samd/BLE: Add mpbthciport.c and mpnimbleport.c, change nina_bt_hci.c.

Use MICROPY_HW_NINA_CS instead of MICROPY_HW_NINA_GPIO1 in
nina_bt_hci.c and set RTS and CTS, if defined.

Signed-off-by: robert-hh <robert@hammelrath.com>

drivers/ninaw10/nina_bt_hci.c

@@ -50,6 +50,11 @@
 #define OCF_SET_EVENT_MASK      (0x0001)
 #define OCF_RESET               (0x0003)
 
+// Use the name CS instead of GPIO1
+#ifndef MICROPY_HW_NINA_CS
+#define MICROPY_HW_NINA_CS MICROPY_HW_NINA_GPIO1
+#endif
+
 #define error_printf(...)   // mp_printf(&mp_plat_print, "nina_bt_hci.c: " __VA_ARGS__)
 #define debug_printf(...)   // mp_printf(&mp_plat_print, "nina_bt_hci.c: " __VA_ARGS__)
 
@@ -59,6 +64,12 @@ extern uint8_t mp_bluetooth_hci_cmd_buf[4 + 256];
 static int nina_hci_cmd(int ogf, int ocf, size_t param_len, const uint8_t *param_buf) {
     uint8_t *buf = mp_bluetooth_hci_cmd_buf;
 
+    // Clear the UART input buffer before sending the reset command.
+    // The ESP32 reset message may stick in it.
+    while (mp_bluetooth_hci_uart_any()) {
+        mp_bluetooth_hci_uart_readchar();
+    }
+
     buf[0] = HCI_COMMAND_PACKET;
     buf[1] = ocf;
     buf[2] = ogf << 2 | ocf >> 8;
@@ -125,8 +136,17 @@ int mp_bluetooth_hci_controller_init(void) {
     mp_hal_pin_output(MICROPY_HW_NINA_RESET);
     mp_hal_pin_write(MICROPY_HW_NINA_RESET, 0);
 
-    mp_hal_pin_output(MICROPY_HW_NINA_GPIO1);
-    mp_hal_pin_write(MICROPY_HW_NINA_GPIO1, 0);
+    // care for dedicated setting of RTS/CTS
+    #ifdef MICROPY_HW_NINA_RTS
+    mp_hal_pin_output(MICROPY_HW_NINA_RTS);
+    mp_hal_pin_write(MICROPY_HW_NINA_RTS, 0);
+    #endif
+    #ifdef  MICROPY_HW_NINA_CTS
+    mp_hal_pin_input(MICROPY_HW_NINA_CTS);
+    #endif
+
+    mp_hal_pin_output(MICROPY_HW_NINA_CS);
+    mp_hal_pin_write(MICROPY_HW_NINA_CS, 0);
     mp_hal_delay_ms(150);
 
     mp_hal_pin_write(MICROPY_HW_NINA_RESET, 1);

ports/samd/modmachine.h

@@ -34,5 +34,6 @@ extern const mp_obj_type_t machine_dac_type;
 #endif
 
 void rtc_gettime(timeutils_struct_time_t *tm);
+void machine_uart_set_baudrate(mp_obj_t self, uint32_t baudrate);
 
 #endif // MICROPY_INCLUDED_SAMD_MODMACHINE_H

ports/samd/mpbthciport.c

@@ -0,0 +1,204 @@
+/*
+ * 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 "shared/runtime/softtimer.h"
+#include "modmachine.h"
+#include "extmod/modmachine.h"
+#include "mpbthciport.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];
+
+MP_REGISTER_ROOT_POINTER(mp_obj_t mp_bthci_uart);
+
+// Soft timer for scheduling a HCI poll.
+static soft_timer_entry_t mp_bluetooth_hci_soft_timer;
+
+// This is called by soft_timer and executes at IRQ_PRI_PENDSV.
+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);
+}
+
+static mp_sched_node_t mp_bluetooth_hci_sched_node;
+
+// 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 void run_events_scheduled_task(mp_sched_node_t *node) {
+    (void)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);
+}
+
+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_SMALL_INT(baudrate),
+        MP_OBJ_NEW_QSTR(MP_QSTR_tx), MP_OBJ_NEW_SMALL_INT(MICROPY_HW_BLE_UART_TX),
+        MP_OBJ_NEW_QSTR(MP_QSTR_rx), MP_OBJ_NEW_SMALL_INT(MICROPY_HW_BLE_UART_RX),
+        MP_OBJ_NEW_QSTR(MP_QSTR_timeout), MP_OBJ_NEW_SMALL_INT(1000),
+        MP_OBJ_NEW_QSTR(MP_QSTR_timeout_char), MP_OBJ_NEW_SMALL_INT(1000),
+        MP_OBJ_NEW_QSTR(MP_QSTR_rxbuf), MP_OBJ_NEW_SMALL_INT(768),
+        MP_OBJ_NEW_QSTR(MP_QSTR_txbuf), MP_OBJ_NEW_SMALL_INT(768),
+    };
+
+    // This is not a statically-allocated UART (see machine_uart.c),
+    // so it has to be tracked as a root pointer.
+    MP_STATE_PORT(mp_bthci_uart) = MP_OBJ_TYPE_GET_SLOT(&machine_uart_type, make_new)((mp_obj_t)&machine_uart_type, 2, 6, args);
+    // 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_obj_t uart = MP_OBJ_TO_PTR(MP_STATE_PORT(mp_bthci_uart));
+    mp_obj_t uart_deinit_args[] = {
+        NULL, // Method pointer
+        uart, // uart object
+    };
+    mp_load_method_maybe((mp_obj_t)uart, MP_QSTR_deinit, uart_deinit_args);
+    if (uart_deinit_args[0] != MP_OBJ_NULL && uart_deinit_args[1] != MP_OBJ_NULL) {
+        mp_call_method_n_kw(0, 0, uart_deinit_args);
+    }
+    soft_timer_remove(&mp_bluetooth_hci_soft_timer);
+    return 0;
+}
+
+int mp_bluetooth_hci_uart_set_baudrate(uint32_t baudrate) {
+    debug_printf("mp_bluetooth_hci_uart_set_baudrate(%lu)\n", baudrate);
+    mp_obj_t uart = MP_OBJ_TO_PTR(MP_STATE_PORT(mp_bthci_uart));
+    machine_uart_set_baudrate(uart, baudrate);
+    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_STATE_PORT(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_STATE_PORT(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_STATE_PORT(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

ports/samd/mpbthciport.h

@@ -0,0 +1,46 @@
+/*
+ * 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
+
+#include "mphalport.h"
+
+void mp_bluetooth_hci_config_interface(mp_obj_t uart, mp_obj_t cs, mp_obj_t busy, mp_obj_t rts, mp_obj_t cts);
+
+// 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

ports/samd/mpnimbleport.c

@@ -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

ports/samd/mpnimbleport.h

@@ -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