4a4f29b8f9
* Track status pin use by user code separately so it can take over the pins and then give them back. * Switch to hardware SPI for APA102 on Gemma and Trinket. * Merge microcontroller/types.h into microcontroller/Pin.h to better match approach going forwards.
615 lines
21 KiB
C
615 lines
21 KiB
C
#include <stdint.h>
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#include <string.h>
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#include "py/nlr.h"
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#include "py/compile.h"
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#include "py/mphal.h"
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#include "py/runtime.h"
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#include "py/repl.h"
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#include "py/gc.h"
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#include "py/stackctrl.h"
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#include "lib/fatfs/ff.h"
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#include "lib/fatfs/diskio.h"
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#include "lib/mp-readline/readline.h"
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#include "lib/utils/pyexec.h"
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#include "extmod/fsusermount.h"
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#include "asf/common/services/sleepmgr/sleepmgr.h"
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#include "asf/common/services/usb/udc/udc.h"
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#include "asf/common2/services/delay/delay.h"
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#include "asf/sam0/drivers/nvm/nvm.h"
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#include "asf/sam0/drivers/port/port.h"
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#include "asf/sam0/drivers/sercom/usart/usart.h"
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#include "asf/sam0/drivers/system/system.h"
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#include <board.h>
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#include "common-hal/analogio/AnalogIn.h"
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#include "common-hal/pulseio/PulseIn.h"
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#include "common-hal/pulseio/PulseOut.h"
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#include "common-hal/pulseio/PWMOut.h"
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#include "common-hal/usb_hid/__init__.h"
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#ifdef EXPRESS_BOARD
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#include "common-hal/touchio/TouchIn.h"
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#include "QTouch/touch_api_ptc.h"
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#define INTERNAL_CIRCUITPY_CONFIG_START_ADDR (0x00040000 - 0x100)
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#else
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#define INTERNAL_CIRCUITPY_CONFIG_START_ADDR (0x00040000 - 0x010000 - 0x100)
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#endif
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#include "autoreset.h"
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#include "mpconfigboard.h"
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#include "rgb_led_status.h"
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#include "tick.h"
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fs_user_mount_t fs_user_mount_flash;
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void do_str(const char *src, mp_parse_input_kind_t input_kind) {
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mp_lexer_t *lex = mp_lexer_new_from_str_len(MP_QSTR__lt_stdin_gt_, src, strlen(src), 0);
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if (lex == NULL) {
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printf("MemoryError: lexer could not allocate memory\n");
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return;
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}
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nlr_buf_t nlr;
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if (nlr_push(&nlr) == 0) {
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qstr source_name = lex->source_name;
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mp_parse_tree_t parse_tree = mp_parse(lex, input_kind);
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mp_obj_t module_fun = mp_compile(&parse_tree, source_name, MP_EMIT_OPT_NONE, true);
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mp_call_function_0(module_fun);
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nlr_pop();
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} else {
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// uncaught exception
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mp_obj_print_exception(&mp_plat_print, (mp_obj_t)nlr.ret_val);
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}
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}
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extern void flash_init_vfs(fs_user_mount_t *vfs);
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// we don't make this function static because it needs a lot of stack and we
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// want it to be executed without using stack within main() function
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void init_flash_fs(void) {
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// init the vfs object
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fs_user_mount_t *vfs = &fs_user_mount_flash;
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vfs->str = "/flash";
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vfs->len = 6;
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vfs->flags = 0;
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flash_init_vfs(vfs);
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// put the flash device in slot 0 (it will be unused at this point)
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MP_STATE_PORT(fs_user_mount)[0] = vfs;
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// try to mount the flash
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FRESULT res = f_mount(&vfs->fatfs, vfs->str, 1);
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if (res == FR_NO_FILESYSTEM) {
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// no filesystem, or asked to reset it, so create a fresh one
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// We are before USB initializes so temporarily undo the USB_WRITEABLE
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// requirement.
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bool usb_writeable = (vfs->flags & FSUSER_USB_WRITEABLE) > 0;
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vfs->flags &= ~FSUSER_USB_WRITEABLE;
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res = f_mkfs("/flash", 0, 0);
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if (res != FR_OK) {
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MP_STATE_PORT(fs_user_mount)[0] = NULL;
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return;
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}
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// set label
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f_setlabel("CIRCUITPY");
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if (usb_writeable) {
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vfs->flags |= FSUSER_USB_WRITEABLE;
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}
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} else if (res != FR_OK) {
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MP_STATE_PORT(fs_user_mount)[0] = NULL;
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return;
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}
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// The current directory is used as the boot up directory.
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// It is set to the internal flash filesystem by default.
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f_chdrive("/flash");
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}
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static char *stack_top;
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static char heap[16384];
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void reset_mp(void) {
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reset_status_led();
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new_status_color(0x8f008f);
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autoreset_stop();
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autoreset_enable();
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// Sync the file systems in case any used RAM from the GC to cache. As soon
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// as we re-init the GC all bets are off on the cache.
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disk_ioctl(0, CTRL_SYNC, NULL);
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disk_ioctl(1, CTRL_SYNC, NULL);
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disk_ioctl(2, CTRL_SYNC, NULL);
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#if MICROPY_ENABLE_GC
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gc_init(heap, heap + sizeof(heap));
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#endif
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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_)); // current dir (or base dir of the script)
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mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR__slash_flash));
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mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR__slash_flash_slash_lib));
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mp_obj_list_init(mp_sys_argv, 0);
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}
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#ifdef EXPRESS_BOARD
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extern touchio_touchin_obj_t *active_touchin_obj[DEF_SELFCAP_NUM_CHANNELS];
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extern touch_selfcap_config_t selfcap_config;
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#endif
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extern volatile bool mp_msc_enabled;
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void reset_samd21(void) {
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// Reset all SERCOMs except the one being used by the SPI flash.
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Sercom *sercom_instances[SERCOM_INST_NUM] = SERCOM_INSTS;
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for (int i = 0; i < SERCOM_INST_NUM; i++) {
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#ifdef SPI_FLASH_SERCOM
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if (sercom_instances[i] == SPI_FLASH_SERCOM) {
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continue;
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}
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#endif
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#ifdef MICROPY_HW_APA102_SERCOM
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if (sercom_instances[i] == MICROPY_HW_APA102_SERCOM) {
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continue;
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}
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#endif
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sercom_instances[i]->SPI.CTRLA.bit.SWRST = 1;
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}
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#ifdef EXPRESS_BOARD
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touch_selfcap_sensors_deinit();
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for (int i = 0; i < selfcap_config.num_channels; i++) {
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active_touchin_obj[i] = NULL;
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}
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selfcap_config.num_channels = 0;
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selfcap_config.num_sensors = 0;
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#endif
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analogin_reset();
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pulsein_reset();
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pulseout_reset();
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// Wait for the DAC to sync then reset.
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while (DAC->STATUS.reg & DAC_STATUS_SYNCBUSY) {}
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DAC->CTRLA.reg |= DAC_CTRLA_SWRST;
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// Reset pins
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struct system_pinmux_config config;
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system_pinmux_get_config_defaults(&config);
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config.powersave = true;
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uint32_t pin_mask[2] = PORT_OUT_IMPLEMENTED;
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system_pinmux_group_set_config(&(PORT->Group[0]), pin_mask[0] & ~MICROPY_PORT_A, &config);
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system_pinmux_group_set_config(&(PORT->Group[1]), pin_mask[1] & ~MICROPY_PORT_B, &config);
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pwmout_reset();
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usb_hid_reset();
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#ifdef CALIBRATE_CRYSTALLESS
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// If we are on USB lets double check our fine calibration for the clock and
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// save the new value if its different enough.
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if (mp_msc_enabled) {
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SYSCTRL->DFLLSYNC.bit.READREQ = 1;
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uint16_t saved_calibration = 0x1ff;
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if (strcmp((char*) INTERNAL_CIRCUITPY_CONFIG_START_ADDR, "CIRCUITPYTHON1") == 0) {
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saved_calibration = ((uint16_t *) INTERNAL_CIRCUITPY_CONFIG_START_ADDR)[8];
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}
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while (SYSCTRL->PCLKSR.bit.DFLLRDY == 0) {
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// TODO(tannewt): Run the mass storage stuff if this takes a while.
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}
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int16_t current_calibration = SYSCTRL->DFLLVAL.bit.FINE;
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if (abs(current_calibration - saved_calibration) > 10) {
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enum status_code error_code;
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uint8_t page_buffer[NVMCTRL_ROW_SIZE];
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for (int i = 0; i < NVMCTRL_ROW_PAGES; i++) {
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do
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{
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error_code = nvm_read_buffer(INTERNAL_CIRCUITPY_CONFIG_START_ADDR + i * NVMCTRL_PAGE_SIZE,
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page_buffer + i * NVMCTRL_PAGE_SIZE,
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NVMCTRL_PAGE_SIZE);
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} while (error_code == STATUS_BUSY);
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}
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// If this is the first write, include the header.
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if (strcmp((char*) page_buffer, "CIRCUITPYTHON1") != 0) {
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memcpy(page_buffer, "CIRCUITPYTHON1", 15);
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}
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// First 16 bytes (0-15) are ID. Little endian!
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page_buffer[16] = current_calibration & 0xff;
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page_buffer[17] = current_calibration >> 8;
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do
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{
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error_code = nvm_erase_row(INTERNAL_CIRCUITPY_CONFIG_START_ADDR);
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} while (error_code == STATUS_BUSY);
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for (int i = 0; i < NVMCTRL_ROW_PAGES; i++) {
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do
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{
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error_code = nvm_write_buffer(INTERNAL_CIRCUITPY_CONFIG_START_ADDR + i * NVMCTRL_PAGE_SIZE,
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page_buffer + i * NVMCTRL_PAGE_SIZE,
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NVMCTRL_PAGE_SIZE);
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} while (error_code == STATUS_BUSY);
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}
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}
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}
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#endif
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}
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bool maybe_run(const char* filename, pyexec_result_t* exec_result) {
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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(filename, &fno);
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if (res != FR_OK || fno.fattrib & AM_DIR) {
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return false;
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}
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mp_hal_stdout_tx_str(filename);
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mp_hal_stdout_tx_str(" output:\r\n");
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pyexec_file(filename, exec_result);
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return true;
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}
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bool start_mp(void) {
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bool cdc_enabled_at_start = mp_cdc_enabled;
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#ifdef AUTORESET_DELAY_MS
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if (cdc_enabled_at_start) {
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mp_hal_stdout_tx_str("\r\n");
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mp_hal_stdout_tx_str("Auto-soft reset is on. Simply save files over USB to run them or enter REPL to disable.\r\n");
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}
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#endif
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new_status_color(BOOT_RUNNING);
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pyexec_result_t result;
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bool found_boot = maybe_run("settings.txt", &result) ||
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maybe_run("settings.py", &result) ||
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maybe_run("boot.py", &result) ||
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maybe_run("boot.txt", &result);
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bool found_main = false;
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if (!found_boot || !(result.return_code & PYEXEC_FORCED_EXIT)) {
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new_status_color(MAIN_RUNNING);
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found_main = maybe_run("code.txt", &result) ||
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maybe_run("code.py", &result) ||
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maybe_run("main.py", &result) ||
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maybe_run("main.txt", &result);
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}
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reset_status_led();
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if (result.return_code & PYEXEC_FORCED_EXIT) {
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return reset_next_character;
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}
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// If not is USB mode then do not skip the repl.
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#ifndef USB_REPL
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return false;
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#endif
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// Wait for connection or character.
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bool cdc_enabled_before = false;
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#if defined(MICROPY_HW_NEOPIXEL) || (defined(MICROPY_HW_APA102_MOSI) && defined(MICROPY_HW_APA102_SCK))
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new_status_color(ALL_DONE);
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uint32_t pattern_start = ticks_ms;
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uint32_t total_exception_cycle = 0;
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uint8_t ones = result.exception_line % 10;
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ones += ones > 0 ? 1 : 0;
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uint8_t tens = (result.exception_line / 10) % 10;
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tens += tens > 0 ? 1 : 0;
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uint8_t hundreds = (result.exception_line / 100) % 10;
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hundreds += hundreds > 0 ? 1 : 0;
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uint8_t thousands = (result.exception_line / 1000) % 10;
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thousands += thousands > 0 ? 1 : 0;
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uint8_t digit_sum = ones + tens + hundreds + thousands;
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uint8_t num_places = 0;
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uint16_t line = result.exception_line;
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for (int i = 0; i < 4; i++) {
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if ((line % 10) > 0) {
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num_places++;
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}
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line /= 10;
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}
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if (result.return_code == PYEXEC_EXCEPTION) {
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total_exception_cycle = EXCEPTION_TYPE_LENGTH_MS * 3 + LINE_NUMBER_TOGGLE_LENGTH * digit_sum + LINE_NUMBER_TOGGLE_LENGTH * num_places;
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}
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#endif
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while (true) {
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#ifdef MICROPY_VM_HOOK_LOOP
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MICROPY_VM_HOOK_LOOP
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#endif
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if (reset_next_character) {
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return true;
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}
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if (usb_rx_count > 0) {
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// Skip REPL if reset was requested.
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return receive_usb() == CHAR_CTRL_D;
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}
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if (!cdc_enabled_before && mp_cdc_enabled) {
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if (cdc_enabled_at_start) {
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mp_hal_stdout_tx_str("\r\n\r\n");
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}
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if (!cdc_enabled_at_start && autoreset_is_enabled()) {
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mp_hal_stdout_tx_str("Auto-soft reset is on. Simply save files over USB to run them or enter REPL to disable.\r\n");
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} else {
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mp_hal_stdout_tx_str("Auto-soft reset is off.\r\n");
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}
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mp_hal_stdout_tx_str("Press any key to enter the REPL. Use CTRL-D to soft reset.\r\n");
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}
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if (cdc_enabled_before && !mp_cdc_enabled) {
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cdc_enabled_at_start = false;
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}
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cdc_enabled_before = mp_cdc_enabled;
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#if defined(MICROPY_HW_NEOPIXEL) || (defined(MICROPY_HW_APA102_MOSI) && defined(MICROPY_HW_APA102_SCK))
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uint32_t tick_diff = ticks_ms - pattern_start;
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if (result.return_code != PYEXEC_EXCEPTION) {
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// All is good. Ramp ALL_DONE up and down.
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if (tick_diff > ALL_GOOD_CYCLE_MS) {
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pattern_start = ticks_ms;
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tick_diff = 0;
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}
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uint16_t brightness = tick_diff * 255 / (ALL_GOOD_CYCLE_MS / 2);
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if (brightness > 255) {
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brightness = 511 - brightness;
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}
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new_status_color(color_brightness(ALL_DONE, brightness));
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} else {
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if (tick_diff > total_exception_cycle) {
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pattern_start = ticks_ms;
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tick_diff = 0;
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}
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// First flash the file color.
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if (tick_diff < EXCEPTION_TYPE_LENGTH_MS) {
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if (found_main) {
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new_status_color(MAIN_RUNNING);
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} else {
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new_status_color(BOOT_RUNNING);
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}
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// Next flash the exception color.
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} else if (tick_diff < EXCEPTION_TYPE_LENGTH_MS * 2) {
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if (mp_obj_is_subclass_fast(result.exception_type, &mp_type_IndentationError)) {
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new_status_color(INDENTATION_ERROR);
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} else if (mp_obj_is_subclass_fast(result.exception_type, &mp_type_SyntaxError)) {
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new_status_color(SYNTAX_ERROR);
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} else if (mp_obj_is_subclass_fast(result.exception_type, &mp_type_NameError)) {
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new_status_color(NAME_ERROR);
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} else if (mp_obj_is_subclass_fast(result.exception_type, &mp_type_OSError)) {
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new_status_color(OS_ERROR);
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} else if (mp_obj_is_subclass_fast(result.exception_type, &mp_type_ValueError)) {
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new_status_color(VALUE_ERROR);
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} else {
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new_status_color(OTHER_ERROR);
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}
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// Finally flash the line number digits from highest to lowest.
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// Zeroes will not produce a flash but can be read by the absence of
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// a color from the sequence.
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} else if (tick_diff < (EXCEPTION_TYPE_LENGTH_MS * 2 + LINE_NUMBER_TOGGLE_LENGTH * digit_sum)) {
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uint32_t digit_diff = tick_diff - EXCEPTION_TYPE_LENGTH_MS * 2;
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if ((digit_diff % LINE_NUMBER_TOGGLE_LENGTH) < (LINE_NUMBER_TOGGLE_LENGTH / 2)) {
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new_status_color(BLACK);
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} else if (digit_diff < LINE_NUMBER_TOGGLE_LENGTH * thousands) {
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if (digit_diff < LINE_NUMBER_TOGGLE_LENGTH) {
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new_status_color(BLACK);
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} else {
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new_status_color(THOUSANDS);
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}
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} else if (digit_diff < LINE_NUMBER_TOGGLE_LENGTH * (thousands + hundreds)) {
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if (digit_diff < LINE_NUMBER_TOGGLE_LENGTH * (thousands + 1)) {
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new_status_color(BLACK);
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} else {
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new_status_color(HUNDREDS);
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}
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} else if (digit_diff < LINE_NUMBER_TOGGLE_LENGTH * (thousands + hundreds + tens)) {
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if (digit_diff < LINE_NUMBER_TOGGLE_LENGTH * (thousands + hundreds + 1)) {
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new_status_color(BLACK);
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} else {
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new_status_color(TENS);
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}
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} else {
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if (digit_diff < LINE_NUMBER_TOGGLE_LENGTH * (thousands + hundreds + tens + 1)) {
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new_status_color(BLACK);
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} else {
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new_status_color(ONES);
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}
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}
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} else {
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new_status_color(BLACK);
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}
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}
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#else
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(void) found_main; // Pretend to use found_main so the compiler doesn't complain.
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#endif
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}
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}
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#ifdef UART_REPL
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struct usart_module usart_instance;
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#endif
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#ifdef ENABLE_MICRO_TRACE_BUFFER
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// Stores 2 ^ TRACE_BUFFER_MAGNITUDE_PACKETS packets.
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// 7 -> 128 packets
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#define TRACE_BUFFER_MAGNITUDE_PACKETS 7
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// Size in uint32_t. Two per packet.
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#define TRACE_BUFFER_SIZE (1 << (TRACE_BUFFER_MAGNITUDE_PACKETS + 1))
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// Size in bytes. 4 bytes per uint32_t.
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#define TRACE_BUFFER_SIZE_BYTES (TRACE_BUFFER_SIZE << 2)
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__attribute__((__aligned__(TRACE_BUFFER_SIZE_BYTES))) uint32_t mtb[TRACE_BUFFER_SIZE];
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#endif
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// Serial number as hex characters.
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char serial_number[USB_DEVICE_GET_SERIAL_NAME_LENGTH];
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void load_serial_number(void) {
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char nibble_to_hex[16] = {'0', '1', '2', '3', '4', '5', '6', '7', '8', '9', 'A',
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'B', 'C', 'D', 'E', 'F'};
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uint32_t* addresses[4] = {(uint32_t *) 0x0080A00C, (uint32_t *) 0x0080A040,
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(uint32_t *) 0x0080A044, (uint32_t *) 0x0080A048};
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for (int i = 0; i < 4; i++) {
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for (int j = 0; j < 8; j++) {
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uint8_t nibble = (*(addresses[i]) >> j * 4) & 0xf;
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serial_number[i * 8 + j] = nibble_to_hex[nibble];
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}
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}
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}
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|
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void samd21_init(void) {
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#ifdef ENABLE_MICRO_TRACE_BUFFER
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REG_MTB_POSITION = ((uint32_t) (mtb - REG_MTB_BASE)) & 0xFFFFFFF8;
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REG_MTB_FLOW = (((uint32_t) mtb - REG_MTB_BASE) + TRACE_BUFFER_SIZE_BYTES) & 0xFFFFFFF8;
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REG_MTB_MASTER = 0x80000000 + (TRACE_BUFFER_MAGNITUDE_PACKETS - 1);
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#endif
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|
|
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load_serial_number();
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|
|
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irq_initialize_vectors();
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|
cpu_irq_enable();
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|
|
|
// Initialize the sleep manager
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sleepmgr_init();
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|
|
|
|
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uint16_t dfll_fine_calibration = 0x1ff;
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|
#ifdef CALIBRATE_CRYSTALLESS
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|
// This is stored in an NVM page after the text and data storage but before
|
|
// the optional file system. The first 16 bytes are the identifier for the
|
|
// section.
|
|
if (strcmp((char*) INTERNAL_CIRCUITPY_CONFIG_START_ADDR, "CIRCUITPYTHON1") == 0) {
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dfll_fine_calibration = ((uint16_t *) INTERNAL_CIRCUITPY_CONFIG_START_ADDR)[8];
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}
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|
#endif
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|
|
|
// We pass in the DFLL fine calibration because we can't change it once the
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|
// clock is going.
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|
system_init(dfll_fine_calibration);
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|
|
|
delay_init();
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|
|
|
board_init();
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|
|
|
// Configure millisecond timer initialization.
|
|
tick_init();
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|
|
|
// Uncomment to init PIN_PA17 for debugging.
|
|
// struct port_config pin_conf;
|
|
// port_get_config_defaults(&pin_conf);
|
|
//
|
|
// pin_conf.direction = PORT_PIN_DIR_OUTPUT;
|
|
// port_pin_set_config(MICROPY_HW_LED1, &pin_conf);
|
|
// port_pin_set_output_level(MICROPY_HW_LED1, false);
|
|
|
|
rgb_led_status_init();
|
|
|
|
// Init the nvm controller.
|
|
struct nvm_config config_nvm;
|
|
nvm_get_config_defaults(&config_nvm);
|
|
config_nvm.manual_page_write = false;
|
|
nvm_set_config(&config_nvm);
|
|
}
|
|
|
|
extern uint32_t _estack;
|
|
extern uint32_t _ebss;
|
|
|
|
int main(void) {
|
|
// initialise the cpu and peripherals
|
|
samd21_init();
|
|
|
|
int stack_dummy;
|
|
// Store the location of stack_dummy as an approximation for the top of the
|
|
// stack so the GC can account for objects that may be referenced by the
|
|
// stack between here and where gc_collect is called.
|
|
stack_top = (char*)&stack_dummy;
|
|
|
|
// Stack limit should be less than real stack size, so we have a chance
|
|
// to recover from limit hit. (Limit is measured in bytes.)
|
|
mp_stack_ctrl_init();
|
|
mp_stack_set_limit((char*)&_estack - (char*)&_ebss - 1024);
|
|
|
|
// Initialise the local flash filesystem after the gc in case we need to
|
|
// grab memory from it. Create it if needed, mount in on /flash, and set it
|
|
// as current dir.
|
|
init_flash_fs();
|
|
|
|
usb_hid_init();
|
|
|
|
// Start USB after getting everything going.
|
|
#ifdef USB_REPL
|
|
udc_start();
|
|
#endif
|
|
|
|
|
|
// Main script is finished, so now go into REPL mode.
|
|
// The REPL mode can change, or it can request a soft reset.
|
|
int exit_code = PYEXEC_FORCED_EXIT;
|
|
bool skip_repl = true;
|
|
bool first_run = true;
|
|
for (;;) {
|
|
if (!skip_repl) {
|
|
autoreset_disable();
|
|
new_status_color(REPL_RUNNING);
|
|
if (pyexec_mode_kind == PYEXEC_MODE_RAW_REPL) {
|
|
exit_code = pyexec_raw_repl();
|
|
} else {
|
|
exit_code = pyexec_friendly_repl();
|
|
}
|
|
}
|
|
if (exit_code == PYEXEC_FORCED_EXIT) {
|
|
if (!first_run) {
|
|
mp_hal_stdout_tx_str("soft reboot\r\n");
|
|
}
|
|
reset_samd21();
|
|
reset_mp();
|
|
first_run = false;
|
|
skip_repl = start_mp();
|
|
} else if (exit_code != 0) {
|
|
break;
|
|
}
|
|
}
|
|
mp_deinit();
|
|
return 0;
|
|
}
|
|
|
|
void gc_collect(void) {
|
|
// WARNING: This gc_collect implementation doesn't try to get root
|
|
// pointers from CPU registers, and thus may function incorrectly.
|
|
void *dummy;
|
|
gc_collect_start();
|
|
// This naively collects all object references from an approximate stack
|
|
// range.
|
|
gc_collect_root(&dummy, ((mp_uint_t)stack_top - (mp_uint_t)&dummy) / sizeof(mp_uint_t));
|
|
gc_collect_end();
|
|
}
|
|
|
|
mp_import_stat_t fat_vfs_import_stat(const char *path);
|
|
mp_import_stat_t mp_import_stat(const char *path) {
|
|
#if MICROPY_VFS_FAT
|
|
return fat_vfs_import_stat(path);
|
|
#else
|
|
(void)path;
|
|
return MP_IMPORT_STAT_NO_EXIST;
|
|
#endif
|
|
}
|
|
|
|
void nlr_jump_fail(void *val) {
|
|
}
|
|
|
|
void NORETURN __fatal_error(const char *msg) {
|
|
while (1);
|
|
}
|
|
|
|
#ifndef NDEBUG
|
|
void MP_WEAK __assert_func(const char *file, int line, const char *func, const char *expr) {
|
|
printf("Assertion '%s' failed, at file %s:%d\n", expr, file, line);
|
|
__fatal_error("Assertion failed");
|
|
}
|
|
#endif
|