pbdrv/bluetooth: Add POSIX btstack for virtualhub.

- Changes pbdrv_bluetooth_btstack_set_chipset to convey all necessary
  information to set the correct chipset both from the read local
  version information command as well as events from the USB subsystem.
- Adds a POSIX implementation for pbdrv_bluetooth_btstack_set_chipset.
  This supports the most common Realtek and Broadcom chipsets, which
  comprise the vast majority of USB dongles.
- Sets up the virtualhub platform to use this chipset.
- Adjusts the runloop to check for readability and writability of
  file descriptors, which is required for the libusb transport.

Author: jaguilar

.vscode/c_cpp_properties.json

@@ -386,6 +386,11 @@
                 "${workspaceFolder}/bricks/virtualhub",
                 "${workspaceFolder}/bricks/virtualhub/build",
                 "${workspaceFolder}/bricks/virtualhub/build-debug",
+                "${workspaceFolder}/lib/btstack/chipset/bcm",
+                "${workspaceFolder}/lib/btstack/chipset/realtek",
+                "${workspaceFolder}/lib/btstack/platform/libusb",
+                "${workspaceFolder}/lib/btstack/platform/posix",
+                "${workspaceFolder}/lib/btstack/src",
                 "${workspaceFolder}/lib/lego",
                 "${workspaceFolder}/lib/lwrb/src/include",
                 "${workspaceFolder}/lib/pbio",

bricks/_common/common.mk

@@ -124,6 +124,18 @@ endif
 ifneq ($(strip $(PB_LIB_BTSTACK)),)
 INC += -I$(PBTOP)/lib/btstack/chipset/cc256x
 INC += -I$(PBTOP)/lib/btstack/src
+ifeq ($(PBIO_PLATFORM),virtual_hub)
+INC += -I$(PBTOP)/lib/btstack/platform/posix
+INC += -I$(PBTOP)/lib/btstack/platform/embedded
+INC += -I$(PBTOP)/lib/btstack/3rd-party/tinydir
+INC += -I$(PBTOP)/lib/btstack/3rd-party/rijndael
+INC += -I$(PBTOP)/lib/btstack/3rd-party/micro-ecc
+INC += -I$(PBTOP)/lib/btstack/chipset/bcm
+INC += -I$(PBTOP)/lib/btstack/chipset/intel
+INC += -I$(PBTOP)/lib/btstack/chipset/realtek
+INC += -I$(PBTOP)/lib/btstack/chipset/zephyr
+INC += $(shell pkg-config libusb-1.0 --cflags)
+endif
 endif
 ifeq ($(PB_LIB_LSM6DS3TR_C),1)
 INC += -I$(PBTOP)/lib/lsm6ds3tr_c_STdC/driver
@@ -162,6 +174,9 @@ else ifeq ($(UNAME_S),Darwin)
 LDFLAGS += -Wl,-map,$@.map -Wl,-dead_strip
 endif
 LIBS = -lm
+ifeq ($(PB_LIB_BTSTACK),lowenergy)
+LIBS += $(shell pkg-config libusb-1.0 --libs)
+endif
 else # end native, begin embedded
 CROSS_COMPILE ?= arm-none-eabi-
 ifeq ($(PB_MCU_FAMILY),STM32)
@@ -395,6 +410,37 @@ BTSTACK_SRC_C += $(addprefix lib/btstack/chipset/cc256x/,\
 	btstack_chipset_cc256x.c \
 	)
 
+# libusb-specific BTStack sources for virtual_hub
+ifeq ($(PBIO_PLATFORM),virtual_hub)
+BTSTACK_SRC_C += $(addprefix lib/btstack/platform/libusb/,\
+	hci_transport_h2_libusb.c \
+	)
+BTSTACK_SRC_C += $(addprefix lib/btstack/platform/posix/,\
+	hci_dump_posix_stdout.c \
+	)
+BTSTACK_SRC_C += $(addprefix lib/btstack/src/ble/,\
+	le_device_db_tlv.c \
+	)
+BTSTACK_SRC_C += $(addprefix lib/btstack/chipset/zephyr/,\
+	btstack_chipset_zephyr.c \
+	)
+BTSTACK_SRC_C += $(addprefix lib/btstack/chipset/realtek/,\
+	btstack_chipset_realtek.c \
+	)
+BTSTACK_SRC_C += $(addprefix lib/btstack/chipset/bcm/,\
+	btstack_chipset_bcm.c \
+	)
+BTSTACK_SRC_C += $(addprefix lib/btstack/chipset/intel/,\
+	btstack_chipset_intel_firmware.c \
+	)
+BTSTACK_SRC_C += $(addprefix lib/btstack/3rd-party/rijndael/,\
+	rijndael.c \
+	)
+BTSTACK_SRC_C += $(addprefix lib/btstack/3rd-party/micro-ecc/,\
+	uECC.c \
+	)
+endif
+
 # STM32 HAL
 
 COPT += -DUSE_FULL_LL_DRIVER
@@ -530,11 +576,13 @@ endif
 
 ifeq ($(PB_LIB_BTSTACK),classic)
 OBJ += $(addprefix $(BUILD)/, $(BTSTACK_SRC_C:.c=.o))
+$(BUILD)/lib/btstack/%.o: CFLAGS += -Wno-error
 endif
 
 ifeq ($(PB_LIB_BTSTACK),lowenergy)
 OBJ += $(addprefix $(BUILD)/, $(BTSTACK_SRC_C:.c=.o))
 OBJ += $(addprefix $(BUILD)/, $(BTSTACK_BLE_SRC_C:.c=.o))
+$(BUILD)/lib/btstack/%.o: CFLAGS += -Wno-error
 endif
 
 ifeq ($(PB_LIB_STM32_HAL),1)

bricks/_common/sources.mk

@@ -114,9 +114,10 @@ PBIO_SRC_C = $(addprefix lib/pbio/,\
 	drv/block_device/block_device_test.c \
 	drv/block_device/block_device_w25qxx_stm32.c \
 	drv/bluetooth/bluetooth.c \
-	drv/bluetooth/bluetooth_btstack_stm32_hal.c \
 	drv/bluetooth/bluetooth_btstack.c \
 	drv/bluetooth/bluetooth_btstack_ev3.c \
+	drv/bluetooth/bluetooth_btstack_posix.c \
+	drv/bluetooth/bluetooth_btstack_stm32_hal.c \
 	drv/bluetooth/bluetooth_simulation.c \
 	drv/bluetooth/bluetooth_stm32_bluenrg.c \
 	drv/bluetooth/bluetooth_stm32_cc2640.c \

bricks/virtualhub/Makefile

@@ -6,5 +6,6 @@ PB_MCU_FAMILY = native
 PB_FROZEN_MODULES = 1
 MICROPY_ROM_TEXT_COMPRESSION = 1
 PB_LIB_UMM_MALLOC = 1
+PB_LIB_BTSTACK = lowenergy
 
 include ../_common/common.mk

lib/pbio/drv/bluetooth/bluetooth_btstack.c

@@ -30,12 +30,23 @@
 #include "pybricks_service_server.h"
 #endif // PBDRV_CONFIG_BLUETOOTH_BTSTACK_LE
 
+#if PBDRV_CONFIG_BLUETOOTH_BTSTACK_POSIX
+
+#include <errno.h>
+#include <poll.h>
+
+#endif
+
 #ifdef PBDRV_CONFIG_BLUETOOTH_BTSTACK_HUB_KIND
 #define HUB_KIND PBDRV_CONFIG_BLUETOOTH_BTSTACK_HUB_KIND
 #else
 #error "PBDRV_CONFIG_BLUETOOTH_BTSTACK_HUB_KIND is required"
 #endif
 
+#ifndef PBDRV_CONFIG_BLUETOOTH_BTSTACK_POSIX
+#define PBDRV_CONFIG_BLUETOOTH_BTSTACK_POSIX 0
+#endif
+
 // location of product variant in bootloader flash memory of Technic Large hubs
 #if PBDRV_CONFIG_BLUETOOTH_BTSTACK_HUB_VARIANT_ADDR
 #define HUB_VARIANT (*(const uint16_t *)PBDRV_CONFIG_BLUETOOTH_BTSTACK_HUB_VARIANT_ADDR)
@@ -223,23 +234,39 @@ static void packet_handler(uint8_t packet_type, uint16_t channel, uint8_t *packe
     pbdrv_bluetooth_peripheral_t *peri = &peripheral_singleton;
     #endif // PBDRV_CONFIG_BLUETOOTH_BTSTACK_LE
 
+    static pbdrv_bluetooth_btstack_device_discriminator device_info;
+
     switch (hci_event_packet_get_type(packet)) {
+        case HCI_EVENT_TRANSPORT_USB_INFO: {
+            // Store USB vendor and product IDs for later use
+            device_info.usb_vendor_id = hci_event_transport_usb_info_get_vendor_id(packet);
+            device_info.usb_product_id = hci_event_transport_usb_info_get_product_id(packet);
+            break;
+        }
         case HCI_EVENT_COMMAND_COMPLETE: {
             const uint8_t *rp = hci_event_command_complete_get_return_parameters(packet);
             switch (hci_event_command_complete_get_command_opcode(packet)) {
                 case HCI_OPCODE_HCI_READ_LOCAL_VERSION_INFORMATION: {
-                    uint16_t lmp_pal_subversion = pbio_get_uint16_le(&rp[7]);
-                    pbdrv_bluetooth_btstack_set_chipset(lmp_pal_subversion);
+                    device_info.hci_version = rp[0];
+                    device_info.hci_revision = pbio_get_uint16_le(&rp[1]);
+                    device_info.lmp_pal_version = rp[3];
+                    device_info.manufacturer = pbio_get_uint16_le(&rp[4]);
+                    device_info.lmp_pal_subversion = pbio_get_uint16_le(&rp[6]);
+                    pbdrv_bluetooth_btstack_set_chipset(&device_info);
 
                     #if DEBUG
                     // Show version in ev3dev format.
+                    uint16_t lmp_pal_subversion = device_info.lmp_pal_subversion;
                     uint16_t chip = (lmp_pal_subversion & 0x7C00) >> 10;
                     uint16_t min_ver = (lmp_pal_subversion & 0x007F);
                     uint16_t maj_ver = (lmp_pal_subversion & 0x0380) >> 7;
                     if (lmp_pal_subversion & 0x8000) {
                         maj_ver |= 0x0008;
                     }
                     DEBUG_PRINT("LMP %04x: TIInit_%d.%d.%d.bts\n", lmp_pal_subversion, chip, maj_ver, min_ver);
+                    (void)maj_ver;  // In lib/pbio/test, this variable appears unused even though it's not.
+                    (void)min_ver;
+                    (void)chip;
                     #endif
                     break;
                 }
@@ -999,6 +1026,13 @@ static void bluetooth_btstack_run_loop_execute(void) {
     // not used
 }
 
+static bool do_poll_handler;
+
+void pbdrv_bluetooth_btstack_run_loop_trigger(void) {
+    do_poll_handler = true;
+    pbio_os_request_poll();
+}
+
 static const btstack_run_loop_t bluetooth_btstack_run_loop = {
     .init = btstack_run_loop_base_init,
     .add_data_source = btstack_run_loop_base_add_data_source,
@@ -1011,14 +1045,10 @@ static const btstack_run_loop_t bluetooth_btstack_run_loop = {
     .execute = bluetooth_btstack_run_loop_execute,
     .dump_timer = btstack_run_loop_base_dump_timer,
     .get_time_ms = pbdrv_clock_get_ms,
+    .poll_data_sources_from_irq = pbdrv_bluetooth_btstack_run_loop_trigger,
 };
 
-static bool do_poll_handler;
 
-void pbdrv_bluetooth_btstack_run_loop_trigger(void) {
-    do_poll_handler = true;
-    pbio_os_request_poll();
-}
 
 static pbio_os_process_t pbdrv_bluetooth_hci_process;
 
@@ -1028,9 +1058,57 @@ static pbio_os_process_t pbdrv_bluetooth_hci_process;
  */
 static pbio_error_t pbdrv_bluetooth_hci_process_thread(pbio_os_state_t *state, void *context) {
 
-    if (do_poll_handler) {
+    #if PBDRV_CONFIG_BLUETOOTH_BTSTACK_POSIX
+    int nfds = btstack_linked_list_count(&btstack_run_loop_base_data_sources);
+    struct pollfd fds[nfds];
+    #endif
+
+    if (do_poll_handler || PBDRV_CONFIG_BLUETOOTH_BTSTACK_POSIX) {
         do_poll_handler = false;
         btstack_run_loop_base_poll_data_sources();
+
+        #if PBDRV_CONFIG_BLUETOOTH_BTSTACK_POSIX
+        btstack_linked_list_iterator_t it;
+        int i;
+        for (i = 0, btstack_linked_list_iterator_init(&it, &btstack_run_loop_base_data_sources);
+             btstack_linked_list_iterator_has_next(&it); ++i) {
+            // cache pointer to next data_source to allow data source to remove itself
+            btstack_data_source_t *ds = (void *)btstack_linked_list_iterator_next(&it);
+
+            // In POSIX mode we must additionally identify data source FDs that
+            // are ready for reading or writing.
+            struct pollfd *pfd = &fds[i];
+            pfd->fd = ds->source.fd;
+            pfd->events = 0;
+            if (ds->flags & DATA_SOURCE_CALLBACK_READ) {
+                pfd->events |= POLLIN;
+            }
+            if (ds->flags & DATA_SOURCE_CALLBACK_WRITE) {
+                pfd->events |= POLLOUT;
+            }
+
+        }
+
+        int err = poll(fds, nfds, 0);
+        if (err < 0) {
+            DEBUG_PRINT("btstack: poll() returned %d, ignoring\n", errno);
+        } else if (err > 0) {
+            // Some fd was ready.
+            for (i = 0, btstack_linked_list_iterator_init(&it, &btstack_run_loop_base_data_sources);
+                 btstack_linked_list_iterator_has_next(&it); ++i) {
+                btstack_data_source_t *ds = (void *)btstack_linked_list_iterator_next(&it);
+                struct pollfd *pfd = &fds[i];
+                if (pfd->revents & POLLIN) {
+                    ds->process(ds, DATA_SOURCE_CALLBACK_READ);
+                } else if (pfd->revents & POLLOUT) {
+                    ds->process(ds, DATA_SOURCE_CALLBACK_WRITE);
+                } else if (pfd->revents & POLLERR) {
+                    DEBUG_PRINT("btstack: poll() error on fd %d\n", pfd->fd);
+                }
+            }
+
+        }
+        #endif
     }
 
     static pbio_os_timer_t btstack_timer = {
@@ -1065,9 +1143,12 @@ void pbdrv_bluetooth_init_hci(void) {
     btstack_run_loop_init(&bluetooth_btstack_run_loop);
 
     hci_init(pdata->transport_instance(), pdata->transport_config());
-    hci_set_chipset(pdata->chipset_instance());
+    if (pdata->chipset_instance != NULL) {
+        hci_set_chipset(pdata->chipset_instance());
+    }
     hci_set_control(pdata->control_instance());
 
+
     // REVISIT: do we need to call btstack_chipset_cc256x_set_power() or btstack_chipset_cc256x_set_power_vector()?
 
     hci_event_callback_registration.callback = &packet_handler;

lib/pbio/drv/bluetooth/bluetooth_btstack.h

@@ -23,13 +23,29 @@ typedef struct {
 
 void pbdrv_bluetooth_btstack_run_loop_trigger(void);
 
+typedef struct {
+    // Only set on POSIX -- these data come from the USB device descriptor.
+    uint16_t usb_vendor_id;
+    uint16_t usb_product_id;
+
+    // Set on all platforms -- these data come from the
+    // HCI_OPCODE_HCI_READ_LOCAL_VERSION_INFORMATION response.
+    uint8_t hci_version;
+    uint16_t hci_revision;
+    uint8_t lmp_pal_version;
+    uint16_t manufacturer;
+    uint16_t lmp_pal_subversion;
+
+} pbdrv_bluetooth_btstack_device_discriminator;
+
 /**
  * Hook called when BTstack reads the local version information.
  *
  * This is called _after_ hci_set_chipset but _before_ the init script is sent
  * over the wire, so this can be used to dynamically select the init script.
  */
-void pbdrv_bluetooth_btstack_set_chipset(uint16_t lmp_pal_subversion);
+void pbdrv_bluetooth_btstack_set_chipset(
+    pbdrv_bluetooth_btstack_device_discriminator *device_info);
 
 typedef struct {
     const hci_transport_t *(*transport_instance)(void);

lib/pbio/drv/bluetooth/bluetooth_btstack_ev3.c

@@ -62,12 +62,13 @@ static const hci_dump_t bluetooth_btstack_classic_hci_dump = {
     .log_packet = pbdrv_hci_dump_log_packet,
     .log_message = pbdrv_hci_dump_log_message,
 };
+
 #else
 #define DEBUG_PRINT(...)
 #endif
 
-void pbdrv_bluetooth_btstack_set_chipset(uint16_t lmp_pal_subversion) {
-    const pbdrv_bluetooth_btstack_chipset_info_t *info = lmp_pal_subversion == cc2560_info.lmp_version ?
+void pbdrv_bluetooth_btstack_set_chipset(pbdrv_bluetooth_btstack_device_discriminator *device_info) {
+    const pbdrv_bluetooth_btstack_chipset_info_t *info = device_info->lmp_pal_subversion == cc2560_info.lmp_version ?
         &cc2560_info : &cc2560a_info;
     btstack_chipset_cc256x_set_init_script((uint8_t *)info->init_script, info->init_script_size);