216 lines
8.3 KiB
ReStructuredText
216 lines
8.3 KiB
ReStructuredText
.. _natmod:
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Native machine code in .mpy files
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=================================
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This section describes how to build and work with .mpy files that contain native
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machine code from a language other than Python. This allows you to
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write code in a language like C, compile and link it into a .mpy file, and then
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import this file like a normal Python module. This can be used for implementing
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functionality which is performance critical, or for including an existing
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library written in another language.
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One of the main advantages of using native .mpy files is that native machine code
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can be imported by a script dynamically, without the need to rebuild the main
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MicroPython firmware. This is in contrast to :ref:`cmodules` which also allows
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defining custom modules in C but they must be compiled into the main firmware image.
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The focus here is on using C to build native modules, but in principle any
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language which can be compiled to stand-alone machine code can be put into a
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.mpy file.
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A native .mpy module is built using the ``mpy_ld.py`` tool, which is found in the
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``tools/`` directory of the project. This tool takes a set of object files
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(.o files) and links them together to create a native .mpy files.
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Supported features and limitations
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----------------------------------
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A .mpy file can contain MicroPython bytecode and/or native machine code. If it
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contains native machine code then the .mpy file has a specific architecture
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associated with it. Current supported architectures are (these are the valid
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options for the ``ARCH`` variable, see below):
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* ``x86`` (32 bit)
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* ``x64`` (64 bit x86)
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* ``armv7m`` (ARM Thumb 2, eg Cortex-M3)
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* ``armv7emsp`` (ARM Thumb 2, single precision float, eg Cortex-M4F, Cortex-M7)
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* ``armv7emdp`` (ARM Thumb 2, double precision float, eg Cortex-M7)
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* ``xtensa`` (non-windowed, eg ESP8266)
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* ``xtensawin`` (windowed with window size 8, eg ESP32)
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When compiling and linking the native .mpy file the architecture must be chosen
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and the corresponding file can only be imported on that architecture. For more
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details about .mpy files see :ref:`mpy_files`.
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Native code must be compiled as position independent code (PIC) and use a global
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offset table (GOT), although the details of this varies from architecture to
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architecture. When importing .mpy files with native code the import machinery
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is able to do some basic relocation of the native code. This includes
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relocating text, rodata and BSS sections.
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Supported features of the linker and dynamic loader are:
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* executable code (text)
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* read-only data (rodata), including strings and constant data (arrays, structs, etc)
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* zeroed data (BSS)
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* pointers in text to text, rodata and BSS
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* pointers in rodata to text, rodata and BSS
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The known limitations are:
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* data sections are not supported; workaround: use BSS data and initialise the
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data values explicitly
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* static BSS variables are not supported; workaround: use global BSS variables
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So, if your C code has writable data, make sure the data is defined globally,
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without an initialiser, and only written to within functions.
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Linker limitation: the native module is not linked against the symbol table of the
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full MicroPython firmware. Rather, it is linked against an explicit table of exported
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symbols found in ``mp_fun_table`` (in ``py/nativeglue.h``), that is fixed at firmware
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build time. It is thus not possible to simply call some arbitrary HAL/OS/RTOS/system
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function, for example.
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New symbols can be added to the end of the table and the firmware rebuilt.
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The symbols also need to be added to ``tools/mpy_ld.py``'s ``fun_table`` dict in the
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same location. This allows ``mpy_ld.py`` to be able to pick the new symbols up and
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provide relocations for them when the mpy is imported. Finally, if the symbol is a
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function, a macro or stub should be added to ``py/dynruntime.h`` to make it easy to
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call the function.
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Defining a native module
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------------------------
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A native .mpy module is defined by a set of files that are used to build the .mpy.
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The filesystem layout consists of two main parts, the source files and the Makefile:
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* In the simplest case only a single C source file is required, which contains all
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the code that will be compiled into the .mpy module. This C source code must
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include the ``py/dynruntime.h`` file to access the MicroPython dynamic API, and
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must at least define a function called ``mpy_init``. This function will be the
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entry point of the module, called when the module is imported.
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The module can be split into multiple C source files if desired. Parts of the
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module can also be implemented in Python. All source files should be listed in
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the Makefile, by adding them to the ``SRC`` variable (see below). This includes
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both C source files as well as any Python files which will be included in the
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resulting .mpy file.
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* The ``Makefile`` contains the build configuration for the module and list the
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source files used to build the .mpy module. It should define ``MPY_DIR`` as the
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location of the MicroPython repository (to find header files, the relevant Makefile
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fragment, and the ``mpy_ld.py`` tool), ``MOD`` as the name of the module, ``SRC``
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as the list of source files, optionally specify the machine architecture via ``ARCH``,
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and then include ``py/dynruntime.mk``.
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Minimal example
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---------------
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This section provides a fully working example of a simple module named ``factorial``.
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This module provides a single function ``factorial.factorial(x)`` which computes the
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factorial of the input and returns the result.
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Directory layout::
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factorial/
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├── factorial.c
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└── Makefile
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The file ``factorial.c`` contains:
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.. code-block:: c
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// Include the header file to get access to the MicroPython API
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#include "py/dynruntime.h"
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// Helper function to compute factorial
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STATIC mp_int_t factorial_helper(mp_int_t x) {
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if (x == 0) {
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return 1;
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}
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return x * factorial_helper(x - 1);
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}
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// This is the function which will be called from Python, as factorial(x)
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STATIC mp_obj_t factorial(mp_obj_t x_obj) {
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// Extract the integer from the MicroPython input object
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mp_int_t x = mp_obj_get_int(x_obj);
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// Calculate the factorial
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mp_int_t result = factorial_helper(x);
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// Convert the result to a MicroPython integer object and return it
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return mp_obj_new_int(result);
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}
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// Define a Python reference to the function above
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(factorial_obj, factorial);
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// This is the entry point and is called when the module is imported
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mp_obj_t mpy_init(mp_obj_fun_bc_t *self, size_t n_args, size_t n_kw, mp_obj_t *args) {
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// This must be first, it sets up the globals dict and other things
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MP_DYNRUNTIME_INIT_ENTRY
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// Make the function available in the module's namespace
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mp_store_global(MP_QSTR_factorial, MP_OBJ_FROM_PTR(&factorial_obj));
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// This must be last, it restores the globals dict
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MP_DYNRUNTIME_INIT_EXIT
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}
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The file ``Makefile`` contains:
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.. code-block:: make
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# Location of top-level MicroPython directory
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MPY_DIR = ../../..
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# Name of module
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MOD = factorial
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# Source files (.c or .py)
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SRC = factorial.c
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# Architecture to build for (x86, x64, armv7m, xtensa, xtensawin)
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ARCH = x64
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# Include to get the rules for compiling and linking the module
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include $(MPY_DIR)/py/dynruntime.mk
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Compiling the module
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--------------------
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Be sure to select the correct ``ARCH`` for the target you are going to run on.
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Then build with::
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$ make
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Without modifying the Makefile you can specify the target architecture via::
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$ make ARCH=armv7m
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Module usage in MicroPython
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---------------------------
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Once the module is built there should be a file called ``factorial.mpy``. Copy
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this so it is accessible on the filesystem of your MicroPython system and can be
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found in the import path. The module con now be accessed in Python just like any
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other module, for example::
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import factorial
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print(factorial.factorial(10))
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# should display 3628800
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Further examples
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----------------
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See ``examples/natmod/`` for further examples which show many of the available
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features of native .mpy modules. Such features include:
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* using multiple C source files
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* including Python code alongside C code
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* rodata and BSS data
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* memory allocation
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* use of floating point
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* exception handling
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* including external C libraries
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