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Merge pull request #3703 from loftyinclination/main

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add documentation for the BLE feature of the embassy-stm32-wpan crate
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Dario Nieuwenhuis 2025-01-02 00:56:05 +01:00 committed by GitHub
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7 changed files with 106 additions and 18 deletions
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4
embassy-stm32-wpan/Cargo.toml
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@ -13,10 +13,10 @@ documentation = "https://docs.embassy.dev/embassy-stm32-wpan"
src_base = "https://github.com/embassy-rs/embassy/blob/embassy-stm32-wpan-v$VERSION/embassy-stm32-wpan/src/"
src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-stm32-wpan/src/"
target = "thumbv7em-none-eabihf"
features = ["stm32wb55rg"]
features = ["stm32wb55rg", "ble", "mac"]
[package.metadata.docs.rs]
features = ["stm32wb55rg"]
features = ["stm32wb55rg", "ble", "mac"]
[dependencies]
embassy-stm32 = { version = "0.1.0", path = "../embassy-stm32" }

2
embassy-stm32-wpan/src/consts.rs
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@ -69,7 +69,7 @@ pub const TL_CS_EVT_SIZE: usize = core::mem::size_of::<CsEvt>();
* enough to store all asynchronous events received in between.
* When CFG_TLBLE_MOST_EVENT_PAYLOAD_SIZE is set to 27, this allow to store three 255 bytes long asynchronous events
* between the HCI command and its event.
* This parameter depends on the value given to CFG_TLBLE_MOST_EVENT_PAYLOAD_SIZE. When the queue size is to small,
* This parameter depends on the value given to CFG_TLBLE_MOST_EVENT_PAYLOAD_SIZE. When the queue size is too small,
* the system may hang if the queue is full with asynchronous events and the HCI layer is still waiting
* for a CC/CS event, In that case, the notification TL_BLE_HCI_ToNot() is called to indicate
* to the application a HCI command did not receive its command event within 30s (Default HCI Timeout).

46
embassy-stm32-wpan/src/lib.rs
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@ -1,3 +1,16 @@
//! The embassy-stm32-wpan crate aims to provide safe use of the commands necessary to interface
//! with the Cortex C0 CPU2 coprocessor of STM32WB microcontrollers. It implements safe wrappers
//! around the Transport Layer, and in particular the system, memory, BLE and Mac channels.
//!
//! # Design
//!
//! This crate loosely follows the Application Note 5289 "How to build wireless applications with
//! STM32WB MCUs"; several of the startup procedures laid out in Annex 14.1 are implemented using
//! inline copies of the code contained within the `stm32wb_copro` C library.
//!
//! BLE commands are implemented via use of the [stm32wb_hci] crate, for which the
//! [stm32wb_hci::Controller] trait has been implemented.
#![no_std]
#![allow(async_fn_in_trait)]
#![doc = include_str!("../README.md")]
@ -37,6 +50,7 @@ pub use crate::sub::ble::hci;
type PacketHeader = LinkedListNode;
/// Transport Layer for the Mailbox interface
pub struct TlMbox<'d> {
_ipcc: PeripheralRef<'d, IPCC>,
@ -49,6 +63,34 @@ pub struct TlMbox<'d> {
}
impl<'d> TlMbox<'d> {
/// Initialise the Transport Layer, and creates and returns a wrapper around it.
///
/// This method performs the initialisation laid out in AN5289 annex 14.1. However, it differs
/// from the implementation documented in Figure 64, to avoid needing to reference any C
/// function pointers.
///
/// Annex 14.1 lays out the following methods that should be called:
/// 1. tl_mbox.c/TL_Init, which initialises the reference table that is shared between CPU1
/// and CPU2.
/// 2. shci_tl.c/shci_init(), which initialises the system transport layer, and in turn
/// calls tl_mbox.c/TL_SYS_Init, which initialises SYSTEM_EVT_QUEUE channel.
/// 3. tl_mbox.c/TL_MM_Init(), which initialises the channel used for sending memory
/// manager commands.
/// 4. tl_mbox.c/TL_Enable(), which enables the IPCC, and starts CPU2.
/// This implementation initialises all of the shared refernce tables and all IPCC channel that
/// would be initialised by this process. The developer should therefore treat this method as
/// completing all steps in Figure 64.
///
/// Once this method has been called, no system commands may be sent until the CPU2 ready
/// signal is received, via [sys_subsystem.read]; this completes the procedure laid out in
/// Figure 65.
///
/// If the `ble` feature is enabled, at this point, the user should call
/// [sys_subsystem.shci_c2_ble_init], before any commands are written to the
/// [TlMbox.ble_subsystem] ([sub::ble::Ble::new()] completes the process that would otherwise
/// be handled by `TL_BLE_Init`; see Figure 66). This completes the procedure laid out in
/// Figure 66.
// TODO: document what the user should do after calling init to use the mac_802_15_4 subsystem
pub fn init(
ipcc: impl Peripheral<P = IPCC> + 'd,
_irqs: impl interrupt::typelevel::Binding<interrupt::typelevel::IPCC_C1_RX, ReceiveInterruptHandler>
@ -57,6 +99,9 @@ impl<'d> TlMbox<'d> {
) -> Self {
into_ref!(ipcc);
// this is an inlined version of TL_Init from the STM32WB firmware as requested by AN5289.
// HW_IPCC_Init is not called, and its purpose is (presumably?) covered by this
// implementation
unsafe {
TL_REF_TABLE.as_mut_ptr().write_volatile(RefTable {
device_info_table: TL_DEVICE_INFO_TABLE.as_ptr(),
@ -140,6 +185,7 @@ impl<'d> TlMbox<'d> {
compiler_fence(Ordering::SeqCst);
// this is equivalent to `HW_IPCC_Enable`, which is called by `TL_Enable`
Ipcc::enable(config);
Self {

29
embassy-stm32-wpan/src/sub/ble.rs
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@ -11,11 +11,39 @@ use crate::tables::{BleTable, BLE_CMD_BUFFER, CS_BUFFER, EVT_QUEUE, HCI_ACL_DATA
use crate::unsafe_linked_list::LinkedListNode;
use crate::{channels, evt};
/// A guard that, once constructed, may be used to send BLE commands to CPU2.
///
/// It is the responsibility of the caller to ensure that they have awaited an event via
/// [crate::sub::sys::Sys::read] before sending any of these commands, and to call
/// [crate::sub::sys::Sys::shci_c2_ble_init] and await the HCI_COMMAND_COMPLETE_EVENT before
/// sending any other commands.
///
/// # Example
///
/// ```
/// # embassy_stm32::bind_interrupts!(struct Irqs{
/// # IPCC_C1_RX => ReceiveInterruptHandler;
/// # IPCC_C1_TX => TransmitInterruptHandler;
/// # });
/// #
/// # let p = embassy_stm32::init(embassy_stm32::Config::default());
/// # let mut mbox = embassy_stm32_wpan::TlMbox::init(p.IPCC, Irqs, embassy_stm32::ipcc::Config::default());
/// #
/// # let sys_event = mbox.sys_subsystem.read().await;
/// # let _command_status = mbox.sys_subsystem.shci_c2_ble_init(Default::default());
/// # // BLE commands may now be sent
/// #
/// # mbox.ble_subsystem.reset().await;
/// # let _reset_response = mbox.ble_subsystem.read().await;
/// ```
pub struct Ble {
_private: (),
}
impl Ble {
/// Constructs a guard that allows for BLE commands to be sent to CPU2.
///
/// This takes the place of `TL_BLE_Init`, completing that step as laid out in AN5289, Fig 66.
pub(crate) fn new() -> Self {
unsafe {
LinkedListNode::init_head(EVT_QUEUE.as_mut_ptr());
@ -30,6 +58,7 @@ impl Ble {
Self { _private: () }
}
/// `HW_IPCC_BLE_EvtNot`
pub async fn tl_read(&self) -> EvtBox<Self> {
Ipcc::receive(channels::cpu2::IPCC_BLE_EVENT_CHANNEL, || unsafe {

11
embassy-stm32-wpan/src/sub/sys.rs
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@ -10,6 +10,7 @@ use crate::tables::{SysTable, WirelessFwInfoTable};
use crate::unsafe_linked_list::LinkedListNode;
use crate::{channels, Ipcc, SYSTEM_EVT_QUEUE, SYS_CMD_BUF, TL_DEVICE_INFO_TABLE, TL_SYS_TABLE};
/// A guard that, once constructed, allows for sys commands to be sent to CPU2.
pub struct Sys {
_private: (),
}
@ -86,12 +87,22 @@ impl Sys {
self.write_and_get_response(ShciOpcode::Mac802_15_4Init, &[]).await
}
/// Send a request to CPU2 to initialise the BLE stack.
///
/// This must be called before any BLE commands are sent via the BLE channel (according to
/// AN5289, Figures 65 and 66). It should only be called after CPU2 sends a system event, via
/// `HW_IPCC_SYS_EvtNot`, aka `IoBusCallBackUserEvt` (as detailed in Figure 65), aka
/// [crate::sub::ble::hci::host::uart::UartHci::read].
#[cfg(feature = "ble")]
pub async fn shci_c2_ble_init(&self, param: ShciBleInitCmdParam) -> Result<SchiCommandStatus, ()> {
self.write_and_get_response(ShciOpcode::BleInit, param.payload()).await
}
/// `HW_IPCC_SYS_EvtNot`
///
/// This method takes the place of the `HW_IPCC_SYS_EvtNot`/`SysUserEvtRx`/`APPE_SysUserEvtRx`,
/// as the embassy implementation avoids the need to call C public bindings, and instead
/// handles the event channels directly.
pub async fn read(&self) -> EvtBox<mm::MemoryManager> {
Ipcc::receive(channels::cpu2::IPCC_SYSTEM_EVENT_CHANNEL, || unsafe {
if let Some(node_ptr) = LinkedListNode::remove_head(SYSTEM_EVT_QUEUE.as_mut_ptr()) {

27
embassy-stm32-wpan/src/tables.rs
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@ -25,17 +25,17 @@ pub struct RssInfoTable {
/**
* Version
* [0:3] = Build - 0: Untracked - 15:Released - x: Tracked version
* [4:7] = branch - 0: Mass Market - x: ...
* [8:15] = Subversion
* [16:23] = Version minor
* [24:31] = Version major
* \[0:3\] = Build - 0: Untracked - 15:Released - x: Tracked version
* \[4:7\] = branch - 0: Mass Market - x: ...
* \[8:15\] = Subversion
* \[16:23\] = Version minor
* \[24:31\] = Version major
*
* Memory Size
* [0:7] = Flash ( Number of 4k sector)
* [8:15] = Reserved ( Shall be set to 0 - may be used as flash extension )
* [16:23] = SRAM2b ( Number of 1k sector)
* [24:31] = SRAM2a ( Number of 1k sector)
* \[0:7\] = Flash ( Number of 4k sector)
* \[8:15\] = Reserved ( Shall be set to 0 - may be used as flash extension )
* \[16:23\] = SRAM2b ( Number of 1k sector)
* \[24:31\] = SRAM2a ( Number of 1k sector)
*/
#[derive(Debug, Copy, Clone)]
#[repr(C, packed)]
@ -89,12 +89,19 @@ pub struct DeviceInfoTable {
pub wireless_fw_info_table: WirelessFwInfoTable,
}
/// The bluetooth reference table, as defined in figure 67 of STM32WX AN5289.
#[derive(Debug)]
#[repr(C)]
pub struct BleTable {
/// A pointer to the buffer that is used for sending BLE commands.
pub pcmd_buffer: *mut CmdPacket,
/// A pointer to the buffer used for storing Command statuses.
pub pcs_buffer: *const u8,
/// A pointer to the event queue, over which IPCC BLE events are sent. This may be accessed via
/// [crate::sub::ble::Ble::tl_read].
pub pevt_queue: *const u8,
/// A pointer to the buffer that is used for sending HCI (Host-Controller Interface) ACL
/// (Asynchronous Connection-oriented Logical transport) commands (unused).
pub phci_acl_data_buffer: *mut AclDataPacket,
}
@ -271,6 +278,6 @@ pub static mut BLE_SPARE_EVT_BUF: Aligned<A4, MaybeUninit<[u8; TL_PACKET_HEADER_
#[cfg(feature = "ble")]
#[link_section = "MB_MEM2"]
// fuck these "magic" numbers from ST ---v---v
// fuck these "magic" numbers from ST ---v---v
pub static mut HCI_ACL_DATA_BUFFER: Aligned<A4, MaybeUninit<[u8; TL_PACKET_HEADER_SIZE + 5 + 251]>> =
Aligned(MaybeUninit::uninit());

5
examples/stm32wb/src/bin/gatt_server.rs
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@ -151,11 +151,6 @@ async fn main(_spawner: Spawner) {
let response = mbox.ble_subsystem.read().await;
defmt::debug!("{}", response);
info!("set scan response data...");
mbox.ble_subsystem.le_set_scan_response_data(b"TXTX").await.unwrap();
let response = mbox.ble_subsystem.read().await;
defmt::debug!("{}", response);
defmt::info!("initializing services and characteristics...");
let mut ble_context = init_gatt_services(&mut mbox.ble_subsystem).await.unwrap();
defmt::info!("{}", ble_context);