nRF52: add support for building SoftDevice BLE controller

arch/arm/src/nrf52/.gitignore

@@ -0,0 +1,4 @@
+CMSIS_5*
+sdk-nrfxlib*
+nrfx*
+*.tar.gz

arch/arm/src/nrf52/Kconfig

@@ -185,6 +185,7 @@ config NRF52_WDT
 config NRF52_RADIO
 	bool "RADIO"
 	depends on EXPERIMENTAL
+	depends on !NRF52_SOFTDEVICE_CONTROLLER
 	default n
 
 config NRF52_NFCT
@@ -198,6 +199,7 @@ config NRF52_SAADC
 config NRF52_TIMER0
 	bool "TIMER0"
 	select NRF52_TIMER
+	depends on !NRF52_SOFTDEVICE_CONTROLLER
 	default n
 
 config NRF52_TIMER1
@@ -248,6 +250,7 @@ config NRF52_PPI
 config NRF52_RTC0
 	bool "RTC0"
 	select NRF52_RTC
+	depends on !NRF52_SOFTDEVICE_CONTROLLER
 	default n
 
 config NRF52_RTC1
@@ -355,7 +358,8 @@ if NRF52_SYSTIMER_RTC
 
 config NRF52_SYSTIMER_RTC_INSTANCE
   int "RTC timer instance"
-  default 0
+  default 0 if !NRF52_SOFTDEVICE_CONTROLLER
+  default 1 if NRF52_SOFTDEVICE_CONTROLLER
   range 0 2
   ---help---
     Which RTC instance to use to drive the system timer
@@ -654,3 +658,70 @@ config NRF52_I2C_MASTER_COPY_BUF_SIZE
 		on malloc.
 
 endmenu
+
+menuconfig NRF52_SOFTDEVICE_CONTROLLER
+	bool "SoftDevice Controller"
+	select CONFIG_ARMV7M_USEBASEPRI
+	select CONFIG_ARCH_RAMVECTORS
+	select NRF52_USE_LFCLK
+	select NRF52_LFCLK_XTAL
+	---help---
+		This enables use of Nordic SoftDevice controller
+		(SDC). It is a library version of a subset of 
+		full SoftDevice, which only includes the BLE
+		controller implementation.
+
+		It makes use of RTC0, TIMER0, RADIO and RNG, so
+		these will be unavailable for direct use by user.
+		It also makes use of PPI channel range 17-31.
+
+if NRF52_SOFTDEVICE_CONTROLLER
+
+config NRF52_SDC_CLOCK_ACCURACY
+	int "Clock Accuracy [PPM]"
+	default 250
+	---help---
+		Select the clock accuracy depending on the chosen low-frequency clock
+		source
+
+config NRF52_SDC_SLAVE_COUNT
+	int "Number of slave roles to support (also master)"
+	default 1
+	---help---
+		This controls how many slave connections will be supported. It also
+		determines the number of master roles from the following:
+
+		MASTER_ROLES = CONFIG_BLUETOOTH_MAX_CONN - NRF52_SDC_SLAVE_COUNT
+
+		So by choosing these two variables you can control both capabilities.
+
+config NRF52_SDC_ADVERTISING
+	bool "Support advertising"
+	default y
+
+config NRF52_SDC_SCANNING
+	bool "Support scanning"
+	default y
+
+config NRF52_SDC_LE_2M_PHY
+	bool "Support LE 2M PHY"
+	default y
+
+config NRF52_SDC_LE_CODED_PHY
+	bool "Support LE Coded PHY"
+	default y
+
+config NRF52_SDC_DLE
+	bool "Support Data Length Extension (DLE)"
+	default y
+
+config NRF52_SDC_VERSION
+	int "SoftDevice version"
+	default 132 if ARCH_CHIP_NRF52832
+	default 140 if ARCH_CHIP_NRF52840
+	---help---
+		The softdevice version to use. This depends on the particular chip
+		to use. See official Nordic documentation on which chips are supported
+		in each version.
+endif
+

arch/arm/src/nrf52/Make.defs

@@ -171,3 +171,60 @@ endif
 ifeq ($(CONFIG_PM),y)
 CHIP_CSRCS += nrf52_pminitialize.c
 endif
+
+ifeq ($(CONFIG_NRF52_SOFTDEVICE_CONTROLLER),y)
+
+NRFXLIB_UNPACK  := sdk-nrfxlib
+NRFXLIB_VER     := 1.4.2
+NRFXLIB_REF     := v$(NRFXLIB_VER)
+NRFXLIB_TGZ     := $(NRFXLIB_REF).tar.gz
+NRFXLIB_URL     := https://github.com/nrfconnect/sdk-nrfxlib/archive
+
+$(NRFXLIB_TGZ):
+	$(Q) echo "Downloading: NRFXLIB"
+	$(Q) curl -L $(NRFXLIB_URL)/$(NRFXLIB_TGZ) -o chip/$(NRFXLIB_TGZ)
+
+chip/$(NRFXLIB_UNPACK): $(NRFXLIB_TGZ)
+	$(Q) echo "Unpacking: NRXFLIB"
+	$(Q) cd chip && tar zxf $(NRFXLIB_TGZ)
+	$(Q) mv chip/$(NRFXLIB_UNPACK)-$(NRFXLIB_VER)* chip/$(NRFXLIB_UNPACK)
+	$(Q) touch chip/$(NRFXLIB_UNPACK)
+
+context:: chip/$(NRFXLIB_UNPACK)
+
+clean_context::
+	$(call DELFILE, chip/$(NRFXLIB_TGZ))
+	$(call DELDIR, chip/$(NRFXLIB_UNPACK))
+
+CHIP_CSRCS += nrf52_sdc.c
+
+NRFX_DIR = $(ARCH_SRCDIR)$(DELIM)chip$(DELIM)nrfx
+NRFXLIB_DIR = $(ARCH_SRCDIR)$(DELIM)chip$(DELIM)sdk-nrfxlib
+CMSIS_DIR = $(ARCH_SRCDIR)$(DELIM)chip$(DELIM)CMSIS_5
+
+INCLUDES += \
+	$(shell $(INCDIR) "$(CC)" $(ARCH_SRCDIR)$(DELIM)chip$(DELIM)sdc) \
+	$(shell $(INCDIR) "$(CC)" $(NRFXLIB_DIR)$(DELIM)mpsl$(DELIM)include) \
+	$(shell $(INCDIR) "$(CC)" $(NRFXLIB_DIR)$(DELIM)softdevice_controller$(DELIM)include)
+
+ifeq ($(CONFIG_ARCH_CHIP_NRF52832),y)
+	CFLAGS += -DNRF52832_XXAB
+else
+	ifeq ($(CONFIG_ARCH_CHIP_NRF52840),y)
+		CFLAGS += -DNRF52840_XXAB
+	endif
+endif
+
+ifeq ($(CONFIG_ARCH_FPU),y)
+	LIB_VARIANT=hard-float
+else
+	LIB_VARIANT=soft-float
+endif
+
+EXTRA_LIBPATHS += \
+	-L $(NRFXLIB_DIR)$(DELIM)mpsl$(DELIM)lib$(DELIM)cortex-m4$(DELIM)$(LIB_VARIANT) \
+	-L $(NRFXLIB_DIR)$(DELIM)softdevice_controller$(DELIM)lib$(DELIM)cortex-m4$(DELIM)$(LIB_VARIANT)
+
+EXTRA_LIBS += -lmpsl -lsoftdevice_controller_s$(CONFIG_NRF52_SDC_VERSION)
+
+endif

arch/arm/src/nrf52/nrf52_ppi.h

@@ -32,9 +32,17 @@
  * Pre-processor Definitions
  ****************************************************************************/
 
-#define NRF52_PPI_NUM_CHANNELS              32    /* Total number of PPI channels */
+/* Nordic SDC makes use of PPI channels 17-31 */
-#define NRF52_PPI_NUM_CONFIGURABLE_CHANNELS 20    /* Number of configurable PPI channels */
+
-#define NRF52_PPI_NUM_GROUPS                6     /* Number of PPI channel groups */
+#ifdef CONFIG_NRF52_SOFTDEVICE_CONTROLLER
+#  define NRF52_PPI_NUM_CHANNELS              16    /* Total number of PPI channels */
+#  define NRF52_PPI_NUM_CONFIGURABLE_CHANNELS 16    /* Number of configurable PPI channels */
+#  define NRF52_PPI_NUM_GROUPS                6     /* Number of PPI channel groups */
+#else
+#  define NRF52_PPI_NUM_CHANNELS              32    /* Total number of PPI channels */
+#  define NRF52_PPI_NUM_CONFIGURABLE_CHANNELS 20    /* Number of configurable PPI channels */
+#  define NRF52_PPI_NUM_GROUPS                6     /* Number of PPI channel groups */
+#endif
 
 /****************************************************************************
  * Public Types

arch/arm/src/nrf52/nrf52_sdc.h

@@ -0,0 +1,65 @@
+/****************************************************************************
+ * arch/arm/src/chip/nrf52_sdc.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you 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.
+ *
+ ****************************************************************************/
+
+#ifndef __ARCH_ARM_SRC_NRF52_NRF52_SDC_H
+#define __ARCH_ARM_SRC_NRF52_NRF52_SDC_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Inline Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+int nrf52_sdc_initialize(void);
+
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __ARCH_ARM_SRC_NRF52_NRF52_SDC_H */

arch/arm/src/nrf52/sdc/README.md

@@ -0,0 +1,2 @@
+This directory holds stub files for building Nordic SoftDevice Controller without having to pull
+NRFX and CMSIS just to have a few definitions.

arch/arm/src/nrf52/sdc/core_cm4.h

@@ -0,0 +1,41 @@
+/****************************************************************************
+ * arch/arm/src/chip/nrf52_sdc.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you 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.
+ *
+ ****************************************************************************/
+
+#ifndef __ARCH_ARM_SRC_NRF52_SDC_CORE_CM4_H__
+#define __ARCH_ARM_SRC_NRF52_SDC_CORE_CM4_H__
+
+/****************************************************************************
+ * Preprocessor Definitions
+ ****************************************************************************/
+
+/* These are the definitions needed from CMSIS */
+
+#ifdef __cplusplus
+#  define   __I     volatile
+#else
+#  define   __I     volatile const
+#endif
+#define     __O     volatile
+#define     __IO    volatile
+#define     __IM    volatile const
+#define     __OM    volatile
+#define     __IOM   volatile
+
+#endif /* __ARCH_ARM_SRC_NRF52_SDC_CORE_CM4_H__ */

arch/arm/src/nrf52/sdc/nrf.h

@@ -0,0 +1,84 @@
+/****************************************************************************
+ * arch/arm/src/chip/nrf52_sdc.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you 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.
+ *
+ ****************************************************************************/
+
+#ifndef __ARCH_ARM_SRC_NRF52_SDC_NRF_H__
+#define __ARCH_ARM_SRC_NRF52_SDC_NRF_H__
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/* This is the only definition we need from NRFX. We could simply do a
+ * typedef to an integer but we cannot ensure it will end up being the right
+ * size, so we replicate all values here.
+ */
+
+typedef enum
+{
+  Reset_IRQn                             = -15,
+  NonMaskableInt_IRQn                    = -14,
+  HardFault_IRQn                         = -13,
+  MemoryManagement_IRQn                  = -12,
+  BusFault_IRQn                          = -11,
+  UsageFault_IRQn                        = -10,
+  SVCall_IRQn                            =  -5,
+  DebugMonitor_IRQn                      =  -4,
+  PendSV_IRQn                            =  -2,
+  SysTick_IRQn                           =  -1,
+  POWER_CLOCK_IRQn                       =   0,
+  RADIO_IRQn                             =   1,
+  UARTE0_UART0_IRQn                      =   2,
+  SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0_IRQn =   3,
+  SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1_IRQn =   4,
+  NFCT_IRQn                              =   5,
+  GPIOTE_IRQn                            =   6,
+  SAADC_IRQn                             =   7,
+  TIMER0_IRQn                            =   8,
+  TIMER1_IRQn                            =   9,
+  TIMER2_IRQn                            =  10,
+  RTC0_IRQn                              =  11,
+  TEMP_IRQn                              =  12,
+  RNG_IRQn                               =  13,
+  ECB_IRQn                               =  14,
+  CCM_AAR_IRQn                           =  15,
+  WDT_IRQn                               =  16,
+  RTC1_IRQn                              =  17,
+  QDEC_IRQn                              =  18,
+  COMP_LPCOMP_IRQn                       =  19,
+  SWI0_EGU0_IRQn                         =  20,
+  SWI1_EGU1_IRQn                         =  21,
+  SWI2_EGU2_IRQn                         =  22,
+  SWI3_EGU3_IRQn                         =  23,
+  SWI4_EGU4_IRQn                         =  24,
+  SWI5_EGU5_IRQn                         =  25,
+  TIMER3_IRQn                            =  26,
+  TIMER4_IRQn                            =  27,
+  PWM0_IRQn                              =  28,
+  PDM_IRQn                               =  29,
+  MWU_IRQn                               =  32,
+  PWM1_IRQn                              =  33,
+  PWM2_IRQn                              =  34,
+  SPIM2_SPIS2_SPI2_IRQn                  =  35,
+  RTC2_IRQn                              =  36,
+  I2S_IRQn                               =  37,
+  FPU_IRQn                               =  38
+} IRQn_Type;
+
+#endif /* __ARCH_ARM_SRC_NRF52_SDC_NRF_H__ */

boards/arm/nrf52/nrf52832-mdk/configs/sdc/defconfig

@@ -0,0 +1,81 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_NET_ETHERNET is not set
+# CONFIG_NET_IPv4 is not set
+# CONFIG_NRF52_SDC_DLE is not set
+# CONFIG_NRF52_SDC_LE_2M_PHY is not set
+# CONFIG_NRF52_SDC_LE_CODED_PHY is not set
+# CONFIG_WIRELESS_BLUETOOTH_HOST is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD="nrf52832-mdk"
+CONFIG_ARCH_BOARD_NRF52832_MDK=y
+CONFIG_ARCH_CHIP="nrf52"
+CONFIG_ARCH_CHIP_NRF52832=y
+CONFIG_ARCH_CHIP_NRF52=y
+CONFIG_ARCH_HIPRI_INTERRUPT=y
+CONFIG_ARCH_RAMVECTORS=y
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARCH_STDARG_H=y
+CONFIG_ARMV7M_SYSTICK=y
+CONFIG_BLUETOOTH_TXCMD_NMSGS=8
+CONFIG_BLUETOOTH_TXCMD_STACKSIZE=1024
+CONFIG_BLUETOOTH_TXCONN_NMSGS=8
+CONFIG_BLUETOOTH_TXCONN_STACKSIZE=1024
+CONFIG_BOARD_LOOPSPERMSEC=5500
+CONFIG_BUILTIN=y
+CONFIG_CLOCK_MONOTONIC=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FS_FAT=y
+CONFIG_FS_PROCFS=y
+CONFIG_IDLETHREAD_STACKSIZE=2048
+CONFIG_MAX_TASKS=16
+CONFIG_MM_REGIONS=2
+CONFIG_NET=y
+CONFIG_NETDEV_LATEINIT=y
+CONFIG_NET_BLUETOOTH=y
+CONFIG_NET_BLUETOOTH_BACKLOG=0
+CONFIG_NFILE_DESCRIPTORS=8
+CONFIG_NIMBLE=y
+CONFIG_NIMBLE_REF="5fbb6660a433217b8eaf1b95de410379f868616c"
+CONFIG_NRF52_DCDC=y
+CONFIG_NRF52_HFCLK_XTAL=y
+CONFIG_NRF52_RTC1=y
+CONFIG_NRF52_SOFTDEVICE_CONTROLLER=y
+CONFIG_NRF52_SYSTIMER_RTC=y
+CONFIG_NRF52_UART0=y
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_LINELEN=64
+CONFIG_NSH_READLINE=y
+CONFIG_PREALLOC_MQ_MSGS=16
+CONFIG_PREALLOC_TIMERS=4
+CONFIG_PTHREAD_MUTEX_TYPES=y
+CONFIG_RAM_SIZE=65535
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_TICKLESS_LIMIT_MAX_SLEEP=y
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_EVTHREAD=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_START_DAY=26
+CONFIG_START_MONTH=3
+CONFIG_SYMTAB_ORDEREDBYNAME=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TIMER=y
+CONFIG_UART0_SERIAL_CONSOLE=y
+CONFIG_USEC_PER_TICK=10000
+CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_WIRELESS=y
+CONFIG_WIRELESS_BLUETOOTH=y

boards/arm/nrf52/nrf52832-mdk/src/nrf52_bringup.c

@@ -27,6 +27,10 @@
 #include <sys/types.h>
 #include <syslog.h>
 
+#ifdef CONFIG_FS_PROCFS
+#include <sys/mount.h>
+#endif
+
 #ifdef CONFIG_NRF52_WDT
 #  include "nrf52_wdt_lowerhalf.h"
 #endif
@@ -35,6 +39,10 @@
 #  include <nuttx/leds/userled.h>
 #endif
 
+#ifdef CONFIG_NRF52_SOFTDEVICE_CONTROLLER
+#include "nrf52_sdc.h"
+#endif
+
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
@@ -57,6 +65,10 @@ int nrf52_bringup(void)
 {
   int ret;
 
+#ifdef CONFIG_FS_PROCFS
+  mount(NULL, "/proc", "procfs", 0, NULL);
+#endif
+
 #ifdef CONFIG_NRF52_WDT
   /* Start Watchdog timer */
 
@@ -77,6 +89,15 @@ int nrf52_bringup(void)
     }
 #endif
 
+#ifdef CONFIG_NRF52_SOFTDEVICE_CONTROLLER
+  ret = nrf52_sdc_initialize();
+
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: nrf52_sdc_initialize() failed: %d\n", ret);
+    }
+#endif
+
   UNUSED(ret);
   return OK;
 }

wireless/bluetooth/bt_buf.c

@@ -396,6 +396,8 @@ void bt_buf_release(FAR struct bt_buf_s *buf)
 
   wlinfo("buf %p ref %u type %d\n", buf, buf->ref, buf->type);
 
+  DEBUGASSERT(buf->ref > 0);
+
   if (--buf->ref > 0)
     {
       wlinfo("Remaining references: %d\n", buf->ref);