6351de6ad1
With the Kaluga devkit, the camera interferes with the JTAG function. However, having DEBUG turned on e.g., to get extended debug information on the UART debug connection remains useful. Now, by arranging to add to CFLAGS += -DDEBUG -DENABLE_JTAG=0, this configuration is easy to achieve.
366 lines
9.5 KiB
C
366 lines
9.5 KiB
C
/*
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* This file is part of the MicroPython 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) 2017 Scott Shawcroft for Adafruit Industries
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* Copyright (c) 2019 Lucian Copeland for Adafruit Industries
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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 <stdint.h>
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#include <sys/time.h>
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#include "supervisor/board.h"
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#include "supervisor/port.h"
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#include "modules/module.h"
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#include "py/runtime.h"
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#include "supervisor/esp_port.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "common-hal/microcontroller/Pin.h"
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#include "common-hal/analogio/AnalogOut.h"
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#include "common-hal/busio/I2C.h"
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#include "common-hal/busio/SPI.h"
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#include "common-hal/busio/UART.h"
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#include "common-hal/dualbank/__init__.h"
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#include "common-hal/ps2io/Ps2.h"
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#include "common-hal/pulseio/PulseIn.h"
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#include "common-hal/pwmio/PWMOut.h"
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#include "common-hal/watchdog/WatchDogTimer.h"
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#include "common-hal/socketpool/Socket.h"
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#include "common-hal/wifi/__init__.h"
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#include "supervisor/background_callback.h"
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#include "supervisor/memory.h"
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#include "supervisor/shared/tick.h"
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#include "shared-bindings/rtc/__init__.h"
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#include "peripherals/rmt.h"
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#include "peripherals/timer.h"
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#if CIRCUITPY_COUNTIO || CIRCUITPY_ROTARYIO || CIRCUITPY_FREQUENCYIO
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#include "peripherals/pcnt.h"
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#include "peripherals/touch.h"
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#endif
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#if CIRCUITPY_AUDIOBUSIO
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#include "common-hal/audiobusio/__init__.h"
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#endif
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#if CIRCUITPY_IMAGECAPTURE
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#include "cam.h"
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#endif
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#include "esp_heap_caps.h"
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#include "esp_debug_helpers.h"
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#include "soc/cache_memory.h"
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#include "soc/rtc_cntl_reg.h"
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#ifdef CONFIG_IDF_TARGET_ESP32C3
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#include "components/esp_rom/include/esp32c3/rom/ets_sys.h"
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#elif CONFIG_IDF_TARGET_ESP32S2
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#include "components/esp_rom/include/esp32s2/rom/ets_sys.h"
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#endif
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#define HEAP_SIZE (48 * 1024)
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uint32_t *heap;
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uint32_t heap_size;
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STATIC esp_timer_handle_t _tick_timer;
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STATIC esp_timer_handle_t _sleep_timer;
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TaskHandle_t circuitpython_task = NULL;
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extern void esp_restart(void) NORETURN;
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void tick_timer_cb(void *arg) {
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supervisor_tick();
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// CircuitPython's VM is run in a separate FreeRTOS task from timer callbacks. So, we have to
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// notify the main task every time in case it's waiting for us.
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xTaskNotifyGive(circuitpython_task);
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}
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void sleep_timer_cb(void *arg);
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safe_mode_t port_init(void) {
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esp_timer_create_args_t args;
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args.callback = &tick_timer_cb;
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args.arg = NULL;
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args.dispatch_method = ESP_TIMER_TASK;
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args.name = "CircuitPython Tick";
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esp_timer_create(&args, &_tick_timer);
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args.callback = &sleep_timer_cb;
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args.arg = NULL;
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args.dispatch_method = ESP_TIMER_TASK;
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args.name = "CircuitPython Sleep";
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esp_timer_create(&args, &_sleep_timer);
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circuitpython_task = xTaskGetCurrentTaskHandle();
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// Send the ROM output out of the UART. This includes early logs.
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#ifdef DEBUG
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ets_install_uart_printf();
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#endif
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heap = NULL;
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never_reset_module_internal_pins();
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#ifndef DEBUG
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#define DEBUG (0)
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#endif
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#if DEBUG
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// debug UART
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#ifdef CONFIG_IDF_TARGET_ESP32C3
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common_hal_never_reset_pin(&pin_GPIO20);
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common_hal_never_reset_pin(&pin_GPIO21);
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#elif CONFIG_IDF_TARGET_ESP32S2
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common_hal_never_reset_pin(&pin_GPIO43);
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common_hal_never_reset_pin(&pin_GPIO44);
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#endif
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#endif
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#ifndef ENABLE_JTAG
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#define ENABLE_JTAG (defined(DEBUG) && DEBUG)
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#endif
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#if ENABLE_JTAG
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// JTAG
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#ifdef CONFIG_IDF_TARGET_ESP32C3
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common_hal_never_reset_pin(&pin_GPIO4);
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common_hal_never_reset_pin(&pin_GPIO5);
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common_hal_never_reset_pin(&pin_GPIO6);
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common_hal_never_reset_pin(&pin_GPIO7);
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#elif CONFIG_IDF_TARGET_ESP32S2
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common_hal_never_reset_pin(&pin_GPIO39);
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common_hal_never_reset_pin(&pin_GPIO40);
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common_hal_never_reset_pin(&pin_GPIO41);
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common_hal_never_reset_pin(&pin_GPIO42);
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#endif
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#endif
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#ifdef CONFIG_SPIRAM
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heap = (uint32_t *)(DRAM0_CACHE_ADDRESS_HIGH - CONFIG_SPIRAM_SIZE);
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heap_size = CONFIG_SPIRAM_SIZE / sizeof(uint32_t);
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#endif
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if (heap == NULL) {
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heap = malloc(HEAP_SIZE);
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heap_size = HEAP_SIZE / sizeof(uint32_t);
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}
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if (heap == NULL) {
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return NO_HEAP;
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}
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esp_reset_reason_t reason = esp_reset_reason();
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switch (reason) {
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case ESP_RST_BROWNOUT:
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return BROWNOUT;
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case ESP_RST_PANIC:
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return HARD_CRASH;
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case ESP_RST_INT_WDT:
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case ESP_RST_WDT:
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default:
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break;
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}
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return NO_SAFE_MODE;
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}
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void reset_port(void) {
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#if CIRCUITPY_IMAGECAPTURE
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cam_deinit();
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#endif
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reset_all_pins();
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// A larger delay so the idle task can run and do any IDF cleanup needed.
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vTaskDelay(4);
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#if CIRCUITPY_ANALOGIO
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analogout_reset();
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#endif
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#if CIRCUITPY_AUDIOBUSIO
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i2s_reset();
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#endif
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#if CIRCUITPY_BUSIO
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i2c_reset();
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spi_reset();
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uart_reset();
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#endif
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#if CIRCUITPY_COUNTIO || CIRCUITPY_ROTARYIO || CIRCUITPY_FREQUENCYIO
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peripherals_pcnt_reset();
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#endif
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#if CIRCUITPY_DUALBANK
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dualbank_reset();
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#endif
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#if CIRCUITPY_FREQUENCYIO
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peripherals_timer_reset();
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#endif
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#if CIRCUITPY_PS2IO
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ps2_reset();
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#endif
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#if CIRCUITPY_PULSEIO
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peripherals_rmt_reset();
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pulsein_reset();
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#endif
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#if CIRCUITPY_PWMIO
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pwmout_reset();
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#endif
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#if CIRCUITPY_RTC
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rtc_reset();
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#endif
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#if CIRCUITPY_TOUCHIO_USE_NATIVE
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peripherals_touch_reset();
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#endif
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#if CIRCUITPY_WATCHDOG
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watchdog_reset();
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#endif
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#if CIRCUITPY_WIFI
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wifi_reset();
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#endif
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#if CIRCUITPY_SOCKETPOOL
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socket_reset();
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#endif
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}
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void reset_to_bootloader(void) {
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esp_restart();
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}
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void reset_cpu(void) {
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#ifndef CONFIG_IDF_TARGET_ESP32C3
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esp_backtrace_print(100);
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#endif
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esp_restart();
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}
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uint32_t *port_heap_get_bottom(void) {
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return heap;
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}
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uint32_t *port_heap_get_top(void) {
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return heap + heap_size;
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}
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uint32_t *port_stack_get_limit(void) {
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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Wcast-align"
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return (uint32_t *)pxTaskGetStackStart(NULL);
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#pragma GCC diagnostic pop
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}
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uint32_t *port_stack_get_top(void) {
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// The sizeof-arithmetic is so that the pointer arithmetic is done on units
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// of uint32_t instead of units of StackType_t. StackType_t is an alias
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// for a byte sized type.
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//
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// The main stack is bigger than CONFIG_ESP_MAIN_TASK_STACK_SIZE -- an
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// "extra" size is added to it (TASK_EXTRA_STACK_SIZE). This total size is
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// available as ESP_TASK_MAIN_STACK. Presumably TASK_EXTRA_STACK_SIZE is
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// additional stack that can be used by the esp-idf runtime. But what's
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// important for us is that some very outermost stack frames, such as
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// pyexec_friendly_repl, could lie inside the "extra" area and be invisible
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// to the garbage collector.
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return port_stack_get_limit() + ESP_TASK_MAIN_STACK / (sizeof(uint32_t) / sizeof(StackType_t));
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}
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bool port_has_fixed_stack(void) {
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return true;
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}
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// Place the word to save just after our BSS section that gets blanked.
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void port_set_saved_word(uint32_t value) {
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REG_WRITE(RTC_CNTL_STORE0_REG, value);
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}
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uint32_t port_get_saved_word(void) {
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return REG_READ(RTC_CNTL_STORE0_REG);
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}
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uint64_t port_get_raw_ticks(uint8_t *subticks) {
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// Convert microseconds to subticks of 1/32768 seconds
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// 32768/1000000 = 64/15625 in lowest terms
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// this arithmetic overflows after 570 years
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int64_t all_subticks = esp_timer_get_time() * 512 / 15625;
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if (subticks != NULL) {
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*subticks = all_subticks % 32;
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}
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return all_subticks / 32;
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}
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// Enable 1/1024 second tick.
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void port_enable_tick(void) {
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esp_timer_start_periodic(_tick_timer, 1000000 / 1024);
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}
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// Disable 1/1024 second tick.
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void port_disable_tick(void) {
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esp_timer_stop(_tick_timer);
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}
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void port_wake_main_task() {
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xTaskNotifyGive(circuitpython_task);
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}
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void sleep_timer_cb(void *arg) {
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port_wake_main_task();
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}
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void port_interrupt_after_ticks(uint32_t ticks) {
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uint64_t timeout_us = ticks * 1000000ull / 1024;
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if (esp_timer_start_once(_sleep_timer, timeout_us) != ESP_OK) {
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esp_timer_stop(_sleep_timer);
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esp_timer_start_once(_sleep_timer, timeout_us);
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}
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}
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// On the ESP we use FreeRTOS notifications instead of interrupts so this is a
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// bit of a misnomer.
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void port_idle_until_interrupt(void) {
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if (!background_callback_pending()) {
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xTaskNotifyWait(0x01, 0x01, NULL, portMAX_DELAY);
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}
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}
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// Wrap main in app_main that the IDF expects.
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extern void main(void);
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void app_main(void) {
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main();
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}
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