rp2: Add Bluetooth support via cyw43.

Using BTstack with CYW43 for Pico W.

Signed-off-by: Damien George <damien@micropython.org>

ports/rp2/CMakeLists.txt

@@ -18,6 +18,8 @@ endif()
 set(PICO_TINYUSB_PATH ${MICROPY_DIR}/lib/tinyusb)
 # Use the local lwip instead of the one in pico-sdk
 set(PICO_LWIP_PATH ${MICROPY_DIR}/lib/lwip)
+# Use the local btstack instead of the one in pico-sdk
+set(PICO_BTSTACK_PATH ${MICROPY_DIR}/lib/btstack)
 
 # Set the location of this port's directory.
 set(MICROPY_PORT_DIR ${CMAKE_CURRENT_LIST_DIR})
@@ -217,11 +219,40 @@ if(MICROPY_PY_BLUETOOTH)
         MICROPY_PY_BLUETOOTH=1
         MICROPY_PY_BLUETOOTH_USE_SYNC_EVENTS=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_PY_BLUETOOTH_CYW43)
+    target_compile_definitions(${MICROPY_TARGET} PRIVATE
+        CYW43_ENABLE_BLUETOOTH=1
+        MICROPY_PY_BLUETOOTH_CYW43=1
+    )
+
+    if (MICROPY_BLUETOOTH_BTSTACK)
+        target_link_libraries(${MICROPY_TARGET}
+            pico_btstack_hci_transport_cyw43
+        )
+    endif()
+endif()
+
+if (MICROPY_BLUETOOTH_BTSTACK)
+    string(CONCAT GIT_SUBMODULES "${GIT_SUBMODULES} " lib/btstack)
+
+    list(APPEND MICROPY_SOURCE_PORT mpbtstackport.c)
+
+    include(${MICROPY_DIR}/extmod/btstack/btstack.cmake)
+    target_link_libraries(${MICROPY_TARGET} micropy_extmod_btstack)
+
+    target_compile_definitions(${MICROPY_TARGET} PRIVATE
+        MICROPY_BLUETOOTH_BTSTACK=1
+        MICROPY_BLUETOOTH_BTSTACK_CONFIG_FILE=\"btstack_inc/btstack_config.h\"
+    )
+
+    # For modbluetooth_btstack.c includes
+    get_target_property(BTSTACK_INCLUDE micropy_extmod_btstack INTERFACE_INCLUDE_DIRECTORIES)
+    list(APPEND MICROPY_INC_CORE ${BTSTACK_INCLUDE})
+endif()
+
 if(MICROPY_BLUETOOTH_NIMBLE)
     string(CONCAT GIT_SUBMODULES "${GIT_SUBMODULES} " lib/mynewt-nimble)
     if(NOT (${ECHO_SUBMODULES}) AND NOT EXISTS ${MICROPY_DIR}/lib/mynewt-nimble/nimble/host/include/host/ble_hs.h)
@@ -232,6 +263,8 @@ if(MICROPY_BLUETOOTH_NIMBLE)
     target_compile_definitions(${MICROPY_TARGET} PRIVATE
         MICROPY_BLUETOOTH_NIMBLE=1
         MICROPY_BLUETOOTH_NIMBLE_BINDINGS_ONLY=0
+        MICROPY_PY_BLUETOOTH_ENABLE_PAIRING_BONDING=1
+        MICROPY_PY_BLUETOOTH_ENABLE_L2CAP_CHANNELS=1
     )
     target_compile_options(${MICROPY_TARGET} PRIVATE
     # TODO: This flag is currently needed to make nimble build.
@@ -272,6 +305,10 @@ if (MICROPY_PY_NETWORK_CYW43)
         cyw43_driver_picow
         cmsis_core
     )
+    target_include_directories(${MICROPY_TARGET} PRIVATE
+        ${MICROPY_DIR}/lib/cyw43-driver/
+    )
+
 endif()
 
 if (MICROPY_PY_NETWORK_NINAW10)

ports/rp2/btstack_inc/btstack_config.h

@@ -0,0 +1,9 @@
+#ifndef MICROPY_INCLUDED_BTSTACK_BTSTACK_CONFIG_H
+#define MICROPY_INCLUDED_BTSTACK_BTSTACK_CONFIG_H
+
+#define HCI_OUTGOING_PRE_BUFFER_SIZE 4
+#define HCI_ACL_CHUNK_SIZE_ALIGNMENT 4
+
+#include "btstack_config_common.h"
+
+#endif

ports/rp2/cyw43_configport.h

@@ -33,7 +33,6 @@
 #include "extmod/modnetwork.h"
 #include "pendsv.h"
 
-#define CYW43_CHIPSET_FIRMWARE_INCLUDE_FILE "w43439A0_7_95_49_00_combined.h"
 #define CYW43_WIFI_NVRAM_INCLUDE_FILE   "wifi_nvram_43439.h"
 #define CYW43_IOCTL_TIMEOUT_US          (1000000)
 #define CYW43_SLEEP_MAX                 (10)
@@ -91,6 +90,15 @@
 
 #define cyw43_schedule_internal_poll_dispatch(func) pendsv_schedule_dispatch(PENDSV_DISPATCH_CYW43, func)
 
+// Bluetooth uses the C heap to load its firmware (provided by pico-sdk).
+// Space is reserved for this, see MICROPY_C_HEAP_SIZE.
+#ifndef cyw43_malloc
+#define cyw43_malloc malloc
+#endif
+#ifndef cyw43_free
+#define cyw43_free free
+#endif
+
 void cyw43_post_poll_hook(void);
 extern volatile int cyw43_has_pending;
 

ports/rp2/main.c

@@ -122,7 +122,7 @@ int main(int argc, char **argv) {
     #endif
     #endif
 
-    #if MICROPY_PY_NETWORK_CYW43
+    #if MICROPY_PY_NETWORK_CYW43 || MICROPY_PY_BLUETOOTH_CYW43
     {
         cyw43_init(&cyw43_state);
         cyw43_irq_init();

ports/rp2/mpbthciport.c

@@ -50,11 +50,6 @@ 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();
@@ -70,7 +65,7 @@ void mp_bluetooth_hci_poll_in_ms(uint32_t ms) {
 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.
+    // This will process all HCI data, and run any callouts or events.
     mp_bluetooth_hci_poll();
     return mp_const_none;
 }
@@ -88,8 +83,15 @@ void mp_bluetooth_hci_poll_now(void) {
     }
 }
 
+#if defined(MICROPY_HW_BLE_UART_ID)
+
 mp_obj_t mp_bthci_uart;
 
+STATIC void mp_bluetooth_hci_start_polling(void) {
+    events_task_is_scheduled = false;
+    mp_bluetooth_hci_poll_now();
+}
+
 int mp_bluetooth_hci_uart_init(uint32_t port, uint32_t baudrate) {
     debug_printf("mp_bluetooth_hci_uart_init\n");
 
@@ -121,11 +123,6 @@ int mp_bluetooth_hci_uart_deinit(void) {
     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 *)MP_OBJ_TYPE_GET_SLOT(&machine_uart_type, protocol);
@@ -171,6 +168,13 @@ int mp_bluetooth_hci_uart_readchar(void) {
     }
 }
 
+int mp_bluetooth_hci_uart_set_baudrate(uint32_t baudrate) {
+    debug_printf("mp_bluetooth_hci_uart_set_baudrate(%lu)\n", baudrate);
+    return 0;
+}
+
+#endif // defined(MICROPY_HW_BLE_UART_ID)
+
 // 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).

ports/rp2/mpbthciport.h

@@ -34,7 +34,7 @@ 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.
+// Request new HCI data 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);

ports/rp2/mpbtstackport.c

@@ -0,0 +1,157 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2020-2021 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.
+ */
+
+#include "py/runtime.h"
+#include "py/mperrno.h"
+#include "py/mphal.h"
+
+#define DEBUG_printf(...)
+#define BTSTACK_ENABLE_HCI_DUMP (0)
+
+#if MICROPY_PY_BLUETOOTH && MICROPY_BLUETOOTH_BTSTACK
+
+#include "lib/btstack/src/btstack.h"
+#include "lib/btstack/platform/embedded/hci_dump_embedded_stdout.h"
+#include "extmod/mpbthci.h"
+#include "extmod/btstack/modbluetooth_btstack.h"
+#include "mpbthciport.h"
+#include "pico/btstack_hci_transport_cyw43.h"
+
+void mp_bluetooth_hci_poll_in_ms(uint32_t ms);
+
+static btstack_linked_list_t mp_btstack_runloop_timers;
+
+static void mp_btstack_runloop_init(void) {
+    mp_btstack_runloop_timers = NULL;
+}
+
+static void mp_btstack_runloop_set_timer(btstack_timer_source_t *tim, uint32_t timeout_ms) {
+    DEBUG_printf("mp_btstack_runloop_set_timer %lu\n", timeout_ms);
+    tim->timeout = mp_hal_ticks_ms() + timeout_ms + 1;
+}
+
+static void mp_btstack_runloop_add_timer(btstack_timer_source_t *tim) {
+    DEBUG_printf("mp_btstack_runloop_add_timer %lu\n", tim->timeout);
+    btstack_linked_item_t **node = &mp_btstack_runloop_timers;
+    for (; *node; node = &(*node)->next) {
+        btstack_timer_source_t *node_tim = (btstack_timer_source_t *)*node;
+        if (node_tim == tim) {
+            // Timer is already in the list, don't add it.
+            return;
+        }
+        int32_t delta = btstack_time_delta(tim->timeout, node_tim->timeout);
+        if (delta < 0) {
+            // Found sorted location in list.
+            break;
+        }
+    }
+
+    // Insert timer into list in sorted location.
+    tim->item.next = *node;
+    *node = &tim->item;
+
+    // Reschedule the HCI poll if this timer is at the head of the list.
+    if (mp_btstack_runloop_timers == &tim->item) {
+        int32_t delta_ms = btstack_time_delta(tim->timeout, mp_hal_ticks_ms());
+        mp_bluetooth_hci_poll_in_ms(delta_ms);
+    }
+}
+
+static bool mp_btstack_runloop_remove_timer(btstack_timer_source_t *tim) {
+    return btstack_linked_list_remove(&mp_btstack_runloop_timers, (btstack_linked_item_t *)tim);
+}
+
+static uint32_t mp_btstack_runloop_get_time_ms(void) {
+    return mp_hal_ticks_ms();
+}
+
+static const btstack_run_loop_t mp_btstack_runloop_rp2 = {
+    &mp_btstack_runloop_init,
+    &btstack_run_loop_base_add_data_source,
+    &btstack_run_loop_base_remove_data_source,
+    &btstack_run_loop_base_enable_data_source_callbacks,
+    &btstack_run_loop_base_disable_data_source_callbacks,
+    &mp_btstack_runloop_set_timer,
+    &mp_btstack_runloop_add_timer,
+    &mp_btstack_runloop_remove_timer,
+    NULL, // execute
+    NULL, // dump_timer
+    &mp_btstack_runloop_get_time_ms,
+    &mp_bluetooth_hci_poll_now, // poll_data_sources_from_irq
+    NULL, // execute_on_main_thread
+    NULL, // trigger_exit
+};
+
+void mp_bluetooth_hci_poll(void) {
+    if (mp_bluetooth_btstack_state == MP_BLUETOOTH_BTSTACK_STATE_OFF) {
+        return;
+    }
+
+    // Process BT data.
+    if (mp_bluetooth_btstack_state != MP_BLUETOOTH_BTSTACK_STATE_HALTING) {
+        btstack_run_loop_base_poll_data_sources();
+    }
+
+    // Process any BTstack timers.
+    while (mp_btstack_runloop_timers != NULL) {
+        btstack_timer_source_t *tim = (btstack_timer_source_t *)mp_btstack_runloop_timers;
+        int32_t delta_ms = btstack_time_delta(tim->timeout, mp_hal_ticks_ms());
+        if (delta_ms > 0) {
+            // Timer has not expired yet, reschedule HCI poll for this timer.
+            mp_bluetooth_hci_poll_in_ms(delta_ms);
+            break;
+        }
+        btstack_linked_list_pop(&mp_btstack_runloop_timers);
+        tim->process(tim);
+    }
+}
+
+void mp_bluetooth_btstack_port_init(void) {
+    btstack_run_loop_init(&mp_btstack_runloop_rp2);
+
+    #if BTSTACK_ENABLE_HCI_DUMP
+    hci_dump_init(hci_dump_embedded_stdout_get_instance());
+    #endif
+
+    const hci_transport_t *transport = hci_transport_cyw43_instance();
+    hci_init(transport, NULL);
+}
+
+void mp_bluetooth_btstack_port_deinit(void) {
+    hci_power_control(HCI_POWER_OFF);
+    // We really need hci to be closed or else we might get a BT interrupt going off and
+    // this will cause a crash when calling btstack_run_loop_poll_data_sources_from_irq after the btstack run loop has been deleted
+    if (mp_bluetooth_btstack_state != MP_BLUETOOTH_BTSTACK_STATE_OFF) {
+        hci_transport_cyw43_instance()->close();
+    }
+    hci_close();
+}
+
+void mp_bluetooth_btstack_port_start(void) {
+    hci_power_control(HCI_POWER_ON);
+}
+
+#endif // MICROPY_PY_BLUETOOTH && MICROPY_BLUETOOTH_BTSTACK

ports/rp2/mpconfigport.h

@@ -282,3 +282,9 @@ typedef intptr_t mp_off_t;
 extern uint32_t rosc_random_u32(void);
 extern void lwip_lock_acquire(void);
 extern void lwip_lock_release(void);
+
+#if MICROPY_PY_BLUETOOTH_CYW43
+// Bluetooth code only runs in the scheduler, no locking/mutex required.
+#define MICROPY_PY_BLUETOOTH_ENTER uint32_t atomic_state = 0;
+#define MICROPY_PY_BLUETOOTH_EXIT (void)atomic_state;
+#endif

ports/rp2/mpnetworkport.c

@@ -62,7 +62,7 @@ static void gpio_irq_handler(void) {
 }
 
 void cyw43_irq_init(void) {
-    gpio_add_raw_irq_handler_with_order_priority(IO_IRQ_BANK0, gpio_irq_handler, CYW43_SHARED_IRQ_HANDLER_PRIORITY);
+    gpio_add_raw_irq_handler_with_order_priority(CYW43_PIN_WL_HOST_WAKE, gpio_irq_handler, CYW43_SHARED_IRQ_HANDLER_PRIORITY);
     irq_set_enabled(IO_IRQ_BANK0, true);
     NVIC_SetPriority(PendSV_IRQn, PICO_LOWEST_IRQ_PRIORITY);
 }