mimxrt: Integrate Bluetooth support with NimBLE bindings.

This commit adds the necessary functions to get NimBLE working with the
mimxrt port.

Signed-off-by: iabdalkader <i.abdalkader@gmail.com>
This commit is contained in:
iabdalkader 2023-05-09 17:06:57 +02:00 committed by Damien George
parent 772a36098f
commit fc495240a6
7 changed files with 376 additions and 0 deletions

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@ -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))

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@ -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

196
ports/mimxrt/mpbthciport.c Normal file
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@ -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

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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) 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

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@ -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

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@ -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

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@ -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