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iabdalkader
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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>
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‎ports/mimxrt/Makefile

Lines changed: 9 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -264,6 +264,14 @@ else
264264
SRC_HAL_C += hal/$(FLEXSPI_FLASH_TYPE)_config.c
265265
endif
266266

267+
ifeq ($(MICROPY_PY_BLUETOOTH),1)
268+
SRC_C += mpbthciport.c
269+
endif # MICROPY_PY_BLUETOOTH
270+
271+
ifeq ($(MICROPY_BLUETOOTH_NIMBLE),1)
272+
SRC_C += mpnimbleport.c
273+
endif
274+
267275
# Math library source files
268276
ifeq ($(MICROPY_FLOAT_IMPL),double)
269277
LIBM_SRC_C += $(addprefix lib/libm_dbl/,\
@@ -449,6 +457,7 @@ OBJ += $(PY_O)
449457
OBJ += $(LIBM_O)
450458
OBJ += $(addprefix $(BUILD)/, $(SRC_C:.c=.o))
451459
OBJ += $(addprefix $(BUILD)/, $(SHARED_SRC_C:.c=.o))
460+
OBJ += $(addprefix $(BUILD)/, $(DRIVERS_SRC_C:.c=.o))
452461
OBJ += $(addprefix $(BUILD)/, $(SRC_S:.s=.o))
453462
OBJ += $(addprefix $(BUILD)/, $(SRC_SS:.S=.o))
454463
OBJ += $(addprefix $(BUILD)/, $(SRC_TINYUSB_C:.c=.o))

‎ports/mimxrt/main.c

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Original file line numberDiff line numberDiff line change
@@ -47,6 +47,12 @@
4747
#include "lib/cyw43-driver/src/cyw43.h"
4848
#endif
4949
#endif
50+
51+
#if MICROPY_PY_BLUETOOTH
52+
#include "mpbthciport.h"
53+
#include "extmod/modbluetooth.h"
54+
#endif
55+
5056
#include "systick.h"
5157
#include "extmod/modnetwork.h"
5258

@@ -71,6 +77,9 @@ int main(void) {
7177

7278
systick_enable_dispatch(SYSTICK_DISPATCH_LWIP, mod_network_lwip_poll_wrapper);
7379
#endif
80+
#if MICROPY_PY_BLUETOOTH
81+
mp_bluetooth_hci_init();
82+
#endif
7483

7584
#if MICROPY_PY_NETWORK_CYW43
7685
{
@@ -135,6 +144,9 @@ int main(void) {
135144
#if MICROPY_PY_MACHINE_I2S
136145
machine_i2s_deinit_all();
137146
#endif
147+
#if MICROPY_PY_BLUETOOTH
148+
mp_bluetooth_deinit();
149+
#endif
138150
#if MICROPY_PY_NETWORK
139151
mod_network_deinit();
140152
#endif

‎ports/mimxrt/mpbthciport.c

Lines changed: 196 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,196 @@
1+
/*
2+
* This file is part of the MicroPython project, http://micropython.org/
3+
*
4+
* The MIT License (MIT)
5+
*
6+
* Copyright (c) 2018-2021 Damien P. George
7+
* Copyright (c) 2023 Ibrahim Abdelkader <iabdalkader@openmv.io>
8+
*
9+
* Permission is hereby granted, free of charge, to any person obtaining a copy
10+
* of this software and associated documentation files (the "Software"), to deal
11+
* in the Software without restriction, including without limitation the rights
12+
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
13+
* copies of the Software, and to permit persons to whom the Software is
14+
* furnished to do so, subject to the following conditions:
15+
*
16+
* The above copyright notice and this permission notice shall be included in
17+
* all copies or substantial portions of the Software.
18+
*
19+
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20+
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21+
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22+
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23+
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24+
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
25+
* THE SOFTWARE.
26+
*/
27+
28+
#include "py/runtime.h"
29+
#include "py/stream.h"
30+
#include "py/mphal.h"
31+
#include "extmod/modbluetooth.h"
32+
#include "extmod/mpbthci.h"
33+
#include "shared/runtime/softtimer.h"
34+
#include "modmachine.h"
35+
#include "mpbthciport.h"
36+
37+
#include "fsl_lpuart.h"
38+
#include CLOCK_CONFIG_H
39+
40+
#if MICROPY_PY_BLUETOOTH
41+
42+
#define DEBUG_printf(...) // mp_printf(&mp_plat_print, "mpbthciport.c: " __VA_ARGS__)
43+
#define ERROR_printf(...) mp_printf(&mp_plat_print, "mpbthciport.c: " __VA_ARGS__)
44+
45+
uint8_t mp_bluetooth_hci_cmd_buf[4 + 256];
46+
47+
STATIC mp_sched_node_t mp_bluetooth_hci_sched_node;
48+
STATIC soft_timer_entry_t mp_bluetooth_hci_soft_timer;
49+
50+
STATIC void mp_bluetooth_hci_soft_timer_callback(soft_timer_entry_t *self) {
51+
mp_bluetooth_hci_poll_now();
52+
}
53+
54+
void mp_bluetooth_hci_init(void) {
55+
soft_timer_static_init(
56+
&mp_bluetooth_hci_soft_timer,
57+
SOFT_TIMER_MODE_ONE_SHOT,
58+
0,
59+
mp_bluetooth_hci_soft_timer_callback
60+
);
61+
}
62+
63+
STATIC void mp_bluetooth_hci_start_polling(void) {
64+
mp_bluetooth_hci_poll_now();
65+
}
66+
67+
void mp_bluetooth_hci_poll_in_ms(uint32_t ms) {
68+
soft_timer_reinsert(&mp_bluetooth_hci_soft_timer, ms);
69+
}
70+
71+
// For synchronous mode, we run all BLE stack code inside a scheduled task.
72+
STATIC void run_events_scheduled_task(mp_sched_node_t *node) {
73+
// This will process all buffered HCI UART data, and run any callouts or events.
74+
mp_bluetooth_hci_poll();
75+
}
76+
77+
// Called periodically (systick) or directly (e.g. UART RX IRQ) in order to
78+
// request that processing happens ASAP in the scheduler.
79+
void mp_bluetooth_hci_poll_now(void) {
80+
mp_sched_schedule_node(&mp_bluetooth_hci_sched_node, run_events_scheduled_task);
81+
}
82+
83+
mp_obj_t mp_bthci_uart;
84+
85+
int mp_bluetooth_hci_uart_init(uint32_t port, uint32_t baudrate) {
86+
DEBUG_printf("mp_bluetooth_hci_uart_init\n");
87+
88+
mp_obj_t args[] = {
89+
MP_OBJ_NEW_SMALL_INT(port),
90+
MP_OBJ_NEW_QSTR(MP_QSTR_baudrate), MP_OBJ_NEW_SMALL_INT(baudrate),
91+
MP_OBJ_NEW_QSTR(MP_QSTR_timeout), MP_OBJ_NEW_SMALL_INT(200),
92+
MP_OBJ_NEW_QSTR(MP_QSTR_timeout_char), MP_OBJ_NEW_SMALL_INT(200),
93+
MP_OBJ_NEW_QSTR(MP_QSTR_txbuf), MP_OBJ_NEW_SMALL_INT(768),
94+
MP_OBJ_NEW_QSTR(MP_QSTR_rxbuf), MP_OBJ_NEW_SMALL_INT(768),
95+
};
96+
97+
mp_bthci_uart = MP_OBJ_TYPE_GET_SLOT(&machine_uart_type, make_new)((mp_obj_t)&machine_uart_type, 1, 5, args);
98+
MP_STATE_PORT(mp_bthci_uart) = mp_bthci_uart;
99+
100+
// Start the HCI polling to process any initial events/packets.
101+
mp_bluetooth_hci_start_polling();
102+
return 0;
103+
}
104+
105+
int mp_bluetooth_hci_uart_deinit(void) {
106+
DEBUG_printf("mp_bluetooth_hci_uart_deinit\n");
107+
mp_bthci_uart = MP_OBJ_NULL;
108+
return 0;
109+
}
110+
111+
int mp_bluetooth_hci_uart_set_baudrate(uint32_t baudrate) {
112+
DEBUG_printf("mp_bluetooth_hci_uart_set_baudrate(%lu)\n", baudrate);
113+
if (mp_bthci_uart != MP_OBJ_NULL) {
114+
// This struct is not public, so we use the base defined in board config files.
115+
// machine_uart_obj_t uart = (machine_uart_obj_t *) MP_PTR_FROM_OBJ(mp_bthci_uart);
116+
LPUART_SetBaudRate(MICROPY_HW_BLE_UART_BASE, baudrate, BOARD_BOOTCLOCKRUN_UART_CLK_ROOT);
117+
}
118+
return 0;
119+
}
120+
121+
int mp_bluetooth_hci_uart_any(void) {
122+
int errcode = 0;
123+
const mp_stream_p_t *proto = (mp_stream_p_t *)MP_OBJ_TYPE_GET_SLOT(&machine_uart_type, protocol);
124+
125+
mp_uint_t ret = proto->ioctl(mp_bthci_uart, MP_STREAM_POLL, MP_STREAM_POLL_RD, &errcode);
126+
if (errcode != 0) {
127+
ERROR_printf("Uart ioctl failed to poll UART %d\n", errcode);
128+
return -1;
129+
}
130+
return ret & MP_STREAM_POLL_RD;
131+
}
132+
133+
int mp_bluetooth_hci_uart_write(const uint8_t *buf, size_t len) {
134+
DEBUG_printf("mp_bluetooth_hci_uart_write\n");
135+
136+
int errcode = 0;
137+
const mp_stream_p_t *proto = (mp_stream_p_t *)MP_OBJ_TYPE_GET_SLOT(&machine_uart_type, protocol);
138+
139+
mp_bluetooth_hci_controller_wakeup();
140+
141+
if (proto->write(mp_bthci_uart, (void *)buf, len, &errcode) < 0) {
142+
ERROR_printf("mp_bluetooth_hci_uart_write: failed to write to UART %d\n", errcode);
143+
}
144+
return 0;
145+
}
146+
147+
// This function expects the controller to be in the wake state via a previous call
148+
// to mp_bluetooth_hci_controller_woken.
149+
int mp_bluetooth_hci_uart_readchar(void) {
150+
DEBUG_printf("mp_bluetooth_hci_uart_readchar\n");
151+
if (mp_bluetooth_hci_uart_any()) {
152+
int errcode = 0;
153+
uint8_t buf = 0;
154+
const mp_stream_p_t *proto = (mp_stream_p_t *)MP_OBJ_TYPE_GET_SLOT(&machine_uart_type, protocol);
155+
if (proto->read(mp_bthci_uart, (void *)&buf, 1, &errcode) < 0) {
156+
ERROR_printf("mp_bluetooth_hci_uart_readchar: failed to read UART %d\n", errcode);
157+
return -1;
158+
}
159+
return buf;
160+
} else {
161+
DEBUG_printf("mp_bluetooth_hci_uart_readchar: not ready\n");
162+
return -1;
163+
}
164+
}
165+
166+
// Default (weak) implementation of the HCI controller interface.
167+
// A driver (e.g. cywbt43.c) can override these for controller-specific
168+
// functionality (i.e. power management).
169+
MP_WEAK int mp_bluetooth_hci_controller_init(void) {
170+
DEBUG_printf("mp_bluetooth_hci_controller_init (default)\n");
171+
return 0;
172+
}
173+
174+
MP_WEAK int mp_bluetooth_hci_controller_deinit(void) {
175+
DEBUG_printf("mp_bluetooth_hci_controller_deinit (default)\n");
176+
return 0;
177+
}
178+
179+
MP_WEAK int mp_bluetooth_hci_controller_sleep_maybe(void) {
180+
DEBUG_printf("mp_bluetooth_hci_controller_sleep_maybe (default)\n");
181+
return 0;
182+
}
183+
184+
MP_WEAK bool mp_bluetooth_hci_controller_woken(void) {
185+
DEBUG_printf("mp_bluetooth_hci_controller_woken (default)\n");
186+
return true;
187+
}
188+
189+
MP_WEAK int mp_bluetooth_hci_controller_wakeup(void) {
190+
DEBUG_printf("mp_bluetooth_hci_controller_wakeup (default)\n");
191+
return 0;
192+
}
193+
194+
MP_REGISTER_ROOT_POINTER(mp_obj_t mp_bthci_uart);
195+
196+
#endif // MICROPY_PY_BLUETOOTH

‎ports/mimxrt/mpbthciport.h

Lines changed: 42 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,42 @@
1+
/*
2+
* This file is part of the MicroPython project, http://micropython.org/
3+
*
4+
* The MIT License (MIT)
5+
*
6+
* Copyright (c) 2018-2021 Damien P. George
7+
*
8+
* Permission is hereby granted, free of charge, to any person obtaining a copy
9+
* of this software and associated documentation files (the "Software"), to deal
10+
* in the Software without restriction, including without limitation the rights
11+
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
12+
* copies of the Software, and to permit persons to whom the Software is
13+
* furnished to do so, subject to the following conditions:
14+
*
15+
* The above copyright notice and this permission notice shall be included in
16+
* all copies or substantial portions of the Software.
17+
*
18+
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
19+
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
20+
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
21+
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
22+
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
23+
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
24+
* THE SOFTWARE.
25+
*/
26+
#ifndef MICROPY_INCLUDED_MIMXRT_MPBTHCIPORT_H
27+
#define MICROPY_INCLUDED_MIMXRT_MPBTHCIPORT_H
28+
29+
// Initialise the HCI subsystem (should be called once, early on).
30+
void mp_bluetooth_hci_init(void);
31+
32+
// Poll the HCI now, or after a certain timeout.
33+
void mp_bluetooth_hci_poll_now(void);
34+
void mp_bluetooth_hci_poll_in_ms(uint32_t ms);
35+
36+
// Must be provided by the stack bindings (e.g. mpnimbleport.c or mpbtstackport.c).
37+
// Request new data from the uart and pass to the stack, and run pending events/callouts.
38+
// This is a low-level function and should not be called directly, use
39+
// mp_bluetooth_hci_poll_now/mp_bluetooth_hci_poll_in_ms instead.
40+
void mp_bluetooth_hci_poll(void);
41+
42+
#endif // MICROPY_INCLUDED_MIMXRT_MPBTHCIPORT_H

‎ports/mimxrt/mpconfigport.h

Lines changed: 9 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -59,6 +59,7 @@ uint32_t trng_random_u32(void);
5959
#define MICROPY_ENABLE_EMERGENCY_EXCEPTION_BUF (1)
6060
#define MICROPY_LONGINT_IMPL (MICROPY_LONGINT_IMPL_MPZ)
6161
#define MICROPY_SCHEDULER_DEPTH (8)
62+
#define MICROPY_SCHEDULER_STATIC_NODES (1)
6263
#define MICROPY_VFS (1)
6364

6465
// Control over Python builtins
@@ -118,6 +119,14 @@ uint32_t trng_random_u32(void);
118119
#define MICROPY_PY_LWIP_REENTER MICROPY_PY_PENDSV_REENTER
119120
#define MICROPY_PY_LWIP_EXIT MICROPY_PY_PENDSV_EXIT
120121

122+
#ifndef MICROPY_PY_BLUETOOTH_ENABLE_CENTRAL_MODE
123+
#define MICROPY_PY_BLUETOOTH_ENABLE_CENTRAL_MODE (1)
124+
#endif
125+
126+
#ifndef MICROPY_PY_BLUETOOTH_ENABLE_L2CAP_CHANNELS
127+
#define MICROPY_PY_BLUETOOTH_ENABLE_L2CAP_CHANNELS (MICROPY_BLUETOOTH_NIMBLE)
128+
#endif
129+
121130
#ifndef MICROPY_PY_NETWORK_HOSTNAME_DEFAULT
122131
#define MICROPY_PY_NETWORK_HOSTNAME_DEFAULT "mpy-mimxrt"
123132
#endif

‎ports/mimxrt/mpnimbleport.c

Lines changed: 78 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,78 @@
1+
/*
2+
* This file is part of the MicroPython project, http://micropython.org/
3+
*
4+
* The MIT License (MIT)
5+
*
6+
* Copyright (c) 2019 Jim Mussared
7+
* Copyright (c) 2020 Damien P. George
8+
*
9+
* Permission is hereby granted, free of charge, to any person obtaining a copy
10+
* of this software and associated documentation files (the "Software"), to deal
11+
* in the Software without restriction, including without limitation the rights
12+
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
13+
* copies of the Software, and to permit persons to whom the Software is
14+
* furnished to do so, subject to the following conditions:
15+
*
16+
* The above copyright notice and this permission notice shall be included in
17+
* all copies or substantial portions of the Software.
18+
*
19+
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20+
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21+
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22+
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23+
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24+
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
25+
* THE SOFTWARE.
26+
*/
27+
28+
#include "py/runtime.h"
29+
#include "py/mperrno.h"
30+
#include "py/mphal.h"
31+
32+
#if MICROPY_PY_BLUETOOTH && MICROPY_BLUETOOTH_NIMBLE
33+
34+
#define DEBUG_printf(...) // printf("mpnimbleport.c: " __VA_ARGS__)
35+
36+
#include "host/ble_hs.h"
37+
#include "nimble/nimble_npl.h"
38+
39+
#include "extmod/mpbthci.h"
40+
#include "extmod/modbluetooth.h"
41+
#include "extmod/nimble/modbluetooth_nimble.h"
42+
#include "extmod/nimble/hal/hal_uart.h"
43+
#include "mpbthciport.h"
44+
45+
// Get any pending data from the UART and send it to NimBLE's HCI buffers.
46+
// Any further processing by NimBLE will be run via its event queue.
47+
void mp_bluetooth_hci_poll(void) {
48+
if (mp_bluetooth_nimble_ble_state >= MP_BLUETOOTH_NIMBLE_BLE_STATE_WAITING_FOR_SYNC) {
49+
// DEBUG_printf("mp_bluetooth_hci_poll_uart %d\n", mp_bluetooth_nimble_ble_state);
50+
51+
// Run any timers.
52+
mp_bluetooth_nimble_os_callout_process();
53+
54+
// Process incoming UART data, and run events as they are generated.
55+
mp_bluetooth_nimble_hci_uart_process(true);
56+
57+
// Run any remaining events (e.g. if there was no UART data).
58+
mp_bluetooth_nimble_os_eventq_run_all();
59+
}
60+
61+
if (mp_bluetooth_nimble_ble_state != MP_BLUETOOTH_NIMBLE_BLE_STATE_OFF) {
62+
// Call this function again in 128ms to check for new events.
63+
// TODO: improve this by only calling back when needed.
64+
mp_bluetooth_hci_poll_in_ms(128);
65+
}
66+
}
67+
68+
// --- Port-specific helpers for the generic NimBLE bindings. -----------------
69+
70+
void mp_bluetooth_nimble_hci_uart_wfi(void) {
71+
__WFI();
72+
73+
// This is called while NimBLE is waiting in ble_npl_sem_pend, i.e. waiting for an HCI ACK.
74+
// Do not need to run events here (it must not invoke Python code), only processing incoming HCI data.
75+
mp_bluetooth_nimble_hci_uart_process(false);
76+
}
77+
78+
#endif // MICROPY_PY_BLUETOOTH && MICROPY_BLUETOOTH_NIMBLE

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