480 lines
12 KiB
C
480 lines
12 KiB
C
#include <stdio.h>
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#include <string.h>
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#include <stm32f4xx_hal.h>
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#include <stm32f4xx_hal_gpio.h>
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#include "std.h"
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#include "misc.h"
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#include "systick.h"
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#include "pendsv.h"
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#include "mpconfig.h"
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#include "qstr.h"
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#include "misc.h"
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#include "lexer.h"
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#include "parse.h"
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#include "obj.h"
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#include "parsehelper.h"
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#include "compile.h"
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#include "runtime0.h"
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#include "runtime.h"
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#include "gc.h"
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#include "gccollect.h"
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#include "pyexec.h"
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#include "pybmodule.h"
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#include "osmodule.h"
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#include "timemodule.h"
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#include "usart.h"
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#include "led.h"
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#include "exti.h"
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#include "usrsw.h"
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#include "usb.h"
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#include "rng.h"
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#include "rtc.h"
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#include "storage.h"
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#include "sdcard.h"
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#include "ff.h"
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#include "lcd.h"
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#include "accel.h"
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#include "servo.h"
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#include "dac.h"
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#include "pin.h"
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#if 0
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#include "timer.h"
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#include "pybwlan.h"
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#endif
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void SystemClock_Config(void);
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int errno;
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static FATFS fatfs0;
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#if MICROPY_HW_HAS_SDCARD
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static FATFS fatfs1;
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#endif
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void flash_error(int n) {
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for (int i = 0; i < n; i++) {
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led_state(PYB_LED_R1, 1);
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led_state(PYB_LED_R2, 0);
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HAL_Delay(250);
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led_state(PYB_LED_R1, 0);
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led_state(PYB_LED_R2, 1);
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HAL_Delay(250);
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}
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led_state(PYB_LED_R2, 0);
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}
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void __fatal_error(const char *msg) {
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#if MICROPY_HW_HAS_LCD
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lcd_print_strn("\nFATAL ERROR:\n", 14);
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lcd_print_strn(msg, strlen(msg));
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#endif
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for (;;) {
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flash_error(1);
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}
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}
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STATIC mp_obj_t pyb_config_source_dir = MP_OBJ_NULL;
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STATIC mp_obj_t pyb_config_main = MP_OBJ_NULL;
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STATIC mp_obj_t pyb_source_dir(mp_obj_t source_dir) {
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if (MP_OBJ_IS_STR(source_dir)) {
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pyb_config_source_dir = source_dir;
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}
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return mp_const_none;
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}
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MP_DEFINE_CONST_FUN_OBJ_1(pyb_source_dir_obj, pyb_source_dir);
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STATIC mp_obj_t pyb_main(mp_obj_t main) {
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if (MP_OBJ_IS_STR(main)) {
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pyb_config_main = main;
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}
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return mp_const_none;
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}
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MP_DEFINE_CONST_FUN_OBJ_1(pyb_main_obj, pyb_main);
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void fatality(void) {
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led_state(PYB_LED_R1, 1);
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led_state(PYB_LED_G1, 1);
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led_state(PYB_LED_R2, 1);
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led_state(PYB_LED_G2, 1);
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for (;;) {
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flash_error(1);
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}
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}
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static const char fresh_boot_py[] =
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"# boot.py -- run on boot-up\n"
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"# can run arbitrary Python, but best to keep it minimal\n"
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"\n"
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"pyb.source_dir('/src')\n"
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"pyb.main('main.py')\n"
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"#pyb.usb_usr('VCP')\n"
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"#pyb.usb_msd(True, 'dual partition')\n"
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"#pyb.flush_cache(False)\n"
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"#pyb.error_log('error.txt')\n"
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;
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static const char fresh_main_py[] =
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"# main.py -- put your code here!\n"
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;
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int main(void) {
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// TODO disable JTAG
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/* STM32F4xx HAL library initialization:
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- Configure the Flash prefetch, instruction and Data caches
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- Configure the Systick to generate an interrupt each 1 msec
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- Set NVIC Group Priority to 4
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- Global MSP (MCU Support Package) initialization
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*/
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HAL_Init();
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// set the system clock to be HSE
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SystemClock_Config();
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// enable GPIO clocks
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__GPIOA_CLK_ENABLE();
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__GPIOB_CLK_ENABLE();
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__GPIOC_CLK_ENABLE();
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__GPIOD_CLK_ENABLE();
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// enable the CCM RAM
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__CCMDATARAMEN_CLK_ENABLE();
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#if 0
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#if defined(NETDUINO_PLUS_2)
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_25MHz;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
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GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
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#if MICROPY_HW_HAS_SDCARD
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// Turn on the power enable for the sdcard (PB1)
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
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GPIO_Init(GPIOB, &GPIO_InitStructure);
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GPIO_WriteBit(GPIOB, GPIO_Pin_1, Bit_SET);
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#endif
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// Turn on the power for the 5V on the expansion header (PB2)
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
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GPIO_Init(GPIOB, &GPIO_InitStructure);
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GPIO_WriteBit(GPIOB, GPIO_Pin_2, Bit_SET);
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}
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#endif
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#endif
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// basic sub-system init
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pendsv_init();
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led_init();
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// turn on LED to indicate bootup
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led_state(PYB_LED_GREEN, 1);
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#if MICROPY_HW_ENABLE_RTC
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rtc_init();
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#endif
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// more sub-system init
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#if MICROPY_HW_HAS_SDCARD
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sdcard_init();
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#endif
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storage_init();
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int first_soft_reset = true;
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soft_reset:
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// GC init
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gc_init(&_heap_start, &_heap_end);
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// Change #if 0 to #if 1 if you want REPL on USART_6 (or another usart)
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// as well as on USB VCP
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#if 0
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pyb_usart_global_debug = pyb_Usart(MP_OBJ_NEW_SMALL_INT(PYB_USART_YA),
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MP_OBJ_NEW_SMALL_INT(115200));
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#else
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pyb_usart_global_debug = NULL;
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#endif
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// Micro Python init
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qstr_init();
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rt_init();
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mp_obj_t def_path[3];
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def_path[0] = MP_OBJ_NEW_QSTR(MP_QSTR_0_colon__slash_);
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def_path[1] = MP_OBJ_NEW_QSTR(MP_QSTR_0_colon__slash_src);
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def_path[2] = MP_OBJ_NEW_QSTR(MP_QSTR_0_colon__slash_lib);
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sys_path = mp_obj_new_list(3, def_path);
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exti_init();
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#if MICROPY_HW_HAS_SWITCH
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switch_init();
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#endif
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#if MICROPY_HW_HAS_LCD
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// LCD init (just creates class, init hardware by calling LCD())
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lcd_init();
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#endif
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#if MICROPY_HW_ENABLE_RNG
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// RNG
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rng_init();
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#endif
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#if MICROPY_HW_ENABLE_SERVO
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// servo
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servo_init();
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#endif
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#if 0
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#if MICROPY_HW_ENABLE_TIMER
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// timer
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timer_init();
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#endif
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#endif
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#if MICROPY_HW_ENABLE_DAC
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// DAC
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dac_init();
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#endif
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pin_map_init();
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// we pre-import the pyb module
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// probably shouldn't do this, so we are compatible with CPython
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rt_store_name(MP_QSTR_pyb, (mp_obj_t)&pyb_module);
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// pre-import the os and time modules
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// TODO don't do this! (need a way of registering builtin modules...)
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rt_store_name(MP_QSTR_os, (mp_obj_t)&os_module);
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rt_store_name(MP_QSTR_time, (mp_obj_t)&time_module);
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// check if user switch held (initiates reset of filesystem)
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bool reset_filesystem = false;
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#if MICROPY_HW_HAS_SWITCH
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if (switch_get()) {
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reset_filesystem = true;
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for (int i = 0; i < 50; i++) {
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if (!switch_get()) {
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reset_filesystem = false;
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break;
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}
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HAL_Delay(10);
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}
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}
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#endif
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// local filesystem init
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{
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// try to mount the flash
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FRESULT res = f_mount(&fatfs0, "0:", 1);
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if (!reset_filesystem && res == FR_OK) {
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// mount sucessful
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} else if (reset_filesystem || res == FR_NO_FILESYSTEM) {
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// no filesystem, so create a fresh one
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// TODO doesn't seem to work correctly when reset_filesystem is true...
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// LED on to indicate creation of LFS
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led_state(PYB_LED_R2, 1);
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uint32_t start_tick = HAL_GetTick();
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res = f_mkfs("0:", 0, 0);
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if (res == FR_OK) {
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// success creating fresh LFS
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} else {
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__fatal_error("could not create LFS");
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}
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// create src directory
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res = f_mkdir("0:/src");
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// ignore result from mkdir
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// create empty main.py
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FIL fp;
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f_open(&fp, "0:/src/main.py", FA_WRITE | FA_CREATE_ALWAYS);
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UINT n;
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f_write(&fp, fresh_main_py, sizeof(fresh_main_py) - 1 /* don't count null terminator */, &n);
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// TODO check we could write n bytes
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f_close(&fp);
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// keep LED on for at least 200ms
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sys_tick_wait_at_least(start_tick, 200);
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led_state(PYB_LED_R2, 0);
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} else {
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__fatal_error("could not access LFS");
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}
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}
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// make sure we have a /boot.py
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{
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FILINFO fno;
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#if _USE_LFN
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fno.lfname = NULL;
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fno.lfsize = 0;
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#endif
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FRESULT res = f_stat("0:/boot.py", &fno);
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if (res == FR_OK) {
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if (fno.fattrib & AM_DIR) {
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// exists as a directory
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// TODO handle this case
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// see http://elm-chan.org/fsw/ff/img/app2.c for a "rm -rf" implementation
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} else {
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// exists as a file, good!
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}
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} else {
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// doesn't exist, create fresh file
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// LED on to indicate creation of boot.py
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led_state(PYB_LED_R2, 1);
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uint32_t start_tick = HAL_GetTick();
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FIL fp;
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f_open(&fp, "0:/boot.py", FA_WRITE | FA_CREATE_ALWAYS);
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UINT n;
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f_write(&fp, fresh_boot_py, sizeof(fresh_boot_py) - 1 /* don't count null terminator */, &n);
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// TODO check we could write n bytes
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f_close(&fp);
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// keep LED on for at least 200ms
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sys_tick_wait_at_least(start_tick, 200);
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led_state(PYB_LED_R2, 0);
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}
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}
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// run /boot.py
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if (!pyexec_file("0:/boot.py")) {
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flash_error(4);
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}
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// turn boot-up LED off
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led_state(PYB_LED_GREEN, 0);
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#if defined(USE_DEVICE_MODE)
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usbd_storage_medium_kind_t usbd_medium_kind = USBD_STORAGE_MEDIUM_FLASH;
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#endif
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#if MICROPY_HW_HAS_SDCARD
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// if an SD card is present then mount it on 1:/
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if (sdcard_is_present()) {
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FRESULT res = f_mount(&fatfs1, "1:", 1);
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if (res != FR_OK) {
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printf("[SD] could not mount SD card\n");
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} else {
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if (first_soft_reset) {
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// use SD card as medium for the USB MSD
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#if defined(USE_DEVICE_MODE)
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usbd_medium_kind = USBD_STORAGE_MEDIUM_SDCARD;
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#endif
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}
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}
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}
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#else
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// Get rid of compiler warning if no SDCARD is configured.
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(void)first_soft_reset;
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#endif
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#if defined(USE_HOST_MODE)
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// USB host
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pyb_usb_host_init();
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#elif defined(USE_DEVICE_MODE)
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// USB device
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pyb_usb_dev_init(USBD_DEVICE_CDC_MSC, usbd_medium_kind);
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#endif
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#if MICROPY_HW_HAS_MMA7660
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// MMA accel: init and reset
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accel_init();
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#endif
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// run main script
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{
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vstr_t *vstr = vstr_new();
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vstr_add_str(vstr, "0:/");
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if (pyb_config_source_dir == MP_OBJ_NULL) {
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vstr_add_str(vstr, "src");
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} else {
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vstr_add_str(vstr, mp_obj_str_get_str(pyb_config_source_dir));
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}
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vstr_add_char(vstr, '/');
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if (pyb_config_main == MP_OBJ_NULL) {
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vstr_add_str(vstr, "main.py");
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} else {
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vstr_add_str(vstr, mp_obj_str_get_str(pyb_config_main));
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}
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if (!pyexec_file(vstr_str(vstr))) {
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flash_error(3);
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}
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vstr_free(vstr);
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}
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#if 0
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#if MICROPY_HW_HAS_MMA7660
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// HID example
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if (0) {
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uint8_t data[4];
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data[0] = 0;
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data[1] = 1;
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data[2] = -2;
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data[3] = 0;
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for (;;) {
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#if MICROPY_HW_HAS_SWITCH
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if (switch_get()) {
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data[0] = 0x01; // 0x04 is middle, 0x02 is right
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} else {
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data[0] = 0x00;
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}
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#else
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data[0] = 0x00;
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#endif
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accel_start(0x4c /* ACCEL_ADDR */, 1);
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accel_send_byte(0);
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accel_restart(0x4c /* ACCEL_ADDR */, 0);
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for (int i = 0; i <= 1; i++) {
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int v = accel_read_ack() & 0x3f;
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if (v & 0x20) {
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v |= ~0x1f;
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}
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data[1 + i] = v;
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}
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accel_read_nack();
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usb_hid_send_report(data);
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HAL_Delay(15);
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}
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}
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#endif
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#if MICROPY_HW_HAS_WLAN
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// wifi
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pyb_wlan_init();
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pyb_wlan_start();
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#endif
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#endif
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// enter REPL
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// REPL mode can change, or it can request a soft reset
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for (;;) {
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if (pyexec_mode_kind == PYEXEC_MODE_RAW_REPL) {
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if (pyexec_raw_repl() != 0) {
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break;
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}
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} else {
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if (pyexec_friendly_repl() != 0) {
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break;
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}
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}
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}
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printf("PYB: sync filesystems\n");
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storage_flush();
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printf("PYB: soft reboot\n");
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first_soft_reset = false;
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goto soft_reset;
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}
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