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rp2: Add support for bluetooth module using NimBLE.

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This commit is contained in:
iabdalkader 2021-07-22 14:42:52 +02:00 committed by Damien George
parent 8064c3bf9c
commit c973cfd2f3
7 changed files with 402 additions and 0 deletions
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26
ports/rp2/CMakeLists.txt
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@ -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)

9
ports/rp2/main.c
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@ -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();

200
ports/rp2/mpbthciport.c Normal file
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@ -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

42
ports/rp2/mpbthciport.h Normal file
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@ -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

16
ports/rp2/mpconfigport.h
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@ -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

80
ports/rp2/mpnimbleport.c Normal file
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@ -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

29
ports/rp2/mpnimbleport.h Normal file
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@ -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