1 #include "asf.h" 2 #include "stdio_serial.h" 3 #include "conf_board.h" 4 #include "conf_clock.h" 5 6 // BTstack 7 #include "btstack_chipset_atwilc3000.h" 8 #include "btstack_debug.h" 9 #include "btstack_memory.h" 10 #include "btstack_run_loop.h" 11 #include "btstack_run_loop_embedded.h" 12 #include "classic/btstack_link_key_db.h" 13 #include "hal_uart_dma.h" 14 #include "hal_cpu.h" 15 #include "hal_tick.h" 16 #include "hci.h" 17 #include "hci_dump.h" 18 #include "wilc3000_bt_firmware.h" 19 20 // #define USE_XDMAC_FOR_USART 21 #define XDMA_CH_UART_TX 0 22 #define XDMA_CH_UART_RX 1 23 24 /** All interrupt mask. */ 25 #define ALL_INTERRUPT_MASK 0xffffffff 26 27 #ifdef __cplusplus 28 extern "C" { 29 #endif 30 31 extern int btstack_main(int argc, const char * argv[]); 32 33 static void dummy_handler(void){} 34 static void (*tick_handler)(void) = &dummy_handler; 35 36 static btstack_uart_config_t uart_config; 37 38 static hci_transport_config_uart_t transport_config = { 39 HCI_TRANSPORT_CONFIG_UART, 40 115200, 41 921600, // use 0 to skip baud rate change from 115200 to X for debugging purposes 42 1, // flow control 43 NULL, 44 }; 45 46 /** 47 * \brief Handler for System Tick interrupt. 48 */ 49 void SysTick_Handler(void) 50 { 51 tick_handler(); 52 } 53 54 /** 55 * Configure UART console. 56 */ 57 // [main_console_configure] 58 static void configure_console(void) 59 { 60 const usart_serial_options_t uart_serial_options = { 61 .baudrate = CONF_UART_BAUDRATE, 62 #ifdef CONF_UART_CHAR_LENGTH 63 .charlength = CONF_UART_CHAR_LENGTH, 64 #endif 65 .paritytype = CONF_UART_PARITY, 66 #ifdef CONF_UART_STOP_BITS 67 .stopbits = CONF_UART_STOP_BITS, 68 #endif 69 }; 70 71 /* Configure console UART. */ 72 sysclk_enable_peripheral_clock(CONSOLE_UART_ID); 73 stdio_serial_init(CONF_UART, &uart_serial_options); 74 } 75 76 // [main_console_configure] 77 78 /** 79 * \brief Wait for the given number of milliseconds (ticks 80 * generated by the SAM's microcontrollers's system tick). 81 * 82 * \param ul_dly_ticks Delay to wait for, in milliseconds. 83 */ 84 // [main_ms_delay] 85 static void mdelay(uint32_t delay_in_ms) 86 { 87 // delay_ms(delay_in_ms); 88 uint32_t time_to_wait = btstack_run_loop_get_time_ms() + delay_in_ms; 89 while (btstack_run_loop_get_time_ms() < time_to_wait); 90 } 91 // [main_ms_delay] 92 93 //////////////////////////////////////////////////////////////////////////////// 94 // hal_cpu.h implementation 95 //////////////////////////////////////////////////////////////////////////////// 96 // hal_led.h implementation 97 #include "hal_led.h" 98 void hal_led_off(void); 99 void hal_led_on(void); 100 101 void hal_led_off(void){ 102 // gpio_set_pin_low(GPIOA, GPIO_LED2); 103 } 104 void hal_led_on(void){ 105 // gpio_set_pin_high(GPIOA, GPIO_LED2); 106 } 107 void hal_led_toggle(void){ 108 // gpio_toggle_pin(GPIOA, GPIO_LED2); 109 } 110 111 // hal_cpu.h implementation 112 #include "hal_cpu.h" 113 114 void hal_cpu_disable_irqs(void){ 115 //__disable_irq(); 116 } 117 118 void hal_cpu_enable_irqs(void){ 119 // __enable_irq(); 120 } 121 122 void hal_cpu_enable_irqs_and_sleep(void){ 123 hal_led_off(); 124 // __enable_irq(); 125 // __asm__("wfe"); // go to sleep if event flag isn't set. if set, just clear it. IRQs set event flag 126 127 // note: hal_uart_needed_during_sleep can be used to disable peripheral clock if it's not needed for a timer 128 hal_led_on(); 129 } 130 131 132 #ifndef USE_XDMAC_FOR_USART 133 // RX state 134 static volatile uint16_t bytes_to_read = 0; 135 static volatile uint8_t * rx_buffer_ptr = 0; 136 137 // TX state 138 static volatile uint16_t bytes_to_write = 0; 139 static volatile uint8_t * tx_buffer_ptr = 0; 140 #endif 141 142 static int simulate_flowcontrol; 143 144 // handlers 145 static void (*rx_done_handler)(void) = dummy_handler; 146 static void (*tx_done_handler)(void) = dummy_handler; 147 static void (*cts_irq_handler)(void) = dummy_handler; 148 149 // @note While the Atmel SAM S7x data sheet states 150 // "The hardware handshaking feature enables an out-of-band flow control by automatic management 151 // of the pins RTS and CTS.", 152 // I didn't see RTS going up automatically up, ever. So, at least for RTS, the automatic management 153 // is just a glorified GPIO pin control feature, which provides no benefit, but irritates a lot 154 155 static inline void hal_uart_rts_high(void){ 156 if (!simulate_flowcontrol) return; 157 BOARD_USART->US_CR = US_CR_RTSEN; 158 } 159 static inline void hal_uart_rts_low(void){ 160 if (!simulate_flowcontrol) return; 161 BOARD_USART->US_CR = US_CR_RTSDIS; 162 } 163 164 /** 165 */ 166 void hal_uart_dma_init(void) 167 { 168 // power on 169 ioport_set_pin_dir(BLUETOOTH_CHP_EN, IOPORT_DIR_OUTPUT); 170 ioport_set_pin_level(BLUETOOTH_CHP_EN, IOPORT_PIN_LEVEL_HIGH); 171 172 // reset 173 ioport_set_pin_dir(BLUETOOTH_RESET, IOPORT_DIR_OUTPUT); 174 ioport_set_pin_level(BLUETOOTH_RESET, IOPORT_PIN_LEVEL_LOW); 175 mdelay(250); 176 ioport_set_pin_level(BLUETOOTH_RESET, IOPORT_PIN_LEVEL_HIGH); 177 mdelay(250); 178 179 /* Enable the peripheral clock in the PMC. */ 180 sysclk_enable_peripheral_clock(BOARD_ID_USART); 181 182 // configure Bluetooth USART 183 const sam_usart_opt_t bluetooth_settings = { 184 115200, 185 US_MR_CHRL_8_BIT, 186 US_MR_PAR_NO, 187 US_MR_NBSTOP_1_BIT, 188 US_MR_CHMODE_NORMAL, 189 /* This field is only used in IrDA mode. */ 190 0 191 }; 192 193 /* Configure USART mode. */ 194 simulate_flowcontrol = 0; 195 usart_init_rs232(BOARD_USART, &bluetooth_settings, sysclk_get_peripheral_hz()); 196 // Set RTS = 0 (normal mode) 197 BOARD_USART->US_CR = US_CR_RTSEN; 198 199 /* Disable all the interrupts. */ 200 usart_disable_interrupt(BOARD_USART, ALL_INTERRUPT_MASK); 201 202 /* Enable TX & RX function. */ 203 usart_enable_tx(BOARD_USART); 204 usart_enable_rx(BOARD_USART); 205 206 /* Configure and enable interrupt of USART. */ 207 NVIC_EnableIRQ(USART_IRQn); 208 209 #ifdef USE_XDMAC_FOR_USART 210 211 // setup XDMAC 212 213 /* Initialize and enable DMA controller */ 214 pmc_enable_periph_clk(ID_XDMAC); 215 216 /* Enable XDMA interrupt */ 217 NVIC_ClearPendingIRQ(XDMAC_IRQn); 218 NVIC_SetPriority( XDMAC_IRQn ,1); 219 NVIC_EnableIRQ(XDMAC_IRQn); 220 221 // Setup XDMA Channel for USART TX 222 xdmac_channel_set_destination_addr(XDMAC, XDMA_CH_UART_TX, (uint32_t)&BOARD_USART->US_THR); 223 xdmac_channel_set_config(XDMAC, XDMA_CH_UART_TX, 224 XDMAC_CC_TYPE_PER_TRAN | 225 XDMAC_CC_DSYNC_MEM2PER | 226 XDMAC_CC_MEMSET_NORMAL_MODE | 227 XDMAC_CC_MBSIZE_SINGLE | 228 XDMAC_CC_DWIDTH_BYTE | 229 XDMAC_CC_SIF_AHB_IF0 | 230 XDMAC_CC_DIF_AHB_IF1 | 231 XDMAC_CC_SAM_INCREMENTED_AM | 232 XDMAC_CC_DAM_FIXED_AM | 233 XDMAC_CC_CSIZE_CHK_1 | 234 XDMAC_CC_PERID(XDAMC_CHANNEL_HWID_USART0_TX) 235 ); 236 xdmac_channel_set_descriptor_control(XDMAC, XDMA_CH_UART_TX, 0); 237 xdmac_channel_set_source_microblock_stride(XDMAC, XDMA_CH_UART_TX, 0); 238 xdmac_channel_set_destination_microblock_stride(XDMAC, XDMA_CH_UART_TX, 0); 239 xdmac_channel_set_datastride_mempattern(XDMAC, XDMA_CH_UART_TX, 0); 240 xdmac_channel_set_block_control(XDMAC, XDMA_CH_UART_TX, 0); 241 xdmac_enable_interrupt(XDMAC, XDMA_CH_UART_TX); 242 xdmac_channel_enable_interrupt(XDMAC, XDMA_CH_UART_TX, XDMAC_CIE_BIE); 243 244 // Setup XDMA Channel for USART RX 245 xdmac_channel_set_source_addr(XDMAC, XDMA_CH_UART_RX, (uint32_t)&BOARD_USART->US_RHR); 246 xdmac_channel_set_config(XDMAC, XDMA_CH_UART_RX, 247 XDMAC_CC_TYPE_PER_TRAN | 248 XDMAC_CC_DSYNC_PER2MEM | 249 XDMAC_CC_MEMSET_NORMAL_MODE | 250 XDMAC_CC_MBSIZE_SINGLE | 251 XDMAC_CC_DWIDTH_BYTE | 252 XDMAC_CC_SIF_AHB_IF1 | 253 XDMAC_CC_DIF_AHB_IF0 | 254 XDMAC_CC_SAM_FIXED_AM | 255 XDMAC_CC_DAM_INCREMENTED_AM | 256 XDMAC_CC_CSIZE_CHK_1 | 257 XDMAC_CC_PERID(XDAMC_CHANNEL_HWID_USART0_RX) 258 ); 259 xdmac_channel_set_descriptor_control(XDMAC, XDMA_CH_UART_RX, 0); 260 xdmac_channel_set_source_microblock_stride(XDMAC, XDMA_CH_UART_RX, 0); 261 xdmac_channel_set_destination_microblock_stride(XDMAC, XDMA_CH_UART_RX, 0); 262 xdmac_channel_set_datastride_mempattern(XDMAC, XDMA_CH_UART_RX, 0); 263 xdmac_channel_set_block_control(XDMAC, XDMA_CH_UART_RX, 0); 264 xdmac_enable_interrupt(XDMAC, XDMA_CH_UART_RX); 265 xdmac_channel_enable_interrupt(XDMAC, XDMA_CH_UART_RX, XDMAC_CIE_BIE); 266 #endif 267 } 268 269 void hal_uart_dma_set_sleep(uint8_t sleep){ 270 } 271 272 void hal_uart_dma_set_block_received( void (*the_block_handler)(void)){ 273 rx_done_handler = the_block_handler; 274 } 275 276 void hal_uart_dma_set_block_sent( void (*the_block_handler)(void)){ 277 tx_done_handler = the_block_handler; 278 } 279 280 void hal_uart_dma_set_csr_irq_handler( void (*the_irq_handler)(void)){ 281 cts_irq_handler = the_irq_handler; 282 } 283 284 int hal_uart_dma_set_baud(uint32_t baud){ 285 /* Disable TX & RX function. */ 286 usart_disable_tx(BOARD_USART); 287 usart_disable_rx(BOARD_USART); 288 uint32_t res = usart_set_async_baudrate(BOARD_USART, baud, sysclk_get_peripheral_hz()); 289 if (res){ 290 log_error("hal_uart_dma_set_baud library call failed"); 291 } 292 293 /* Enable TX & RX function. */ 294 usart_enable_tx(BOARD_USART); 295 usart_enable_rx(BOARD_USART); 296 297 log_info("set baud rate %u", (int) baud); 298 return 0; 299 } 300 301 int hal_uart_dma_set_flowcontrol(int flowcontrol){ 302 simulate_flowcontrol = flowcontrol; 303 if (flowcontrol){ 304 /* Set hardware handshaking mode. */ 305 BOARD_USART->US_MR = (BOARD_USART->US_MR & ~US_MR_USART_MODE_Msk) | US_MR_USART_MODE_HW_HANDSHAKING; 306 hal_uart_rts_low(); 307 } else { 308 /* Set nomal mode. */ 309 BOARD_USART->US_MR = (BOARD_USART->US_MR & ~US_MR_USART_MODE_Msk) | US_MR_USART_MODE_NORMAL; 310 // Set RTS = 0 (normal mode) 311 BOARD_USART->US_CR = US_CR_RTSEN; 312 } 313 return 0; 314 } 315 316 void hal_uart_dma_send_block(const uint8_t *data, uint16_t size){ 317 // log_info("send %u", size); 318 // log_info_hexdump(data, size); 319 #ifdef USE_XDMAC_FOR_USART 320 xdmac_channel_get_interrupt_status( XDMAC, XDMA_CH_UART_TX); 321 xdmac_channel_set_source_addr(XDMAC, XDMA_CH_UART_TX, (uint32_t)data); 322 xdmac_channel_set_microblock_control(XDMAC, XDMA_CH_UART_TX, size); 323 xdmac_channel_enable(XDMAC, XDMA_CH_UART_TX); 324 #else 325 tx_buffer_ptr = (uint8_t *) data; 326 bytes_to_write = size; 327 usart_enable_interrupt(BOARD_USART, US_IER_TXRDY); 328 #endif 329 } 330 331 void hal_uart_dma_receive_block(uint8_t *data, uint16_t size){ 332 333 hal_uart_rts_low(); 334 335 #ifdef USE_XDMAC_FOR_USART 336 xdmac_channel_get_interrupt_status( XDMAC, XDMA_CH_UART_RX); 337 xdmac_channel_set_destination_addr(XDMAC, XDMA_CH_UART_RX, (uint32_t)data); 338 xdmac_channel_set_microblock_control(XDMAC, XDMA_CH_UART_RX, size); 339 xdmac_channel_enable(XDMAC, XDMA_CH_UART_RX); 340 #else 341 rx_buffer_ptr = data; 342 bytes_to_read = size; 343 usart_enable_interrupt(BOARD_USART, US_IER_RXRDY); 344 #endif 345 } 346 347 #ifdef USE_XDMAC_FOR_USART 348 void XDMAC_Handler(void) 349 { 350 uint32_t dma_status; 351 dma_status = xdmac_channel_get_interrupt_status(XDMAC, XDMA_CH_UART_TX); 352 if (dma_status & XDMAC_CIS_BIS) { 353 tx_done_handler(); 354 } 355 dma_status = xdmac_channel_get_interrupt_status(XDMAC, XDMA_CH_UART_RX); 356 if (dma_status & XDMAC_CIS_BIS) { 357 hal_uart_rts_high(); 358 rx_done_handler(); 359 } 360 } 361 #else 362 void USART_Handler(void) 363 { 364 uint32_t ul_status; 365 366 /* Read USART status. */ 367 ul_status = usart_get_status(BOARD_USART); 368 369 // handle ready to send 370 if(ul_status & US_IER_TXRDY) { 371 if (bytes_to_write){ 372 // send next byte 373 usart_write(BOARD_USART, *tx_buffer_ptr); 374 tx_buffer_ptr++; 375 bytes_to_write--; 376 } else { 377 // done. disable tx ready interrupt to avoid starvation here 378 usart_disable_interrupt(BOARD_USART, US_IER_TXRDY); 379 tx_done_handler(); 380 } 381 } 382 383 // handle byte available for read 384 if (ul_status & US_IER_RXRDY) { 385 uint32_t ch; 386 usart_read(BOARD_USART, (uint32_t *)&ch); 387 *rx_buffer_ptr++ = ch; 388 bytes_to_read--; 389 if (bytes_to_read == 0){ 390 // done. disable rx ready interrupt, raise RTS 391 hal_uart_rts_high(); 392 usart_disable_interrupt(BOARD_USART, US_IER_RXRDY); 393 rx_done_handler(); 394 } 395 } 396 } 397 #endif 398 399 void hal_tick_init() 400 { 401 /* Configure systick for 1 ms */ 402 puts("Configure system tick to get 1ms tick period.\r"); 403 if (SysTick_Config(sysclk_get_cpu_hz() / 1000)) { 404 puts("-F- Systick configuration error\r"); 405 while (1); 406 } 407 } 408 409 void hal_tick_set_handler(void (*handler)(void)){ 410 if (handler == NULL){ 411 tick_handler = &dummy_handler; 412 return; 413 } 414 tick_handler = handler; 415 } 416 417 int hal_tick_get_tick_period_in_ms(void){ 418 return 1; 419 } 420 421 static const btstack_uart_block_t * uart_driver; 422 423 static void phase2(int status){ 424 425 if (status){ 426 printf("Download firmware failed\n"); 427 return; 428 } 429 430 printf("Phase 2: Main app\n"); 431 432 // init HCI 433 const hci_transport_t * transport = hci_transport_h4_instance(uart_driver); 434 // const btstack_link_key_db_t * link_key_db = btstack_link_key_db_fs_instance(); 435 hci_init(transport, (void*) &transport_config); 436 hci_set_chipset(btstack_chipset_atwilc3000_instance()); 437 // hci_set_link_key_db(link_key_db); 438 439 // setup app 440 btstack_main(0, NULL); 441 } 442 443 /** 444 * \brief getting-started Application entry point. 445 * 446 * \return Unused (ANSI-C compatibility). 447 */ 448 // [main] 449 int main(void) 450 { 451 /* Initialize the SAM system */ 452 sysclk_init(); 453 board_init(); 454 455 /* Initialize the console uart */ 456 configure_console(); 457 458 /* Output boot info */ 459 printf("BTstack on SAMV71 Xplained Ultra with ATWILC3000\n"); 460 printf("CPU %lu hz, peripheral clock %lu hz\n", sysclk_get_cpu_hz(), sysclk_get_peripheral_hz()); 461 #ifdef USE_XDMAC_FOR_USART 462 printf("Using XDMA for Bluetooth UART\n"); 463 #else 464 printf("Using IRQ driver for Bluetooth UART\n"); 465 #endif 466 printf("--\n"); 467 468 // start with BTstack init - especially configure HCI Transport 469 btstack_memory_init(); 470 btstack_run_loop_init(btstack_run_loop_embedded_get_instance()); 471 472 // enable full log output while porting 473 hci_dump_open(NULL, HCI_DUMP_STDOUT); 474 475 // setup UART HAL + Run Loop integration 476 uart_driver = btstack_uart_block_embedded_instance(); 477 478 // extract UART config from transport config, but disable flow control 479 uart_config.baudrate = transport_config.baudrate_init; 480 uart_config.flowcontrol = 0; 481 uart_config.device_name = transport_config.device_name; 482 uart_driver->init(&uart_config); 483 484 // phase #1 download firmware 485 printf("Phase 1: Download firmware\n"); 486 487 // phase #2 start main app 488 btstack_chipset_atwilc3000_download_firmware(uart_driver, transport_config.baudrate_main, transport_config.flowcontrol, atwilc3000_fw_data, atwilc3000_fw_size, &phase2); 489 490 // go 491 btstack_run_loop_execute(); 492 493 // compiler happy 494 while(1); 495 } 496 #ifdef __cplusplus 497 } 498 #endif 499