circuitpython/ports/raspberrypi/supervisor/port.c

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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2021 Scott Shawcroft for Adafruit Industries
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include <string.h>
#include <stdlib.h>
#include "supervisor/background_callback.h"
#include "supervisor/board.h"
#include "supervisor/port.h"
#include "bindings/rp2pio/StateMachine.h"
#include "genhdr/mpversion.h"
#include "shared-bindings/audiopwmio/PWMAudioOut.h"
#include "shared-bindings/busio/I2C.h"
#include "shared-bindings/busio/SPI.h"
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#include "shared-bindings/countio/Counter.h"
#include "shared-bindings/microcontroller/__init__.h"
#include "shared-bindings/rtc/__init__.h"
#include "shared-bindings/pwmio/PWMOut.h"
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#if CIRCUITPY_SSL
#include "common-hal/ssl/__init__.h"
#endif
#if CIRCUITPY_WIFI
#include "common-hal/wifi/__init__.h"
#endif
#include "common-hal/rtc/RTC.h"
#include "common-hal/busio/UART.h"
#include "supervisor/shared/safe_mode.h"
#include "supervisor/shared/stack.h"
#include "supervisor/shared/tick.h"
#include "src/rp2040/hardware_structs/include/hardware/structs/watchdog.h"
#include "src/rp2_common/hardware_gpio/include/hardware/gpio.h"
#include "src/rp2_common/hardware_uart/include/hardware/uart.h"
#include "src/rp2_common/hardware_sync/include/hardware/sync.h"
#include "src/rp2_common/hardware_timer/include/hardware/timer.h"
#if CIRCUITPY_CYW43
#include "py/mphal.h"
#include "pico/cyw43_arch.h"
#endif
#include "src/common/pico_time/include/pico/time.h"
#include "src/common/pico_binary_info/include/pico/binary_info.h"
#include "pico/bootrom.h"
#include "hardware/watchdog.h"
#include "supervisor/serial.h"
#include "tusb.h"
#include <cmsis_compiler.h>
critical_section_t background_queue_lock;
extern volatile bool mp_msc_enabled;
STATIC void _tick_callback(uint alarm_num);
STATIC void _binary_info(void) {
// Binary info readable with `picotool`.
bi_decl(bi_program_name("CircuitPython"));
bi_decl(bi_program_version_string(MICROPY_GIT_TAG));
bi_decl(bi_program_build_date_string(MICROPY_BUILD_DATE));
bi_decl(bi_program_url("https://circuitpython.org"));
bi_decl(bi_program_build_attribute("BOARD=" CIRCUITPY_BOARD_ID));
// TODO: Add build attribute for debug builds. Needs newer CircuitPython with CIRCUITPY_DEBUG.
}
extern uint32_t _ld_dtcm_bss_start;
extern uint32_t _ld_dtcm_bss_size;
extern uint32_t _ld_dtcm_data_destination;
extern uint32_t _ld_dtcm_data_size;
extern uint32_t _ld_dtcm_data_flash_copy;
extern uint32_t _ld_itcm_destination;
extern uint32_t _ld_itcm_size;
extern uint32_t _ld_itcm_flash_copy;
safe_mode_t port_init(void) {
_binary_info();
// Set brown out.
// Load from the XIP memory space that doesn't cache. That way we don't
// evict anything else. The code we're loading is linked to the RAM address
// anyway.
size_t nocache = 0x03000000;
// Copy all of the "tightly coupled memory" code and data to run from RAM.
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// This lets us use the 16k cache for dynamically used data and code.
// We must do this before we try and call any of its code or load the data.
uint32_t *itcm_flash_copy = (uint32_t *)(((size_t)&_ld_itcm_flash_copy) | nocache);
for (uint32_t i = 0; i < ((size_t)&_ld_itcm_size) / 4; i++) {
(&_ld_itcm_destination)[i] = itcm_flash_copy[i];
}
// Copy all of the data to run from DTCM.
uint32_t *dtcm_flash_copy = (uint32_t *)(((size_t)&_ld_dtcm_data_flash_copy) | nocache);
for (uint32_t i = 0; i < ((size_t)&_ld_dtcm_data_size) / 4; i++) {
(&_ld_dtcm_data_destination)[i] = dtcm_flash_copy[i];
}
// Clear DTCM bss.
for (uint32_t i = 0; i < ((size_t)&_ld_dtcm_bss_size) / 4; i++) {
(&_ld_dtcm_bss_start)[i] = 0;
}
// Set up the critical section to protect the background task queue.
critical_section_init(&background_queue_lock);
#if CIRCUITPY_CYW43
never_reset_pin_number(23);
never_reset_pin_number(24);
never_reset_pin_number(25);
never_reset_pin_number(29);
#endif
// Reset everything into a known state before board_init.
reset_port();
// Initialize RTC
common_hal_rtc_init();
// For the tick.
hardware_alarm_claim(0);
hardware_alarm_set_callback(0, _tick_callback);
// Check brownout.
#if CIRCUITPY_CYW43
// A small number of samples of pico w need an additional delay before
// initializing the cyw43 chip. Delays inside cyw43_arch_init_with_country
// are intended to meet the power on timing requirements, but apparently
// are inadequate. We'll back off this long delay based on future testing.
mp_hal_delay_ms(1000);
// Change this as a placeholder as to how to init with country code.
// Default country code is CYW43_COUNTRY_WORLDWIDE)
if (cyw43_arch_init_with_country(PICO_CYW43_ARCH_DEFAULT_COUNTRY_CODE)) {
serial_write("WiFi init failed\n");
} else {
cyw_ever_init = true;
}
#endif
if (board_requests_safe_mode()) {
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return SAFE_MODE_USER;
}
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return SAFE_MODE_NONE;
}
void reset_port(void) {
#if CIRCUITPY_BUSIO
reset_i2c();
reset_spi();
reset_uart();
#endif
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#if CIRCUITPY_COUNTIO
reset_countio();
#endif
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#if CIRCUITPY_PWMIO
pwmout_reset();
#endif
#if CIRCUITPY_RP2PIO
reset_rp2pio_statemachine();
#endif
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#if CIRCUITPY_RTC
rtc_reset();
#endif
#if CIRCUITPY_AUDIOPWMIO
audiopwmout_reset();
#endif
#if CIRCUITPY_AUDIOCORE
audio_dma_reset();
#endif
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#if CIRCUITPY_SSL
ssl_reset();
#endif
#if CIRCUITPY_WATCHDOG
watchdog_reset();
#endif
#if CIRCUITPY_WIFI
wifi_reset();
#endif
reset_all_pins();
}
void reset_to_bootloader(void) {
reset_usb_boot(0, 0);
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while (true) {
}
}
void reset_cpu(void) {
watchdog_reboot(0, SRAM_END, 0);
watchdog_start_tick(12);
while (true) {
__wfi();
}
}
// From the linker script
extern uint32_t _ld_cp_dynamic_mem_start;
extern uint32_t _ld_cp_dynamic_mem_end;
uint32_t *port_stack_get_limit(void) {
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Warray-bounds"
return port_stack_get_top() - (CIRCUITPY_DEFAULT_STACK_SIZE + CIRCUITPY_EXCEPTION_STACK_SIZE) / sizeof(uint32_t);
#pragma GCC diagnostic pop
}
uint32_t *port_stack_get_top(void) {
return &_ld_cp_dynamic_mem_end;
}
uint32_t *port_heap_get_bottom(void) {
return &_ld_cp_dynamic_mem_start;
}
uint32_t *port_heap_get_top(void) {
return port_stack_get_limit();
}
uint32_t __uninitialized_ram(saved_word);
void port_set_saved_word(uint32_t value) {
// Store in RAM because the watchdog scratch registers don't survive
// resetting by pulling the RUN pin low.
saved_word = value;
}
uint32_t port_get_saved_word(void) {
return saved_word;
}
static volatile bool ticks_enabled;
static volatile bool _woken_up;
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uint64_t port_get_raw_ticks(uint8_t *subticks) {
uint64_t microseconds = time_us_64();
return 1024 * (microseconds / 1000000) + (microseconds % 1000000) / 977;
}
STATIC void _tick_callback(uint alarm_num) {
if (ticks_enabled) {
supervisor_tick();
hardware_alarm_set_target(0, delayed_by_us(get_absolute_time(), 977));
}
_woken_up = true;
}
// Enable 1/1024 second tick.
void port_enable_tick(void) {
ticks_enabled = true;
hardware_alarm_set_target(0, delayed_by_us(get_absolute_time(), 977));
}
// Disable 1/1024 second tick.
void port_disable_tick(void) {
// One additional _tick_callback may occur, but it will just return
// whenever !ticks_enabled. Cancel is not called just in case
// it could nuke a timeout set by port_interrupt_after_ticks.
ticks_enabled = false;
}
// This is called by sleep, we ignore it when our ticks are enabled because
// they'll wake us up earlier. If we don't, we'll mess up ticks by overwriting
// the next RTC wake up time.
void port_interrupt_after_ticks(uint32_t ticks) {
if (!ticks_enabled) {
hardware_alarm_set_target(0, delayed_by_us(get_absolute_time(), ticks * 977));
}
_woken_up = false;
}
void port_idle_until_interrupt(void) {
common_hal_mcu_disable_interrupts();
if (!background_callback_pending() && !tud_task_event_ready() && !tuh_task_event_ready() && !_woken_up) {
__DSB();
__WFI();
}
common_hal_mcu_enable_interrupts();
}
/**
* \brief Default interrupt handler for unused IRQs.
*/
extern void HardFault_Handler(void); // provide a prototype to avoid a missing-prototypes diagnostic
__attribute__((used)) void __not_in_flash_func(HardFault_Handler)(void) {
// Only safe mode from core 0 which is running CircuitPython. Core 1 faulting
// should not be fatal to CP. (Fingers crossed.)
if (get_core_num() == 0) {
reset_into_safe_mode(SAFE_MODE_HARD_FAULT);
}
while (true) {
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asm ("nop;");
}
}
void port_yield() {
#if CIRCUITPY_CYW43
cyw43_arch_poll();
#endif
}
void port_boot_info(void) {
#if CIRCUITPY_CYW43
mp_printf(&mp_plat_print, "MAC");
for (int i = 0; i < 6; i++) {
mp_printf(&mp_plat_print, ":%02X", cyw43_state.mac[i]);
}
mp_printf(&mp_plat_print, "\n");
#endif
}