stm32/mpbthciport: Change from systick to soft-timer for BT scheduling.
Instead of using systick the BT subsystem is now scheduled using a soft timer. This means it is scheduled only when it is enabled. Signed-off-by: Damien George <damien@micropython.org>
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74c2c31811
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@ -54,6 +54,7 @@
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#endif
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#include "boardctrl.h"
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#include "mpbthciport.h"
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#include "mpu.h"
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#include "rfcore.h"
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#include "systick.h"
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@ -440,8 +441,7 @@ void stm32_main(uint32_t reset_mode) {
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systick_enable_dispatch(SYSTICK_DISPATCH_LWIP, mod_network_lwip_poll_wrapper);
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#endif
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#if MICROPY_PY_BLUETOOTH
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extern void mp_bluetooth_hci_systick(uint32_t ticks_ms);
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systick_enable_dispatch(SYSTICK_DISPATCH_BLUETOOTH_HCI, mp_bluetooth_hci_systick);
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mp_bluetooth_hci_init();
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#endif
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#if MICROPY_PY_NETWORK_CYW43
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@ -3,7 +3,7 @@
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2018-2020 Damien P. George
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* Copyright (c) 2018-2021 Damien P. George
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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@ -28,7 +28,8 @@
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#include "py/mphal.h"
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#include "extmod/mpbthci.h"
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#include "extmod/modbluetooth.h"
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#include "systick.h"
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#include "mpbthciport.h"
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#include "softtimer.h"
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#include "pendsv.h"
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#include "lib/utils/mpirq.h"
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@ -38,22 +39,48 @@
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uint8_t mp_bluetooth_hci_cmd_buf[4 + 256];
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// Must be provided by the stack bindings (e.g. mpnimbleport.c or mpbtstackport.c).
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// Request new data from the uart and pass to the stack, and run pending events/callouts.
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extern void mp_bluetooth_hci_poll(void);
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// Soft timer for scheduling a HCI poll.
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STATIC soft_timer_entry_t mp_bluetooth_hci_soft_timer;
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// Hook for pendsv poller to run this periodically every 128ms
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#define BLUETOOTH_HCI_TICK(tick) (((tick) & ~(SYSTICK_DISPATCH_NUM_SLOTS - 1) & 0x7f) == 0)
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#if MICROPY_PY_BLUETOOTH_USE_SYNC_EVENTS
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// Prevent double-enqueuing of the scheduled task.
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STATIC volatile bool events_task_is_scheduled;
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#endif
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// This is called by soft_timer and executes at IRQ_PRI_PENDSV.
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STATIC void mp_bluetooth_hci_soft_timer_callback(soft_timer_entry_t *self) {
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mp_bluetooth_hci_poll_now();
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}
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void mp_bluetooth_hci_init(void) {
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#if MICROPY_PY_BLUETOOTH_USE_SYNC_EVENTS
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events_task_is_scheduled = false;
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#endif
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soft_timer_static_init(
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&mp_bluetooth_hci_soft_timer,
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SOFT_TIMER_MODE_ONE_SHOT,
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0,
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mp_bluetooth_hci_soft_timer_callback
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);
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}
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STATIC void mp_bluetooth_hci_start_polling(void) {
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#if MICROPY_PY_BLUETOOTH_USE_SYNC_EVENTS
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events_task_is_scheduled = false;
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#endif
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mp_bluetooth_hci_poll_now();
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}
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void mp_bluetooth_hci_poll_in_ms(uint32_t ms) {
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soft_timer_reinsert(&mp_bluetooth_hci_soft_timer, ms);
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}
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#if MICROPY_PY_BLUETOOTH_USE_SYNC_EVENTS
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// For synchronous mode, we run all BLE stack code inside a scheduled task.
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// This task is scheduled periodically (every 128ms) via SysTick, or
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// This task is scheduled periodically via a soft timer, or
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// immediately on HCI UART RXIDLE.
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// Prevent double-enqueuing of the scheduled task.
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STATIC volatile bool events_task_is_scheduled = false;
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STATIC mp_obj_t run_events_scheduled_task(mp_obj_t none_in) {
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(void)none_in;
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events_task_is_scheduled = false;
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@ -65,23 +92,20 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_1(run_events_scheduled_task_obj, run_events_sched
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// Called periodically (systick) or directly (e.g. UART RX IRQ) in order to
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// request that processing happens ASAP in the scheduler.
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void mp_bluetooth_hci_systick(uint32_t ticks_ms) {
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if (events_task_is_scheduled) {
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return;
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}
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if (ticks_ms == 0 || BLUETOOTH_HCI_TICK(ticks_ms)) {
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void mp_bluetooth_hci_poll_now(void) {
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if (!events_task_is_scheduled) {
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events_task_is_scheduled = mp_sched_schedule(MP_OBJ_FROM_PTR(&run_events_scheduled_task_obj), mp_const_none);
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if (!events_task_is_scheduled) {
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// The schedule queue is full, set callback to try again soon.
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mp_bluetooth_hci_poll_in_ms(5);
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}
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}
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}
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#else // !MICROPY_PY_BLUETOOTH_USE_SYNC_EVENTS
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// Called periodically (systick) or directly (e.g. uart irq).
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void mp_bluetooth_hci_systick(uint32_t ticks_ms) {
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if (ticks_ms == 0 || BLUETOOTH_HCI_TICK(ticks_ms)) {
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pendsv_schedule_dispatch(PENDSV_DISPATCH_BLUETOOTH_HCI, mp_bluetooth_hci_poll);
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}
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void mp_bluetooth_hci_poll_now(void) {
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pendsv_schedule_dispatch(PENDSV_DISPATCH_BLUETOOTH_HCI, mp_bluetooth_hci_poll);
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}
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#endif
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@ -104,14 +128,13 @@ int mp_bluetooth_hci_uart_init(uint32_t port, uint32_t baudrate) {
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DEBUG_printf("mp_bluetooth_hci_uart_init (stm32 rfcore)\n");
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#if MICROPY_PY_BLUETOOTH_USE_SYNC_EVENTS
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events_task_is_scheduled = false;
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#endif
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rfcore_ble_init();
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hci_uart_rx_buf_cur = 0;
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hci_uart_rx_buf_len = 0;
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// Start the HCI polling to process any initial events/packets.
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mp_bluetooth_hci_start_polling();
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return 0;
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}
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@ -163,7 +186,6 @@ int mp_bluetooth_hci_uart_readchar(void) {
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/******************************************************************************/
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// HCI over UART
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#include "pendsv.h"
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#include "uart.h"
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pyb_uart_obj_t mp_bluetooth_hci_uart_obj;
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@ -173,7 +195,7 @@ static uint8_t hci_uart_rxbuf[768];
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mp_obj_t mp_uart_interrupt(mp_obj_t self_in) {
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// Queue up the scheduler to run the HCI UART and event processing ASAP.
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mp_bluetooth_hci_systick(0);
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mp_bluetooth_hci_poll_now();
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return mp_const_none;
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}
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@ -182,10 +204,6 @@ MP_DEFINE_CONST_FUN_OBJ_1(mp_uart_interrupt_obj, mp_uart_interrupt);
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int mp_bluetooth_hci_uart_init(uint32_t port, uint32_t baudrate) {
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DEBUG_printf("mp_bluetooth_hci_uart_init (stm32)\n");
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#if MICROPY_PY_BLUETOOTH_USE_SYNC_EVENTS
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events_task_is_scheduled = false;
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#endif
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// bits (8), stop (1), parity (none) and flow (rts/cts) are assumed to match MYNEWT_VAL_BLE_HCI_UART_ constants in syscfg.h.
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mp_bluetooth_hci_uart_obj.base.type = &pyb_uart_type;
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mp_bluetooth_hci_uart_obj.uart_id = port;
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@ -208,6 +226,9 @@ int mp_bluetooth_hci_uart_init(uint32_t port, uint32_t baudrate) {
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mp_bluetooth_hci_uart_irq_obj.ishard = true;
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uart_irq_config(&mp_bluetooth_hci_uart_obj, true);
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// Start the HCI polling to process any initial events/packets.
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mp_bluetooth_hci_start_polling();
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return 0;
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}
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@ -0,0 +1,42 @@
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/*
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* This file is part of the MicroPython project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2021 Damien P. George
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#ifndef MICROPY_INCLUDED_STM32_MPBTHCIPORT_H
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#define MICROPY_INCLUDED_STM32_MPBTHCIPORT_H
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// Initialise the HCI subsystem (should be called once, early on).
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void mp_bluetooth_hci_init(void);
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// Poll the HCI now, or after a certain timeout.
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void mp_bluetooth_hci_poll_now(void);
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void mp_bluetooth_hci_poll_in_ms(uint32_t ms);
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// Must be provided by the stack bindings (e.g. mpnimbleport.c or mpbtstackport.c).
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// Request new data from the uart and pass to the stack, and run pending events/callouts.
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// This is a low-level function and should not be called directly, use
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// mp_bluetooth_hci_poll_now/mp_bluetooth_hci_poll_in_ms instead.
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void mp_bluetooth_hci_poll(void);
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#endif // MICROPY_INCLUDED_STM32_MPBTHCIPORT_H
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@ -38,6 +38,7 @@
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#include "extmod/mpbthci.h"
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#include "extmod/btstack/btstack_hci_uart.h"
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#include "extmod/btstack/modbluetooth_btstack.h"
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#include "mpbthciport.h"
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// The IRQ functionality in btstack_run_loop_embedded.c is not used, so the
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// following three functions are empty.
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// Call the BTstack run loop.
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btstack_run_loop_embedded_execute_once();
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// Call this function again in 128ms to check for new events.
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// TODO: improve this by only calling back when needed.
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mp_bluetooth_hci_poll_in_ms(128);
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}
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void mp_bluetooth_btstack_port_init(void) {
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@ -40,6 +40,7 @@
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#include "extmod/modbluetooth.h"
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#include "extmod/nimble/modbluetooth_nimble.h"
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#include "extmod/nimble/hal/hal_uart.h"
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#include "mpbthciport.h"
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// Get any pending data from the UART and send it to NimBLE's HCI buffers.
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// Any further processing by NimBLE will be run via its event queue.
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// Run any remaining events (e.g. if there was no UART data).
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mp_bluetooth_nimble_os_eventq_run_all();
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}
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if (mp_bluetooth_nimble_ble_state != MP_BLUETOOTH_NIMBLE_BLE_STATE_OFF) {
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// Call this function again in 128ms to check for new events.
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// TODO: improve this by only calling back when needed.
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mp_bluetooth_hci_poll_in_ms(128);
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}
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}
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// --- Port-specific helpers for the generic NimBLE bindings. -----------------
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@ -32,6 +32,7 @@
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#include "py/mphal.h"
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#include "py/runtime.h"
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#include "extmod/modbluetooth.h"
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#include "mpbthciport.h"
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#include "rtc.h"
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#include "rfcore.h"
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#if MICROPY_PY_BLUETOOTH
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// Queue up the scheduler to process UART data and run events.
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extern void mp_bluetooth_hci_systick(uint32_t ticks_ms);
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mp_bluetooth_hci_systick(0);
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mp_bluetooth_hci_poll_now();
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#endif
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}
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#if MICROPY_PY_NETWORK && MICROPY_PY_LWIP
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SYSTICK_DISPATCH_LWIP,
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#endif
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#if MICROPY_PY_BLUETOOTH
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SYSTICK_DISPATCH_BLUETOOTH_HCI,
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#endif
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SYSTICK_DISPATCH_MAX
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};
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