rp2: Add support for bluetooth module using NimBLE.

2021-07-22 14:42:52 +02:00 · 2021-07-22 14:42:52 +02:00 · c973cfd2f3
commit c973cfd2f3
--- a/ports/rp2/CMakeLists.txt
+++ b/ports/rp2/CMakeLists.txt
@ -159,6 +159,32 @@ set(PICO_SDK_COMPONENTS
    tinyusb_device
 )

+if(MICROPY_PY_BLUETOOTH)
+    list(APPEND MICROPY_SOURCE_PORT mpbthciport.c)
+    target_compile_definitions(${MICROPY_TARGET} PRIVATE
+        MICROPY_PY_BLUETOOTH=1
+        MICROPY_PY_BLUETOOTH_ENABLE_CENTRAL_MODE=1
+        MICROPY_PY_BLUETOOTH_ENABLE_PAIRING_BONDING=1
+        MICROPY_PY_BLUETOOTH_ENABLE_L2CAP_CHANNELS=1
+    )
+endif()
+
+if(MICROPY_BLUETOOTH_NIMBLE)
+    list(APPEND MICROPY_SOURCE_PORT mpnimbleport.c)
+    target_compile_definitions(${MICROPY_TARGET} PRIVATE
+        MICROPY_BLUETOOTH_NIMBLE=1
+        MICROPY_BLUETOOTH_NIMBLE_BINDINGS_ONLY=0
+    )
+    target_compile_options(${MICROPY_TARGET} PRIVATE
+    # TODO: This flag is currently needed to make nimble build.
+    -Wno-unused-but-set-variable
+    )
+    include(${MICROPY_DIR}/extmod/nimble/nimble.cmake)
+    target_link_libraries(${MICROPY_TARGET} micropy_extmod_nimble)
+    get_target_property(NIMBLE_INCLUDE micropy_extmod_nimble INTERFACE_INCLUDE_DIRECTORIES)
+    list(APPEND MICROPY_INC_CORE ${NIMBLE_INCLUDE})
+endif()
+
 # Define mpy-cross flags and frozen manifest
 set(MICROPY_CROSS_FLAGS -march=armv7m)
 if (NOT MICROPY_FROZEN_MANIFEST)
--- a/ports/rp2/main.c
+++ b/ports/rp2/main.c
@ -32,6 +32,7 @@
 #include "py/mperrno.h"
 #include "py/mphal.h"
 #include "py/stackctrl.h"
+#include "extmod/modbluetooth.h"
 #include "shared/readline/readline.h"
 #include "shared/runtime/gchelper.h"
 #include "shared/runtime/pyexec.h"
@ -39,6 +40,7 @@
 #include "uart.h"
 #include "modmachine.h"
 #include "modrp2.h"
+#include "mpbthciport.h"
 #include "genhdr/mpversion.h"

 #include "pico/stdlib.h"
@ -107,6 +109,10 @@ int main(int argc, char **argv) {
        machine_pin_init();
        rp2_pio_init();

+        #if MICROPY_PY_BLUETOOTH
+        mp_bluetooth_hci_init();
+        #endif
+
        // Execute _boot.py to set up the filesystem.
        pyexec_frozen_module("_boot.py");

@ -137,6 +143,9 @@ int main(int argc, char **argv) {
    soft_reset_exit:
        mp_printf(MP_PYTHON_PRINTER, "MPY: soft reboot\n");
        rp2_pio_deinit();
+        #if MICROPY_PY_BLUETOOTH
+        mp_bluetooth_deinit();
+        #endif
        machine_pin_deinit();
        #if MICROPY_PY_THREAD
        mp_thread_deinit();
--- a/ports/rp2/mpbthciport.c
+++ b/ports/rp2/mpbthciport.c
@ -0,0 +1,200 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "py/runtime.h"
+#include "py/stream.h"
+#include "py/mphal.h"
+#include "extmod/modbluetooth.h"
+#include "extmod/mpbthci.h"
+#include "modmachine.h"
+#include "mpbthciport.h"
+#include "pico/stdlib.h"
+
+#if MICROPY_PY_BLUETOOTH
+
+#define debug_printf(...) // mp_printf(&mp_plat_print, "mpbthciport.c: " __VA_ARGS__)
+#define error_printf(...) mp_printf(&mp_plat_print, "mpbthciport.c: " __VA_ARGS__)
+
+// Poll timer ID.
+static alarm_id_t poll_timer_id = 0;
+
+uint8_t mp_bluetooth_hci_cmd_buf[4 + 256];
+
+// Prevent double-enqueuing of the scheduled task.
+STATIC volatile bool events_task_is_scheduled;
+
+void mp_bluetooth_hci_init(void) {
+    events_task_is_scheduled = false;
+}
+
+STATIC void mp_bluetooth_hci_start_polling(void) {
+    events_task_is_scheduled = false;
+    mp_bluetooth_hci_poll_now();
+}
+
+static int64_t mp_bluetooth_hci_timer_callback(alarm_id_t id, void *user_data) {
+    poll_timer_id = 0;
+    mp_bluetooth_hci_poll_now();
+    return 0;
+}
+
+void mp_bluetooth_hci_poll_in_ms(uint32_t ms) {
+    poll_timer_id = add_alarm_in_ms(ms, mp_bluetooth_hci_timer_callback, NULL, true);
+}
+
+// For synchronous mode, we run all BLE stack code inside a scheduled task.
+// This task is scheduled periodically via a timer, or immediately after UART RX IRQ.
+STATIC mp_obj_t run_events_scheduled_task(mp_obj_t none_in) {
+    (void)none_in;
+    events_task_is_scheduled = false;
+    // This will process all buffered HCI UART data, and run any callouts or events.
+    mp_bluetooth_hci_poll();
+    return mp_const_none;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(run_events_scheduled_task_obj, run_events_scheduled_task);
+
+// Called periodically (systick) or directly (e.g. UART RX IRQ) in order to
+// request that processing happens ASAP in the scheduler.
+void mp_bluetooth_hci_poll_now(void) {
+    if (!events_task_is_scheduled) {
+        events_task_is_scheduled = mp_sched_schedule(MP_OBJ_FROM_PTR(&run_events_scheduled_task_obj), mp_const_none);
+        if (!events_task_is_scheduled) {
+            // The schedule queue is full, set callback to try again soon.
+            mp_bluetooth_hci_poll_in_ms(5);
+        }
+    }
+}
+
+mp_obj_t mp_bthci_uart;
+
+int mp_bluetooth_hci_uart_init(uint32_t port, uint32_t baudrate) {
+    debug_printf("mp_bluetooth_hci_uart_init\n");
+
+    mp_obj_t args[] = {
+        MP_OBJ_NEW_SMALL_INT(MICROPY_HW_BLE_UART_ID),
+        MP_OBJ_NEW_SMALL_INT(MICROPY_HW_BLE_UART_BAUDRATE),
+        MP_OBJ_NEW_QSTR(MP_QSTR_flow), MP_OBJ_NEW_SMALL_INT((1 | 2)),
+        MP_OBJ_NEW_QSTR(MP_QSTR_timeout), MP_OBJ_NEW_SMALL_INT(1000),
+    };
+
+    mp_bthci_uart = machine_uart_type.make_new((mp_obj_t)&machine_uart_type, 2, 2, args);
+    MP_STATE_PORT(mp_bthci_uart) = mp_bthci_uart;
+
+    // Start the HCI polling to process any initial events/packets.
+    mp_bluetooth_hci_start_polling();
+    return 0;
+}
+
+int mp_bluetooth_hci_uart_deinit(void) {
+    debug_printf("mp_bluetooth_hci_uart_deinit\n");
+
+    // If a poll callback is set cancel it now.
+    if (poll_timer_id > 0) {
+        cancel_alarm(poll_timer_id);
+    }
+    poll_timer_id = 0;
+    return 0;
+}
+
+int mp_bluetooth_hci_uart_set_baudrate(uint32_t baudrate) {
+    debug_printf("mp_bluetooth_hci_uart_set_baudrate(%lu)\n", baudrate);
+    return 0;
+}
+
+int mp_bluetooth_hci_uart_any(void) {
+    int errcode = 0;
+    const mp_stream_p_t *proto = (mp_stream_p_t *)machine_uart_type.protocol;
+
+    mp_uint_t ret = proto->ioctl(mp_bthci_uart, MP_STREAM_POLL, MP_STREAM_POLL_RD, &errcode);
+    if (errcode != 0) {
+        error_printf("Uart ioctl failed to poll UART %d\n", errcode);
+        return -1;
+    }
+    return ret & MP_STREAM_POLL_RD;
+}
+
+int mp_bluetooth_hci_uart_write(const uint8_t *buf, size_t len) {
+    debug_printf("mp_bluetooth_hci_uart_write\n");
+
+    int errcode = 0;
+    const mp_stream_p_t *proto = (mp_stream_p_t *)machine_uart_type.protocol;
+
+    mp_bluetooth_hci_controller_wakeup();
+
+    if (proto->write(mp_bthci_uart, (void *)buf, len, &errcode) < 0) {
+        error_printf("mp_bluetooth_hci_uart_write: failed to write to UART %d\n", errcode);
+    }
+    return 0;
+}
+
+// This function expects the controller to be in the wake state via a previous call
+// to mp_bluetooth_hci_controller_woken.
+int mp_bluetooth_hci_uart_readchar(void) {
+    debug_printf("mp_bluetooth_hci_uart_readchar\n");
+    if (mp_bluetooth_hci_uart_any()) {
+        int errcode = 0;
+        uint8_t buf = 0;
+        const mp_stream_p_t *proto = (mp_stream_p_t *)machine_uart_type.protocol;
+        if (proto->read(mp_bthci_uart, (void *)&buf, 1, &errcode) < 0) {
+            error_printf("mp_bluetooth_hci_uart_readchar: failed to read UART %d\n", errcode);
+            return -1;
+        }
+        return buf;
+    } else {
+        debug_printf("mp_bluetooth_hci_uart_readchar: not ready\n");
+        return -1;
+    }
+}
+
+// Default (weak) implementation of the HCI controller interface.
+// A driver (e.g. cywbt43.c) can override these for controller-specific
+// functionality (i.e. power management).
+MP_WEAK int mp_bluetooth_hci_controller_init(void) {
+    debug_printf("mp_bluetooth_hci_controller_init (default)\n");
+    return 0;
+}
+
+MP_WEAK int mp_bluetooth_hci_controller_deinit(void) {
+    debug_printf("mp_bluetooth_hci_controller_deinit (default)\n");
+    return 0;
+}
+
+MP_WEAK int mp_bluetooth_hci_controller_sleep_maybe(void) {
+    debug_printf("mp_bluetooth_hci_controller_sleep_maybe (default)\n");
+    return 0;
+}
+
+MP_WEAK bool mp_bluetooth_hci_controller_woken(void) {
+    debug_printf("mp_bluetooth_hci_controller_woken (default)\n");
+    return true;
+}
+
+MP_WEAK int mp_bluetooth_hci_controller_wakeup(void) {
+    debug_printf("mp_bluetooth_hci_controller_wakeup (default)\n");
+    return 0;
+}
+
+#endif // MICROPY_PY_BLUETOOTH
--- a/ports/rp2/mpbthciport.h
+++ b/ports/rp2/mpbthciport.h
@ -0,0 +1,42 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2021 Damien P. George
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+#ifndef MICROPY_INCLUDED_RP2_MPBTHCIPORT_H
+#define MICROPY_INCLUDED_RP2_MPBTHCIPORT_H
+
+// Initialise the HCI subsystem (should be called once, early on).
+void mp_bluetooth_hci_init(void);
+
+// Poll the HCI now, or after a certain timeout.
+void mp_bluetooth_hci_poll_now(void);
+void mp_bluetooth_hci_poll_in_ms(uint32_t ms);
+
+// Must be provided by the stack bindings (e.g. mpnimbleport.c or mpbtstackport.c).
+// Request new data from the uart and pass to the stack, and run pending events/callouts.
+// This is a low-level function and should not be called directly, use
+// mp_bluetooth_hci_poll_now/mp_bluetooth_hci_poll_in_ms instead.
+void mp_bluetooth_hci_poll(void);
+
+#endif // MICROPY_INCLUDED_RP2_MPBTHCIPORT_H
--- a/ports/rp2/mpconfigport.h
+++ b/ports/rp2/mpconfigport.h
@ -171,6 +171,20 @@ extern const struct _mp_obj_module_t mp_module_rp2;
 extern const struct _mp_obj_module_t mp_module_uos;
 extern const struct _mp_obj_module_t mp_module_utime;

+#if MICROPY_PY_BLUETOOTH
+#define MICROPY_PORT_ROOT_POINTER_BLUETOOTH struct _machine_uart_obj_t *mp_bthci_uart;
+#else
+#define MICROPY_PORT_ROOT_POINTER_BLUETOOTH
+#endif
+
+#if MICROPY_BLUETOOTH_NIMBLE
+struct _mp_bluetooth_nimble_root_pointers_t;
+struct _mp_bluetooth_nimble_malloc_t;
+#define MICROPY_PORT_ROOT_POINTER_BLUETOOTH_NIMBLE struct _mp_bluetooth_nimble_malloc_t *bluetooth_nimble_memory; struct _mp_bluetooth_nimble_root_pointers_t *bluetooth_nimble_root_pointers;
+#else
+#define MICROPY_PORT_ROOT_POINTER_BLUETOOTH_NIMBLE
+#endif
+
 #define MICROPY_PORT_BUILTIN_MODULES \
    { MP_OBJ_NEW_QSTR(MP_QSTR_machine), (mp_obj_t)&mp_module_machine }, \
    { MP_OBJ_NEW_QSTR(MP_QSTR__onewire), (mp_obj_t)&mp_module_onewire }, \
@ -190,6 +204,8 @@ extern const struct _mp_obj_module_t mp_module_utime;
    void *rp2_uart_rx_buffer[2]; \
    void *rp2_uart_tx_buffer[2]; \
    MICROPY_BOARD_ROOT_POINTERS \
+    MICROPY_PORT_ROOT_POINTER_BLUETOOTH \
+        MICROPY_PORT_ROOT_POINTER_BLUETOOTH_NIMBLE \

 #define MP_STATE_PORT MP_STATE_VM

--- a/ports/rp2/mpnimbleport.c
+++ b/ports/rp2/mpnimbleport.c
@ -0,0 +1,80 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2019 Jim Mussared
+ * Copyright (c) 2020 Damien P. George
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "py/runtime.h"
+#include "py/mperrno.h"
+#include "py/mphal.h"
+#include "py/stream.h"
+
+#if MICROPY_PY_BLUETOOTH && MICROPY_BLUETOOTH_NIMBLE
+
+#define DEBUG_printf(...) // printf("mpnimbleport.c: " __VA_ARGS__)
+
+#include "host/ble_hs.h"
+#include "nimble/nimble_npl.h"
+
+#include "extmod/modbluetooth.h"
+#include "extmod/mpbthci.h"
+#include "extmod/nimble/modbluetooth_nimble.h"
+#include "extmod/nimble/hal/hal_uart.h"
+#include "mpbthciport.h"
+
+// Get any pending data from the UART and send it to NimBLE's HCI buffers.
+// Any further processing by NimBLE will be run via its event queue.
+void mp_bluetooth_hci_poll(void) {
+    if (mp_bluetooth_nimble_ble_state >= MP_BLUETOOTH_NIMBLE_BLE_STATE_WAITING_FOR_SYNC) {
+        // DEBUG_printf("mp_bluetooth_hci_poll_uart %d\n", mp_bluetooth_nimble_ble_state);
+
+        // Run any timers.
+        mp_bluetooth_nimble_os_callout_process();
+
+        // Process incoming UART data, and run events as they are generated.
+        mp_bluetooth_nimble_hci_uart_process(true);
+
+        // Run any remaining events (e.g. if there was no UART data).
+        mp_bluetooth_nimble_os_eventq_run_all();
+    }
+
+    if (mp_bluetooth_nimble_ble_state != MP_BLUETOOTH_NIMBLE_BLE_STATE_OFF) {
+        // Call this function again in 128ms to check for new events.
+        // TODO: improve this by only calling back when needed.
+        mp_bluetooth_hci_poll_in_ms(128);
+    }
+}
+
+// --- Port-specific helpers for the generic NimBLE bindings. -----------------
+
+void mp_bluetooth_nimble_hci_uart_wfi(void) {
+    #if defined(__WFI)
+    __WFI();
+    #endif
+    // This is called while NimBLE is waiting in ble_npl_sem_pend, i.e. waiting for an HCI ACK.
+    // Do not need to run events here (it must not invoke Python code), only processing incoming HCI data.
+    mp_bluetooth_nimble_hci_uart_process(false);
+}
+
+#endif // MICROPY_PY_BLUETOOTH && MICROPY_BLUETOOTH_NIMBLE
--- a/ports/rp2/mpnimbleport.h
+++ b/ports/rp2/mpnimbleport.h
@ -0,0 +1,29 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2020 Jim Mussared
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+#ifndef MICROPY_INCLUDED_RP2_MPNIMBLEPORT_H
+#define MICROPY_INCLUDED_RP2_MPNIMBLEPORT_H
+
+#endif // MICROPY_INCLUDED_RP2_MPNIMBLEPORT_H