diff options
| -rw-r--r-- | ports/mimxrt/Makefile | 9 | ||||
| -rw-r--r-- | ports/mimxrt/main.c | 12 | ||||
| -rw-r--r-- | ports/mimxrt/mpbthciport.c | 196 | ||||
| -rw-r--r-- | ports/mimxrt/mpbthciport.h | 42 | ||||
| -rw-r--r-- | ports/mimxrt/mpconfigport.h | 9 | ||||
| -rw-r--r-- | ports/mimxrt/mpnimbleport.c | 78 | ||||
| -rw-r--r-- | ports/mimxrt/mpnimbleport.h | 30 |
7 files changed, 376 insertions, 0 deletions
diff --git a/ports/mimxrt/Makefile b/ports/mimxrt/Makefile index f74e957c3..ead206e5e 100644 --- a/ports/mimxrt/Makefile +++ b/ports/mimxrt/Makefile @@ -264,6 +264,14 @@ else SRC_HAL_C += hal/$(FLEXSPI_FLASH_TYPE)_config.c endif +ifeq ($(MICROPY_PY_BLUETOOTH),1) +SRC_C += mpbthciport.c +endif # MICROPY_PY_BLUETOOTH + +ifeq ($(MICROPY_BLUETOOTH_NIMBLE),1) +SRC_C += mpnimbleport.c +endif + # Math library source files ifeq ($(MICROPY_FLOAT_IMPL),double) LIBM_SRC_C += $(addprefix lib/libm_dbl/,\ @@ -449,6 +457,7 @@ OBJ += $(PY_O) OBJ += $(LIBM_O) OBJ += $(addprefix $(BUILD)/, $(SRC_C:.c=.o)) OBJ += $(addprefix $(BUILD)/, $(SHARED_SRC_C:.c=.o)) +OBJ += $(addprefix $(BUILD)/, $(DRIVERS_SRC_C:.c=.o)) OBJ += $(addprefix $(BUILD)/, $(SRC_S:.s=.o)) OBJ += $(addprefix $(BUILD)/, $(SRC_SS:.S=.o)) OBJ += $(addprefix $(BUILD)/, $(SRC_TINYUSB_C:.c=.o)) diff --git a/ports/mimxrt/main.c b/ports/mimxrt/main.c index 8deaa5427..993e59818 100644 --- a/ports/mimxrt/main.c +++ b/ports/mimxrt/main.c @@ -47,6 +47,12 @@ #include "lib/cyw43-driver/src/cyw43.h" #endif #endif + +#if MICROPY_PY_BLUETOOTH +#include "mpbthciport.h" +#include "extmod/modbluetooth.h" +#endif + #include "systick.h" #include "extmod/modnetwork.h" @@ -71,6 +77,9 @@ int main(void) { systick_enable_dispatch(SYSTICK_DISPATCH_LWIP, mod_network_lwip_poll_wrapper); #endif + #if MICROPY_PY_BLUETOOTH + mp_bluetooth_hci_init(); + #endif #if MICROPY_PY_NETWORK_CYW43 { @@ -135,6 +144,9 @@ int main(void) { #if MICROPY_PY_MACHINE_I2S machine_i2s_deinit_all(); #endif + #if MICROPY_PY_BLUETOOTH + mp_bluetooth_deinit(); + #endif #if MICROPY_PY_NETWORK mod_network_deinit(); #endif diff --git a/ports/mimxrt/mpbthciport.c b/ports/mimxrt/mpbthciport.c new file mode 100644 index 000000000..c83c76587 --- /dev/null +++ b/ports/mimxrt/mpbthciport.c @@ -0,0 +1,196 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2018-2021 Damien P. George + * Copyright (c) 2023 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 "shared/runtime/softtimer.h" +#include "modmachine.h" +#include "mpbthciport.h" + +#include "fsl_lpuart.h" +#include CLOCK_CONFIG_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__) + +uint8_t mp_bluetooth_hci_cmd_buf[4 + 256]; + +STATIC mp_sched_node_t mp_bluetooth_hci_sched_node; +STATIC soft_timer_entry_t mp_bluetooth_hci_soft_timer; + +STATIC void mp_bluetooth_hci_soft_timer_callback(soft_timer_entry_t *self) { + mp_bluetooth_hci_poll_now(); +} + +void mp_bluetooth_hci_init(void) { + soft_timer_static_init( + &mp_bluetooth_hci_soft_timer, + SOFT_TIMER_MODE_ONE_SHOT, + 0, + mp_bluetooth_hci_soft_timer_callback + ); +} + +STATIC void mp_bluetooth_hci_start_polling(void) { + mp_bluetooth_hci_poll_now(); +} + +void mp_bluetooth_hci_poll_in_ms(uint32_t ms) { + soft_timer_reinsert(&mp_bluetooth_hci_soft_timer, ms); +} + +// For synchronous mode, we run all BLE stack code inside a scheduled task. +STATIC void run_events_scheduled_task(mp_sched_node_t *node) { + // This will process all buffered HCI UART data, and run any callouts or events. + mp_bluetooth_hci_poll(); +} + +// 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) { + mp_sched_schedule_node(&mp_bluetooth_hci_sched_node, run_events_scheduled_task); +} + +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(port), + MP_OBJ_NEW_QSTR(MP_QSTR_baudrate), MP_OBJ_NEW_SMALL_INT(baudrate), + MP_OBJ_NEW_QSTR(MP_QSTR_timeout), MP_OBJ_NEW_SMALL_INT(200), + MP_OBJ_NEW_QSTR(MP_QSTR_timeout_char), MP_OBJ_NEW_SMALL_INT(200), + MP_OBJ_NEW_QSTR(MP_QSTR_txbuf), MP_OBJ_NEW_SMALL_INT(768), + MP_OBJ_NEW_QSTR(MP_QSTR_rxbuf), MP_OBJ_NEW_SMALL_INT(768), + }; + + mp_bthci_uart = MP_OBJ_TYPE_GET_SLOT(&machine_uart_type, make_new)((mp_obj_t)&machine_uart_type, 1, 5, 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"); + mp_bthci_uart = MP_OBJ_NULL; + return 0; +} + +int mp_bluetooth_hci_uart_set_baudrate(uint32_t baudrate) { + DEBUG_printf("mp_bluetooth_hci_uart_set_baudrate(%lu)\n", baudrate); + if (mp_bthci_uart != MP_OBJ_NULL) { + // This struct is not public, so we use the base defined in board config files. + // machine_uart_obj_t uart = (machine_uart_obj_t *) MP_PTR_FROM_OBJ(mp_bthci_uart); + LPUART_SetBaudRate(MICROPY_HW_BLE_UART_BASE, baudrate, BOARD_BOOTCLOCKRUN_UART_CLK_ROOT); + } + return 0; +} + +int mp_bluetooth_hci_uart_any(void) { + int errcode = 0; + const mp_stream_p_t *proto = (mp_stream_p_t *)MP_OBJ_TYPE_GET_SLOT(&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 *)MP_OBJ_TYPE_GET_SLOT(&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 *)MP_OBJ_TYPE_GET_SLOT(&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; +} + +MP_REGISTER_ROOT_POINTER(mp_obj_t mp_bthci_uart); + +#endif // MICROPY_PY_BLUETOOTH diff --git a/ports/mimxrt/mpbthciport.h b/ports/mimxrt/mpbthciport.h new file mode 100644 index 000000000..124c85dae --- /dev/null +++ b/ports/mimxrt/mpbthciport.h @@ -0,0 +1,42 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2018-2021 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_MIMXRT_MPBTHCIPORT_H +#define MICROPY_INCLUDED_MIMXRT_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_MIMXRT_MPBTHCIPORT_H diff --git a/ports/mimxrt/mpconfigport.h b/ports/mimxrt/mpconfigport.h index eb5c3450b..9dccebc1f 100644 --- a/ports/mimxrt/mpconfigport.h +++ b/ports/mimxrt/mpconfigport.h @@ -59,6 +59,7 @@ uint32_t trng_random_u32(void); #define MICROPY_ENABLE_EMERGENCY_EXCEPTION_BUF (1) #define MICROPY_LONGINT_IMPL (MICROPY_LONGINT_IMPL_MPZ) #define MICROPY_SCHEDULER_DEPTH (8) +#define MICROPY_SCHEDULER_STATIC_NODES (1) #define MICROPY_VFS (1) // Control over Python builtins @@ -118,6 +119,14 @@ uint32_t trng_random_u32(void); #define MICROPY_PY_LWIP_REENTER MICROPY_PY_PENDSV_REENTER #define MICROPY_PY_LWIP_EXIT MICROPY_PY_PENDSV_EXIT +#ifndef MICROPY_PY_BLUETOOTH_ENABLE_CENTRAL_MODE +#define MICROPY_PY_BLUETOOTH_ENABLE_CENTRAL_MODE (1) +#endif + +#ifndef MICROPY_PY_BLUETOOTH_ENABLE_L2CAP_CHANNELS +#define MICROPY_PY_BLUETOOTH_ENABLE_L2CAP_CHANNELS (MICROPY_BLUETOOTH_NIMBLE) +#endif + #ifndef MICROPY_PY_NETWORK_HOSTNAME_DEFAULT #define MICROPY_PY_NETWORK_HOSTNAME_DEFAULT "mpy-mimxrt" #endif diff --git a/ports/mimxrt/mpnimbleport.c b/ports/mimxrt/mpnimbleport.c new file mode 100644 index 000000000..e2d39e271 --- /dev/null +++ b/ports/mimxrt/mpnimbleport.c @@ -0,0 +1,78 @@ +/* + * 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" + +#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" +#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) { + __WFI(); + + // 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 diff --git a/ports/mimxrt/mpnimbleport.h b/ports/mimxrt/mpnimbleport.h new file mode 100644 index 000000000..78f4fc9b0 --- /dev/null +++ b/ports/mimxrt/mpnimbleport.h @@ -0,0 +1,30 @@ +/* + * 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_MIMXRT_NIMBLE_PORT_H +#define MICROPY_INCLUDED_MIMXRT_NIMBLE_PORT_H + +#endif // MICROPY_INCLUDED_MIMXRT_NIMBLE_PORT_H |