usb.c @@ -34,12 +34,12 @@ #include "py/runtime.h" #include "py/mperrno.h" #include "py/mphal.h" +#include "py/stackctrl.h" #include "lib/btstack/src/btstack.h" #include "lib/btstack/src/hci_transport_usb.h" -#include "lib/btstack/platform/embedded/btstack_run_loop_embedded.h" -#include "lib/btstack/platform/embedded/hal_cpu.h" -#include "lib/btstack/platform/embedded/hal_time_ms.h" +#include "lib/btstack/platform/posix/btstack_run_loop_posix.h" +#include "lib/btstack/platform/posix/hci_dump_posix_fs.h" #include "extmod/btstack/modbluetooth_btstack.h" @@ -49,9 +49,21 @@ #error Unix btstack requires MICROPY_PY_THREAD #endif -static const useconds_t USB_POLL_INTERVAL_US = 1000; +#define DEBUG_printf(...) // printf("mpbtstackport_usb.c: " __VA_ARGS__) void mp_bluetooth_btstack_port_init_usb(void) { + + #if MICROPY_BLUETOOTH_BTSTACK_HCI_DUMP + // log into file using HCI_DUMP_PACKETLOGGER format + const char *pklg_path = "/tmp/hci_dump.pklg"; + hci_dump_posix_fs_open(pklg_path, HCI_DUMP_PACKETLOGGER); + const hci_dump_t *hci_dump_impl = hci_dump_posix_fs_get_instance(); + hci_dump_init(hci_dump_impl); + printf("Packet Log: %s\n", pklg_path); + #endif + + btstack_run_loop_init(btstack_run_loop_posix_get_instance()); + // MICROPYBTUSB can be a ':'' or '-' separated port list. char *path = getenv("MICROPYBTUSB"); if (path != NULL) { @@ -76,35 +88,114 @@ void mp_bluetooth_btstack_port_init_usb(void) { static pthread_t bstack_thread_id; void mp_bluetooth_btstack_port_deinit(void) { - hci_power_control(HCI_POWER_OFF); + DEBUG_printf("mp_bluetooth_btstack_port_deinit: begin: mp_bluetooth_btstack_state=%d\n", mp_bluetooth_btstack_state); - // Wait for the poll loop to terminate when the state is set to OFF. + // Workaround: + // + // Possibly hci_power_control(HCI_POWER_OFF); + // crashes with memory fault if state is already MP_BLUETOOTH_BTSTACK_STATE_OFF. + if (mp_bluetooth_btstack_state != MP_BLUETOOTH_BTSTACK_STATE_OFF && + mp_bluetooth_btstack_state != MP_BLUETOOTH_BTSTACK_STATE_TIMEOUT) { + + hci_power_control(HCI_POWER_OFF); + + DEBUG_printf("mp_bluetooth_btstack_port_deinit: after HCI_POWER_OFF: mp_bluetooth_btstack_state=%d\n", mp_bluetooth_btstack_state); + } + + // btstack_run_loop_trigger_exit() will call btstack_run_loop_t::trigger_exit() + // i.e. btstack_run_loop_posix_trigger_exit(). + // And that will trigger the exit of btstack_run_loop_execute() + // i.e. btstack_run_loop_posix_execute(). + btstack_run_loop_trigger_exit(); + + // A call of btstack_run_loop_poll_data_sources_from_irq() is needed + // additional to btstack_run_loop_trigger_exit() to exit the posix run loop. + // + // Otherwise the posix run loop will wait forever for ready File Descriptors. + // + // Hint: + // btstack_run_loop_poll_data_sources_from_irq() + // calls btstack_run_loop_posix_poll_data_sources_from_irq() + btstack_run_loop_poll_data_sources_from_irq(); + + // MicroPython threads are created with PTHREAD_CREATE_DETACHED. + // + // Nonetheless the thread is created with PTHREAD_CREATE_JOINABLE and + // pthread_join() is used. + + DEBUG_printf("mp_bluetooth_btstack_port_deinit: pthread_join()\n"); pthread_join(bstack_thread_id, NULL); + + #if MICROPY_BLUETOOTH_BTSTACK_HCI_DUMP + DEBUG_printf("mp_bluetooth_btstack_port_deinit: hci_dump_posix_fs_close()\n"); + hci_dump_posix_fs_close(); + #endif + + DEBUG_printf("mp_bluetooth_btstack_port_deinit: end\n"); } +// +// This function is to be called from a system thread which is not a MicroPython thread. +// It sets up the relevant MicroPython state and obtains the GIL, to synchronize with the +// rest of the runtime. +// +// The function was extracted from invoke_irq_handler() in extmod/modbluetooth.c. +// +// ts: +// Pointer to a mp_state_thread_t that holds the state. +// +// stack_limit: +// Value that will be used for mp_stack_set_limit(). +// +STATIC void init_mp_state_thread(mp_state_thread_t *ts, mp_uint_t stack_limit) { -// Provided by mpbstackport_common.c. -extern bool mp_bluetooth_hci_poll(void); + mp_thread_set_state(ts); + mp_stack_set_top(ts + 1); // need to include ts in root-pointer scan + mp_stack_set_limit(stack_limit); + ts->gc_lock_depth = 0; + ts->nlr_jump_callback_top = NULL; + ts->mp_pending_exception = MP_OBJ_NULL; + mp_locals_set(mp_state_ctx.thread.dict_locals); // set from the outer context + mp_globals_set(mp_state_ctx.thread.dict_globals); // set from the outer context + MP_THREAD_GIL_ENTER(); +} + +// +// This function is to be called after mp_blutooth_init_mp_state_thread() before +// ending the thread. +// It gives back the GIL and resets the MicroPython state. +// +// The function was extracted from invoke_irq_handler() in extmod/modbluetooth.c. +// +STATIC void deinit_mp_state_thread() { + + MP_THREAD_GIL_EXIT(); + mp_thread_set_state(NULL); +} static void *btstack_thread(void *arg) { (void)arg; + + // This code runs on an non-MicroPython thread. + // But some of the code e.g. in "extmod/btstack/modbluetooth_btstack.c" + // make calls that needs the state of a MicroPython thread e. g. "m_del()". + // + // So set up relevant MicroPython state and obtain the GIL, + // to synchronised with the rest of the runtime. + + mp_state_thread_t ts; + init_mp_state_thread(&ts, 40000 * (sizeof(void *) / 4) - 1024); + + log_info("btstack_thread: HCI_POWER_ON"); hci_power_control(HCI_POWER_ON); - // modbluetooth_btstack.c will have set the state to STARTING before - // calling mp_bluetooth_btstack_port_start. - // This loop will terminate when the HCI_POWER_OFF above results - // in modbluetooth_btstack.c setting the state back to OFF. - // Or, if a timeout results in it being set to TIMEOUT. + btstack_run_loop_execute(); - while (true) { - if (!mp_bluetooth_hci_poll()) { - break; - } + log_info("btstack_thread: end"); + + // reset the MicroPython state + deinit_mp_state_thread(); - // The USB transport schedules events to the run loop at 1ms intervals, - // and the implementation currently polls rather than selects. - usleep(USB_POLL_INTERVAL_US); - } return NULL; } @@ -112,7 +203,8 @@ void mp_bluetooth_btstack_port_start(void) { // Create a thread to run the btstack loop. pthread_attr_t attr; pthread_attr_init(&attr); - pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED); + + // We need a joinable thread for pthread_join() what is the default. pthread_create(&bstack_thread_id, &attr, &btstack_thread, NULL); } From b4c69d852f6b1339e001b5caa086d5b6b427f4d2 Mon Sep 17 00:00:00 2001 From: Yasmin Bosch Date: Sat, 16 Mar 2024 22:11:34 +0100 Subject: [PATCH 4/5] ports/unix: Change 'STATIC' to 'static'. See 'global: Remove the STATIC macro.': https://github.com/micropython/micropython/pull/13763 Signed-off-by: Yasmin Bosch --- ports/unix/mpbtstackport_usb.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ports/unix/mpbtstackport_usb.c b/ports/unix/mpbtstackport_usb.c index f63ea90978..7bdb631b91 100644 --- a/ports/unix/mpbtstackport_usb.c +++ b/ports/unix/mpbtstackport_usb.c @@ -147,7 +147,7 @@ void mp_bluetooth_btstack_port_deinit(void) { // stack_limit: // Value that will be used for mp_stack_set_limit(). // -STATIC void init_mp_state_thread(mp_state_thread_t *ts, mp_uint_t stack_limit) { +static void init_mp_state_thread(mp_state_thread_t *ts, mp_uint_t stack_limit) { mp_thread_set_state(ts); mp_stack_set_top(ts + 1); // need to include ts in root-pointer scan @@ -167,7 +167,7 @@ STATIC void init_mp_state_thread(mp_state_thread_t *ts, mp_uint_t stack_limit) { // // The function was extracted from invoke_irq_handler() in extmod/modbluetooth.c. // -STATIC void deinit_mp_state_thread() { +static void deinit_mp_state_thread() { MP_THREAD_GIL_EXIT(); mp_thread_set_state(NULL); From 0e75c128cbe797994ab9c786dc1b117913623b3b Mon Sep 17 00:00:00 2001 From: Yasmin Bosch Date: Sat, 16 Mar 2024 23:12:07 +0100 Subject: [PATCH 5/5] ports/unix: Use 'mp_thread_init_state()' instead of own function. The function 'mp_thread_init_state()' has been added to 'py/runtime.h' with commit #bc424dd in micropython/micropython: 'py/modthread: Move thread state initialisation to shared function.' So use that function instead of defining own function in 'ports/unix/mpbtstackport_usb.c'. Signed-off-by: Yasmin Bosch --- ports/unix/mpbtstackport_usb.c | 47 ++++------------------------------ 1 file changed, 5 insertions(+), 42 deletions(-) diff --git a/ports/unix/mpbtstackport_usb.c b/ports/unix/mpbtstackport_usb.c index 7bdb631b91..15e0f7d34e 100644 --- a/ports/unix/mpbtstackport_usb.c +++ b/ports/unix/mpbtstackport_usb.c @@ -134,45 +134,6 @@ void mp_bluetooth_btstack_port_deinit(void) { DEBUG_printf("mp_bluetooth_btstack_port_deinit: end\n"); } -// -// This function is to be called from a system thread which is not a MicroPython thread. -// It sets up the relevant MicroPython state and obtains the GIL, to synchronize with the -// rest of the runtime. -// -// The function was extracted from invoke_irq_handler() in extmod/modbluetooth.c. -// -// ts: -// Pointer to a mp_state_thread_t that holds the state. -// -// stack_limit: -// Value that will be used for mp_stack_set_limit(). -// -static void init_mp_state_thread(mp_state_thread_t *ts, mp_uint_t stack_limit) { - - mp_thread_set_state(ts); - mp_stack_set_top(ts + 1); // need to include ts in root-pointer scan - mp_stack_set_limit(stack_limit); - ts->gc_lock_depth = 0; - ts->nlr_jump_callback_top = NULL; - ts->mp_pending_exception = MP_OBJ_NULL; - mp_locals_set(mp_state_ctx.thread.dict_locals); // set from the outer context - mp_globals_set(mp_state_ctx.thread.dict_globals); // set from the outer context - MP_THREAD_GIL_ENTER(); -} - -// -// This function is to be called after mp_blutooth_init_mp_state_thread() before -// ending the thread. -// It gives back the GIL and resets the MicroPython state. -// -// The function was extracted from invoke_irq_handler() in extmod/modbluetooth.c. -// -static void deinit_mp_state_thread() { - - MP_THREAD_GIL_EXIT(); - mp_thread_set_state(NULL); -} - static void *btstack_thread(void *arg) { (void)arg; @@ -184,7 +145,8 @@ static void *btstack_thread(void *arg) { // to synchronised with the rest of the runtime. mp_state_thread_t ts; - init_mp_state_thread(&ts, 40000 * (sizeof(void *) / 4) - 1024); + mp_thread_init_state(&ts, 40000 * (sizeof(void *) / 4) - 1024, NULL, NULL); + MP_THREAD_GIL_ENTER(); log_info("btstack_thread: HCI_POWER_ON"); hci_power_control(HCI_POWER_ON); @@ -193,8 +155,9 @@ static void *btstack_thread(void *arg) { log_info("btstack_thread: end"); - // reset the MicroPython state - deinit_mp_state_thread(); + // Give back the GIL and reset the MicroPython state. + MP_THREAD_GIL_EXIT(); + mp_thread_set_state(NULL); return NULL; }