// Copyright (c) 2017-2021, Mudita Sp. z.o.o. All rights reserved.
// For licensing, see https://github.com/mudita/MuditaOS/LICENSE.md
#include "bsp/bluetooth/Bluetooth.hpp"
#include <log/log.hpp>
#include "FreeRTOS.h"
#include "board.h"
#include "fsl_lpuart_edma.h"
#include <board/BoardDefinitions.hpp>
#if DEBUG_BLUETOOTH_HCI_COMS == 1
#define logHciComs(...) LOG_DEBUG(__VA_ARGS__)
#else
#define logHciComs(...)
#endif
#if DEBUG_BLUETOOTH_HCI_BYTES == 1
#include <sstream>
#define logHciBytes(...) LOG_DEBUG(__VA_ARGS__)
#else
#define logHciBytes(...)
#endif
using namespace bsp;
lpuart_edma_handle_t BluetoothCommon::uartDmaHandle = {};
uint32_t UartGetPeripheralClock();
BluetoothCommon::BluetoothCommon()
{
gpio_pin_config_t gpio_init_structure;
gpio_init_structure.direction = kGPIO_DigitalOutput;
gpio_init_structure.interruptMode = kGPIO_NoIntmode;
gpio_init_structure.outputLogic = 0;
GPIO_PinInit(BSP_BLUETOOTH_SHUTDOWN_PORT, BSP_BLUETOOTH_SHUTDOWN_PIN, &gpio_init_structure);
}
BluetoothCommon::~BluetoothCommon() = default;
void BluetoothCommon::open()
{
init_uart();
init_uart_dma();
LOG_INFO("Bluetooth HW init done from open!");
set_irq(true);
set_reset(true);
is_open = true;
LOG_INFO("Bluetooth HW open!");
}
void BluetoothCommon::close()
{
set_irq(false);
is_open = false;
set_reset(false);
deinit_uart_dma();
deinit_uart();
LOG_INFO("Bluetooth HW close!");
}
void BluetoothCommon::sleep_ms(ssize_t ms)
{
ulTaskNotifyTake(pdTRUE, ms);
}
BTdev::Error BluetoothCommon::read(uint8_t *buf, size_t nbytes)
{
auto ret = ErrorUndefined;
// start RXfer if there is a byte incoming and no pending RXfer
lpuart_transfer_t receiveXfer;
receiveXfer.data = buf;
receiveXfer.dataSize = nbytes;
// rx config
SCB_CleanInvalidateDCache();
LPUART_EnableRx(BSP_BLUETOOTH_UART_BASE, true);
auto status = LPUART_ReceiveEDMA(BSP_BLUETOOTH_UART_BASE, &uartDmaHandle, &receiveXfer);
switch (status) {
case kStatus_Success:
ret = Success;
break;
case kStatus_LPUART_RxBusy:
ret = ErrorBSP;
LOG_WARN("BT UART RX DMA already busy");
break;
case kStatus_InvalidArgument:
LOG_WARN("BT UART RX DMA invalid argument");
ret = ErrorBSP;
break;
}
return ret;
}
BTdev::Error BluetoothCommon::write(const uint8_t *buf, size_t size)
{
logHciBytes("BT DMA to write --> [%d]>%s<",
size,
[&]() -> std::string {
std::stringstream ss;
for (int i = 0; i < size; ++i) {
ss << " 0x" << std::hex << (int)buf[i];
}
return ss.str();
}()
.c_str());
auto ret = ErrorUndefined;
lpuart_transfer_t sendXfer;
sendXfer.data = const_cast<uint8_t *>(buf);
sendXfer.dataSize = size;
uartDmaHandle.userData = xTaskGetCurrentTaskHandle();
// tx config
SCB_CleanInvalidateDCache();
LPUART_EnableTx(BSP_BLUETOOTH_UART_BASE, true);
auto sent = LPUART_SendEDMA(BSP_BLUETOOTH_UART_BASE, &uartDmaHandle, &sendXfer);
switch (sent) {
case kStatus_Success:
// orchestrate a DMA Tx
logHciComs("DMA Tx started (%d)", size);
ret = Success;
break;
case kStatus_LPUART_TxBusy:
// could've checked beforehand
LOG_WARN("Previous DMA Tx is still pending");
ret = ErrorBSP;
break;
case kStatus_InvalidArgument:
LPUART_EnableTx(BSP_BLUETOOTH_UART_BASE, false);
LOG_ERROR("DMA Tx invalid arg");
ret = ErrorBSP;
break;
}
return ret;
}
ssize_t BluetoothCommon::write_blocking(const uint8_t *buf, ssize_t nbytes)
{
ssize_t ret = -1;
auto wrote = write(const_cast<uint8_t *>(buf), nbytes);
if (wrote == nbytes) { // success orchestrating a transfer
constexpr auto writeBlockingTimeout = pdMS_TO_TICKS(100);
auto ulNotificationValue = ulTaskNotifyTake(pdFALSE, writeBlockingTimeout);
if (ulNotificationValue != 0) { // success completing a transfer
logHciComs("DMA Tx wrote");
ret = nbytes;
}
else {
LOG_ERROR("DMA Tx timeout");
ret = -1;
}
}
else {
LOG_WARN("DMA Tx not wrote (%d/%d)", wrote, nbytes);
}
return ret;
}
BTdev::Error BluetoothCommon::set_baudrate(uint32_t bd)
{
LOG_INFO("Set baudrate: %" PRIu32, bd);
Error ret = Success;
int err = 0;
if ((err = LPUART_SetBaudRate(BSP_BLUETOOTH_UART_BASE, bd, UartGetPeripheralClock())) != 0) {
LOG_ERROR("BT error: baudrate [%lu] set err: %d", bd, err);
ret = ErrorBSP;
}
BSP_BLUETOOTH_UART_BASE->FIFO |= LPUART_FIFO_RXFLUSH_MASK; // flush fifo
BSP_BLUETOOTH_UART_BASE->FIFO &= ~LPUART_FIFO_RXFE_MASK; // disable fifo
return ret;
}
BTdev::Error BluetoothCommon::set_reset(bool on)
{
if (on) {
GPIO_PinWrite(BSP_BLUETOOTH_SHUTDOWN_PORT, BSP_BLUETOOTH_SHUTDOWN_PIN, 0);
// docs: "nSHUTD must be low for a minimum of 5 ms."
sleep_ms(5 + 2);
}
LOG_INFO("reset %s", on ? "on" : "off");
GPIO_PinWrite(BSP_BLUETOOTH_SHUTDOWN_PORT, BSP_BLUETOOTH_SHUTDOWN_PIN, on ? 1U : 0U);
return Success;
}
uint32_t UartGetPeripheralClock()
{
const int UART_PERIPHERAL_PLL_DIVIDER = 6;
uint32_t freq = 0;
/* To make it simple, we assume default PLL and divider settings, and the only variable
from application is use PLL3 source or OSC source */
if (CLOCK_GetMux(kCLOCK_UartMux) == 0) /* PLL3 div6 80M */
{
freq = (CLOCK_GetPllFreq(kCLOCK_PllUsb1) / UART_PERIPHERAL_PLL_DIVIDER) / (CLOCK_GetDiv(kCLOCK_UartDiv) + 1U);
}
else {
freq = CLOCK_GetOscFreq() / (CLOCK_GetDiv(kCLOCK_UartDiv) + 1U);
}
return freq;
}
void BluetoothCommon::init_uart()
{
lpuart_config_t bt_c;
LPUART_GetDefaultConfig(&bt_c);
bt_c.baudRate_Bps = baudrate;
bt_c.dataBitsCount = kLPUART_EightDataBits;
bt_c.parityMode = kLPUART_ParityDisabled;
bt_c.isMsb = false;
bt_c.rxIdleType = kLPUART_IdleTypeStartBit;
bt_c.rxIdleConfig = kLPUART_IdleCharacter1;
bt_c.enableTx = false;
bt_c.enableRx = false;
bt_c.enableTxCTS = true;
bt_c.txCtsConfig = kLPUART_CtsSampleAtStart; // to be able to stop TX mid-transfer
bt_c.enableRxRTS = true; // == BSP_BLUETOOTH_UART_BASE->MODIR |= LPUART_MODIR_RXRTSE_MASK;
if (LPUART_Init(BSP_BLUETOOTH_UART_BASE, &bt_c, UartGetPeripheralClock()) != kStatus_Success) {
LOG_ERROR("BT: UART config error Could not initialize the uart!");
return;
}
BSP_BLUETOOTH_UART_BASE->MODIR |= LPUART_MODIR_TXRTSPOL_MASK; // apparently docs are not clear here. HIGH during TX
LPUART_ClearStatusFlags(BSP_BLUETOOTH_UART_BASE, 0xFFFFFFFF);
NVIC_ClearPendingIRQ(LPUART2_IRQn);
NVIC_SetPriority(LPUART2_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
NVIC_EnableIRQ(LPUART2_IRQn);
}
void BluetoothCommon::init_uart_dma()
{
dmamux = drivers::DriverDMAMux::Create(static_cast<drivers::DMAMuxInstances>(BoardDefinitions::BLUETOOTH_DMAMUX),
drivers::DriverDMAMuxParams{});
dma = drivers::DriverDMA::Create(static_cast<drivers::DMAInstances>(BoardDefinitions::BLUETOOTH_DMA),
drivers::DriverDMAParams{});
uartTxDmaHandle = dma->CreateHandle(static_cast<uint32_t>(BoardDefinitions::BLUETOOTH_TX_DMA_CHANNEL));
uartRxDmaHandle = dma->CreateHandle(static_cast<uint32_t>(BoardDefinitions::BLUETOOTH_RX_DMA_CHANNEL));
dmamux->Enable(static_cast<uint32_t>(BoardDefinitions::BLUETOOTH_TX_DMA_CHANNEL), kDmaRequestMuxLPUART2Tx);
dmamux->Enable(static_cast<uint32_t>(BoardDefinitions::BLUETOOTH_RX_DMA_CHANNEL), kDmaRequestMuxLPUART2Rx);
LPUART_TransferCreateHandleEDMA(BSP_BLUETOOTH_UART_BASE,
&uartDmaHandle,
uartDmaCallback,
nullptr,
reinterpret_cast<edma_handle_t *>(uartTxDmaHandle->GetHandle()),
reinterpret_cast<edma_handle_t *>(uartRxDmaHandle->GetHandle()));
}
void BluetoothCommon::deinit_uart()
{
LPUART_EnableRx(BSP_BLUETOOTH_UART_BASE, false);
LPUART_EnableTx(BSP_BLUETOOTH_UART_BASE, false);
NVIC_DisableIRQ(LPUART2_IRQn);
LPUART_DisableInterrupts(CELLULAR_UART_BASE, kLPUART_RxOverrunInterruptEnable);
LPUART_ClearStatusFlags(CELLULAR_UART_BASE, 0xFFFFFFFF);
NVIC_ClearPendingIRQ(LPUART2_IRQn);
LPUART_Deinit(BSP_BLUETOOTH_UART_BASE);
}
void BluetoothCommon::deinit_uart_dma()
{
dmamux->Disable(static_cast<uint32_t>(BoardDefinitions::BLUETOOTH_RX_DMA_CHANNEL));
dmamux->Disable(static_cast<uint32_t>(BoardDefinitions::BLUETOOTH_TX_DMA_CHANNEL));
}
void BluetoothCommon::uartDmaCallback(LPUART_Type *base, lpuart_edma_handle_t *handle, status_t status, void *userData)
{
BaseType_t taskwoken = 0;
uint8_t val;
bsp::BlueKitchen *bt = bsp::BlueKitchen::getInstance();
switch (status) {
case kStatus_LPUART_TxIdle: {
logHciComs("DMA irq: TX done");
LPUART_EnableTx(BSP_BLUETOOTH_UART_BASE, false);
val = bluetooth::Message::EvtSent;
xQueueSendFromISR(bt->qHandle, &val, &taskwoken);
portEND_SWITCHING_ISR(taskwoken);
break;
}
case kStatus_LPUART_RxIdle:
logHciComs("DMA irq: RX done");
LPUART_EnableRx(BSP_BLUETOOTH_UART_BASE, false);
val = bluetooth::Message::EvtReceived;
xQueueSendFromISR(bt->qHandle, &val, &taskwoken);
portEND_SWITCHING_ISR(taskwoken);
break;
}
}
void BluetoothCommon::set_irq(bool enable)
{
// printf("%s\n", __FUNCTION__);
LPUART_EnableRx(BSP_BLUETOOTH_UART_BASE, false);
LPUART_EnableTx(BSP_BLUETOOTH_UART_BASE, false);
LPUART_ClearStatusFlags(BSP_BLUETOOTH_UART_BASE, 0xFFFFFFFF);
if (enable) {
LPUART_EnableInterrupts(BSP_BLUETOOTH_UART_BASE, kLPUART_RxOverrunInterruptEnable);
}
else {
LPUART_DisableInterrupts(BSP_BLUETOOTH_UART_BASE, kLPUART_RxOverrunInterruptEnable);
}
}
extern "C"
{
void LPUART2_IRQHandler(void)
{
uint32_t isrReg = LPUART_GetStatusFlags(BSP_BLUETOOTH_UART_BASE);
BaseType_t taskwoken = 0;
uint8_t val = bluetooth::Message::EvtReceived;
bsp::BlueKitchen *bt = bsp::BlueKitchen::getInstance();
if (isrReg & kLPUART_RxDataRegFullFlag) {
LOG_WARN("Bluetooth IRQ RX full");
}
if (isrReg & kLPUART_RxOverrunFlag) {
LOG_WARN("Bluetooth IRQ RX overrun");
val = bluetooth::Message::EvtUartError;
xQueueSendFromISR(bt->qHandle, &val, &taskwoken);
}
LPUART_ClearStatusFlags(BSP_BLUETOOTH_UART_BASE, isrReg);
}
}