Support Bluetooth under FreeRTOS

cores/rp2040/cyw43_wrappers.cpp

@@ -159,11 +159,19 @@ extern "C" void init_cyw43_wifi() {
 }
 
 extern "C" void __lockBluetooth() {
+#ifdef __FREERTOS
+    cyw43_thread_enter();
+#else
     async_context_acquire_lock_blocking(cyw43_arch_async_context());
+#endif
 }
 
 extern "C" void __unlockBluetooth() {
+#ifdef __FREERTOS
+    cyw43_thread_exit();
+#else
     async_context_release_lock(cyw43_arch_async_context());
+#endif
 }
 
 extern "C" void __pinMode(pin_size_t pin, PinMode mode);

cores/rp2040/lwip_wrap.cpp

@@ -31,6 +31,7 @@
 #include <sys/lock.h>
 #include "_xoshiro.h"
 #include "lwip_wrap.h"
+#include <pico/btstack_run_loop_async_context.h>
 
 //auto_init_recursive_mutex(__lwipMutex); // Only for case with no Ethernet or PicoW, but still doing LWIP (PPP?)
 recursive_mutex_t __lwipMutex;
@@ -900,6 +901,11 @@ extern "C" {
         __real_cyw43_arch_gpio_put(wl_gpio, value);
     }
 
+    extern const btstack_run_loop_t *__real_btstack_run_loop_async_context_get_instance(async_context_t *async_context);
+    const btstack_run_loop_t *__wrap_btstack_run_loop_async_context_get_instance(async_context_t *async_context) {
+        return __real_btstack_run_loop_async_context_get_instance(async_context);
+    }
+
 
 #endif
 

cores/rp2040/sdkoverride/btstack_run_loop_async_context.cpp

@@ -0,0 +1,158 @@
+// Hacked by EFP3 to with FreeRTOS native, no async context.
+
+#ifdef __FREERTOS
+/*
+    Copyright (c) 2023 Raspberry Pi (Trading) Ltd.
+
+    SPDX-License-Identifier: BSD-3-Clause
+*/
+#include <Arduino.h>
+#include <lwip_wrap.h>
+#include "FreeRTOS.h"
+#include "semphr.h"
+
+#include "pico/btstack_run_loop_async_context.h"
+#include "hardware/sync.h"
+
+static void btstack_work_pending(async_context_t *context, async_when_pending_worker_t *worker);
+static SemaphoreHandle_t _run_loop_exit_binary;
+
+static void do_btstack_work_pending(void *data) {
+    btstack_work_pending(NULL, NULL);
+}
+
+static void btstack_run_loop_freertos_native_init(void) {
+    _run_loop_exit_binary = xSemaphoreCreateBinary();
+    btstack_run_loop_base_init();
+}
+
+static void btstack_run_loop_freertos_native_add_data_source(btstack_data_source_t * data_source) {
+    cyw43_thread_enter();
+    btstack_run_loop_base_add_data_source(data_source);
+    cyw43_thread_exit();
+}
+
+static bool btstack_run_loop_freertos_native_remove_data_source(btstack_data_source_t * data_source) {
+    cyw43_thread_enter();
+    bool rc = btstack_run_loop_base_remove_data_source(data_source);
+    cyw43_thread_exit();
+    return rc;
+}
+
+static void btstack_run_loop_freertos_native_enable_data_source_callbacks(btstack_data_source_t * data_source, uint16_t callbacks) {
+    cyw43_thread_enter();
+    btstack_run_loop_base_enable_data_source_callbacks(data_source, callbacks);
+    cyw43_thread_exit();
+}
+
+static void btstack_run_loop_freertos_native_disable_data_source_callbacks(btstack_data_source_t * data_source, uint16_t callbacks) {
+    cyw43_thread_enter();
+    btstack_run_loop_base_disable_data_source_callbacks(data_source, callbacks);
+    cyw43_thread_exit();
+}
+
+static void btstack_run_loop_freertos_native_set_timer(btstack_timer_source_t *ts, uint32_t timeout_in_ms) {
+    cyw43_thread_enter();
+    ts->timeout = to_ms_since_boot(get_absolute_time()) + timeout_in_ms + 1;
+    lwip_callback(do_btstack_work_pending, NULL);
+    cyw43_thread_exit();
+}
+
+static void btstack_run_loop_freertos_native_add_timer(btstack_timer_source_t *timer) {
+    cyw43_thread_enter();
+    btstack_run_loop_base_add_timer(timer);
+    lwip_callback(do_btstack_work_pending, NULL);
+    cyw43_thread_exit();
+}
+
+static bool btstack_run_loop_freertos_native_remove_timer(btstack_timer_source_t *timer) {
+    cyw43_thread_enter();
+    bool rc = btstack_run_loop_base_remove_timer(timer);
+    cyw43_thread_exit();
+    return rc;
+}
+
+static void btstack_run_loop_freertos_native_dump_timer(void) {
+    cyw43_thread_enter();
+    btstack_run_loop_base_dump_timer();
+    cyw43_thread_exit();
+}
+
+static uint32_t btstack_run_loop_freertos_native_get_time_ms(void) {
+    return to_ms_since_boot(get_absolute_time());
+}
+
+static void btstack_run_loop_freertos_native_execute(void) {
+    // Try and take a binary semaphore that only the done-loop will give
+    xSemaphoreTake(_run_loop_exit_binary, portMAX_DELAY);
+}
+
+static void btstack_run_loop_async_context_trigger_exit(void) {
+    xSemaphoreGive(_run_loop_exit_binary);
+}
+
+static void btstack_run_loop_freertos_native_execute_on_main_thread(btstack_context_callback_registration_t *callback_registration) {
+    cyw43_thread_enter();
+    btstack_run_loop_base_add_callback(callback_registration);
+    lwip_callback(do_btstack_work_pending, NULL);
+    cyw43_thread_exit();
+}
+
+static void btstack_run_loop_freertos_native_poll_data_sources_from_irq(void) {
+    lwip_callback(do_btstack_work_pending, NULL);
+}
+
+static const btstack_run_loop_t btstack_run_loop_freertos_native = {
+    &btstack_run_loop_freertos_native_init,
+    &btstack_run_loop_freertos_native_add_data_source,
+    &btstack_run_loop_freertos_native_remove_data_source,
+    &btstack_run_loop_freertos_native_enable_data_source_callbacks,
+    &btstack_run_loop_freertos_native_disable_data_source_callbacks,
+    &btstack_run_loop_freertos_native_set_timer,
+    &btstack_run_loop_freertos_native_add_timer,
+    &btstack_run_loop_freertos_native_remove_timer,
+    &btstack_run_loop_freertos_native_execute,
+    &btstack_run_loop_freertos_native_dump_timer,
+    &btstack_run_loop_freertos_native_get_time_ms,
+    &btstack_run_loop_freertos_native_poll_data_sources_from_irq,
+    &btstack_run_loop_freertos_native_execute_on_main_thread,
+    &btstack_run_loop_async_context_trigger_exit,
+};
+
+static alarm_id_t _timeout = -1;
+static int64_t cb_btstack_timeout_worker(alarm_id_t id, void *user_data) {
+    static __callback_req _timeoutIRQBuffer;
+    // This will be in IRQ context, so do a lwip callback.  Only one at a time can be outstanding so this single struct is good enough
+    _timeout = -1;
+    lwip_callback(do_btstack_work_pending, NULL, &_timeoutIRQBuffer);
+    return 0; // Don't reschedule
+}
+
+static void btstack_work_pending(__unused async_context_t *context, __unused async_when_pending_worker_t *worker) {
+    // poll data sources
+    btstack_run_loop_base_poll_data_sources();
+
+    // execute callbacks
+    btstack_run_loop_base_execute_callbacks();
+
+    uint32_t now = to_ms_since_boot(get_absolute_time());
+
+    // process timers
+    btstack_run_loop_base_process_timers(now);
+    now = to_ms_since_boot(get_absolute_time());
+    int ms = btstack_run_loop_base_get_time_until_timeout(now);
+    if (ms == -1) {
+        if (_timeout != -1) {
+            cancel_alarm(_timeout);
+            _timeout = -1;
+        }
+    } else {
+        _timeout = add_alarm_in_ms(ms, cb_btstack_timeout_worker, NULL, true);
+    }
+}
+
+// The only exported function here...
+extern "C" const btstack_run_loop_t *__wrap_btstack_run_loop_async_context_get_instance(async_context_t *freertos_native) {
+    return &btstack_run_loop_freertos_native;
+}
+#endif

lib/core_wrap.txt

@@ -93,3 +93,4 @@
 -Wl,--wrap=cyw43_arch_wifi_connect_bssid_timeout_ms
 -Wl,--wrap=cyw43_arch_wifi_connect_timeout_ms
 -Wl,--wrap=cyw43_arch_gpio_put
+-Wl,--wrap=btstack_run_loop_async_context_get_instance