536 lines
14 KiB
C
536 lines
14 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 "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 "runtime.h"
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#include "gc.h"
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#include "gccollect.h"
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#include "pybstdio.h"
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#include "readline.h"
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#include "pyexec.h"
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#include "usart.h"
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#include "timer.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 "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 "rng.h"
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#include "i2c.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 "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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for (volatile uint delay = 0; delay < 10000000; delay++) {
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}
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led_state(1, 1);
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led_state(2, 1);
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led_state(3, 1);
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led_state(4, 1);
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stdout_tx_strn("\nFATAL ERROR:\n", 14);
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stdout_tx_strn(msg, strlen(msg));
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#if 0 && 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 (uint i = 0;;) {
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led_toggle(((i++) & 3) + 1);
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for (volatile uint delay = 0; delay < 10000000; delay++) {
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}
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if (i >= 8) {
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__WFI();
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}
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}
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}
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void nlr_jump_fail(void *val) {
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printf("FATAL: uncaught exception %p\n", val);
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__fatal_error("");
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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_config_usb_mode = 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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STATIC mp_obj_t pyb_usb_mode(mp_obj_t usb_mode) {
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if (MP_OBJ_IS_STR(usb_mode)) {
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pyb_config_usb_mode = usb_mode;
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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_usb_mode_obj, pyb_usb_mode);
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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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"import pyb\n"
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"#pyb.main('main.py') # main script to run after this one\n"
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"#pyb.usb_mode('CDC+MSC') # act as a serial and a storage device\n"
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"#pyb.usb_mode('CDC+HID') # act as a serial device and a mouse\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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static const char fresh_pybcdc_inf[] =
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#include "genhdr/pybcdc_inf.h"
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;
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static const char fresh_readme_txt[] =
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"This is a Micro Python board\r\n"
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"\r\n"
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"You can get started right away by writing your Python code in 'main.py'.\r\n"
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"\r\n"
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"For a serial prompt:\r\n"
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" - Windows: you need to go to 'Device manager', right click on the unknown device,\r\n"
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" then update the driver software, using the 'pybcdc.inf' file found on this drive.\r\n"
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" Then use a terminal program like Hyperterminal or putty.\r\n"
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" - Mac OS X: use the command: screen /dev/tty.usbmodem*\r\n"
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" - Linux: use the command: screen /dev/ttyACM0\r\n"
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"\r\n"
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"Please visit http://micropython.org/help/ for further help.\r\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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timer_tim3_init();
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led_init();
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switch_init0();
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int first_soft_reset = true;
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soft_reset:
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// check if user switch held to select the reset mode
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led_state(1, 0);
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led_state(2, 1);
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led_state(3, 0);
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led_state(4, 0);
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uint reset_mode = 1;
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#if MICROPY_HW_HAS_SWITCH
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if (switch_get()) {
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for (uint i = 0; i < 3000; i++) {
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if (!switch_get()) {
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break;
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}
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HAL_Delay(20);
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if (i % 30 == 29) {
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if (++reset_mode > 3) {
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reset_mode = 1;
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}
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led_state(2, reset_mode & 1);
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led_state(3, reset_mode & 2);
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led_state(4, reset_mode & 4);
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}
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}
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// flash the selected reset mode
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for (uint i = 0; i < 6; i++) {
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led_state(2, 0);
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led_state(3, 0);
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led_state(4, 0);
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HAL_Delay(50);
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led_state(2, reset_mode & 1);
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led_state(3, reset_mode & 2);
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led_state(4, reset_mode & 4);
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HAL_Delay(50);
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}
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HAL_Delay(400);
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}
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#endif
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#if MICROPY_HW_ENABLE_RTC
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if (first_soft_reset) {
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rtc_init();
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}
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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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if (first_soft_reset) {
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sdcard_init();
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}
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#endif
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if (first_soft_reset) {
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storage_init();
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}
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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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{
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mp_obj_t args[2] = {
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MP_OBJ_NEW_SMALL_INT(PYB_USART_6),
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MP_OBJ_NEW_SMALL_INT(115200),
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};
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pyb_usart_global_debug = pyb_usart_type.make_new((mp_obj_t)&pyb_usart_type,
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sizeof(args) / sizeof(args[0]),
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0, args);
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}
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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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mp_init();
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mp_obj_list_init(mp_sys_path, 0);
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mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR_0_colon__slash_));
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mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR_0_colon__slash_lib));
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mp_obj_list_init(mp_sys_argv, 0);
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readline_init();
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exti_init();
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#if MICROPY_HW_HAS_SWITCH
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// must come after exti_init
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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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pin_map_init();
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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_mode == 3 || res == FR_NO_FILESYSTEM) {
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// no filesystem, or asked to reset it, so create a fresh one
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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 empty main.py
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FIL fp;
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f_open(&fp, "0:/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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// create .inf driver file
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f_open(&fp, "0:/pybcdc.inf", FA_WRITE | FA_CREATE_ALWAYS);
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f_write(&fp, fresh_pybcdc_inf, sizeof(fresh_pybcdc_inf) - 1 /* don't count null terminator */, &n);
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f_close(&fp);
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// create readme file
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f_open(&fp, "0:/README.txt", FA_WRITE | FA_CREATE_ALWAYS);
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f_write(&fp, fresh_readme_txt, sizeof(fresh_readme_txt) - 1 /* don't count null terminator */, &n);
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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 if (res == FR_OK) {
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// mount sucessful
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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 0:/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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// root device defaults to internal flash filesystem
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uint root_device = 0;
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#if defined(USE_DEVICE_MODE)
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usb_storage_medium_t usb_medium = USB_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 (reset_mode == 1 && 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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// use SD card as root device
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root_device = 1;
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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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usb_medium = USB_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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// run <root>:/boot.py, if it exists
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if (reset_mode == 1) {
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const char *boot_file;
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if (root_device == 0) {
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boot_file = "0:/boot.py";
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} else {
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boot_file = "1:/boot.py";
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}
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FRESULT res = f_stat(boot_file, NULL);
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if (res == FR_OK) {
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if (!pyexec_file(boot_file)) {
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flash_error(4);
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}
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}
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}
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// turn boot-up LEDs off
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led_state(2, 0);
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led_state(3, 0);
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led_state(4, 0);
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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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if (reset_mode == 1) {
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usb_device_mode_t usb_mode = USB_DEVICE_MODE_CDC_MSC;
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if (pyb_config_usb_mode != MP_OBJ_NULL) {
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if (strcmp(mp_obj_str_get_str(pyb_config_usb_mode), "CDC+HID") == 0) {
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usb_mode = USB_DEVICE_MODE_CDC_HID;
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}
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}
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pyb_usb_dev_init(usb_mode, usb_medium);
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} else {
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pyb_usb_dev_init(USB_DEVICE_MODE_CDC_MSC, usb_medium);
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}
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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_TIMER
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// timer
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//timer_init();
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#endif
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// I2C
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i2c_init();
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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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#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 MICROPY_HW_ENABLE_DAC
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// DAC
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dac_init();
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#endif
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// now that everything is initialised, run main script
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if (reset_mode == 1 && pyexec_mode_kind == PYEXEC_MODE_FRIENDLY_REPL) {
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vstr_t *vstr = vstr_new();
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vstr_printf(vstr, "%d:/", root_device);
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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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FRESULT res = f_stat(vstr_str(vstr), NULL);
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if (res == FR_OK) {
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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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}
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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_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) {
|
|
if (pyexec_raw_repl() != 0) {
|
|
break;
|
|
}
|
|
} else {
|
|
if (pyexec_friendly_repl() != 0) {
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
printf("PYB: sync filesystems\n");
|
|
storage_flush();
|
|
|
|
printf("PYB: soft reboot\n");
|
|
|
|
first_soft_reset = false;
|
|
goto soft_reset;
|
|
}
|