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extmod/nimble: Make stm32 and unix NimBLE ports use synchronous events.

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This changes stm32 from using PENDSV to run NimBLE to use the MicroPython
scheduler instead.  This allows Python BLE callbacks to be invoked directly
(and therefore synchronously) rather than via the ringbuffer.

The NimBLE UART HCI and event processing now happens in a scheduled task
every 128ms.  When RX IRQ idle events arrive, it will also schedule this
task to improve latency.

There is a similar change for the unix port where the background thread now
queues the scheduled task.

Signed-off-by: Jim Mussared <jim.mussared@gmail.com>
This commit is contained in:
Jim Mussared 2020-11-03 23:27:47 +11:00 committed by Damien George
parent 81e92d3d6e
commit 61d1e4b01b
15 changed files with 280 additions and 157 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
extmod/modbluetooth.h
View File

@ -50,6 +50,7 @@
#endif
// This is used to protect the ringbuffer.
// A port may no-op this if MICROPY_PY_BLUETOOTH_USE_SYNC_EVENTS is enabled.
#ifndef MICROPY_PY_BLUETOOTH_ENTER
#define MICROPY_PY_BLUETOOTH_ENTER mp_uint_t atomic_state = MICROPY_BEGIN_ATOMIC_SECTION();
#define MICROPY_PY_BLUETOOTH_EXIT MICROPY_END_ATOMIC_SECTION(atomic_state);

23
extmod/nimble/hal/hal_uart.c
View File

@ -28,10 +28,13 @@
#include "py/mphal.h"
#include "nimble/ble.h"
#include "extmod/nimble/hal/hal_uart.h"
#include "extmod/nimble/nimble/nimble_npl_os.h"
#include "extmod/mpbthci.h"
#if MICROPY_PY_BLUETOOTH && MICROPY_BLUETOOTH_NIMBLE
#define HCI_TRACE (0)
static hal_uart_tx_cb_t hal_uart_tx_cb;
static void *hal_uart_tx_arg;
static hal_uart_rx_cb_t hal_uart_rx_cb;
@ -62,10 +65,10 @@ void hal_uart_start_tx(uint32_t port) {
mp_bluetooth_hci_cmd_buf[len++] = data;
}
#if 0
printf("[% 8d] BTUTX: %02x", mp_hal_ticks_ms(), hci_cmd_buf[0]);
for (int i = 1; i < len; ++i) {
printf(":%02x", hci_cmd_buf[i]);
#if HCI_TRACE
printf("< [% 8d] %02x", mp_hal_ticks_ms(), mp_bluetooth_hci_cmd_buf[0]);
for (size_t i = 1; i < len; ++i) {
printf(":%02x", mp_bluetooth_hci_cmd_buf[i]);
}
printf("\n");
#endif
@ -77,13 +80,21 @@ int hal_uart_close(uint32_t port) {
return 0; // success
}
void mp_bluetooth_nimble_hci_uart_process(void) {
void mp_bluetooth_nimble_hci_uart_process(bool run_events) {
bool host_wake = mp_bluetooth_hci_controller_woken();
int chr;
while ((chr = mp_bluetooth_hci_uart_readchar()) >= 0) {
// printf("UART RX: %02x\n", data);
#if HCI_TRACE
printf("> %02x (%d)\n", chr);
#endif
hal_uart_rx_cb(hal_uart_rx_arg, chr);
// Incoming data may result in events being enqueued. If we're in
// scheduler context then we can run those events immediately.
if (run_events) {
mp_bluetooth_nimble_os_eventq_run_all();
}
}
if (host_wake) {

2
extmod/nimble/hal/hal_uart.h
View File

@ -43,6 +43,6 @@ void hal_uart_start_tx(uint32_t port);
int hal_uart_close(uint32_t port);
// --- Called by the MicroPython port when UART data is available -------------
void mp_bluetooth_nimble_hci_uart_process(void);
void mp_bluetooth_nimble_hci_uart_process(bool run_events);
#endif // MICROPY_INCLUDED_EXTMOD_NIMBLE_HAL_HAL_UART_H

5
extmod/nimble/modbluetooth_nimble.c
View File

@ -382,6 +382,7 @@ int mp_bluetooth_init(void) {
mp_bluetooth_nimble_ble_state = MP_BLUETOOTH_NIMBLE_BLE_STATE_WAITING_FOR_SYNC;
// Initialise NimBLE memory and data structures.
DEBUG_printf("mp_bluetooth_init: nimble_port_init\n");
nimble_port_init();
// Make sure that the HCI UART and event handling task is running.
@ -402,6 +403,8 @@ int mp_bluetooth_init(void) {
return MP_ETIMEDOUT;
}
DEBUG_printf("mp_bluetooth_init: starting services\n");
// By default, just register the default gap/gatt service.
ble_svc_gap_init();
ble_svc_gatt_init();
@ -417,7 +420,7 @@ int mp_bluetooth_init(void) {
}
void mp_bluetooth_deinit(void) {
DEBUG_printf("mp_bluetooth_deinit\n");
DEBUG_printf("mp_bluetooth_deinit %d\n", mp_bluetooth_nimble_ble_state);
if (mp_bluetooth_nimble_ble_state == MP_BLUETOOTH_NIMBLE_BLE_STATE_OFF) {
return;
}

7
extmod/nimble/nimble.mk
View File

@ -17,6 +17,13 @@ CFLAGS_MOD += -DMICROPY_BLUETOOTH_NIMBLE_BINDINGS_ONLY=$(MICROPY_BLUETOOTH_NIMBL
ifeq ($(MICROPY_BLUETOOTH_NIMBLE_BINDINGS_ONLY),0)
# On all ports where we provide the full implementation (i.e. not just
# bindings like on ESP32), then we don't need to use the ringbuffer. In this
# case, all NimBLE events are run by the MicroPython scheduler. On Unix, the
# scheduler is also responsible for polling the UART, whereas on STM32 the
# UART is also polled by the RX IRQ.
CFLAGS_MOD += -DMICROPY_PY_BLUETOOTH_USE_SYNC_EVENTS=1
NIMBLE_LIB_DIR = lib/mynewt-nimble
LIB_SRC_C += $(addprefix $(NIMBLE_LIB_DIR)/, \

171
extmod/nimble/nimble/nimble_npl_os.c
View File

@ -179,70 +179,108 @@ int nimble_sprintf(char *str, const char *fmt, ...) {
struct ble_npl_eventq *global_eventq = NULL;
// This must not be called recursively or concurrently with the UART handler.
void mp_bluetooth_nimble_os_eventq_run_all(void) {
if (mp_bluetooth_nimble_ble_state == MP_BLUETOOTH_NIMBLE_BLE_STATE_OFF) {
return;
}
// Keep running while there are pending events.
while (true) {
struct ble_npl_event *ev = NULL;
os_sr_t sr;
OS_ENTER_CRITICAL(sr);
// Search all queues for an event.
for (struct ble_npl_eventq *evq = global_eventq; evq != NULL; evq = evq->nextq) {
int n = 0;
while (evq->head != NULL && mp_bluetooth_nimble_ble_state > MP_BLUETOOTH_NIMBLE_BLE_STATE_OFF) {
struct ble_npl_event *ev = evq->head;
ev = evq->head;
if (ev) {
// Remove this event from the queue.
evq->head = ev->next;
if (ev->next) {
ev->next->prev = NULL;
ev->next = NULL;
}
ev->prev = NULL;
ev->pending = false;
// Stop searching and execute this event.
break;
}
}
OS_EXIT_CRITICAL(sr);
if (!ev) {
break;
}
// Run the event handler.
DEBUG_EVENT_printf("event_run(%p)\n", ev);
ev->fn(ev);
DEBUG_EVENT_printf("event_run(%p) done\n", ev);
if (++n > 3) {
// Limit to running 3 tasks per queue.
// Some tasks (such as reset) can enqueue themselves
// making this an infinite loop (while in PENDSV).
if (ev->pending) {
// If this event has been re-enqueued while it was running, then
// stop running further events. This prevents an infinite loop
// where the reset event re-enqueues itself on HCI timeout.
break;
}
}
}
}
void ble_npl_eventq_init(struct ble_npl_eventq *evq) {
DEBUG_EVENT_printf("ble_npl_eventq_init(%p)\n", evq);
os_sr_t sr;
OS_ENTER_CRITICAL(sr);
evq->head = NULL;
struct ble_npl_eventq **evq2;
for (evq2 = &global_eventq; *evq2 != NULL; evq2 = &(*evq2)->nextq) {
}
*evq2 = evq;
evq->nextq = NULL;
OS_EXIT_CRITICAL(sr);
}
void ble_npl_eventq_put(struct ble_npl_eventq *evq, struct ble_npl_event *ev) {
DEBUG_EVENT_printf("ble_npl_eventq_put(%p, %p (%p, %p))\n", evq, ev, ev->fn, ev->arg);
os_sr_t sr;
OS_ENTER_CRITICAL(sr);
ev->next = NULL;
ev->pending = true;
if (evq->head == NULL) {
// Empty list, make this the first item.
evq->head = ev;
ev->prev = NULL;
} else {
struct ble_npl_event *ev2 = evq->head;
// Find the tail of this list.
struct ble_npl_event *tail = evq->head;
while (true) {
if (ev2 == ev) {
if (tail == ev) {
DEBUG_EVENT_printf(" --> already in queue\n");
return;
}
if (ev2->next == NULL) {
// Already in the list (e.g. a fragmented ACL will enqueue an
// event to process it for each fragment).
break;
}
DEBUG_EVENT_printf(" --> %p\n", ev2->next);
ev2 = ev2->next;
if (tail->next == NULL) {
// Found the end of the list, add this event as the tail.
tail->next = ev;
ev->prev = tail;
break;
}
ev2->next = ev;
ev->prev = ev2;
DEBUG_EVENT_printf(" --> %p\n", tail->next);
tail = tail->next;
}
}
OS_EXIT_CRITICAL(sr);
}
void ble_npl_event_init(struct ble_npl_event *ev, ble_npl_event_fn *fn, void *arg) {
DEBUG_EVENT_printf("ble_npl_event_init(%p, %p, %p)\n", ev, fn, arg);
ev->fn = fn;
ev->arg = arg;
ev->next = NULL;
ev->pending = false;
}
void *ble_npl_event_get_arg(struct ble_npl_event *ev) {
@ -258,44 +296,17 @@ void ble_npl_event_set_arg(struct ble_npl_event *ev, void *arg) {
/******************************************************************************/
// MUTEX
// This is what MICROPY_BEGIN_ATOMIC_SECTION returns on Unix (i.e. we don't
// need to preserve the atomic state to unlock).
#define ATOMIC_STATE_MUTEX_NOT_HELD 0xffffffff
ble_npl_error_t ble_npl_mutex_init(struct ble_npl_mutex *mu) {
DEBUG_MUTEX_printf("ble_npl_mutex_init(%p)\n", mu);
mu->locked = 0;
mu->atomic_state = ATOMIC_STATE_MUTEX_NOT_HELD;
return BLE_NPL_OK;
}
ble_npl_error_t ble_npl_mutex_pend(struct ble_npl_mutex *mu, ble_npl_time_t timeout) {
DEBUG_MUTEX_printf("ble_npl_mutex_pend(%p, %u) locked=%u irq=%d\n", mu, (uint)timeout, (uint)mu->locked);
DEBUG_MUTEX_printf("ble_npl_mutex_pend(%p, %u) locked=%u\n", mu, (uint)timeout, (uint)mu->locked);
// This is a recursive mutex which we implement on top of the IRQ priority
// scheme. Unfortunately we have a single piece of global storage, where
// enter/exit critical needs an "atomic state".
// There are two different acquirers, either running in a VM thread (i.e.
// a direct Python call into NimBLE), or in the NimBLE task (i.e. polling
// or UART RX).
// On STM32 the NimBLE task runs in PENDSV, so cannot be interrupted by a VM thread.
// Therefore we only need to ensure that a VM thread that acquires a currently-unlocked mutex
// now raises the priority (thus preventing context switches to other VM threads and
// the PENDSV irq). If the mutex is already locked, then it must have been acquired
// by us.
// On Unix, the critical section is completely recursive and doesn't require us to manage
// state so we just acquire and release every time.
// TODO: The "volatile" on locked/atomic_state isn't enough to protect against memory re-ordering.
// First acquirer of this mutex always enters the critical section, unless
// we're on Unix where it happens every time.
if (mu->atomic_state == ATOMIC_STATE_MUTEX_NOT_HELD) {
mu->atomic_state = mp_bluetooth_nimble_hci_uart_enter_critical();
}
// All NimBLE code is executed by the scheduler (and is therefore
// implicitly mutexed) so this mutex implementation is a no-op.
++mu->locked;
@ -303,17 +314,11 @@ ble_npl_error_t ble_npl_mutex_pend(struct ble_npl_mutex *mu, ble_npl_time_t time
}
ble_npl_error_t ble_npl_mutex_release(struct ble_npl_mutex *mu) {
DEBUG_MUTEX_printf("ble_npl_mutex_release(%p) locked=%u irq=%d\n", mu, (uint)mu->locked);
DEBUG_MUTEX_printf("ble_npl_mutex_release(%p) locked=%u\n", mu, (uint)mu->locked);
assert(mu->locked > 0);
--mu->locked;
// Only exit the critical section for the final release, unless we're on Unix.
if (mu->locked == 0 || mu->atomic_state == ATOMIC_STATE_MUTEX_NOT_HELD) {
mp_bluetooth_nimble_hci_uart_exit_critical(mu->atomic_state);
mu->atomic_state = ATOMIC_STATE_MUTEX_NOT_HELD;
}
return BLE_NPL_OK;
}
@ -329,30 +334,19 @@ ble_npl_error_t ble_npl_sem_init(struct ble_npl_sem *sem, uint16_t tokens) {
ble_npl_error_t ble_npl_sem_pend(struct ble_npl_sem *sem, ble_npl_time_t timeout) {
DEBUG_SEM_printf("ble_npl_sem_pend(%p, %u) count=%u\n", sem, (uint)timeout, (uint)sem->count);
// This is called by NimBLE to synchronously wait for an HCI ACK. The
// corresponding ble_npl_sem_release is called directly by the UART rx
// handler (i.e. hal_uart_rx_cb in extmod/nimble/hal/hal_uart.c).
// So this implementation just polls the UART until either the semaphore
// is released, or the timeout occurs.
// This is only called by NimBLE in ble_hs_hci_cmd_tx to synchronously
// wait for an HCI ACK. The corresponding ble_npl_sem_release is called
// directly by the UART rx handler (i.e. hal_uart_rx_cb in
// extmod/nimble/hal/hal_uart.c). So this loop needs to run only the HCI
// UART processing but not run any events.
if (sem->count == 0) {
uint32_t t0 = mp_hal_ticks_ms();
while (sem->count == 0 && mp_hal_ticks_ms() - t0 < timeout) {
// This can be called either from code running in NimBLE's "task"
// (i.e. PENDSV) or directly by application code, so for the
// latter case, prevent the "task" from running while we poll the
// UART directly.
MICROPY_PY_BLUETOOTH_ENTER
mp_bluetooth_nimble_hci_uart_process();
MICROPY_PY_BLUETOOTH_EXIT
if (sem->count != 0) {
break;
}
// Because we're polling, might as well wait for a UART IRQ indicating
// more data available.
mp_bluetooth_nimble_hci_uart_wfi();
}
@ -384,6 +378,8 @@ uint16_t ble_npl_sem_get_count(struct ble_npl_sem *sem) {
static struct ble_npl_callout *global_callout = NULL;
void mp_bluetooth_nimble_os_callout_process(void) {
os_sr_t sr;
OS_ENTER_CRITICAL(sr);
uint32_t tnow = mp_hal_ticks_ms();
for (struct ble_npl_callout *c = global_callout; c != NULL; c = c->nextc) {
if (!c->active) {
@ -393,17 +389,24 @@ void mp_bluetooth_nimble_os_callout_process(void) {
DEBUG_CALLOUT_printf("callout_run(%p) tnow=%u ticks=%u evq=%p\n", c, (uint)tnow, (uint)c->ticks, c->evq);
c->active = false;
if (c->evq) {
// Enqueue this callout for execution in the event queue.
ble_npl_eventq_put(c->evq, &c->ev);
} else {
// Execute this callout directly.
OS_EXIT_CRITICAL(sr);
c->ev.fn(&c->ev);
OS_ENTER_CRITICAL(sr);
}
DEBUG_CALLOUT_printf("callout_run(%p) done\n", c);
}
}
OS_EXIT_CRITICAL(sr);
}
void ble_npl_callout_init(struct ble_npl_callout *c, struct ble_npl_eventq *evq, ble_npl_event_fn *ev_cb, void *ev_arg) {
DEBUG_CALLOUT_printf("ble_npl_callout_init(%p, %p, %p, %p)\n", c, evq, ev_cb, ev_arg);
os_sr_t sr;
OS_ENTER_CRITICAL(sr);
c->active = false;
c->ticks = 0;
c->evq = evq;
@ -413,17 +416,22 @@ void ble_npl_callout_init(struct ble_npl_callout *c, struct ble_npl_eventq *evq,
for (c2 = &global_callout; *c2 != NULL; c2 = &(*c2)->nextc) {
if (c == *c2) {
// callout already in linked list so don't link it in again
OS_EXIT_CRITICAL(sr);
return;
}
}
*c2 = c;
c->nextc = NULL;
OS_EXIT_CRITICAL(sr);
}
ble_npl_error_t ble_npl_callout_reset(struct ble_npl_callout *c, ble_npl_time_t ticks) {
DEBUG_CALLOUT_printf("ble_npl_callout_reset(%p, %u) tnow=%u\n", c, (uint)ticks, (uint)mp_hal_ticks_ms());
os_sr_t sr;
OS_ENTER_CRITICAL(sr);
c->active = true;
c->ticks = ble_npl_time_get() + ticks;
OS_EXIT_CRITICAL(sr);
return BLE_NPL_OK;
}
@ -493,23 +501,20 @@ void ble_npl_time_delay(ble_npl_time_t ticks) {
// CRITICAL
// This is used anywhere NimBLE modifies global data structures.
// We need to protect between:
// - A MicroPython VM thread.
// - The NimBLE "task" (e.g. PENDSV on STM32, pthread on Unix).
// On STM32, by disabling PENDSV, we ensure that either:
// - If we're in the NimBLE task, we're exclusive anyway.
// - If we're in a VM thread, we can't be interrupted by the NimBLE task, or switched to another thread.
// On Unix, there's a global mutex.
// TODO: Both ports currently use MICROPY_PY_BLUETOOTH_ENTER in their implementation,
// maybe this doesn't need to be port-specific?
// Currently all NimBLE code is invoked by the scheduler so there should be no
// races, so on STM32 MICROPY_PY_BLUETOOTH_ENTER/MICROPY_PY_BLUETOOTH_EXIT are
// no-ops. However, in the future we may wish to make HCI UART processing
// happen asynchronously (e.g. on RX IRQ), so the port can implement these
// macros accordingly.
uint32_t ble_npl_hw_enter_critical(void) {
DEBUG_CRIT_printf("ble_npl_hw_enter_critical()\n");
return mp_bluetooth_nimble_hci_uart_enter_critical();
MICROPY_PY_BLUETOOTH_ENTER
return atomic_state;
}
void ble_npl_hw_exit_critical(uint32_t ctx) {
DEBUG_CRIT_printf("ble_npl_hw_exit_critical(%u)\n", (uint)ctx);
mp_bluetooth_nimble_hci_uart_exit_critical(ctx);
void ble_npl_hw_exit_critical(uint32_t atomic_state) {
MICROPY_PY_BLUETOOTH_EXIT
DEBUG_CRIT_printf("ble_npl_hw_exit_critical(%u)\n", (uint)atomic_state);
}

4
extmod/nimble/nimble/nimble_npl_os.h
View File

@ -42,6 +42,7 @@ typedef int32_t ble_npl_stime_t;
struct ble_npl_event {
ble_npl_event_fn *fn;
void *arg;
bool pending;
struct ble_npl_event *prev;
struct ble_npl_event *next;
};
@ -61,7 +62,6 @@ struct ble_npl_callout {
struct ble_npl_mutex {
volatile uint8_t locked;
volatile uint32_t atomic_state;
};
struct ble_npl_sem {
@ -76,7 +76,5 @@ void mp_bluetooth_nimble_os_callout_process(void);
// --- Must be provided by the MicroPython port -------------------------------
void mp_bluetooth_nimble_hci_uart_wfi(void);
uint32_t mp_bluetooth_nimble_hci_uart_enter_critical(void);
void mp_bluetooth_nimble_hci_uart_exit_critical(uint32_t atomic_state);
#endif // MICROPY_INCLUDED_STM32_NIMBLE_NIMBLE_NPL_OS_H

4
ports/stm32/main.c
View File

@ -433,8 +433,8 @@ void stm32_main(uint32_t reset_mode) {
systick_enable_dispatch(SYSTICK_DISPATCH_LWIP, mod_network_lwip_poll_wrapper);
#endif
#if MICROPY_PY_BLUETOOTH
extern void mp_bluetooth_hci_poll_wrapper(uint32_t ticks_ms);
systick_enable_dispatch(SYSTICK_DISPATCH_BLUETOOTH_HCI, mp_bluetooth_hci_poll_wrapper);
extern void mp_bluetooth_hci_systick(uint32_t ticks_ms);
systick_enable_dispatch(SYSTICK_DISPATCH_BLUETOOTH_HCI, mp_bluetooth_hci_systick);
#endif
#if MICROPY_PY_NETWORK_CYW43

65
ports/stm32/mpbthciport.c
View File

@ -27,6 +27,7 @@
#include "py/runtime.h"
#include "py/mphal.h"
#include "extmod/mpbthci.h"
#include "extmod/modbluetooth.h"
#include "systick.h"
#include "pendsv.h"
#include "lib/utils/mpirq.h"
@ -35,23 +36,58 @@
#if MICROPY_PY_BLUETOOTH
#define DEBUG_printf(...) // printf(__VA_ARGS__)
#define DEBUG_printf(...) // printf("mpbthciport.c: " __VA_ARGS__)
uint8_t mp_bluetooth_hci_cmd_buf[4 + 256];
// 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.
extern void mp_bluetooth_hci_poll(void);
// Hook for pendsv poller to run this periodically every 128ms
#define BLUETOOTH_HCI_TICK(tick) (((tick) & ~(SYSTICK_DISPATCH_NUM_SLOTS - 1) & 0x7f) == 0)
#if MICROPY_PY_BLUETOOTH_USE_SYNC_EVENTS
// For synchronous mode, we run all BLE stack code inside a scheduled task.
// This task is scheduled periodically (every 128ms) via SysTick, or
// immediately on HCI UART RXIDLE.
// Prevent double-enqueuing of the scheduled task.
STATIC volatile bool events_task_is_scheduled = false;
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_systick(uint32_t ticks_ms) {
if (events_task_is_scheduled) {
return;
}
if (ticks_ms == 0 || BLUETOOTH_HCI_TICK(ticks_ms)) {
events_task_is_scheduled = mp_sched_schedule(MP_OBJ_FROM_PTR(&run_events_scheduled_task_obj), mp_const_none);
}
}
#else // !MICROPY_PY_BLUETOOTH_USE_SYNC_EVENTS
// Called periodically (systick) or directly (e.g. uart irq).
void mp_bluetooth_hci_poll_wrapper(uint32_t ticks_ms) {
void mp_bluetooth_hci_systick(uint32_t ticks_ms) {
if (ticks_ms == 0 || BLUETOOTH_HCI_TICK(ticks_ms)) {
pendsv_schedule_dispatch(PENDSV_DISPATCH_BLUETOOTH_HCI, mp_bluetooth_hci_poll);
}
}
#endif
#if defined(STM32WB)
/******************************************************************************/
@ -67,13 +103,23 @@ STATIC uint8_t hci_uart_rx_buf_data[256];
int mp_bluetooth_hci_uart_init(uint32_t port, uint32_t baudrate) {
(void)port;
(void)baudrate;
DEBUG_printf("mp_bluetooth_hci_uart_init (stm32 rfcore)\n");
#if MICROPY_PY_BLUETOOTH_USE_SYNC_EVENTS
events_task_is_scheduled = false;
#endif
rfcore_ble_init();
hci_uart_rx_buf_cur = 0;
hci_uart_rx_buf_len = 0;
return 0;
}
int mp_bluetooth_hci_uart_deinit(void) {
DEBUG_printf("mp_bluetooth_hci_uart_deinit (stm32 rfcore)\n");
return 0;
}
@ -125,12 +171,12 @@ int mp_bluetooth_hci_uart_readchar(void) {
pyb_uart_obj_t mp_bluetooth_hci_uart_obj;
mp_irq_obj_t mp_bluetooth_hci_uart_irq_obj;
static uint8_t hci_uart_rxbuf[512];
static uint8_t hci_uart_rxbuf[768];
mp_obj_t mp_uart_interrupt(mp_obj_t self_in) {
// DEBUG_printf("mp_uart_interrupt\n");
// New HCI data, schedule mp_bluetooth_hci_poll via PENDSV to make the stack handle it.
mp_bluetooth_hci_poll_wrapper(0);
// Queue up the scheduler to run the HCI UART and event processing ASAP.
mp_bluetooth_hci_systick(0);
return mp_const_none;
}
MP_DEFINE_CONST_FUN_OBJ_1(mp_uart_interrupt_obj, mp_uart_interrupt);
@ -138,6 +184,10 @@ MP_DEFINE_CONST_FUN_OBJ_1(mp_uart_interrupt_obj, mp_uart_interrupt);
int mp_bluetooth_hci_uart_init(uint32_t port, uint32_t baudrate) {
DEBUG_printf("mp_bluetooth_hci_uart_init (stm32)\n");
#if MICROPY_PY_BLUETOOTH_USE_SYNC_EVENTS
events_task_is_scheduled = false;
#endif
// bits (8), stop (1), parity (none) and flow (rts/cts) are assumed to match MYNEWT_VAL_BLE_HCI_UART_ constants in syscfg.h.
mp_bluetooth_hci_uart_obj.base.type = &pyb_uart_type;
mp_bluetooth_hci_uart_obj.uart_id = port;
@ -147,7 +197,7 @@ int mp_bluetooth_hci_uart_init(uint32_t port, uint32_t baudrate) {
mp_bluetooth_hci_uart_obj.timeout_char = 200;
MP_STATE_PORT(pyb_uart_obj_all)[mp_bluetooth_hci_uart_obj.uart_id - 1] = &mp_bluetooth_hci_uart_obj;
// This also initialises the UART.
// This also initialises the UART and adds the RXIDLE IRQ handler.
mp_bluetooth_hci_uart_set_baudrate(baudrate);
return 0;
@ -155,6 +205,7 @@ int mp_bluetooth_hci_uart_init(uint32_t port, uint32_t baudrate) {
int mp_bluetooth_hci_uart_deinit(void) {
DEBUG_printf("mp_bluetooth_hci_uart_deinit (stm32)\n");
// TODO: deinit mp_bluetooth_hci_uart_obj
return 0;

9
ports/stm32/mpconfigport.h
View File

@ -420,9 +420,16 @@ static inline mp_uint_t disable_irq(void) {
#define MICROPY_PY_LWIP_REENTER MICROPY_PY_PENDSV_REENTER
#define MICROPY_PY_LWIP_EXIT MICROPY_PY_PENDSV_EXIT
// Prevent the "Bluetooth task" from running (either NimBLE or btstack).
#if MICROPY_PY_BLUETOOTH_USE_SYNC_EVENTS
// Bluetooth code only runs in the scheduler, no locking/mutex required.
#define MICROPY_PY_BLUETOOTH_ENTER uint32_t atomic_state = 0;
#define MICROPY_PY_BLUETOOTH_EXIT (void)atomic_state;
#else
// When async events are enabled, need to prevent PendSV execution racing with
// scheduler execution.
#define MICROPY_PY_BLUETOOTH_ENTER MICROPY_PY_PENDSV_ENTER
#define MICROPY_PY_BLUETOOTH_EXIT MICROPY_PY_PENDSV_EXIT
#endif
// We need an implementation of the log2 function which is not a macro
#define MP_NEED_LOG2 (1)

30
ports/stm32/mpnimbleport.c
View File

@ -31,24 +31,29 @@
#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/mpbthci.h"
#include "extmod/modbluetooth.h"
#include "extmod/nimble/modbluetooth_nimble.h"
#include "extmod/nimble/hal/hal_uart.h"
// This implements the Nimble "background task". It's called at PENDSV
// priority, either every 128ms or whenever there's UART data available.
// Because it's called via PENDSV, you can implicitly consider that it
// is surrounded by MICROPY_PY_BLUETOOTH_ENTER / MICROPY_PY_BLUETOOTH_EXIT.
// 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) {
// Ask NimBLE to process UART data.
mp_bluetooth_nimble_hci_uart_process();
// DEBUG_printf("mp_bluetooth_hci_poll_uart %d\n", mp_bluetooth_nimble_ble_state);
// Run pending background operations and events, but only after HCI sync.
// 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();
}
}
@ -57,15 +62,10 @@ void mp_bluetooth_hci_poll(void) {
void mp_bluetooth_nimble_hci_uart_wfi(void) {
__WFI();
}
uint32_t mp_bluetooth_nimble_hci_uart_enter_critical(void) {
MICROPY_PY_BLUETOOTH_ENTER
return atomic_state;
}
void mp_bluetooth_nimble_hci_uart_exit_critical(uint32_t atomic_state) {
MICROPY_PY_BLUETOOTH_EXIT
// 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

2
ports/stm32/pendsv.h
View File

@ -34,7 +34,7 @@ enum {
PENDSV_DISPATCH_CYW43,
#endif
#endif
#if MICROPY_PY_BLUETOOTH
#if MICROPY_PY_BLUETOOTH && !MICROPY_PY_BLUETOOTH_USE_SYNC_EVENTS
PENDSV_DISPATCH_BLUETOOTH_HCI,
#endif
PENDSV_DISPATCH_MAX

6
ports/stm32/rfcore.c
View File

@ -634,9 +634,9 @@ void IPCC_C1_RX_IRQHandler(void) {
LL_C1_IPCC_ClearFlag_CHx(IPCC, IPCC_CH_BLE);
// Schedule PENDSV to process incoming HCI payload.
extern void mp_bluetooth_hci_poll_wrapper(uint32_t ticks_ms);
mp_bluetooth_hci_poll_wrapper(0);
// Queue up the scheduler to process UART data and run events.
extern void mp_bluetooth_hci_systick(uint32_t ticks_ms);
mp_bluetooth_hci_systick(0);
}
IRQ_EXIT(IPCC_C1_RX_IRQn);

54
ports/unix/mpbthciport.c
View File

@ -50,22 +50,67 @@
uint8_t mp_bluetooth_hci_cmd_buf[4 + 256];
STATIC int uart_fd = -1;
// Must be provided by the stack bindings (e.g. mpnimbleport.c or mpbtstackport.c).
extern bool mp_bluetooth_hci_poll(void);
STATIC const useconds_t UART_POLL_INTERVAL_US = 1000;
#if MICROPY_PY_BLUETOOTH_USE_SYNC_EVENTS
STATIC int uart_fd = -1;
// For synchronous mode, we run all BLE stack code inside a scheduled task.
// This task is scheduled periodically (every 1ms) by a background thread.
// Allows the stack to tell us that we should stop trying to schedule.
extern bool mp_bluetooth_hci_active(void);
// Prevent double-enqueuing of the scheduled task.
STATIC volatile bool events_task_is_scheduled = false;
STATIC mp_obj_t run_events_scheduled_task(mp_obj_t none_in) {
(void)none_in;
MICROPY_PY_BLUETOOTH_ENTER
events_task_is_scheduled = false;
MICROPY_PY_BLUETOOTH_EXIT
mp_bluetooth_hci_poll();
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(run_events_scheduled_task_obj, run_events_scheduled_task);
#endif // MICROPY_PY_BLUETOOTH_USE_SYNC_EVENTS
STATIC const useconds_t UART_POLL_INTERVAL_US = 1000;
STATIC pthread_t hci_poll_thread_id;
STATIC void *hci_poll_thread(void *arg) {
(void)arg;
DEBUG_printf("hci_poll_thread: starting\n");
#if MICROPY_PY_BLUETOOTH_USE_SYNC_EVENTS
events_task_is_scheduled = false;
while (mp_bluetooth_hci_active()) {
MICROPY_PY_BLUETOOTH_ENTER
if (!events_task_is_scheduled) {
events_task_is_scheduled = mp_sched_schedule(MP_OBJ_FROM_PTR(&run_events_scheduled_task_obj), mp_const_none);
}
MICROPY_PY_BLUETOOTH_EXIT
usleep(UART_POLL_INTERVAL_US);
}
#else
// In asynchronous (i.e. ringbuffer) mode, we run the BLE stack directly from the thread.
// This will return false when the stack is shutdown.
while (mp_bluetooth_hci_poll()) {
usleep(UART_POLL_INTERVAL_US);
}
#endif
DEBUG_printf("hci_poll_thread: stopped\n");
return NULL;
}
@ -122,6 +167,11 @@ int mp_bluetooth_hci_uart_init(uint32_t port, uint32_t baudrate) {
DEBUG_printf("mp_bluetooth_hci_uart_init (unix)\n");
if (uart_fd != -1) {
DEBUG_printf("mp_bluetooth_hci_uart_init: already active\n");
return 0;
}
char uart_device_name[256] = "/dev/ttyUSB0";
char *path = getenv("MICROPYBTUART");

36
ports/unix/mpnimbleport.c
View File

@ -47,38 +47,28 @@ bool mp_bluetooth_hci_poll(void) {
}
if (mp_bluetooth_nimble_ble_state >= MP_BLUETOOTH_NIMBLE_BLE_STATE_WAITING_FOR_SYNC) {
// Pretend like we're running in IRQ context (i.e. other things can't be running at the same time).
mp_uint_t atomic_state = MICROPY_BEGIN_ATOMIC_SECTION();
// Ask NimBLE to process UART data.
mp_bluetooth_nimble_hci_uart_process();
// Run pending background operations and events, but only after HCI sync.
// Run any timers.
mp_bluetooth_nimble_os_callout_process();
mp_bluetooth_nimble_os_eventq_run_all();
MICROPY_END_ATOMIC_SECTION(atomic_state);
// 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();
}
return true;
}
bool mp_bluetooth_hci_active(void) {
return mp_bluetooth_nimble_ble_state != MP_BLUETOOTH_NIMBLE_BLE_STATE_OFF;
}
// Extra port-specific helpers.
void mp_bluetooth_nimble_hci_uart_wfi(void) {
// DEBUG_printf("mp_bluetooth_nimble_hci_uart_wfi\n");
// TODO: this should do a select() on the uart_fd.
}
uint32_t mp_bluetooth_nimble_hci_uart_enter_critical(void) {
// DEBUG_printf("mp_bluetooth_nimble_hci_uart_enter_critical\n");
MICROPY_PY_BLUETOOTH_ENTER
return atomic_state; // Always 0xffffffff
}
void mp_bluetooth_nimble_hci_uart_exit_critical(uint32_t atomic_state) {
MICROPY_PY_BLUETOOTH_EXIT
// DEBUG_printf("mp_bluetooth_nimble_hci_uart_exit_critical\n");
// 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, only processing incoming HCI data.
mp_bluetooth_nimble_hci_uart_process(false);
}
#endif // MICROPY_PY_BLUETOOTH && MICROPY_BLUETOOTH_NIMBLE