536 lines
14 KiB
C
536 lines
14 KiB
C
#include <stdio.h>
|
|
#include <string.h>
|
|
|
|
#include "stm32f4xx_hal.h"
|
|
|
|
#include "misc.h"
|
|
#include "systick.h"
|
|
#include "pendsv.h"
|
|
#include "mpconfig.h"
|
|
#include "qstr.h"
|
|
#include "misc.h"
|
|
#include "lexer.h"
|
|
#include "parse.h"
|
|
#include "obj.h"
|
|
#include "runtime.h"
|
|
#include "gc.h"
|
|
#include "gccollect.h"
|
|
#include "pybstdio.h"
|
|
#include "readline.h"
|
|
#include "pyexec.h"
|
|
#include "i2c.h"
|
|
#include "spi.h"
|
|
#include "usart.h"
|
|
#include "timer.h"
|
|
#include "led.h"
|
|
#include "pin.h"
|
|
#include "extint.h"
|
|
#include "usrsw.h"
|
|
#include "usb.h"
|
|
#include "rtc.h"
|
|
#include "storage.h"
|
|
#include "sdcard.h"
|
|
#include "ff.h"
|
|
#include "lcd.h"
|
|
#include "rng.h"
|
|
#include "accel.h"
|
|
#include "servo.h"
|
|
#include "dac.h"
|
|
#if 0
|
|
#include "pybwlan.h"
|
|
#endif
|
|
|
|
void SystemClock_Config(void);
|
|
|
|
int errno;
|
|
|
|
static FATFS fatfs0;
|
|
#if MICROPY_HW_HAS_SDCARD
|
|
static FATFS fatfs1;
|
|
#endif
|
|
|
|
void flash_error(int n) {
|
|
for (int i = 0; i < n; i++) {
|
|
led_state(PYB_LED_R1, 1);
|
|
led_state(PYB_LED_R2, 0);
|
|
HAL_Delay(250);
|
|
led_state(PYB_LED_R1, 0);
|
|
led_state(PYB_LED_R2, 1);
|
|
HAL_Delay(250);
|
|
}
|
|
led_state(PYB_LED_R2, 0);
|
|
}
|
|
|
|
void __fatal_error(const char *msg) {
|
|
for (volatile uint delay = 0; delay < 10000000; delay++) {
|
|
}
|
|
led_state(1, 1);
|
|
led_state(2, 1);
|
|
led_state(3, 1);
|
|
led_state(4, 1);
|
|
stdout_tx_strn("\nFATAL ERROR:\n", 14);
|
|
stdout_tx_strn(msg, strlen(msg));
|
|
#if 0 && MICROPY_HW_HAS_LCD
|
|
lcd_print_strn("\nFATAL ERROR:\n", 14);
|
|
lcd_print_strn(msg, strlen(msg));
|
|
#endif
|
|
for (uint i = 0;;) {
|
|
led_toggle(((i++) & 3) + 1);
|
|
for (volatile uint delay = 0; delay < 10000000; delay++) {
|
|
}
|
|
if (i >= 8) {
|
|
__WFI();
|
|
}
|
|
}
|
|
}
|
|
|
|
void nlr_jump_fail(void *val) {
|
|
printf("FATAL: uncaught exception %p\n", val);
|
|
__fatal_error("");
|
|
}
|
|
|
|
STATIC mp_obj_t pyb_config_source_dir = MP_OBJ_NULL;
|
|
STATIC mp_obj_t pyb_config_main = MP_OBJ_NULL;
|
|
STATIC mp_obj_t pyb_config_usb_mode = MP_OBJ_NULL;
|
|
|
|
STATIC mp_obj_t pyb_source_dir(mp_obj_t source_dir) {
|
|
if (MP_OBJ_IS_STR(source_dir)) {
|
|
pyb_config_source_dir = source_dir;
|
|
}
|
|
return mp_const_none;
|
|
}
|
|
|
|
MP_DEFINE_CONST_FUN_OBJ_1(pyb_source_dir_obj, pyb_source_dir);
|
|
|
|
STATIC mp_obj_t pyb_main(mp_obj_t main) {
|
|
if (MP_OBJ_IS_STR(main)) {
|
|
pyb_config_main = main;
|
|
}
|
|
return mp_const_none;
|
|
}
|
|
|
|
MP_DEFINE_CONST_FUN_OBJ_1(pyb_main_obj, pyb_main);
|
|
|
|
STATIC mp_obj_t pyb_usb_mode(mp_obj_t usb_mode) {
|
|
if (MP_OBJ_IS_STR(usb_mode)) {
|
|
pyb_config_usb_mode = usb_mode;
|
|
}
|
|
return mp_const_none;
|
|
}
|
|
|
|
MP_DEFINE_CONST_FUN_OBJ_1(pyb_usb_mode_obj, pyb_usb_mode);
|
|
|
|
static const char fresh_boot_py[] =
|
|
"# boot.py -- run on boot-up\n"
|
|
"# can run arbitrary Python, but best to keep it minimal\n"
|
|
"\n"
|
|
"import pyb\n"
|
|
"#pyb.main('main.py') # main script to run after this one\n"
|
|
"#pyb.usb_mode('CDC+MSC') # act as a serial and a storage device\n"
|
|
"#pyb.usb_mode('CDC+HID') # act as a serial device and a mouse\n"
|
|
;
|
|
|
|
static const char fresh_main_py[] =
|
|
"# main.py -- put your code here!\n"
|
|
;
|
|
|
|
static const char fresh_pybcdc_inf[] =
|
|
#include "genhdr/pybcdc_inf.h"
|
|
;
|
|
|
|
static const char fresh_readme_txt[] =
|
|
"This is a Micro Python board\r\n"
|
|
"\r\n"
|
|
"You can get started right away by writing your Python code in 'main.py'.\r\n"
|
|
"\r\n"
|
|
"For a serial prompt:\r\n"
|
|
" - Windows: you need to go to 'Device manager', right click on the unknown device,\r\n"
|
|
" then update the driver software, using the 'pybcdc.inf' file found on this drive.\r\n"
|
|
" Then use a terminal program like Hyperterminal or putty.\r\n"
|
|
" - Mac OS X: use the command: screen /dev/tty.usbmodem*\r\n"
|
|
" - Linux: use the command: screen /dev/ttyACM0\r\n"
|
|
"\r\n"
|
|
"Please visit http://micropython.org/help/ for further help.\r\n"
|
|
;
|
|
|
|
int main(void) {
|
|
// TODO disable JTAG
|
|
|
|
/* STM32F4xx HAL library initialization:
|
|
- Configure the Flash prefetch, instruction and Data caches
|
|
- Configure the Systick to generate an interrupt each 1 msec
|
|
- Set NVIC Group Priority to 4
|
|
- Global MSP (MCU Support Package) initialization
|
|
*/
|
|
HAL_Init();
|
|
|
|
// set the system clock to be HSE
|
|
SystemClock_Config();
|
|
|
|
// enable GPIO clocks
|
|
__GPIOA_CLK_ENABLE();
|
|
__GPIOB_CLK_ENABLE();
|
|
__GPIOC_CLK_ENABLE();
|
|
__GPIOD_CLK_ENABLE();
|
|
|
|
// enable the CCM RAM
|
|
__CCMDATARAMEN_CLK_ENABLE();
|
|
|
|
#if 0
|
|
#if defined(NETDUINO_PLUS_2)
|
|
{
|
|
GPIO_InitTypeDef GPIO_InitStructure;
|
|
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_25MHz;
|
|
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
|
|
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
|
|
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
|
|
|
|
#if MICROPY_HW_HAS_SDCARD
|
|
// Turn on the power enable for the sdcard (PB1)
|
|
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
|
|
GPIO_Init(GPIOB, &GPIO_InitStructure);
|
|
GPIO_WriteBit(GPIOB, GPIO_Pin_1, Bit_SET);
|
|
#endif
|
|
|
|
// Turn on the power for the 5V on the expansion header (PB2)
|
|
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
|
|
GPIO_Init(GPIOB, &GPIO_InitStructure);
|
|
GPIO_WriteBit(GPIOB, GPIO_Pin_2, Bit_SET);
|
|
}
|
|
#endif
|
|
#endif
|
|
|
|
// basic sub-system init
|
|
pendsv_init();
|
|
timer_tim3_init();
|
|
led_init();
|
|
switch_init0();
|
|
|
|
int first_soft_reset = true;
|
|
|
|
soft_reset:
|
|
|
|
// check if user switch held to select the reset mode
|
|
led_state(1, 0);
|
|
led_state(2, 1);
|
|
led_state(3, 0);
|
|
led_state(4, 0);
|
|
uint reset_mode = 1;
|
|
|
|
#if MICROPY_HW_HAS_SWITCH
|
|
if (switch_get()) {
|
|
for (uint i = 0; i < 3000; i++) {
|
|
if (!switch_get()) {
|
|
break;
|
|
}
|
|
HAL_Delay(20);
|
|
if (i % 30 == 29) {
|
|
if (++reset_mode > 3) {
|
|
reset_mode = 1;
|
|
}
|
|
led_state(2, reset_mode & 1);
|
|
led_state(3, reset_mode & 2);
|
|
led_state(4, reset_mode & 4);
|
|
}
|
|
}
|
|
// flash the selected reset mode
|
|
for (uint i = 0; i < 6; i++) {
|
|
led_state(2, 0);
|
|
led_state(3, 0);
|
|
led_state(4, 0);
|
|
HAL_Delay(50);
|
|
led_state(2, reset_mode & 1);
|
|
led_state(3, reset_mode & 2);
|
|
led_state(4, reset_mode & 4);
|
|
HAL_Delay(50);
|
|
}
|
|
HAL_Delay(400);
|
|
}
|
|
#endif
|
|
|
|
#if MICROPY_HW_ENABLE_RTC
|
|
if (first_soft_reset) {
|
|
rtc_init();
|
|
}
|
|
#endif
|
|
|
|
// more sub-system init
|
|
#if MICROPY_HW_HAS_SDCARD
|
|
if (first_soft_reset) {
|
|
sdcard_init();
|
|
}
|
|
#endif
|
|
if (first_soft_reset) {
|
|
storage_init();
|
|
}
|
|
|
|
// GC init
|
|
gc_init(&_heap_start, &_heap_end);
|
|
|
|
// Change #if 0 to #if 1 if you want REPL on USART_6 (or another usart)
|
|
// as well as on USB VCP
|
|
#if 0
|
|
{
|
|
mp_obj_t args[2] = {
|
|
MP_OBJ_NEW_SMALL_INT(PYB_USART_6),
|
|
MP_OBJ_NEW_SMALL_INT(115200),
|
|
};
|
|
pyb_usart_global_debug = pyb_usart_type.make_new((mp_obj_t)&pyb_usart_type,
|
|
sizeof(args) / sizeof(args[0]),
|
|
0, args);
|
|
}
|
|
#else
|
|
pyb_usart_global_debug = NULL;
|
|
#endif
|
|
|
|
// Micro Python init
|
|
qstr_init();
|
|
mp_init();
|
|
mp_obj_list_init(mp_sys_path, 0);
|
|
mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR_0_colon__slash_));
|
|
mp_obj_list_append(mp_sys_path, MP_OBJ_NEW_QSTR(MP_QSTR_0_colon__slash_lib));
|
|
mp_obj_list_init(mp_sys_argv, 0);
|
|
|
|
readline_init();
|
|
|
|
pin_init();
|
|
extint_init();
|
|
|
|
#if MICROPY_HW_HAS_SWITCH
|
|
// must come after extint_init
|
|
switch_init();
|
|
#endif
|
|
|
|
#if MICROPY_HW_HAS_LCD
|
|
// LCD init (just creates class, init hardware by calling LCD())
|
|
lcd_init();
|
|
#endif
|
|
|
|
// local filesystem init
|
|
{
|
|
// try to mount the flash
|
|
FRESULT res = f_mount(&fatfs0, "0:", 1);
|
|
if (reset_mode == 3 || res == FR_NO_FILESYSTEM) {
|
|
// no filesystem, or asked to reset it, so create a fresh one
|
|
|
|
// LED on to indicate creation of LFS
|
|
led_state(PYB_LED_R2, 1);
|
|
uint32_t start_tick = HAL_GetTick();
|
|
|
|
res = f_mkfs("0:", 0, 0);
|
|
if (res == FR_OK) {
|
|
// success creating fresh LFS
|
|
} else {
|
|
__fatal_error("could not create LFS");
|
|
}
|
|
|
|
// create empty main.py
|
|
FIL fp;
|
|
f_open(&fp, "0:/main.py", FA_WRITE | FA_CREATE_ALWAYS);
|
|
UINT n;
|
|
f_write(&fp, fresh_main_py, sizeof(fresh_main_py) - 1 /* don't count null terminator */, &n);
|
|
// TODO check we could write n bytes
|
|
f_close(&fp);
|
|
|
|
// create .inf driver file
|
|
f_open(&fp, "0:/pybcdc.inf", FA_WRITE | FA_CREATE_ALWAYS);
|
|
f_write(&fp, fresh_pybcdc_inf, sizeof(fresh_pybcdc_inf) - 1 /* don't count null terminator */, &n);
|
|
f_close(&fp);
|
|
|
|
// create readme file
|
|
f_open(&fp, "0:/README.txt", FA_WRITE | FA_CREATE_ALWAYS);
|
|
f_write(&fp, fresh_readme_txt, sizeof(fresh_readme_txt) - 1 /* don't count null terminator */, &n);
|
|
f_close(&fp);
|
|
|
|
// keep LED on for at least 200ms
|
|
sys_tick_wait_at_least(start_tick, 200);
|
|
led_state(PYB_LED_R2, 0);
|
|
} else if (res == FR_OK) {
|
|
// mount sucessful
|
|
} else {
|
|
__fatal_error("could not access LFS");
|
|
}
|
|
}
|
|
|
|
// make sure we have a 0:/boot.py
|
|
{
|
|
FILINFO fno;
|
|
#if _USE_LFN
|
|
fno.lfname = NULL;
|
|
fno.lfsize = 0;
|
|
#endif
|
|
FRESULT res = f_stat("0:/boot.py", &fno);
|
|
if (res == FR_OK) {
|
|
if (fno.fattrib & AM_DIR) {
|
|
// exists as a directory
|
|
// TODO handle this case
|
|
// see http://elm-chan.org/fsw/ff/img/app2.c for a "rm -rf" implementation
|
|
} else {
|
|
// exists as a file, good!
|
|
}
|
|
} else {
|
|
// doesn't exist, create fresh file
|
|
|
|
// LED on to indicate creation of boot.py
|
|
led_state(PYB_LED_R2, 1);
|
|
uint32_t start_tick = HAL_GetTick();
|
|
|
|
FIL fp;
|
|
f_open(&fp, "0:/boot.py", FA_WRITE | FA_CREATE_ALWAYS);
|
|
UINT n;
|
|
f_write(&fp, fresh_boot_py, sizeof(fresh_boot_py) - 1 /* don't count null terminator */, &n);
|
|
// TODO check we could write n bytes
|
|
f_close(&fp);
|
|
|
|
// keep LED on for at least 200ms
|
|
sys_tick_wait_at_least(start_tick, 200);
|
|
led_state(PYB_LED_R2, 0);
|
|
}
|
|
}
|
|
|
|
// root device defaults to internal flash filesystem
|
|
uint root_device = 0;
|
|
|
|
#if defined(USE_DEVICE_MODE)
|
|
usb_storage_medium_t usb_medium = USB_STORAGE_MEDIUM_FLASH;
|
|
#endif
|
|
|
|
#if MICROPY_HW_HAS_SDCARD
|
|
// if an SD card is present then mount it on 1:/
|
|
if (reset_mode == 1 && sdcard_is_present()) {
|
|
FRESULT res = f_mount(&fatfs1, "1:", 1);
|
|
if (res != FR_OK) {
|
|
printf("[SD] could not mount SD card\n");
|
|
} else {
|
|
// use SD card as root device
|
|
root_device = 1;
|
|
|
|
if (first_soft_reset) {
|
|
// use SD card as medium for the USB MSD
|
|
#if defined(USE_DEVICE_MODE)
|
|
usb_medium = USB_STORAGE_MEDIUM_SDCARD;
|
|
#endif
|
|
}
|
|
}
|
|
}
|
|
#else
|
|
// Get rid of compiler warning if no SDCARD is configured.
|
|
(void)first_soft_reset;
|
|
#endif
|
|
|
|
// run <root>:/boot.py, if it exists
|
|
if (reset_mode == 1) {
|
|
const char *boot_file;
|
|
if (root_device == 0) {
|
|
boot_file = "0:/boot.py";
|
|
} else {
|
|
boot_file = "1:/boot.py";
|
|
}
|
|
FRESULT res = f_stat(boot_file, NULL);
|
|
if (res == FR_OK) {
|
|
if (!pyexec_file(boot_file)) {
|
|
flash_error(4);
|
|
}
|
|
}
|
|
}
|
|
|
|
// turn boot-up LEDs off
|
|
led_state(2, 0);
|
|
led_state(3, 0);
|
|
led_state(4, 0);
|
|
|
|
#if defined(USE_HOST_MODE)
|
|
// USB host
|
|
pyb_usb_host_init();
|
|
#elif defined(USE_DEVICE_MODE)
|
|
// USB device
|
|
if (reset_mode == 1) {
|
|
usb_device_mode_t usb_mode = USB_DEVICE_MODE_CDC_MSC;
|
|
if (pyb_config_usb_mode != MP_OBJ_NULL) {
|
|
if (strcmp(mp_obj_str_get_str(pyb_config_usb_mode), "CDC+HID") == 0) {
|
|
usb_mode = USB_DEVICE_MODE_CDC_HID;
|
|
}
|
|
}
|
|
pyb_usb_dev_init(usb_mode, usb_medium);
|
|
} else {
|
|
pyb_usb_dev_init(USB_DEVICE_MODE_CDC_MSC, usb_medium);
|
|
}
|
|
#endif
|
|
|
|
#if MICROPY_HW_ENABLE_RNG
|
|
// RNG
|
|
rng_init();
|
|
#endif
|
|
|
|
#if MICROPY_HW_ENABLE_TIMER
|
|
// timer
|
|
//timer_init();
|
|
#endif
|
|
|
|
i2c_init();
|
|
spi_init0();
|
|
|
|
#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
|
|
|
|
// now that everything is initialised, run main script
|
|
if (reset_mode == 1 && pyexec_mode_kind == PYEXEC_MODE_FRIENDLY_REPL) {
|
|
vstr_t *vstr = vstr_new();
|
|
vstr_printf(vstr, "%d:/", root_device);
|
|
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));
|
|
}
|
|
FRESULT res = f_stat(vstr_str(vstr), NULL);
|
|
if (res == FR_OK) {
|
|
if (!pyexec_file(vstr_str(vstr))) {
|
|
flash_error(3);
|
|
}
|
|
}
|
|
vstr_free(vstr);
|
|
}
|
|
|
|
#if 0
|
|
#if MICROPY_HW_HAS_WLAN
|
|
// wifi
|
|
pyb_wlan_init();
|
|
pyb_wlan_start();
|
|
#endif
|
|
#endif
|
|
|
|
// enter REPL
|
|
// 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;
|
|
}
|
|
}
|
|
}
|
|
|
|
printf("PYB: sync filesystems\n");
|
|
storage_flush();
|
|
|
|
printf("PYB: soft reboot\n");
|
|
|
|
first_soft_reset = false;
|
|
goto soft_reset;
|
|
}
|