src: Add changes for SPI Bluetooth support.

See CYW43_ENABLE_BLUETOOTH.
New firmware added that supports Wifi and BT.
Firmware now stored as binary data in header files.

firmware/README.md

@@ -4,18 +4,26 @@ CYW43xx WiFi SoC firmware
 This directory contains firmware patch blobs that need to be downloaded on to the
 CYW43xx SoC in order for it to function correctly.
 
-The firmware is padded to 512 bytes and then the CLM appended to that, to create the
-combined binary file.
+The Wifi firmware and CLM data is padded to 512 bytes. Then the Wifi firmware, CLM data and BT firmware are all appended together,
+to create the combined binary file.
 
 For example:
 
     $ cp 43439A0.bin 43439A0_padded.bin
     $ dd if=/dev/zero of=43439A0_padded.bin bs=1 count=1 seek=$(( ($(stat -c %s 43439A0.bin) / 512) * 512 + 512 - 1))
     $ cat 43439A0_padded.bin 43439A0.clm_blob > 43439A0-7.95.49.00.combined
 
-Note that the number of dots in the filename is significant, due to the way symbols
-are renamed by the linker when it is included in a compiled application.
+This binary is then converted to a header file, e.g. xxd -i 43439A0-7.95.49.00.combined
+The macros `CYW43_WIFI_FW_LEN`, `CYW43_CLM_LEN` specify the unpadded size of the original firmware binaries in bytes.
 
-When updating this firmware, check and update the values of `CYW43_FW_LEN` and
-`CYW43_CLM_LEN`.  These should be the original, unpadded size of the two binaries
-in bytes.  The array size should be the size of the combined file.
+The BT firmware binary is stored as a static array in clw43_btfw_43439.h and has the following format.
+
+1 byte: number of characters in version string including null terminator
+n bytes: zero terminated version string
+1 byte: number of records following
+
+Each record has the following format...
+1 byte: data count
+2 bytes: address
+1 byte: address type
+n bytes: data

src/cyw43.h

@@ -126,6 +126,10 @@ typedef struct _cyw43_t {
 
     // mac from otp (or from cyw43_hal_generate_laa_mac if not set)
     uint8_t mac[6];
+
+    #if CYW43_ENABLE_BLUETOOTH
+    bool bt_loaded;
+    #endif
 } cyw43_t;
 
 extern cyw43_t cyw43_state;
@@ -619,6 +623,34 @@ static inline uint32_t cyw43_pm_value(uint8_t pm_mode, uint16_t pm2_sleep_ret_ms
  */
 #define CYW43_PERFORMANCE_PM cyw43_pm_value(CYW43_PM2_POWERSAVE_MODE, 20, 1, 1, 1)
 
+#if CYW43_ENABLE_BLUETOOTH
+/*!
+ * \brief Initialise bluetooth
+ *
+ * \return true on success
+ */
+int cyw43_bluetooth_hci_init(void);
+
+/*!
+ * \brief Read bt hci data
+ *
+ * \param buf Buffer to be filled with hci data
+ * \param max_size The maximum size of the buffer
+ * \param len Returns the length of the data in the buffer including an initial 4 byte header. The last byte of the header is the packet type
+ * \return zero on success
+ */
+int cyw43_bluetooth_hci_read(uint8_t *buf, uint32_t max_size, uint32_t *len);
+
+/*!
+ * \brief Write data for bt hci
+ *
+ * \param buf Data to write
+ * \param len Size of data to send. Must include a 4 byte header. The last byte of the header should be the packet type
+ * \return zero on success
+ */
+int cyw43_bluetooth_hci_write(uint8_t *buf, size_t len);
+#endif
+
 //!\} // cyw43_driver doxygen group
 
 #endif // CYW43_INCLUDED_CYW43_H

src/cyw43_btbus.h

@@ -0,0 +1,43 @@
+/*
+ * This file is part of the cyw43-driver
+ *
+ * Copyright (C) 2019-2023 George Robotics Pty Ltd
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ *    this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ * 3. Any redistribution, use, or modification in source or binary form is done
+ *    solely for personal benefit and not for any commercial purpose or for
+ *    monetary gain.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE LICENSOR AND COPYRIGHT OWNER "AS IS" AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE LICENSOR OR COPYRIGHT OWNER BE LIABLE FOR
+ * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * This software is also available for use with certain devices under different
+ * terms, as set out in the top level LICENSE file.  For commercial licensing
+ * options please email contact@georgerobotics.com.au.
+ */
+
+#ifndef CYW43_INCLUDED_CYW43_BTBUS_H
+#define CYW43_INCLUDED_CYW43_BTBUS_H
+
+#include "cyw43_ll.h"
+
+int cyw43_btbus_init(cyw43_ll_t *self);
+int cyw43_btbus_read(uint8_t *buf, uint32_t max_buf_size, uint32_t *size);
+int cyw43_btbus_write(uint8_t *buf, uint32_t size);
+
+#endif

src/cyw43_config.h

@@ -50,6 +50,23 @@
 
 // Firmware configuration.
 
+// Whether Bluetooth support is enabled.
+#ifndef CYW43_ENABLE_BLUETOOTH
+#define CYW43_ENABLE_BLUETOOTH (0)
+#endif
+
+// This include should define:
+// - CYW43_WIFI_FW_LEN
+// - CYW43_CLM_LEN
+// - const uintptr_t fw_data
+#ifndef CYW43_CHIPSET_FIRMWARE_INCLUDE_FILE
+#if CYW43_ENABLE_BLUETOOTH
+#define CYW43_CHIPSET_FIRMWARE_INCLUDE_FILE "firmware/wb43439A0_7_95_49_00_combined.h"
+#else
+#define CYW43_CHIPSET_FIRMWARE_INCLUDE_FILE "firmware/w43439A0_7_95_49_00_combined.h"
+#endif
+#endif
+
 // This include should define a wifi_nvram_4343[] variable.
 #ifndef CYW43_WIFI_NVRAM_INCLUDE_FILE
 #define CYW43_WIFI_NVRAM_INCLUDE_FILE "firmware/wifi_nvram_43439.h"

src/cyw43_ctrl.c

@@ -41,6 +41,10 @@
 #include "cyw43_sdio.h"
 #endif
 
+#if CYW43_ENABLE_BLUETOOTH
+#include "cyw43_btbus.h"
+#endif
+
 #ifdef CYW43_PIN_WL_HOST_WAKE
 #define USE_SDIOIT (0)
 #else
@@ -65,6 +69,10 @@ cyw43_t cyw43_state;
 void (*cyw43_poll)(void);
 uint32_t cyw43_sleep;
 
+#if CYW43_ENABLE_BLUETOOTH
+void cyw43_hci_process_func(void);
+#endif
+
 #ifndef CYW43_POST_POLL_HOOK
 #define CYW43_POST_POLL_HOOK
 #endif
@@ -109,6 +117,10 @@ void cyw43_init(cyw43_t *self) {
 
     cyw43_poll = NULL;
     self->initted = true;
+
+    #if CYW43_ENABLE_BLUETOOTH
+    self->bt_loaded = false;
+    #endif
 }
 
 void cyw43_deinit(cyw43_t *self) {
@@ -134,6 +146,10 @@ void cyw43_deinit(cyw43_t *self) {
     cyw43_ll_deinit(&self->cyw43_ll);
     cyw43_init(self);
 
+    #if CYW43_ENABLE_BLUETOOTH
+    self->bt_loaded = false;
+    #endif
+
     CYW43_THREAD_EXIT;
 }
 
@@ -215,6 +231,13 @@ STATIC void cyw43_poll_func(void) {
     CYW43_STAT_INC(CYW43_RUN_COUNT);
 
     cyw43_t *self = &cyw43_state;
+
+    #if CYW43_ENABLE_BLUETOOTH
+    if (self->bt_loaded && cyw43_ll_bt_has_work(&self->cyw43_ll)) {
+        cyw43_hci_process_func();
+    }
+    #endif
+
     if (cyw43_ll_has_work(&self->cyw43_ll)) {
         cyw43_ll_process_packets(&self->cyw43_ll);
     }
@@ -722,3 +745,53 @@ int cyw43_gpio_get(cyw43_t *self, int gpio, bool *val) {
 }
 
 #endif
+
+#if CYW43_ENABLE_BLUETOOTH
+STATIC int cyw43_ensure_bt_up(cyw43_t *self) {
+    CYW43_THREAD_ENTER;
+    int ret = cyw43_ensure_up(self);
+    if (ret == 0 && !self->bt_loaded) {
+        ret = cyw43_btbus_init(&self->cyw43_ll); // todo: Passing cyw43_ll is a bit naff
+        if (ret == 0) {
+            self->bt_loaded = true;
+        }
+    }
+    CYW43_THREAD_EXIT;
+    return ret;
+}
+
+// Just load firmware
+int cyw43_bluetooth_hci_init(void) {
+    return cyw43_ensure_bt_up(&cyw43_state);
+}
+
+// Read data
+int cyw43_bluetooth_hci_read(uint8_t *buf, uint32_t max_size, uint32_t *len) {
+    cyw43_t *self = &cyw43_state;
+    int ret = cyw43_ensure_bt_up(self);
+    if (ret) {
+        return ret;
+    }
+    ret = cyw43_btbus_read(buf, max_size, len);
+    if (ret) {
+        CYW43_PRINTF("cyw43_bluetooth_hci_read: failed to read from shared bus\n");
+        return ret;
+    }
+    return 0;
+}
+
+// Write data, buffer needs to include space for a 4 byte header and include this in len
+int cyw43_bluetooth_hci_write(uint8_t *buf, size_t len) {
+    cyw43_t *self = &cyw43_state;
+    int ret = cyw43_ensure_bt_up(self);
+    if (ret) {
+        return ret;
+    }
+    ret = cyw43_btbus_write(buf, len);
+    if (ret) {
+        CYW43_PRINTF("cyw43_bluetooth_hci_write: failed to write to shared bus\n");
+        return ret;
+    }
+    return 0;
+}
+#endif