646 lines
19 KiB
C
646 lines
19 KiB
C
/*
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* This file is part of the Micro Python project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2013, 2014 Damien P. George
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#include <stdio.h>
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#include <string.h>
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#include "py/nlr.h"
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#include "py/lexer.h"
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#include "py/parse.h"
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#include "py/obj.h"
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#include "py/runtime.h"
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#include "py/stackctrl.h"
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#include "py/gc.h"
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#include "py/mphal.h"
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#include "lib/utils/pyexec.h"
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#include "lib/fatfs/ff.h"
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#include "extmod/fsusermount.h"
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#include "systick.h"
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#include "pendsv.h"
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#include "gccollect.h"
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#include "readline.h"
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#include "modmachine.h"
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#include "i2c.h"
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#include "spi.h"
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#include "uart.h"
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#include "timer.h"
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#include "led.h"
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#include "pin.h"
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#include "extint.h"
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#include "usrsw.h"
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#include "usb.h"
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#include "rtc.h"
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#include "storage.h"
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#include "sdcard.h"
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#include "rng.h"
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#include "accel.h"
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#include "servo.h"
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#include "dac.h"
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#include "can.h"
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#include "modnetwork.h"
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void SystemClock_Config(void);
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fs_user_mount_t fs_user_mount_flash;
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void flash_error(int n) {
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for (int i = 0; i < n; i++) {
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led_state(PYB_LED_R1, 1);
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led_state(PYB_LED_R2, 0);
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HAL_Delay(250);
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led_state(PYB_LED_R1, 0);
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led_state(PYB_LED_R2, 1);
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HAL_Delay(250);
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}
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led_state(PYB_LED_R2, 0);
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}
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void NORETURN __fatal_error(const char *msg) {
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for (volatile uint delay = 0; delay < 10000000; delay++) {
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}
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led_state(1, 1);
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led_state(2, 1);
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led_state(3, 1);
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led_state(4, 1);
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mp_hal_stdout_tx_strn("\nFATAL ERROR:\n", 14);
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mp_hal_stdout_tx_strn(msg, strlen(msg));
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for (uint i = 0;;) {
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led_toggle(((i++) & 3) + 1);
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for (volatile uint delay = 0; delay < 10000000; delay++) {
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}
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if (i >= 16) {
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// to conserve power
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__WFI();
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}
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}
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}
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void nlr_jump_fail(void *val) {
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printf("FATAL: uncaught exception %p\n", val);
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mp_obj_print_exception(&mp_plat_print, (mp_obj_t)val);
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__fatal_error("");
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}
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#ifndef NDEBUG
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void MP_WEAK __assert_func(const char *file, int line, const char *func, const char *expr) {
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(void)func;
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printf("Assertion '%s' failed, at file %s:%d\n", expr, file, line);
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__fatal_error("");
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}
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#endif
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STATIC mp_obj_t pyb_main(mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_opt, MP_ARG_INT, {.u_int = 0} }
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};
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if (MP_OBJ_IS_STR(pos_args[0])) {
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MP_STATE_PORT(pyb_config_main) = pos_args[0];
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// parse args
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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MP_STATE_VM(mp_optimise_value) = args[0].u_int;
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}
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return mp_const_none;
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}
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MP_DEFINE_CONST_FUN_OBJ_KW(pyb_main_obj, 1, pyb_main);
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static const char fresh_boot_py[] =
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"# boot.py -- run on boot-up\r\n"
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"# can run arbitrary Python, but best to keep it minimal\r\n"
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"\r\n"
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"import machine\r\n"
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"import pyb\r\n"
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"#pyb.main('main.py') # main script to run after this one\r\n"
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"#pyb.usb_mode('VCP+MSC') # act as a serial and a storage device\r\n"
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"#pyb.usb_mode('VCP+HID') # act as a serial device and a mouse\r\n"
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;
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static const char fresh_main_py[] =
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"# main.py -- put your code here!\r\n"
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;
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static const char fresh_pybcdc_inf[] =
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#include "genhdr/pybcdc_inf.h"
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;
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static const char fresh_readme_txt[] =
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"This is a MicroPython board\r\n"
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"\r\n"
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"You can get started right away by writing your Python code in 'main.py'.\r\n"
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"\r\n"
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"For a serial prompt:\r\n"
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" - Windows: you need to go to 'Device manager', right click on the unknown device,\r\n"
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" then update the driver software, using the 'pybcdc.inf' file found on this drive.\r\n"
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" Then use a terminal program like Hyperterminal or putty.\r\n"
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" - Mac OS X: use the command: screen /dev/tty.usbmodem*\r\n"
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" - Linux: use the command: screen /dev/ttyACM0\r\n"
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"\r\n"
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"Please visit http://micropython.org/help/ for further help.\r\n"
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;
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// avoid inlining to avoid stack usage within main()
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MP_NOINLINE STATIC void init_flash_fs(uint reset_mode) {
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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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pyb_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 (reset_mode == 3 || res == FR_NO_FILESYSTEM) {
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// no filesystem, or asked to reset it, so create a fresh one
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// LED on to indicate creation of LFS
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led_state(PYB_LED_R2, 1);
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uint32_t start_tick = HAL_GetTick();
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res = f_mkfs("/flash", 0, 0);
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if (res == FR_OK) {
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// success creating fresh LFS
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} else {
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printf("PYB: can't create flash filesystem\n");
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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("/flash/pybflash");
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// create empty main.py
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FIL fp;
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f_open(&fp, "/flash/main.py", FA_WRITE | FA_CREATE_ALWAYS);
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UINT n;
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f_write(&fp, fresh_main_py, sizeof(fresh_main_py) - 1 /* don't count null terminator */, &n);
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// TODO check we could write n bytes
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f_close(&fp);
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// create .inf driver file
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f_open(&fp, "/flash/pybcdc.inf", FA_WRITE | FA_CREATE_ALWAYS);
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f_write(&fp, fresh_pybcdc_inf, sizeof(fresh_pybcdc_inf) - 1 /* don't count null terminator */, &n);
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f_close(&fp);
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// create readme file
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f_open(&fp, "/flash/README.txt", FA_WRITE | FA_CREATE_ALWAYS);
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f_write(&fp, fresh_readme_txt, sizeof(fresh_readme_txt) - 1 /* don't count null terminator */, &n);
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f_close(&fp);
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// keep LED on for at least 200ms
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sys_tick_wait_at_least(start_tick, 200);
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led_state(PYB_LED_R2, 0);
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} else if (res == FR_OK) {
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// mount sucessful
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} else {
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printf("PYB: can't mount flash\n");
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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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// Make sure we have a /flash/boot.py. Create it if needed.
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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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res = f_stat("/flash/boot.py", &fno);
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if (res == FR_OK) {
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if (fno.fattrib & AM_DIR) {
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// exists as a directory
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// TODO handle this case
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// see http://elm-chan.org/fsw/ff/img/app2.c for a "rm -rf" implementation
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} else {
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// exists as a file, good!
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}
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} else {
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// doesn't exist, create fresh file
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// LED on to indicate creation of boot.py
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led_state(PYB_LED_R2, 1);
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uint32_t start_tick = HAL_GetTick();
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FIL fp;
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f_open(&fp, "/flash/boot.py", FA_WRITE | FA_CREATE_ALWAYS);
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UINT n;
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f_write(&fp, fresh_boot_py, sizeof(fresh_boot_py) - 1 /* don't count null terminator */, &n);
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// TODO check we could write n bytes
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f_close(&fp);
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// keep LED on for at least 200ms
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sys_tick_wait_at_least(start_tick, 200);
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led_state(PYB_LED_R2, 0);
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}
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}
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STATIC uint update_reset_mode(uint reset_mode) {
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#if MICROPY_HW_HAS_SWITCH
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if (switch_get()) {
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// The original method used on the pyboard is appropriate if you have 2
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// or more LEDs.
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#if defined(MICROPY_HW_LED2)
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for (uint i = 0; i < 3000; i++) {
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if (!switch_get()) {
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break;
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}
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HAL_Delay(20);
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if (i % 30 == 29) {
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if (++reset_mode > 3) {
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reset_mode = 1;
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}
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led_state(2, reset_mode & 1);
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led_state(3, reset_mode & 2);
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led_state(4, reset_mode & 4);
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}
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}
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// flash the selected reset mode
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for (uint i = 0; i < 6; i++) {
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led_state(2, 0);
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led_state(3, 0);
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led_state(4, 0);
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HAL_Delay(50);
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led_state(2, reset_mode & 1);
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led_state(3, reset_mode & 2);
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led_state(4, reset_mode & 4);
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HAL_Delay(50);
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}
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HAL_Delay(400);
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#elif defined(MICROPY_HW_LED1)
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// For boards with only a single LED, we'll flash that LED the
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// appropriate number of times, with a pause between each one
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for (uint i = 0; i < 10; i++) {
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led_state(1, 0);
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for (uint j = 0; j < reset_mode; j++) {
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if (!switch_get()) {
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break;
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}
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led_state(1, 1);
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HAL_Delay(100);
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led_state(1, 0);
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HAL_Delay(200);
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}
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HAL_Delay(400);
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if (!switch_get()) {
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break;
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}
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if (++reset_mode > 3) {
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reset_mode = 1;
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}
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}
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// Flash the selected reset mode
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for (uint i = 0; i < 2; i++) {
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for (uint j = 0; j < reset_mode; j++) {
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led_state(1, 1);
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HAL_Delay(100);
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led_state(1, 0);
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HAL_Delay(200);
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}
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HAL_Delay(400);
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}
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#else
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#error Need a reset mode update method
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#endif
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}
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#endif
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return reset_mode;
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}
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int main(void) {
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// TODO disable JTAG
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// Stack limit should be less than real stack size, so we have a chance
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// to recover from limit hit. (Limit is measured in bytes.)
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mp_stack_ctrl_init();
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mp_stack_set_limit((char*)&_ram_end - (char*)&_heap_end - 1024);
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/* STM32F4xx HAL library initialization:
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- Configure the Flash prefetch, instruction and Data caches
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- Configure the Systick to generate an interrupt each 1 msec
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- Set NVIC Group Priority to 4
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- Global MSP (MCU Support Package) initialization
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*/
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HAL_Init();
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// set the system clock to be HSE
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SystemClock_Config();
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// enable GPIO clocks
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__GPIOA_CLK_ENABLE();
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__GPIOB_CLK_ENABLE();
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__GPIOC_CLK_ENABLE();
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__GPIOD_CLK_ENABLE();
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#if defined(MCU_SERIES_F4) || defined(MCU_SERIES_F7)
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#if defined(__HAL_RCC_DTCMRAMEN_CLK_ENABLE)
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// The STM32F746 doesn't really have CCM memory, but it does have DTCM,
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// which behaves more or less like normal SRAM.
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__HAL_RCC_DTCMRAMEN_CLK_ENABLE();
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#else
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// enable the CCM RAM
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__CCMDATARAMEN_CLK_ENABLE();
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#endif
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#endif
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#if defined(MICROPY_BOARD_EARLY_INIT)
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MICROPY_BOARD_EARLY_INIT();
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#endif
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// basic sub-system init
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pendsv_init();
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led_init();
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#if MICROPY_HW_HAS_SWITCH
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switch_init0();
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#endif
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#if defined(USE_DEVICE_MODE)
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// default to internal flash being the usb medium
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pyb_usb_storage_medium = PYB_USB_STORAGE_MEDIUM_FLASH;
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#endif
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int first_soft_reset = true;
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soft_reset:
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// check if user switch held to select the reset mode
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#if defined(MICROPY_HW_LED2)
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led_state(1, 0);
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led_state(2, 1);
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#else
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led_state(1, 1);
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led_state(2, 0);
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#endif
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led_state(3, 0);
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led_state(4, 0);
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uint reset_mode = update_reset_mode(1);
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machine_init();
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#if MICROPY_HW_ENABLE_RTC
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if (first_soft_reset) {
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rtc_init_start(false);
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}
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#endif
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// more sub-system init
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#if MICROPY_HW_HAS_SDCARD
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if (first_soft_reset) {
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sdcard_init();
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}
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#endif
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if (first_soft_reset) {
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storage_init();
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}
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// GC init
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gc_init(&_heap_start, &_heap_end);
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// Micro Python init
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mp_init();
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mp_obj_list_init(mp_sys_path, 0);
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mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR_)); // 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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// zero out the pointers to the mounted devices
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memset(MP_STATE_PORT(fs_user_mount), 0, sizeof(MP_STATE_PORT(fs_user_mount)));
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// Initialise low-level sub-systems. Here we need to very basic things like
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// zeroing out memory and resetting any of the sub-systems. Following this
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// we can run Python scripts (eg boot.py), but anything that is configurable
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// by boot.py must be set after boot.py is run.
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readline_init0();
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pin_init0();
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extint_init0();
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timer_init0();
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uart_init0();
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// Define MICROPY_HW_UART_REPL to be PYB_UART_6 and define
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// MICROPY_HW_UART_REPL_BAUD in your mpconfigboard.h file if you want a
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// REPL on a hardware UART as well as on USB VCP
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#if defined(MICROPY_HW_UART_REPL)
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{
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mp_obj_t args[2] = {
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MP_OBJ_NEW_SMALL_INT(MICROPY_HW_UART_REPL),
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MP_OBJ_NEW_SMALL_INT(MICROPY_HW_UART_REPL_BAUD),
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};
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MP_STATE_PORT(pyb_stdio_uart) = pyb_uart_type.make_new((mp_obj_t)&pyb_uart_type, MP_ARRAY_SIZE(args), 0, args);
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}
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#else
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MP_STATE_PORT(pyb_stdio_uart) = NULL;
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#endif
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#if MICROPY_HW_ENABLE_CAN
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can_init0();
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#endif
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#if MICROPY_HW_ENABLE_RNG
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rng_init0();
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#endif
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i2c_init0();
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spi_init0();
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pyb_usb_init0();
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// Initialise the local flash filesystem.
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// Create it if needed, mount in on /flash, and set it as current dir.
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init_flash_fs(reset_mode);
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#if MICROPY_HW_HAS_SDCARD
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// if an SD card is present then mount it on /sd/
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if (sdcard_is_present()) {
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// create vfs object
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fs_user_mount_t *vfs = m_new_obj_maybe(fs_user_mount_t);
|
|
if (vfs == NULL) {
|
|
goto no_mem_for_sd;
|
|
}
|
|
vfs->str = "/sd";
|
|
vfs->len = 3;
|
|
vfs->flags = FSUSER_FREE_OBJ;
|
|
sdcard_init_vfs(vfs);
|
|
|
|
// put the sd device in slot 1 (it will be unused at this point)
|
|
MP_STATE_PORT(fs_user_mount)[1] = vfs;
|
|
|
|
FRESULT res = f_mount(&vfs->fatfs, vfs->str, 1);
|
|
if (res != FR_OK) {
|
|
printf("PYB: can't mount SD card\n");
|
|
MP_STATE_PORT(fs_user_mount)[1] = NULL;
|
|
m_del_obj(fs_user_mount_t, vfs);
|
|
} else {
|
|
// TODO these should go before the /flash entries in the path
|
|
mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR__slash_sd));
|
|
mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR__slash_sd_slash_lib));
|
|
|
|
if (first_soft_reset) {
|
|
// use SD card as medium for the USB MSD
|
|
#if defined(USE_DEVICE_MODE)
|
|
pyb_usb_storage_medium = PYB_USB_STORAGE_MEDIUM_SDCARD;
|
|
#endif
|
|
}
|
|
|
|
#if defined(USE_DEVICE_MODE)
|
|
// only use SD card as current directory if that's what the USB medium is
|
|
if (pyb_usb_storage_medium == PYB_USB_STORAGE_MEDIUM_SDCARD)
|
|
#endif
|
|
{
|
|
// use SD card as current directory
|
|
f_chdrive("/sd");
|
|
}
|
|
}
|
|
no_mem_for_sd:;
|
|
}
|
|
#endif
|
|
|
|
// reset config variables; they should be set by boot.py
|
|
MP_STATE_PORT(pyb_config_main) = MP_OBJ_NULL;
|
|
|
|
// run boot.py, if it exists
|
|
// TODO perhaps have pyb.reboot([bootpy]) function to soft-reboot and execute custom boot.py
|
|
if (reset_mode == 1 || reset_mode == 3) {
|
|
const char *boot_py = "boot.py";
|
|
FRESULT res = f_stat(boot_py, NULL);
|
|
if (res == FR_OK) {
|
|
int ret = pyexec_file(boot_py, NULL);
|
|
if (ret & PYEXEC_FORCED_EXIT) {
|
|
goto soft_reset_exit;
|
|
}
|
|
if (!ret) {
|
|
flash_error(4);
|
|
}
|
|
}
|
|
}
|
|
|
|
// turn boot-up LEDs off
|
|
#if !defined(MICROPY_HW_LED2)
|
|
// If there is only one LED on the board then it's used to signal boot-up
|
|
// and so we turn it off here. Otherwise LED(1) is used to indicate dirty
|
|
// flash cache and so we shouldn't change its state.
|
|
led_state(1, 0);
|
|
#endif
|
|
led_state(2, 0);
|
|
led_state(3, 0);
|
|
led_state(4, 0);
|
|
|
|
// Now we initialise sub-systems that need configuration from boot.py,
|
|
// or whose initialisation can be safely deferred until after running
|
|
// boot.py.
|
|
|
|
#if defined(USE_DEVICE_MODE)
|
|
// init USB device to default setting if it was not already configured
|
|
if (!(pyb_usb_flags & PYB_USB_FLAG_USB_MODE_CALLED)) {
|
|
pyb_usb_dev_init(USBD_VID, USBD_PID_CDC_MSC, USBD_MODE_CDC_MSC, NULL);
|
|
}
|
|
#endif
|
|
|
|
#if MICROPY_HW_HAS_MMA7660
|
|
// MMA accel: init and reset
|
|
accel_init();
|
|
#endif
|
|
|
|
#if MICROPY_HW_ENABLE_SERVO
|
|
// servo
|
|
servo_init();
|
|
#endif
|
|
|
|
#if MICROPY_HW_ENABLE_DAC
|
|
// DAC
|
|
dac_init();
|
|
#endif
|
|
|
|
#if MICROPY_PY_NETWORK
|
|
mod_network_init();
|
|
#endif
|
|
|
|
// At this point everything is fully configured and initialised.
|
|
|
|
// Run the main script from the current directory.
|
|
if ((reset_mode == 1 || reset_mode == 3) && pyexec_mode_kind == PYEXEC_MODE_FRIENDLY_REPL) {
|
|
const char *main_py;
|
|
if (MP_STATE_PORT(pyb_config_main) == MP_OBJ_NULL) {
|
|
main_py = "main.py";
|
|
} else {
|
|
main_py = mp_obj_str_get_str(MP_STATE_PORT(pyb_config_main));
|
|
}
|
|
FRESULT res = f_stat(main_py, NULL);
|
|
if (res == FR_OK) {
|
|
int ret = pyexec_file(main_py, NULL);
|
|
if (ret & PYEXEC_FORCED_EXIT) {
|
|
goto soft_reset_exit;
|
|
}
|
|
if (!ret) {
|
|
flash_error(3);
|
|
}
|
|
}
|
|
}
|
|
|
|
// Main script is finished, so now go into REPL mode.
|
|
// The REPL mode can change, or it can request a soft reset.
|
|
for (;;) {
|
|
if (pyexec_mode_kind == PYEXEC_MODE_RAW_REPL) {
|
|
if (pyexec_raw_repl() != 0) {
|
|
break;
|
|
}
|
|
} else {
|
|
if (pyexec_friendly_repl() != 0) {
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
soft_reset_exit:
|
|
|
|
// soft reset
|
|
|
|
printf("PYB: sync filesystems\n");
|
|
storage_flush();
|
|
|
|
printf("PYB: soft reboot\n");
|
|
timer_deinit();
|
|
uart_deinit();
|
|
#if MICROPY_HW_ENABLE_CAN
|
|
can_deinit();
|
|
#endif
|
|
|
|
first_soft_reset = false;
|
|
goto soft_reset;
|
|
}
|