circuitpython/ports/espressif/supervisor/port.c

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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2017 Scott Shawcroft for Adafruit Industries
* Copyright (c) 2019 Lucian Copeland 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 <stdint.h>
#include <sys/time.h>
#include "supervisor/board.h"
#include "supervisor/port.h"
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#include "py/runtime.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "common-hal/microcontroller/Pin.h"
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#include "common-hal/analogio/AnalogOut.h"
#include "common-hal/busio/I2C.h"
#include "common-hal/busio/SPI.h"
#include "common-hal/busio/UART.h"
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#include "common-hal/dualbank/__init__.h"
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#include "common-hal/ps2io/Ps2.h"
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#include "common-hal/pulseio/PulseIn.h"
#include "common-hal/pwmio/PWMOut.h"
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#include "common-hal/watchdog/WatchDogTimer.h"
#include "common-hal/socketpool/Socket.h"
#include "common-hal/wifi/__init__.h"
#include "supervisor/background_callback.h"
#include "supervisor/memory.h"
#include "supervisor/shared/tick.h"
#include "shared-bindings/microcontroller/__init__.h"
#include "shared-bindings/microcontroller/RunMode.h"
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#include "shared-bindings/rtc/__init__.h"
#include "shared-bindings/socketpool/__init__.h"
#include "peripherals/rmt.h"
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#include "peripherals/timer.h"
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#if CIRCUITPY_COUNTIO || CIRCUITPY_ROTARYIO || CIRCUITPY_FREQUENCYIO
#include "peripherals/pcnt.h"
#endif
#if CIRCUITPY_TOUCHIO_USE_NATIVE
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#include "peripherals/touch.h"
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#endif
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#if CIRCUITPY_AUDIOBUSIO
#include "common-hal/audiobusio/__init__.h"
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#endif
#if CIRCUITPY_BLEIO
#include "shared-bindings/_bleio/__init__.h"
#endif
#if CIRCUITPY_IMAGECAPTURE
#include "cam.h"
#endif
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#ifndef CONFIG_IDF_TARGET_ESP32
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#include "soc/cache_memory.h"
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#endif
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#include "soc/rtc_cntl_reg.h"
#include "esp_debug_helpers.h"
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#include "esp_ipc.h"
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#ifdef CONFIG_SPIRAM
#include "esp32/spiram.h"
#ifdef CONFIG_IDF_TARGET_ESP32
#include "esp32/himem.h"
#else
#define esp_himem_reserved_area_size() (0)
#endif
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static size_t spiram_size_usable(void) {
/* SPIRAM chip may be larger than the size we can map into address space */
size_t s = MIN(esp_spiram_get_size(), SOC_EXTRAM_DATA_SIZE);
return s - esp_himem_reserved_area_size();
}
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#endif
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uint32_t *heap;
uint32_t heap_size;
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STATIC esp_timer_handle_t _tick_timer;
STATIC esp_timer_handle_t _sleep_timer;
TaskHandle_t circuitpython_task = NULL;
extern void esp_restart(void) NORETURN;
STATIC void tick_on_cp_core(void *arg) {
supervisor_tick();
// CircuitPython's VM is run in a separate FreeRTOS task from timer callbacks. So, we have to
// notify the main task every time in case it's waiting for us.
xTaskNotifyGive(circuitpython_task);
}
// This function may happen on the PRO core when CP is on the APP core. So, make
// sure we run on the CP core.
STATIC void tick_timer_cb(void *arg) {
#if defined(CONFIG_FREERTOS_UNICORE) && CONFIG_FREERTOS_UNICORE
tick_on_cp_core(arg);
#else
// This only blocks until the start of the function. That's ok since the PRO
// core shouldn't care what we do.
esp_ipc_call(CONFIG_ESP_MAIN_TASK_AFFINITY, tick_on_cp_core, NULL);
#endif
}
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void sleep_timer_cb(void *arg);
safe_mode_t port_init(void) {
esp_timer_create_args_t args;
args.callback = &tick_timer_cb;
args.arg = NULL;
args.dispatch_method = ESP_TIMER_TASK;
args.name = "CircuitPython Tick";
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esp_timer_create(&args, &_tick_timer);
args.callback = &sleep_timer_cb;
args.arg = NULL;
args.dispatch_method = ESP_TIMER_TASK;
args.name = "CircuitPython Sleep";
esp_timer_create(&args, &_sleep_timer);
circuitpython_task = xTaskGetCurrentTaskHandle();
// Send the ROM output out of the UART. This includes early logs.
#ifdef DEBUG
ets_install_uart_printf();
#endif
heap = NULL;
#ifndef DEBUG
#define DEBUG (0)
#endif
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#define pin_GPIOn(n) pin_GPIO##n
#define pin_GPIOn_EXPAND(x) pin_GPIOn(x)
#ifdef CONFIG_CONSOLE_UART_TX_GPIO
common_hal_never_reset_pin(&pin_GPIOn_EXPAND(CONFIG_CONSOLE_UART_TX_GPIO));
#endif
#ifdef CONFIG_CONSOLE_UART_RX_GPIO
common_hal_never_reset_pin(&pin_GPIOn_EXPAND(CONFIG_CONSOLE_UART_RX_GPIO));
#endif
#if DEBUG
// debug UART
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#ifdef CONFIG_IDF_TARGET_ESP32C3
common_hal_never_reset_pin(&pin_GPIO20);
common_hal_never_reset_pin(&pin_GPIO21);
#elif defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32S3)
common_hal_never_reset_pin(&pin_GPIO43);
common_hal_never_reset_pin(&pin_GPIO44);
#endif
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#endif
#ifndef ENABLE_JTAG
#define ENABLE_JTAG (defined(DEBUG) && DEBUG)
#endif
#if ENABLE_JTAG
// JTAG
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#ifdef CONFIG_IDF_TARGET_ESP32C3
common_hal_never_reset_pin(&pin_GPIO4);
common_hal_never_reset_pin(&pin_GPIO5);
common_hal_never_reset_pin(&pin_GPIO6);
common_hal_never_reset_pin(&pin_GPIO7);
#elif defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32S3)
common_hal_never_reset_pin(&pin_GPIO39);
common_hal_never_reset_pin(&pin_GPIO40);
common_hal_never_reset_pin(&pin_GPIO41);
common_hal_never_reset_pin(&pin_GPIO42);
#endif
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#endif
#ifdef CONFIG_SPIRAM
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if (esp_spiram_is_initialized()) {
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size_t spiram_size = spiram_size_usable();
#ifdef CONFIG_IDF_TARGET_ESP32
heap = (uint32_t *)SOC_EXTRAM_DATA_LOW;
#else
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heap = (uint32_t *)(SOC_EXTRAM_DATA_HIGH - spiram_size);
#endif
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heap_size = spiram_size / sizeof(uint32_t);
}
#endif
if (heap == NULL) {
size_t heap_total = heap_caps_get_total_size(MALLOC_CAP_8BIT);
heap_size = MIN(heap_caps_get_largest_free_block(MALLOC_CAP_8BIT), heap_total / 2);
heap = malloc(heap_size);
heap_size = heap_size / sizeof(uint32_t);
}
if (heap == NULL) {
heap_size = 0;
return NO_HEAP;
}
esp_reset_reason_t reason = esp_reset_reason();
switch (reason) {
case ESP_RST_BROWNOUT:
return BROWNOUT;
case ESP_RST_PANIC:
return HARD_CRASH;
case ESP_RST_INT_WDT:
// The interrupt watchdog is used internally to make sure that latency sensitive
// interrupt code isn't blocked. User watchdog resets come through ESP_RST_WDT.
return WATCHDOG_RESET;
case ESP_RST_WDT:
default:
break;
}
return NO_SAFE_MODE;
}
void reset_port(void) {
#if CIRCUITPY_IMAGECAPTURE
cam_deinit();
#endif
reset_all_pins();
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// A larger delay so the idle task can run and do any IDF cleanup needed.
vTaskDelay(4);
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#if CIRCUITPY_ANALOGIO
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analogout_reset();
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#endif
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#if CIRCUITPY_AUDIOBUSIO
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i2s_reset();
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#endif
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#if CIRCUITPY_BUSIO
i2c_reset();
spi_reset();
uart_reset();
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#endif
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#if CIRCUITPY_COUNTIO || CIRCUITPY_ROTARYIO || CIRCUITPY_FREQUENCYIO
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peripherals_pcnt_reset();
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#endif
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#if CIRCUITPY_DUALBANK
dualbank_reset();
#endif
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#if CIRCUITPY_FREQUENCYIO
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peripherals_timer_reset();
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#endif
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#if CIRCUITPY_PS2IO
ps2_reset();
#endif
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#if CIRCUITPY_PULSEIO
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peripherals_rmt_reset();
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pulsein_reset();
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#endif
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#if CIRCUITPY_PWMIO
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pwmout_reset();
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#endif
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#if CIRCUITPY_RTC
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rtc_reset();
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#endif
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#if CIRCUITPY_SOCKETPOOL
socketpool_user_reset();
#endif
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#if CIRCUITPY_TOUCHIO_USE_NATIVE
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peripherals_touch_reset();
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#endif
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#if CIRCUITPY_WATCHDOG
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watchdog_reset();
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#endif
}
void reset_to_bootloader(void) {
common_hal_mcu_on_next_reset(RUNMODE_BOOTLOADER);
esp_restart();
}
void reset_cpu(void) {
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#ifndef CONFIG_IDF_TARGET_ESP32C3
esp_backtrace_print(100);
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#endif
Add some NORETURN attributes I have a function where it should be impossible to reach the end, so I put in a safe-mode reset at the bottom: ``` int find_unused_slot(void) { // precondition: you already verified that a slot was available for (int i=0; i<NUM_SLOTS; i++) { if( slot_free(i)) { return i; } } safe_mode_reset(MICROPY_FATAL_ERROR); } ``` However, the compiler still gave a diagnostic, because safe_mode_reset was not declared NORETURN. So I started by teaching the compiler that reset_into_safe_mode never returned. This leads at least one level deeper due to reset_cpu needing to be a NORETURN function. Each port is a little different in this area. I also marked reset_to_bootloader as NORETURN. Additional notes: * stm32's reset_to_bootloader was not implemented, but now does a bare reset. Most stm32s are not fitted with uf2 bootloaders anyway. * ditto cxd56 * esp32s2 did not implement reset_cpu at all. I used esp_restart(). (not tested) * litex did not implement reset_cpu at all. I used reboot_ctrl_write. But notably this is what reset_to_bootloader already did, so one or the other must be incorrect (not tested). reboot_ctrl_write cannot be declared NORETURN, as it returns unless the special value 0xac is written), so a new unreachable forever-loop is added. * cxd56's reset is via a boardctl() call which can't generically be declared NORETURN, so a new unreacahble "for(;;)" forever-loop is added. * In several places, NVIC_SystemReset is redeclared with NORETURN applied. This is accepted just fine by gcc. I chose this as preferable to editing the multiple copies of CMSIS headers where it is normally declared. * the stub safe_mode reset simply aborts. This is used in mpy-cross.
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esp_restart();
}
uint32_t *port_heap_get_bottom(void) {
return heap;
}
uint32_t *port_heap_get_top(void) {
return heap + heap_size;
}
uint32_t *port_stack_get_limit(void) {
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wcast-align"
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return (uint32_t *)pxTaskGetStackStart(NULL);
#pragma GCC diagnostic pop
}
uint32_t *port_stack_get_top(void) {
// The sizeof-arithmetic is so that the pointer arithmetic is done on units
// of uint32_t instead of units of StackType_t. StackType_t is an alias
// for a byte sized type.
//
// The main stack is bigger than CONFIG_ESP_MAIN_TASK_STACK_SIZE -- an
// "extra" size is added to it (TASK_EXTRA_STACK_SIZE). This total size is
// available as ESP_TASK_MAIN_STACK. Presumably TASK_EXTRA_STACK_SIZE is
// additional stack that can be used by the esp-idf runtime. But what's
// important for us is that some very outermost stack frames, such as
// pyexec_friendly_repl, could lie inside the "extra" area and be invisible
// to the garbage collector.
return port_stack_get_limit() + ESP_TASK_MAIN_STACK / (sizeof(uint32_t) / sizeof(StackType_t));
}
bool port_has_fixed_stack(void) {
return true;
}
// Place the word to save just after our BSS section that gets blanked.
void port_set_saved_word(uint32_t value) {
REG_WRITE(RTC_CNTL_STORE0_REG, value);
}
uint32_t port_get_saved_word(void) {
return REG_READ(RTC_CNTL_STORE0_REG);
}
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uint64_t port_get_raw_ticks(uint8_t *subticks) {
// Convert microseconds to subticks of 1/32768 seconds
// 32768/1000000 = 64/15625 in lowest terms
// this arithmetic overflows after 570 years
int64_t all_subticks = esp_timer_get_time() * 512 / 15625;
if (subticks != NULL) {
*subticks = all_subticks % 32;
}
return all_subticks / 32;
}
// Enable 1/1024 second tick.
void port_enable_tick(void) {
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esp_timer_start_periodic(_tick_timer, 1000000 / 1024);
}
// Disable 1/1024 second tick.
void port_disable_tick(void) {
esp_timer_stop(_tick_timer);
}
void port_wake_main_task() {
xTaskNotifyGive(circuitpython_task);
}
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void port_wake_main_task_from_isr() {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
vTaskNotifyGiveFromISR(circuitpython_task, &xHigherPriorityTaskWoken);
if (xHigherPriorityTaskWoken == pdTRUE) {
portYIELD_FROM_ISR();
}
}
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void sleep_timer_cb(void *arg) {
port_wake_main_task();
}
void port_interrupt_after_ticks(uint32_t ticks) {
uint64_t timeout_us = ticks * 1000000ull / 1024;
if (esp_timer_start_once(_sleep_timer, timeout_us) != ESP_OK) {
esp_timer_stop(_sleep_timer);
esp_timer_start_once(_sleep_timer, timeout_us);
}
}
// On the ESP we use FreeRTOS notifications instead of interrupts so this is a
// bit of a misnomer.
void port_idle_until_interrupt(void) {
if (!background_callback_pending()) {
xTaskNotifyWait(0x01, 0x01, NULL, portMAX_DELAY);
}
}
// Wrap main in app_main that the IDF expects.
extern void main(void);
extern void app_main(void);
void app_main(void) {
main();
}