e3f9ee839a
You can either set it once up front, or set variable_frequency on custruction to indicate that the frequency must be able to change. This informs whether a timer can be shared amongst pins. This also adds persistent clock calibration on atmel-samd. Once the device has synced its clock frequency over USB it will remember that config value until USB is used again. This helps ensure the clock frequency is similar on and off USB. Lastly, this also corrects time.sleep() when on USB by correcting the tick counter.
584 lines
20 KiB
C
584 lines
20 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 "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/nativeio/AnalogIn.h"
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#include "common-hal/nativeio/PWMOut.h"
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#ifdef EXPRESS_BOARD
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#include "common-hal/nativeio/types.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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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 nativeio_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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// Wait for the DAC to sync.
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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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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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// 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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}
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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.\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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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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} else {
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mp_hal_stdout_tx_str("Auto-soft reset is on. Simply save files over USB to run them.\r\n");
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}
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mp_hal_stdout_tx_str("Press any key to enter the REPL and disable auto-reset. 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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|
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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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|
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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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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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load_serial_number();
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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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uint16_t dfll_fine_calibration = 0x1ff;
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// This is stored in an NVM page after the text and data storage but before
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// the optional file system. The first 16 bytes are the identifier for the
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// section.
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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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// 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.
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tick_init();
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// Uncomment to init PIN_PA17 for debugging.
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// struct port_config pin_conf;
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// port_get_config_defaults(&pin_conf);
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//
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// pin_conf.direction = PORT_PIN_DIR_OUTPUT;
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// port_pin_set_config(MICROPY_HW_LED1, &pin_conf);
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// port_pin_set_output_level(MICROPY_HW_LED1, false);
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|
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rgb_led_status_init();
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|
|
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// Init the nvm controller.
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struct nvm_config config_nvm;
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nvm_get_config_defaults(&config_nvm);
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config_nvm.manual_page_write = false;
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nvm_set_config(&config_nvm);
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}
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|
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int main(int argc, char **argv) {
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// initialise the cpu and peripherals
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samd21_init();
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|
|
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int stack_dummy;
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|
// Store the location of stack_dummy as an approximation for the top of the
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// stack so the GC can account for objects that may be referenced by the
|
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// stack between here and where gc_collect is called.
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stack_top = (char*)&stack_dummy;
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|
|
|
// 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
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// as current dir.
|
|
init_flash_fs();
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|
|
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// Start USB after getting everything going.
|
|
#ifdef USB_REPL
|
|
udc_start();
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|
#endif
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|
|
|
// 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;
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|
for (;;) {
|
|
if (!skip_repl) {
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|
autoreset_disable();
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|
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
|