574 lines
16 KiB
C
574 lines
16 KiB
C
#include <stdint.h>
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#include <stdio.h>
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#include <string.h>
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#include <stdlib.h>
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#include "nlr.h"
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#include "misc.h"
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#include "mpconfig.h"
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#include "qstr.h"
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#include "lexer.h"
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#include "lexermemzip.h"
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#include "parse.h"
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#include "obj.h"
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#include "compile.h"
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#include "runtime0.h"
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#include "runtime.h"
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#include "repl.h"
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#include "servo.h"
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#include "usb.h"
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#include "gc.h"
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#include "led.h"
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#include "Arduino.h"
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extern uint32_t _heap_start;
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bool do_file(const char *filename);
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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_BUILTIN, 1);
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delay(250);
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led_state(PYB_LED_BUILTIN, 0);
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delay(250);
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}
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}
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static const char *help_text =
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"Welcome to Micro Python!\n\n"
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"This is a *very* early version of Micro Python and has minimal functionality.\n\n"
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"Specific commands for the board:\n"
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" pyb.info() -- print some general information\n"
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" pyb.gc() -- run the garbage collector\n"
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" pyb.delay(<n>) -- wait for n milliseconds\n"
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" pyb.Led(<n>) -- create Led object for LED n (n=0)\n"
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" Led methods: on(), off()\n"
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" pyb.gpio(<pin>) -- read gpio pin\n"
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" pyb.gpio(<pin>, <val>) -- set gpio pin\n"
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#if 0
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" pyb.Servo(<n>) -- create Servo object for servo n (n=1,2,3,4)\n"
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" Servo methods: angle(<x>)\n"
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" pyb.switch() -- return True/False if switch pressed or not\n"
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" pyb.accel() -- get accelerometer values\n"
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" pyb.rand() -- get a 16-bit random number\n"
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#endif
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;
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mp_obj_t pyb_analog_read(mp_obj_t pin_obj) {
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uint pin = mp_obj_get_int(pin_obj);
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int val = analogRead(pin);
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return MP_OBJ_NEW_SMALL_INT(val);
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}
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mp_obj_t pyb_analog_write(mp_obj_t pin_obj, mp_obj_t val_obj) {
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uint pin = mp_obj_get_int(pin_obj);
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int val = mp_obj_get_int(val_obj);
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analogWrite(pin, val);
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return mp_const_none;
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}
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mp_obj_t pyb_analog_write_resolution(mp_obj_t res_obj) {
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int res = mp_obj_get_int(res_obj);
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analogWriteResolution(res);
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return mp_const_none;
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}
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mp_obj_t pyb_analog_write_frequency(mp_obj_t pin_obj, mp_obj_t freq_obj) {
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uint pin = mp_obj_get_int(pin_obj);
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int freq = mp_obj_get_int(freq_obj);
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analogWriteFrequency(pin, freq);
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return mp_const_none;
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}
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// get some help about available functions
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static mp_obj_t pyb_help(void) {
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printf("%s", help_text);
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return mp_const_none;
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}
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// get lots of info about the board
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static mp_obj_t pyb_info(void) {
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// get and print unique id; 96 bits
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{
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byte *id = (byte*)0x40048058;
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printf("ID=%02x%02x%02x%02x:%02x%02x%02x%02x:%02x%02x%02x%02x\n", id[0], id[1], id[2], id[3], id[4], id[5], id[6], id[7], id[8], id[9], id[10], id[11]);
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}
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// get and print clock speeds
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printf("CPU=%u\nBUS=%u\nMEM=%u\n", F_CPU, F_BUS, F_MEM);
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// to print info about memory
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{
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extern void *_sdata;
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extern void *_edata;
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extern void *_sbss;
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extern void *_ebss;
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extern void *_estack;
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extern void *_etext;
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printf("_sdata=%p\n", &_sdata);
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printf("_edata=%p\n", &_edata);
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printf("_sbss=%p\n", &_sbss);
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printf("_ebss=%p\n", &_ebss);
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printf("_estack=%p\n", &_estack);
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printf("_etext=%p\n", &_etext);
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printf("_heap_start=%p\n", &_heap_start);
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}
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// GC info
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{
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gc_info_t info;
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gc_info(&info);
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printf("GC:\n");
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printf(" %lu total\n", info.total);
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printf(" %lu used %lu free\n", info.used, info.free);
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printf(" 1=%lu 2=%lu m=%lu\n", info.num_1block, info.num_2block, info.max_block);
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}
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#if 0
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// free space on flash
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{
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DWORD nclst;
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FATFS *fatfs;
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f_getfree("0:", &nclst, &fatfs);
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printf("LFS free: %u bytes\n", (uint)(nclst * fatfs->csize * 512));
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}
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#endif
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return mp_const_none;
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}
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#define RAM_START (0x1FFF8000) // fixed for chip
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#define HEAP_END (0x20006000) // tunable
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#define RAM_END (0x20008000) // fixed for chip
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void gc_helper_get_regs_and_clean_stack(machine_uint_t *regs, machine_uint_t heap_end);
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void gc_collect(void) {
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uint32_t start = micros();
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gc_collect_start();
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gc_collect_root((void**)RAM_START, (((uint32_t)&_heap_start) - RAM_START) / 4);
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machine_uint_t regs[10];
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gc_helper_get_regs_and_clean_stack(regs, HEAP_END);
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gc_collect_root((void**)HEAP_END, (RAM_END - HEAP_END) / 4); // will trace regs since they now live in this function on the stack
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gc_collect_end();
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uint32_t ticks = micros() - start; // TODO implement a function that does this properly
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if (0) {
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// print GC info
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gc_info_t info;
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gc_info(&info);
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printf("GC@%lu %luus\n", start, ticks);
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printf(" %lu total\n", info.total);
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printf(" %lu used %lu free\n", info.used, info.free);
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printf(" 1=%lu 2=%lu m=%lu\n", info.num_1block, info.num_2block, info.max_block);
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}
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}
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mp_obj_t pyb_gc(void) {
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gc_collect();
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return mp_const_none;
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}
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mp_obj_t pyb_gpio(int n_args, mp_obj_t *args) {
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//assert(1 <= n_args && n_args <= 2);
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uint pin = mp_obj_get_int(args[0]);
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if (pin > CORE_NUM_DIGITAL) {
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goto pin_error;
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}
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if (n_args == 1) {
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// get pin
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pinMode(pin, INPUT);
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return MP_OBJ_NEW_SMALL_INT(digitalRead(pin));
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}
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// set pin
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pinMode(pin, OUTPUT);
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digitalWrite(pin, mp_obj_is_true(args[1]));
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return mp_const_none;
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pin_error:
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nlr_raise(mp_obj_new_exception_msg_varg(MP_QSTR_ValueError, "pin %d does not exist", pin));
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}
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MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_gpio_obj, 1, 2, pyb_gpio);
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#if 0
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mp_obj_t pyb_hid_send_report(mp_obj_t arg) {
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mp_obj_t *items = mp_obj_get_array_fixed_n(arg, 4);
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uint8_t data[4];
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data[0] = mp_obj_get_int(items[0]);
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data[1] = mp_obj_get_int(items[1]);
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data[2] = mp_obj_get_int(items[2]);
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data[3] = mp_obj_get_int(items[3]);
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usb_hid_send_report(data);
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return mp_const_none;
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}
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#endif
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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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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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printf("source_dir = '");
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mp_obj_print(source_dir, PRINT_STR);
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printf("'\n");
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}
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return mp_const_none;
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}
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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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printf("main = '");
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mp_obj_print(main, PRINT_STR);
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printf("'\n");
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}
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return mp_const_none;
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}
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mp_obj_t pyb_delay(mp_obj_t count) {
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delay(mp_obj_get_int(count));
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return mp_const_none;
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}
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mp_obj_t pyb_led(mp_obj_t state) {
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led_state(PYB_LED_BUILTIN, mp_obj_is_true(state));
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return state;
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}
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mp_obj_t pyb_run(mp_obj_t filename_obj) {
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const char *filename = qstr_str(mp_obj_str_get_qstr(filename_obj));
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do_file(filename);
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return mp_const_none;
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}
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char *strdup(const char *str) {
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uint32_t len = strlen(str);
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char *s2 = m_new(char, len + 1);
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memcpy(s2, str, len);
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s2[len] = 0;
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return s2;
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}
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#define READLINE_HIST_SIZE (8)
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static const char *readline_hist[READLINE_HIST_SIZE] = {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL};
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void stdout_tx_str(const char *str) {
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// usart_tx_str(str);
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usb_vcp_send_str(str);
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}
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int readline(vstr_t *line, const char *prompt) {
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stdout_tx_str(prompt);
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int len = vstr_len(line);
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int escape = 0;
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int hist_num = 0;
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for (;;) {
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char c;
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for (;;) {
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if (usb_vcp_rx_any() != 0) {
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c = usb_vcp_rx_get();
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break;
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#if 0
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} else if (usart_rx_any()) {
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c = usart_rx_char();
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break;
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#endif
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}
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//delay(1);
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//if (storage_needs_flush()) {
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// storage_flush();
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//}
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}
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if (escape == 0) {
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if (c == 4 && vstr_len(line) == len) {
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return 0;
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} else if (c == '\r') {
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stdout_tx_str("\r\n");
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for (int i = READLINE_HIST_SIZE - 1; i > 0; i--) {
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readline_hist[i] = readline_hist[i - 1];
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}
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readline_hist[0] = strdup(vstr_str(line));
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return 1;
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} else if (c == 27) {
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escape = true;
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} else if (c == 127) {
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if (vstr_len(line) > len) {
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vstr_cut_tail(line, 1);
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stdout_tx_str("\b \b");
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}
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} else if (32 <= c && c <= 126) {
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vstr_add_char(line, c);
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stdout_tx_str(line->buf + line->len - 1);
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}
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} else if (escape == 1) {
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if (c == '[') {
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escape = 2;
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} else {
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escape = 0;
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}
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} else if (escape == 2) {
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escape = 0;
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if (c == 'A') {
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// up arrow
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if (hist_num < READLINE_HIST_SIZE && readline_hist[hist_num] != NULL) {
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// erase line
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for (int i = line->len - len; i > 0; i--) {
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stdout_tx_str("\b \b");
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}
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// set line to history
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line->len = len;
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vstr_add_str(line, readline_hist[hist_num]);
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// draw line
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stdout_tx_str(readline_hist[hist_num]);
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// increase hist num
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hist_num += 1;
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}
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}
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} else {
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escape = 0;
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}
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delay(10);
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}
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}
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bool do_file(const char *filename) {
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mp_lexer_t *lex = mp_lexer_new_from_memzip_file(filename);
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if (lex == NULL) {
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printf("could not open file '%s' for reading\n", filename);
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return false;
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}
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mp_parse_error_kind_t parse_error_kind;
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mp_parse_node_t pn = mp_parse(lex, MP_PARSE_FILE_INPUT, &parse_error_kind);
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qstr source_name = mp_lexer_source_name(lex);
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if (pn == MP_PARSE_NODE_NULL) {
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// parse error
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mp_parse_show_exception(lex, parse_error_kind);
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mp_lexer_free(lex);
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return false;
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}
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mp_lexer_free(lex);
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mp_obj_t module_fun = mp_compile(pn, source_name, MP_EMIT_OPT_NONE, false);
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mp_parse_node_free(pn);
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if (module_fun == mp_const_none) {
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return false;
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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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mp_call_function_0(module_fun);
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nlr_pop();
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return true;
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} else {
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// uncaught exception
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mp_obj_print((mp_obj_t)nlr.ret_val, PRINT_REPR);
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printf("\n");
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return false;
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}
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}
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void do_repl(void) {
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stdout_tx_str("Micro Python for Teensy 3.1\r\n");
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stdout_tx_str("Type \"help()\" for more information.\r\n");
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vstr_t line;
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vstr_init(&line, 32);
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for (;;) {
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vstr_reset(&line);
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int ret = readline(&line, ">>> ");
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if (ret == 0) {
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// EOF
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break;
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}
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if (vstr_len(&line) == 0) {
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continue;
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}
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if (mp_repl_is_compound_stmt(vstr_str(&line))) {
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for (;;) {
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vstr_add_char(&line, '\n');
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int len = vstr_len(&line);
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int ret = readline(&line, "... ");
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if (ret == 0 || vstr_len(&line) == len) {
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// done entering compound statement
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break;
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}
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}
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}
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mp_lexer_t *lex = mp_lexer_new_from_str_len(MP_QSTR__lt_stdin_gt_, vstr_str(&line), vstr_len(&line), 0);
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mp_parse_error_kind_t parse_error_kind;
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mp_parse_node_t pn = mp_parse(lex, MP_PARSE_SINGLE_INPUT, &parse_error_kind);
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qstr source_name = mp_lexer_source_name(lex);
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if (pn == MP_PARSE_NODE_NULL) {
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// parse error
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mp_parse_show_exception(lex, parse_error_kind);
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mp_lexer_free(lex);
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} else {
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// parse okay
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mp_lexer_free(lex);
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mp_obj_t module_fun = mp_compile(pn, source_name, MP_EMIT_OPT_NONE, true);
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if (module_fun != mp_const_none) {
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nlr_buf_t nlr;
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uint32_t start = micros();
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if (nlr_push(&nlr) == 0) {
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mp_call_function_0(module_fun);
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nlr_pop();
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// optional timing
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if (0) {
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uint32_t ticks = micros() - start; // TODO implement a function that does this properly
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printf("(took %lu ms)\n", ticks);
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}
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} else {
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// uncaught exception
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mp_obj_print((mp_obj_t)nlr.ret_val, PRINT_REPR);
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printf("\n");
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}
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}
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}
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}
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stdout_tx_str("\r\n");
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}
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int main(void) {
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pinMode(LED_BUILTIN, OUTPUT);
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#if 0
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// Wait for host side to get connected
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while (!usb_vcp_is_connected()) {
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;
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}
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#else
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delay(1000);
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#endif
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led_init();
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led_state(PYB_LED_BUILTIN, 1);
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// int first_soft_reset = true;
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soft_reset:
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// GC init
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gc_init(&_heap_start, (void*)HEAP_END);
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qstr_init();
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mp_init();
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// add some functions to the python namespace
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{
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mp_store_name(MP_QSTR_help, mp_make_function_n(0, pyb_help));
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mp_obj_t m = mp_obj_new_module(MP_QSTR_pyb);
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mp_store_attr(m, MP_QSTR_info, mp_make_function_n(0, pyb_info));
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mp_store_attr(m, MP_QSTR_source_dir, mp_make_function_n(1, pyb_source_dir));
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mp_store_attr(m, MP_QSTR_main, mp_make_function_n(1, pyb_main));
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mp_store_attr(m, MP_QSTR_gc, mp_make_function_n(0, pyb_gc));
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mp_store_attr(m, MP_QSTR_delay, mp_make_function_n(1, pyb_delay));
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mp_store_attr(m, MP_QSTR_led, mp_make_function_n(1, pyb_led));
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mp_store_attr(m, MP_QSTR_Led, mp_make_function_n(1, pyb_Led));
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mp_store_attr(m, MP_QSTR_analogRead, mp_make_function_n(1, pyb_analog_read));
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mp_store_attr(m, MP_QSTR_analogWrite, mp_make_function_n(2, pyb_analog_write));
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mp_store_attr(m, MP_QSTR_analogWriteResolution, mp_make_function_n(1, pyb_analog_write_resolution));
|
|
mp_store_attr(m, MP_QSTR_analogWriteFrequency, mp_make_function_n(2, pyb_analog_write_frequency));
|
|
|
|
mp_store_attr(m, MP_QSTR_gpio, (mp_obj_t)&pyb_gpio_obj);
|
|
mp_store_attr(m, MP_QSTR_Servo, mp_make_function_n(0, pyb_Servo));
|
|
mp_store_name(MP_QSTR_pyb, m);
|
|
mp_store_name(MP_QSTR_run, mp_make_function_n(1, pyb_run));
|
|
}
|
|
|
|
printf("About execute /boot.py\n");
|
|
if (!do_file("/boot.py")) {
|
|
printf("Unable to open '/boot.py'\n");
|
|
flash_error(4);
|
|
}
|
|
printf("Done executing /boot.py\n");
|
|
|
|
// Turn bootup LED off
|
|
led_state(PYB_LED_BUILTIN, 0);
|
|
|
|
// run main script
|
|
{
|
|
vstr_t *vstr = vstr_new();
|
|
vstr_add_str(vstr, "/");
|
|
if (pyb_config_source_dir == MP_OBJ_NULL) {
|
|
vstr_add_str(vstr, "src");
|
|
} else {
|
|
vstr_add_str(vstr, mp_obj_str_get_str(pyb_config_source_dir));
|
|
}
|
|
vstr_add_char(vstr, '/');
|
|
if (pyb_config_main == MP_OBJ_NULL) {
|
|
vstr_add_str(vstr, "main.py");
|
|
} else {
|
|
vstr_add_str(vstr, mp_obj_str_get_str(pyb_config_main));
|
|
}
|
|
printf("About execute '%s'\n", vstr_str(vstr));
|
|
if (!do_file(vstr_str(vstr))) {
|
|
printf("Unable to open '%s'\n", vstr_str(vstr));
|
|
flash_error(3);
|
|
}
|
|
printf("Done executing '%s'\n", vstr_str(vstr));
|
|
vstr_free(vstr);
|
|
}
|
|
|
|
do_repl();
|
|
|
|
printf("PYB: soft reboot\n");
|
|
|
|
// first_soft_reset = false;
|
|
goto soft_reset;
|
|
}
|
|
|
|
double sqrt(double x) {
|
|
// TODO
|
|
return 0.0;
|
|
}
|
|
|
|
machine_float_t machine_sqrt(machine_float_t x) {
|
|
// TODO
|
|
return x;
|
|
}
|
|
|
|
// stub out __libc_init_array. It's called by mk20dx128.c and is used to call
|
|
// global C++ constructors. Since this is a C-only projects, we don't need to
|
|
// call constructors.
|
|
void __libc_init_array(void) {
|
|
}
|
|
|
|
char * ultoa(unsigned long val, char *buf, int radix)
|
|
{
|
|
unsigned digit;
|
|
int i=0, j;
|
|
char t;
|
|
|
|
while (1) {
|
|
digit = val % radix;
|
|
buf[i] = ((digit < 10) ? '0' + digit : 'A' + digit - 10);
|
|
val /= radix;
|
|
if (val == 0) break;
|
|
i++;
|
|
}
|
|
buf[i + 1] = 0;
|
|
for (j=0; j < i; j++, i--) {
|
|
t = buf[j];
|
|
buf[j] = buf[i];
|
|
buf[i] = t;
|
|
}
|
|
return buf;
|
|
}
|