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micropython: add micropython component

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KY-zhang-X
2022-09-29 12:10:37 +08:00
parent 1514f1cb9b
commit dd76146324
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520
components/language/micropython/extmod/nimble/nimble/nimble_npl_os.c Normal file
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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2018-2019 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 <stdio.h>
#include "py/mphal.h"
#include "py/runtime.h"
#include "nimble/ble.h"
#include "nimble/nimble_npl.h"
#include "extmod/nimble/hal/hal_uart.h"
#include "extmod/modbluetooth.h"
#include "extmod/nimble/modbluetooth_nimble.h"
#define DEBUG_OS_printf(...) // printf(__VA_ARGS__)
#define DEBUG_MALLOC_printf(...) // printf(__VA_ARGS__)
#define DEBUG_EVENT_printf(...) // printf(__VA_ARGS__)
#define DEBUG_MUTEX_printf(...) // printf(__VA_ARGS__)
#define DEBUG_SEM_printf(...) // printf(__VA_ARGS__)
#define DEBUG_CALLOUT_printf(...) // printf(__VA_ARGS__)
#define DEBUG_TIME_printf(...) // printf(__VA_ARGS__)
#define DEBUG_CRIT_printf(...) // printf(__VA_ARGS__)
bool ble_npl_os_started(void) {
DEBUG_OS_printf("ble_npl_os_started\n");
return true;
}
void *ble_npl_get_current_task_id(void) {
DEBUG_OS_printf("ble_npl_get_current_task_id\n");
return NULL;
}
/******************************************************************************/
// malloc
// Maintain a linked list of heap memory that we've passed to Nimble,
// discoverable via the bluetooth_nimble_memory root pointer.
typedef struct _mp_bluetooth_nimble_malloc_t {
struct _mp_bluetooth_nimble_malloc_t *prev;
struct _mp_bluetooth_nimble_malloc_t *next;
size_t size;
uint8_t data[];
} mp_bluetooth_nimble_malloc_t;
// TODO: This is duplicated from mbedtls. Perhaps make this a generic feature?
STATIC void *m_malloc_bluetooth(size_t size) {
size += sizeof(mp_bluetooth_nimble_malloc_t);
mp_bluetooth_nimble_malloc_t *alloc = m_malloc0(size);
alloc->size = size;
alloc->next = MP_STATE_PORT(bluetooth_nimble_memory);
if (alloc->next) {
alloc->next->prev = alloc;
}
MP_STATE_PORT(bluetooth_nimble_memory) = alloc;
return alloc->data;
}
STATIC mp_bluetooth_nimble_malloc_t* get_nimble_malloc(void *ptr) {
return (mp_bluetooth_nimble_malloc_t*)((uintptr_t)ptr - sizeof(mp_bluetooth_nimble_malloc_t));
}
STATIC void m_free_bluetooth(void *ptr) {
mp_bluetooth_nimble_malloc_t *alloc = get_nimble_malloc(ptr);
if (alloc->next) {
alloc->next->prev = alloc->prev;
}
if (alloc->prev) {
alloc->prev->next = alloc->next;
} else {
MP_STATE_PORT(bluetooth_nimble_memory) = NULL;
}
m_free(alloc
#if MICROPY_MALLOC_USES_ALLOCATED_SIZE
, alloc->size
#endif
);
}
// Check if a nimble ptr is tracked.
// If it isn't, that means that it's from a previous soft-reset cycle.
STATIC bool is_valid_nimble_malloc(void *ptr) {
DEBUG_MALLOC_printf("NIMBLE is_valid_nimble_malloc(%p)\n", ptr);
mp_bluetooth_nimble_malloc_t *alloc = MP_STATE_PORT(bluetooth_nimble_memory);
while (alloc) {
DEBUG_MALLOC_printf("NIMBLE checking: %p\n", alloc->data);
if (alloc->data == ptr) {
return true;
}
alloc = alloc->next;
}
return false;
}
void *nimble_malloc(size_t size) {
DEBUG_MALLOC_printf("NIMBLE malloc(%u)\n", (uint)size);
void* ptr = m_malloc_bluetooth(size);
DEBUG_MALLOC_printf(" --> %p\n", ptr);
return ptr;
}
// Only free if it's still a valid pointer.
void nimble_free(void *ptr) {
DEBUG_MALLOC_printf("NIMBLE free(%p)\n", ptr);
if (ptr) {
// After a stack re-init, NimBLE has variables in BSS that might be
// still pointing to old allocations from a previous init. We can't do
// anything about this (e.g. ble_gatts_free_mem is private). But we
// can identify that this is a non-null, invalid alloc because it
// won't be in our list, so ignore it because it is effectively free'd
// anyway (it's not referenced by anything the GC can find).
if (is_valid_nimble_malloc(ptr)) {
m_free_bluetooth(ptr);
}
}
}
// Only realloc if it's still a valid pointer. Otherwise just malloc.
void *nimble_realloc(void *ptr, size_t new_size) {
DEBUG_MALLOC_printf("NIMBLE realloc(%p, %u)\n", ptr, (uint)new_size);
if (!ptr) {
return nimble_malloc(new_size);
}
assert(is_valid_nimble_malloc(ptr));
// Existing alloc is big enough.
mp_bluetooth_nimble_malloc_t *alloc = get_nimble_malloc(ptr);
size_t old_size = alloc->size - sizeof(mp_bluetooth_nimble_malloc_t);
if (old_size >= new_size) {
return ptr;
}
// Allocate a new, larger region.
void *ptr2 = m_malloc_bluetooth(new_size);
// Copy old, smaller region into new region.
memcpy(ptr2, ptr, old_size);
m_free_bluetooth(ptr);
DEBUG_MALLOC_printf(" --> %p\n", ptr2);
return ptr2;
}
// No-op implementation (only used by NimBLE logging).
int nimble_sprintf(char *str, const char *fmt, ...) {
str[0] = 0;
return 0;
}
/******************************************************************************/
// EVENTQ
struct ble_npl_eventq *global_eventq = NULL;
// This must not be called recursively or concurrently with the UART handler.
void mp_bluetooth_nimble_os_eventq_run_all(void) {
if (mp_bluetooth_nimble_ble_state == MP_BLUETOOTH_NIMBLE_BLE_STATE_OFF) {
return;
}
// Keep running while there are pending events.
while (true) {
struct ble_npl_event *ev = NULL;
os_sr_t sr;
OS_ENTER_CRITICAL(sr);
// Search all queues for an event.
for (struct ble_npl_eventq *evq = global_eventq; evq != NULL; evq = evq->nextq) {
ev = evq->head;
if (ev) {
// Remove this event from the queue.
evq->head = ev->next;
if (ev->next) {
ev->next->prev = NULL;
ev->next = NULL;
}
ev->prev = NULL;
ev->pending = false;
// Stop searching and execute this event.
break;
}
}
OS_EXIT_CRITICAL(sr);
if (!ev) {
break;
}
// Run the event handler.
DEBUG_EVENT_printf("event_run(%p)\n", ev);
ev->fn(ev);
DEBUG_EVENT_printf("event_run(%p) done\n", ev);
if (ev->pending) {
// If this event has been re-enqueued while it was running, then
// stop running further events. This prevents an infinite loop
// where the reset event re-enqueues itself on HCI timeout.
break;
}
}
}
void ble_npl_eventq_init(struct ble_npl_eventq *evq) {
DEBUG_EVENT_printf("ble_npl_eventq_init(%p)\n", evq);
os_sr_t sr;
OS_ENTER_CRITICAL(sr);
evq->head = NULL;
struct ble_npl_eventq **evq2;
for (evq2 = &global_eventq; *evq2 != NULL; evq2 = &(*evq2)->nextq) {
}
*evq2 = evq;
evq->nextq = NULL;
OS_EXIT_CRITICAL(sr);
}
void ble_npl_eventq_put(struct ble_npl_eventq *evq, struct ble_npl_event *ev) {
DEBUG_EVENT_printf("ble_npl_eventq_put(%p, %p (%p, %p))\n", evq, ev, ev->fn, ev->arg);
os_sr_t sr;
OS_ENTER_CRITICAL(sr);
ev->next = NULL;
ev->pending = true;
if (evq->head == NULL) {
// Empty list, make this the first item.
evq->head = ev;
ev->prev = NULL;
} else {
// Find the tail of this list.
struct ble_npl_event *tail = evq->head;
while (true) {
if (tail == ev) {
DEBUG_EVENT_printf(" --> already in queue\n");
// Already in the list (e.g. a fragmented ACL will enqueue an
// event to process it for each fragment).
break;
}
if (tail->next == NULL) {
// Found the end of the list, add this event as the tail.
tail->next = ev;
ev->prev = tail;
break;
}
DEBUG_EVENT_printf(" --> %p\n", tail->next);
tail = tail->next;
}
}
OS_EXIT_CRITICAL(sr);
}
void ble_npl_event_init(struct ble_npl_event *ev, ble_npl_event_fn *fn, void *arg) {
DEBUG_EVENT_printf("ble_npl_event_init(%p, %p, %p)\n", ev, fn, arg);
ev->fn = fn;
ev->arg = arg;
ev->next = NULL;
ev->pending = false;
}
void *ble_npl_event_get_arg(struct ble_npl_event *ev) {
DEBUG_EVENT_printf("ble_npl_event_get_arg(%p) -> %p\n", ev, ev->arg);
return ev->arg;
}
void ble_npl_event_set_arg(struct ble_npl_event *ev, void *arg) {
DEBUG_EVENT_printf("ble_npl_event_set_arg(%p, %p)\n", ev, arg);
ev->arg = arg;
}
/******************************************************************************/
// MUTEX
ble_npl_error_t ble_npl_mutex_init(struct ble_npl_mutex *mu) {
DEBUG_MUTEX_printf("ble_npl_mutex_init(%p)\n", mu);
mu->locked = 0;
return BLE_NPL_OK;
}
ble_npl_error_t ble_npl_mutex_pend(struct ble_npl_mutex *mu, ble_npl_time_t timeout) {
DEBUG_MUTEX_printf("ble_npl_mutex_pend(%p, %u) locked=%u\n", mu, (uint)timeout, (uint)mu->locked);
// All NimBLE code is executed by the scheduler (and is therefore
// implicitly mutexed) so this mutex implementation is a no-op.
++mu->locked;
return BLE_NPL_OK;
}
ble_npl_error_t ble_npl_mutex_release(struct ble_npl_mutex *mu) {
DEBUG_MUTEX_printf("ble_npl_mutex_release(%p) locked=%u\n", mu, (uint)mu->locked);
assert(mu->locked > 0);
--mu->locked;
return BLE_NPL_OK;
}
/******************************************************************************/
// SEM
ble_npl_error_t ble_npl_sem_init(struct ble_npl_sem *sem, uint16_t tokens) {
DEBUG_SEM_printf("ble_npl_sem_init(%p, %u)\n", sem, (uint)tokens);
sem->count = tokens;
return BLE_NPL_OK;
}
ble_npl_error_t ble_npl_sem_pend(struct ble_npl_sem *sem, ble_npl_time_t timeout) {
DEBUG_SEM_printf("ble_npl_sem_pend(%p, %u) count=%u\n", sem, (uint)timeout, (uint)sem->count);
// This is only called by NimBLE in ble_hs_hci_cmd_tx to synchronously
// wait for an HCI ACK. The corresponding ble_npl_sem_release is called
// directly by the UART rx handler (i.e. hal_uart_rx_cb in
// extmod/nimble/hal/hal_uart.c). So this loop needs to run only the HCI
// UART processing but not run any events.
if (sem->count == 0) {
uint32_t t0 = mp_hal_ticks_ms();
while (sem->count == 0 && mp_hal_ticks_ms() - t0 < timeout) {
if (sem->count != 0) {
break;
}
mp_bluetooth_nimble_hci_uart_wfi();
}
if (sem->count == 0) {
DEBUG_SEM_printf("ble_npl_sem_pend: semaphore timeout\n");
return BLE_NPL_TIMEOUT;
}
DEBUG_SEM_printf("ble_npl_sem_pend: acquired in %u ms\n", (int)(mp_hal_ticks_ms() - t0));
}
sem->count -= 1;
return BLE_NPL_OK;
}
ble_npl_error_t ble_npl_sem_release(struct ble_npl_sem *sem) {
DEBUG_SEM_printf("ble_npl_sem_release(%p)\n", sem);
sem->count += 1;
return BLE_NPL_OK;
}
uint16_t ble_npl_sem_get_count(struct ble_npl_sem *sem) {
DEBUG_SEM_printf("ble_npl_sem_get_count(%p)\n", sem);
return sem->count;
}
/******************************************************************************/
// CALLOUT
static struct ble_npl_callout *global_callout = NULL;
void mp_bluetooth_nimble_os_callout_process(void) {
os_sr_t sr;
OS_ENTER_CRITICAL(sr);
uint32_t tnow = mp_hal_ticks_ms();
for (struct ble_npl_callout *c = global_callout; c != NULL; c = c->nextc) {
if (!c->active) {
continue;
}
if ((int32_t)(tnow - c->ticks) >= 0) {
DEBUG_CALLOUT_printf("callout_run(%p) tnow=%u ticks=%u evq=%p\n", c, (uint)tnow, (uint)c->ticks, c->evq);
c->active = false;
if (c->evq) {
// Enqueue this callout for execution in the event queue.
ble_npl_eventq_put(c->evq, &c->ev);
} else {
// Execute this callout directly.
OS_EXIT_CRITICAL(sr);
c->ev.fn(&c->ev);
OS_ENTER_CRITICAL(sr);
}
DEBUG_CALLOUT_printf("callout_run(%p) done\n", c);
}
}
OS_EXIT_CRITICAL(sr);
}
void ble_npl_callout_init(struct ble_npl_callout *c, struct ble_npl_eventq *evq, ble_npl_event_fn *ev_cb, void *ev_arg) {
DEBUG_CALLOUT_printf("ble_npl_callout_init(%p, %p, %p, %p)\n", c, evq, ev_cb, ev_arg);
os_sr_t sr;
OS_ENTER_CRITICAL(sr);
c->active = false;
c->ticks = 0;
c->evq = evq;
ble_npl_event_init(&c->ev, ev_cb, ev_arg);
struct ble_npl_callout **c2;
for (c2 = &global_callout; *c2 != NULL; c2 = &(*c2)->nextc) {
if (c == *c2) {
// callout already in linked list so don't link it in again
OS_EXIT_CRITICAL(sr);
return;
}
}
*c2 = c;
c->nextc = NULL;
OS_EXIT_CRITICAL(sr);
}
ble_npl_error_t ble_npl_callout_reset(struct ble_npl_callout *c, ble_npl_time_t ticks) {
DEBUG_CALLOUT_printf("ble_npl_callout_reset(%p, %u) tnow=%u\n", c, (uint)ticks, (uint)mp_hal_ticks_ms());
os_sr_t sr;
OS_ENTER_CRITICAL(sr);
c->active = true;
c->ticks = ble_npl_time_get() + ticks;
OS_EXIT_CRITICAL(sr);
return BLE_NPL_OK;
}
void ble_npl_callout_stop(struct ble_npl_callout *c) {
DEBUG_CALLOUT_printf("ble_npl_callout_stop(%p)\n", c);
c->active = false;
}
bool ble_npl_callout_is_active(struct ble_npl_callout *c) {
DEBUG_CALLOUT_printf("ble_npl_callout_is_active(%p)\n", c);
return c->active;
}
ble_npl_time_t ble_npl_callout_get_ticks(struct ble_npl_callout *c) {
DEBUG_CALLOUT_printf("ble_npl_callout_get_ticks(%p)\n", c);
return c->ticks;
}
ble_npl_time_t ble_npl_callout_remaining_ticks(struct ble_npl_callout *c, ble_npl_time_t now) {
DEBUG_CALLOUT_printf("ble_npl_callout_remaining_ticks(%p, %u)\n", c, (uint)now);
if (c->ticks > now) {
return c->ticks - now;
} else {
return 0;
}
}
void *ble_npl_callout_get_arg(struct ble_npl_callout *c) {
DEBUG_CALLOUT_printf("ble_npl_callout_get_arg(%p)\n", c);
return ble_npl_event_get_arg(&c->ev);
}
void ble_npl_callout_set_arg(struct ble_npl_callout *c, void *arg) {
DEBUG_CALLOUT_printf("ble_npl_callout_set_arg(%p, %p)\n", c, arg);
ble_npl_event_set_arg(&c->ev, arg);
}
/******************************************************************************/
// TIME
uint32_t ble_npl_time_get(void) {
DEBUG_TIME_printf("ble_npl_time_get -> %u\n", (uint)mp_hal_ticks_ms());
return mp_hal_ticks_ms();
}
ble_npl_error_t ble_npl_time_ms_to_ticks(uint32_t ms, ble_npl_time_t *out_ticks) {
DEBUG_TIME_printf("ble_npl_time_ms_to_ticks(%u)\n", (uint)ms);
*out_ticks = ms;
return BLE_NPL_OK;
}
ble_npl_time_t ble_npl_time_ms_to_ticks32(uint32_t ms) {
DEBUG_TIME_printf("ble_npl_time_ms_to_ticks32(%u)\n", (uint)ms);
return ms;
}
uint32_t ble_npl_time_ticks_to_ms32(ble_npl_time_t ticks) {
DEBUG_TIME_printf("ble_npl_time_ticks_to_ms32(%u)\n", (uint)ticks);
return ticks;
}
void ble_npl_time_delay(ble_npl_time_t ticks) {
mp_hal_delay_ms(ticks + 1);
}
/******************************************************************************/
// CRITICAL
// This is used anywhere NimBLE modifies global data structures.
// Currently all NimBLE code is invoked by the scheduler so there should be no
// races, so on STM32 MICROPY_PY_BLUETOOTH_ENTER/MICROPY_PY_BLUETOOTH_EXIT are
// no-ops. However, in the future we may wish to make HCI UART processing
// happen asynchronously (e.g. on RX IRQ), so the port can implement these
// macros accordingly.
uint32_t ble_npl_hw_enter_critical(void) {
DEBUG_CRIT_printf("ble_npl_hw_enter_critical()\n");
MICROPY_PY_BLUETOOTH_ENTER
return atomic_state;
}
void ble_npl_hw_exit_critical(uint32_t atomic_state) {
MICROPY_PY_BLUETOOTH_EXIT
DEBUG_CRIT_printf("ble_npl_hw_exit_critical(%u)\n", (uint)atomic_state);
}

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components/language/micropython/extmod/nimble/nimble/nimble_npl_os.h Normal file
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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2018-2019 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_STM32_NIMBLE_NIMBLE_NIMBLE_NPL_OS_H
#define MICROPY_INCLUDED_STM32_NIMBLE_NIMBLE_NIMBLE_NPL_OS_H
// This is included by nimble/nimble_npl.h -- include that rather than this file directly.
#include <stdint.h>
#include <limits.h>
// --- Configuration of NimBLE data structures --------------------------------
// This is used at runtime to align allocations correctly.
#if __WORDSIZE == 64
#define BLE_NPL_OS_ALIGNMENT 8
#else
#define BLE_NPL_OS_ALIGNMENT 4
#endif
#define BLE_NPL_TIME_FOREVER (0xffffffff)
// This is used at compile time to force struct member alignment. See
// os_mempool.h for where this is used (none of these three macros are defined
// by default).
#define OS_CFG_ALIGN_4 (4)
#define OS_CFG_ALIGN_8 (8)
#if (ULONG_MAX == 0xffffffffffffffff)
#define OS_CFG_ALIGNMENT (OS_CFG_ALIGN_8)
#else
#define OS_CFG_ALIGNMENT (OS_CFG_ALIGN_4)
#endif
typedef uint32_t ble_npl_time_t;
typedef int32_t ble_npl_stime_t;
struct ble_npl_event {
ble_npl_event_fn *fn;
void *arg;
bool pending;
struct ble_npl_event *prev;
struct ble_npl_event *next;
};
struct ble_npl_eventq {
struct ble_npl_event *head;
struct ble_npl_eventq *nextq;
};
struct ble_npl_callout {
bool active;
uint32_t ticks;
struct ble_npl_eventq *evq;
struct ble_npl_event ev;
struct ble_npl_callout *nextc;
};
struct ble_npl_mutex {
volatile uint8_t locked;
};
struct ble_npl_sem {
volatile uint16_t count;
};
// --- Called by the MicroPython port -----------------------------------------
void mp_bluetooth_nimble_os_eventq_run_all(void);
void mp_bluetooth_nimble_os_callout_process(void);
// --- Must be provided by the MicroPython port -------------------------------
void mp_bluetooth_nimble_hci_uart_wfi(void);
#endif // MICROPY_INCLUDED_STM32_NIMBLE_NIMBLE_NPL_OS_H