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zephyr/drivers/bluetooth/h5.c

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/* uart_h5.c - UART based Bluetooth driver */
/*
* Copyright (c) 2015 Intel Corporation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include <errno.h>
#include <stddef.h>
#include <nanokernel.h>
#include <arch/cpu.h>
#include <atomic.h>
#include <sections.h>
#include <board.h>
#include <init.h>
#include <uart.h>
#include <misc/util.h>
#include <misc/byteorder.h>
#include <misc/stack.h>
#include <string.h>
#include <bluetooth/bluetooth.h>
#include <bluetooth/log.h>
#include <bluetooth/hci.h>
#include <bluetooth/driver.h>
#include "util.h"
#if !defined(CONFIG_BLUETOOTH_DEBUG_DRIVER)
#undef BT_DBG
#define BT_DBG(fmt, ...)
#endif
static BT_STACK_NOINIT(tx_stack, 256);
static BT_STACK_NOINIT(rx_stack, 256);
static BT_STACK_NOINIT(ack_stack, 256);
static BT_STACK_NOINIT(retx_stack, 256);
#define HCI_3WIRE_ACK_PKT 0x00
#define HCI_COMMAND_PKT 0x01
#define HCI_ACLDATA_PKT 0x02
#define HCI_SCODATA_PKT 0x03
#define HCI_EVENT_PKT 0x04
#define HCI_3WIRE_LINK_PKT 0x0f
#define HCI_VENDOR_PKT 0xff
static bool reliable_packet(uint8_t type)
{
switch (type) {
case HCI_COMMAND_PKT:
case HCI_ACLDATA_PKT:
case HCI_EVENT_PKT:
return true;
default:
return false;
}
}
/* FIXME: Correct timeout */
#define H5_RX_ACK_TIMEOUT (sys_clock_ticks_per_sec / 4)
#define H5_TX_ACK_TIMEOUT (sys_clock_ticks_per_sec / 4)
#define SLIP_DELIMITER 0xc0
#define SLIP_ESC 0xdb
#define SLIP_ESC_DELIM 0xdc
#define SLIP_ESC_ESC 0xdd
#define H5_RX_ESC 1
#define H5_TX_ACK_PEND 2
#define H5_HDR_SEQ(hdr) ((hdr)[0] & 0x07)
#define H5_HDR_ACK(hdr) (((hdr)[0] >> 3) & 0x07)
#define H5_HDR_CRC(hdr) (((hdr)[0] >> 6) & 0x01)
#define H5_HDR_RELIABLE(hdr) (((hdr)[0] >> 7) & 0x01)
#define H5_HDR_PKT_TYPE(hdr) ((hdr)[1] & 0x0f)
#define H5_HDR_LEN(hdr) ((((hdr)[1] >> 4) & 0x0f) + ((hdr)[2] << 4))
#define H5_SET_SEQ(hdr, seq) ((hdr)[0] |= (seq))
#define H5_SET_ACK(hdr, ack) ((hdr)[0] |= (ack) << 3)
#define H5_SET_RELIABLE(hdr) ((hdr)[0] |= 1 << 7)
#define H5_SET_TYPE(hdr, type) ((hdr)[1] |= type)
#define H5_SET_LEN(hdr, len) (((hdr)[1] |= ((len) & 0x0f) << 4), \
((hdr)[2] |= (len) >> 4))
static struct h5 {
atomic_t flags;
struct net_buf *rx_buf;
struct nano_fifo tx_queue;
struct nano_fifo rx_queue;
struct nano_fifo unack_queue;
struct nano_sem active_state;
uint8_t tx_win;
uint8_t tx_ack;
uint8_t tx_seq;
uint8_t rx_ack;
/* delayed rx ack fiber */
nano_thread_id_t ack_to;
/* delayed retransmit fiber */
nano_thread_id_t retx_to;
enum {
UNINIT,
INIT,
ACTIVE,
} link_state;
enum {
START,
HEADER,
PAYLOAD,
END,
} rx_state;
} h5;
static uint8_t unack_queue_len;
static const uint8_t sync_req[] = { 0x01, 0x7e };
static const uint8_t sync_rsp[] = { 0x02, 0x7d };
/* Third byte may change */
static uint8_t conf_req[3] = { 0x03, 0xfc };
static const uint8_t conf_rsp[] = { 0x04, 0x7b };
static const uint8_t wakeup_req[] = { 0x05, 0xfa };
static const uint8_t woken_req[] = { 0x06, 0xf9 };
static const uint8_t sleep_req[] = { 0x07, 0x78 };
/* H5 signal buffers pool */
#define CONFIG_BLUETOOTH_MAX_SIG_LEN 3
#define CONFIG_BLUETOOTH_SIGNAL_COUNT 2
#define SIG_BUF_SIZE (CONFIG_BLUETOOTH_HCI_RECV_RESERVE + \
CONFIG_BLUETOOTH_MAX_SIG_LEN)
static struct nano_fifo h5_sig;
static NET_BUF_POOL(signal_pool, CONFIG_BLUETOOTH_SIGNAL_COUNT, SIG_BUF_SIZE,
&h5_sig, NULL, 0);
static struct device *h5_dev;
static void h5_reset_rx(void)
{
if (h5.rx_buf) {
net_buf_unref(h5.rx_buf);
h5.rx_buf = NULL;
}
h5.rx_state = START;
}
static int h5_unslip_byte(uint8_t *byte)
{
int count;
if (*byte != SLIP_ESC) {
return 0;
}
do {
count = uart_fifo_read(h5_dev, byte, sizeof(*byte));
} while (!count);
switch (*byte) {
case SLIP_ESC_DELIM:
*byte = SLIP_DELIMITER;
break;
case SLIP_ESC_ESC:
*byte = SLIP_ESC;
break;
default:
BT_ERR("Invalid escape byte %x\n", *byte);
return -EIO;
}
return 0;
}
static void process_unack(void)
{
uint8_t next_seq = h5.tx_seq;
uint8_t number_removed = unack_queue_len;
if (!unack_queue_len) {
return;
}
BT_DBG("rx_ack %u tx_ack %u tx_seq %u unack_queue_len %u",
h5.rx_ack, h5.tx_ack, h5.tx_seq, unack_queue_len);
while (unack_queue_len > 0) {
if (next_seq == h5.rx_ack) {
/* Next sequence number is the same as last received
* ack number
*/
break;
}
number_removed--;
/* Similar to (n - 1) % 8 with unsigned conversion */
next_seq = (next_seq - 1) & 0x07;
}
if (next_seq != h5.rx_ack) {
BT_ERR("Wrong sequence: rx_ack %u tx_seq %u next_seq %u",
h5.rx_ack, h5.tx_seq, next_seq);
}
BT_DBG("Need to remove %u packet from the queue", number_removed);
while (number_removed) {
struct net_buf *buf = nano_fifo_get(&h5.unack_queue, TICKS_NONE);
if (!buf) {
BT_ERR("Unack queue is empty");
break;
}
/* TODO: print or do something with packet */
BT_DBG("Remove buf from the unack_queue");
net_buf_unref(buf);
unack_queue_len--;
number_removed--;
}
}
static void h5_print_header(const uint8_t *hdr, const char *str)
{
if (H5_HDR_RELIABLE(hdr)) {
BT_DBG("%s REL: seq %u ack %u crc %u type %u len %u",
str, H5_HDR_SEQ(hdr), H5_HDR_ACK(hdr),
H5_HDR_CRC(hdr), H5_HDR_PKT_TYPE(hdr),
H5_HDR_LEN(hdr));
} else {
BT_DBG("%s UNREL: ack %u crc %u type %u len %u",
str, H5_HDR_ACK(hdr), H5_HDR_CRC(hdr),
H5_HDR_PKT_TYPE(hdr), H5_HDR_LEN(hdr));
}
}
#if defined(CONFIG_BLUETOOTH_DEBUG_DRIVER)
static void hexdump(const char *str, const uint8_t *packet, size_t length)
{
int n = 0;
if (!length) {
printf("%s zero-length signal packet\n");
return;
}
while (length--) {
if (n % 16 == 0) {
printf("%s %08X ", str, n);
}
printf("%02X ", *packet++);
n++;
if (n % 8 == 0) {
if (n % 16 == 0) {
printf("\n");
} else {
printf(" ");
}
}
}
if (n % 16) {
printf("\n");
}
}
#else
#define hexdump(str, packet, length)
#endif
static uint8_t h5_slip_byte(uint8_t byte)
{
switch (byte) {
case SLIP_DELIMITER:
uart_poll_out(h5_dev, SLIP_ESC);
uart_poll_out(h5_dev, SLIP_ESC_DELIM);
return 2;
case SLIP_ESC:
uart_poll_out(h5_dev, SLIP_ESC);
uart_poll_out(h5_dev, SLIP_ESC_ESC);
return 2;
default:
uart_poll_out(h5_dev, byte);
return 1;
}
}
static void h5_send(const uint8_t *payload, uint8_t type, int len)
{
uint8_t hdr[4];
int i;
hexdump("<= ", payload, len);
memset(hdr, 0, sizeof(hdr));
/* Set ACK for outgoing packet and stop delayed fiber */
H5_SET_ACK(hdr, h5.tx_ack);
if (h5.ack_to) {
BT_DBG("Cancel delayed ack fiber");
fiber_delayed_start_cancel(h5.ack_to);
h5.ack_to = NULL;
}
if (reliable_packet(type)) {
H5_SET_RELIABLE(hdr);
H5_SET_SEQ(hdr, h5.tx_seq);
h5.tx_seq = (h5.tx_seq + 1) % 8;
}
H5_SET_TYPE(hdr, type);
H5_SET_LEN(hdr, len);
/* Calculate CRC */
hdr[3] = ~((hdr[0] + hdr[1] + hdr[2]) & 0xff);
h5_print_header(hdr, "TX: <");
uart_poll_out(h5_dev, SLIP_DELIMITER);
for (i = 0; i < 4; i++) {
h5_slip_byte(hdr[i]);
}
for (i = 0; i < len; i++) {
h5_slip_byte(payload[i]);
}
uart_poll_out(h5_dev, SLIP_DELIMITER);
}
/* Delayed fiber taking care about retransmitting packets */
static void retx_fiber(int arg1, int arg2)
{
ARG_UNUSED(arg1);
ARG_UNUSED(arg2);
BT_DBG("unack_queue_len %u", unack_queue_len);
h5.retx_to = NULL;
if (unack_queue_len) {
struct nano_fifo tmp_queue;
struct net_buf *buf;
nano_fifo_init(&tmp_queue);
/* Queue to temperary queue */
while ((buf = nano_fifo_get(&h5.tx_queue, TICKS_NONE))) {
nano_fifo_put(&tmp_queue, buf);
}
/* Queue unack packets to the beginning of the queue */
while ((buf = nano_fifo_get(&h5.unack_queue, TICKS_NONE))) {
/* include also packet type */
net_buf_push(buf, sizeof(uint8_t));
nano_fifo_put(&h5.tx_queue, buf);
h5.tx_seq = (h5.tx_seq - 1) & 0x07;
unack_queue_len--;
}
/* Queue saved packets from temp queue */
while ((buf = nano_fifo_get(&tmp_queue, TICKS_NONE))) {
nano_fifo_put(&h5.tx_queue, buf);
}
/* Analyze stack */
stack_analyze("retx_stack", retx_stack, sizeof(retx_stack));
}
}
static void ack_fiber(int arg1, int arg2)
{
ARG_UNUSED(arg1);
ARG_UNUSED(arg2);
BT_DBG("");
h5.ack_to = NULL;
h5_send(NULL, HCI_3WIRE_ACK_PKT, 0);
/* Analyze stacks */
stack_analyze("ack_stack", ack_stack, sizeof(ack_stack));
stack_analyze("tx_stack", tx_stack, sizeof(tx_stack));
stack_analyze("rx_stack", rx_stack, sizeof(rx_stack));
stack_analyze("retx_stack", retx_stack, sizeof(retx_stack));
}
static void h5_process_complete_packet(uint8_t *hdr)
{
struct net_buf *buf;
BT_DBG("");
/* rx_ack should be in every packet */
h5.rx_ack = H5_HDR_ACK(hdr);
if (reliable_packet(H5_HDR_PKT_TYPE(hdr))) {
/* For reliable packet increment next transmit ack number */
h5.tx_ack = (h5.tx_ack + 1) % 8;
/* Start delayed fiber to ack the packet */
h5.ack_to = fiber_delayed_start(ack_stack, sizeof(ack_stack),
ack_fiber, 0, 0, 7, 0,
H5_RX_ACK_TIMEOUT);
}
h5_print_header(hdr, "RX: >");
process_unack();
buf = h5.rx_buf;
h5.rx_buf = NULL;
switch (H5_HDR_PKT_TYPE(hdr)) {
case HCI_3WIRE_ACK_PKT:
net_buf_unref(buf);
break;
case HCI_3WIRE_LINK_PKT:
nano_fifo_put(&h5.rx_queue, buf);
break;
case HCI_EVENT_PKT:
case HCI_ACLDATA_PKT:
hexdump("=> ", buf->data, buf->len);
bt_recv(buf);
break;
}
}
static void bt_uart_isr(struct device *unused)
{
static int remaining;
uint8_t byte;
int ret;
static uint8_t hdr[4];
ARG_UNUSED(unused);
while (uart_irq_update(h5_dev) &&
uart_irq_is_pending(h5_dev)) {
if (!uart_irq_rx_ready(h5_dev)) {
if (uart_irq_tx_ready(h5_dev)) {
BT_DBG("transmit ready");
} else {
BT_DBG("spurious interrupt");
}
continue;
}
ret = uart_fifo_read(h5_dev, &byte, sizeof(byte));
if (!ret) {
continue;
}
switch (h5.rx_state) {
case START:
if (byte == SLIP_DELIMITER) {
h5.rx_state = HEADER;
remaining = sizeof(hdr);
}
break;
case HEADER:
/* In a case we confuse ending slip delimeter
* with starting one.
*/
if (byte == SLIP_DELIMITER) {
remaining = sizeof(hdr);
continue;
}
if (h5_unslip_byte(&byte) < 0) {
h5_reset_rx();
continue;
}
memcpy(&hdr[sizeof(hdr) - remaining], &byte, 1);
remaining--;
if (remaining) {
break;
}
remaining = H5_HDR_LEN(hdr);
switch (H5_HDR_PKT_TYPE(hdr)) {
case HCI_EVENT_PKT:
h5.rx_buf = bt_buf_get_evt();
if (!h5.rx_buf) {
BT_WARN("No available event buffers");
h5_reset_rx();
continue;
}
h5.rx_state = PAYLOAD;
break;
case HCI_ACLDATA_PKT:
h5.rx_buf = bt_buf_get_acl();
if (!h5.rx_buf) {
BT_WARN("No available data buffers");
h5_reset_rx();
continue;
}
h5.rx_state = PAYLOAD;
break;
case HCI_3WIRE_LINK_PKT:
case HCI_3WIRE_ACK_PKT:
h5.rx_buf = net_buf_get(&h5_sig, 0);
if (!h5.rx_buf) {
BT_WARN("No available signal buffers");
h5_reset_rx();
continue;
}
h5.rx_state = PAYLOAD;
break;
default:
BT_ERR("Wrong packet type %u",
H5_HDR_PKT_TYPE(hdr));
h5.rx_state = END;
break;
}
break;
case PAYLOAD:
if (h5_unslip_byte(&byte) < 0) {
h5_reset_rx();
continue;
}
memcpy(net_buf_add(h5.rx_buf, sizeof(byte)), &byte,
sizeof(byte));
remaining--;
if (!remaining) {
h5.rx_state = END;
}
break;
case END:
if (byte != SLIP_DELIMITER) {
BT_ERR("Missing ending SLIP_DELIMITER");
h5_reset_rx();
break;
}
BT_DBG("Received full packet: type %u",
H5_HDR_PKT_TYPE(hdr));
/* Check when full packet is received, it can be done
* when parsing packet header but we need to receive
* full packet anyway to clear UART.
*/
if (H5_HDR_RELIABLE(hdr) &&
H5_HDR_SEQ(hdr) != h5.tx_ack) {
BT_ERR("Seq expected %u got %u. Drop packet",
h5.tx_ack, H5_HDR_SEQ(hdr));
h5_reset_rx();
break;
}
h5_process_complete_packet(hdr);
h5.rx_state = START;
break;
}
}
}
static uint8_t h5_get_type(struct net_buf *buf)
{
return net_buf_pull_u8(buf);
}
static int h5_queue(struct net_buf *buf)
{
uint8_t type;
BT_DBG("buf %p type %u len %u", buf, bt_buf_get_type(buf), buf->len);
switch (bt_buf_get_type(buf)) {
case BT_BUF_CMD:
type = HCI_COMMAND_PKT;
break;
case BT_BUF_ACL_OUT:
type = HCI_ACLDATA_PKT;
break;
default:
BT_ERR("Unknown packet type %u", bt_buf_get_type(buf));
return -1;
}
memcpy(net_buf_push(buf, sizeof(type)), &type, sizeof(type));
nano_fifo_put(&h5.tx_queue, buf);
return 0;
}
static void tx_fiber(void)
{
BT_DBG("");
/* FIXME: make periodic sending */
h5_send(sync_req, HCI_3WIRE_LINK_PKT, sizeof(sync_req));
while (true) {
struct net_buf *buf;
uint8_t type;
BT_DBG("link_state %u", h5.link_state);
switch (h5.link_state) {
case UNINIT:
/* FIXME: send sync */
fiber_sleep(10);
break;
case INIT:
/* FIXME: send conf */
fiber_sleep(10);
break;
case ACTIVE:
buf = nano_fifo_get(&h5.tx_queue, TICKS_UNLIMITED);
type = h5_get_type(buf);
h5_send(buf->data, type, buf->len);
/* buf is dequeued from tx_queue and queued to unack
* queue.
*/
nano_fifo_put(&h5.unack_queue, buf);
unack_queue_len++;
if (h5.retx_to) {
fiber_delayed_start_cancel(h5.retx_to);
}
h5.retx_to = fiber_delayed_start(retx_stack,
sizeof(retx_stack),
retx_fiber, 0, 0, 7, 0,
H5_TX_ACK_TIMEOUT);
break;
}
}
}
static void h5_set_txwin(uint8_t *conf)
{
conf[2] = h5.tx_win & 0x07;
}
static void rx_fiber(void)
{
BT_DBG("");
while (true) {
struct net_buf *buf;
buf = nano_fifo_get(&h5.rx_queue, TICKS_UNLIMITED);
hexdump("=> ", buf->data, buf->len);
if (!memcmp(buf->data, sync_req, sizeof(sync_req))) {
if (h5.link_state == ACTIVE) {
/* TODO Reset H5 */
}
h5_send(sync_rsp, HCI_3WIRE_LINK_PKT, sizeof(sync_rsp));
} else if (!memcmp(buf->data, sync_rsp, sizeof(sync_rsp))) {
if (h5.link_state == ACTIVE) {
/* TODO Reset H5 */
}
h5.link_state = INIT;
h5_set_txwin(conf_req);
h5_send(conf_req, HCI_3WIRE_LINK_PKT, sizeof(conf_req));
} else if (!memcmp(buf->data, conf_req, 2)) {
/*
* The Host sends Config Response messages without a
* Configuration Field.
*/
h5_send(conf_rsp, HCI_3WIRE_LINK_PKT, sizeof(conf_rsp));
/* Then send Config Request with Configuration Field */
h5_set_txwin(conf_req);
h5_send(conf_req, HCI_3WIRE_LINK_PKT, sizeof(conf_req));
} else if (!memcmp(buf->data, conf_rsp, 2)) {
h5.link_state = ACTIVE;
if (buf->len > 2) {
/* Configuration field present */
h5.tx_win = (buf->data[2] & 0x07);
}
BT_DBG("Finished H5 configuration, tx_win %u",
h5.tx_win);
} else {
BT_ERR("Not handled yet %x %x",
buf->data[0], buf->data[1]);
}
net_buf_unref(buf);
}
}
static void h5_init(void)
{
BT_DBG("");
h5.link_state = UNINIT;
h5.rx_state = START;
h5.tx_win = 4;
/* TX fiber */
nano_fifo_init(&h5.tx_queue);
fiber_start(tx_stack, sizeof(tx_stack), (nano_fiber_entry_t)tx_fiber,
0, 0, 7, 0);
/* RX fiber */
net_buf_pool_init(signal_pool);
nano_fifo_init(&h5.rx_queue);
fiber_start(rx_stack, sizeof(rx_stack), (nano_fiber_entry_t)rx_fiber,
0, 0, 7, 0);
/* Unack queue */
nano_fifo_init(&h5.unack_queue);
}
static int h5_open(void)
{
BT_DBG("");
uart_irq_rx_disable(h5_dev);
uart_irq_tx_disable(h5_dev);
bt_uart_drain(h5_dev);
uart_irq_callback_set(h5_dev, bt_uart_isr);
h5_init();
uart_irq_rx_enable(h5_dev);
return 0;
}
static struct bt_driver drv = {
.name = "H:5",
.bus = BT_DRIVER_BUS_UART,
.open = h5_open,
.send = h5_queue,
};
static int _bt_uart_init(struct device *unused)
{
ARG_UNUSED(unused);
h5_dev = device_get_binding(CONFIG_BLUETOOTH_UART_ON_DEV_NAME);
if (h5_dev == NULL) {
return -EINVAL;
}
bt_driver_register(&drv);
return 0;
}
SYS_INIT(_bt_uart_init, NANOKERNEL, CONFIG_KERNEL_INIT_PRIORITY_DEVICE);
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